Where Am I? SLAM for Mobile Machines on a Smart Working Site

The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental information, especially the terrain. Due to the dynamic changing of the construction site and the consequent absence of a high definition map, the Simultaneous Localization and Mapping (SLAM) offering the terrain information for construction machines is still challenging. Current SLAM technologies proposed for mobile machines are strongly dependent on costly or computationally expensive sensors, such as RTK GPS and cameras, so that commercial use is rare. In this study, we proposed an affordable SLAM method to create a multi-layer grid map for the construction site so that the machine can have the environmental information and be optimized accordingly. Concretely, after the machine passes by the grid, we can obtain the local information and record it. Combining with positioning technology, we then create a map of the interesting places of the construction site. As a result of our research gathered from Gazebo, we showed that a suitable layout is the combination of one IMU and two differential GPS antennas using the unscented Kalman filter, which keeps the average distance error lower than 2m and the mapping error lower than 1.3% in the harsh environment. As an outlook, our SLAM technology provides the cornerstone to activate many efficiency improvement approaches. View Full-Tex

Solar light-driven photocatalytic hydrogen evolution over ZnIn2S4 loaded with transition-metal sulfides

A series of Pt-loaded MS/ZnIn2S4 (MS = transition-metal sulfide: Ag2S, SnS, CoS, CuS, NiS, and MnS) photocatalysts was investigated to show various photocatalytic activities depending on different transition-metal sulfides. Thereinto, CoS, NiS, or MnS-loading lowered down the photocatalytic activity of ZnIn2S4, while Ag2S, SnS, or CuS loading enhanced the photocatalytic activity. After loading 1.0 wt.% CuS together with 1.0 wt.% Pt on ZnIn2S4, the activity for H2 evolution was increased by up to 1.6 times, compared to the ZnIn2S4 only loaded with 1.0 wt.% Pt. Here, transition-metal sulfides such as CuS, together with Pt, acted as the dual co-catalysts for the improved photocatalytic performance. This study indicated that the application of transition-metal sulfides as effective co-catalysts opened up a new way to design and prepare high-efficiency and low-cost photocatalysts for solar-hydrogen conversion

Trap-Assisted Charge Injection into Large Bandgap Polymer Semiconductors.

The trap-assisted charge injection in polyfluorene-poly(3,4-ethylenedioxythiophene): poly(styrenesulfonate) (PEDOT:PSS) model systems with an Al or Al/LiF cathode is investigated. We find that inserting 1.3 nm LiF increases electron and hole injections simultaneously and the increase of holes is greater than electrons. The evolution of internal interfaces within polymer light-emitting diodes is observed by transmission electron microscopy, which reveals that the introduction of LiF improves the interface stability at both the cathode (cathode/polymer) and the anode (indium tin oxide (ITO)/PEDOT:PSS). Above-mentioned experimental results have been compared to the numerical simulations with a revised Davids model and potential physical mechanisms for the trap-assisted charge injection are discussed

Pulsed laser-deposited n-Si/NiO_x photoanodes for stable and efficient photoelectrochemical water splitting

An electrocatalytic and stable nickel oxide (NiO_x) thin layer was successfully deposited on an n-Si (100) substrate by pulsed laser deposition (PLD), acting as a photoanode for efficient photo-oxidation of water under solar illumination. It was revealed that the formed n-Si/NiO_x heterojunction with good Schottky contact could improve photogenerated charge separation, and thus n-Si photoanodes deposited with a 105 nm-thick NiO_x electrocatalytic layer exhibited a photovoltage of ∼350 mV, leading to greatly improved photoelectrochemical performances for water oxidation. The stability of the photoanode was significantly enhanced with the increasing thickness of NiO_x protective layers. This study demonstrates a simple and effective method to enable the use of planar n-Si (100) substrates as efficient and durable photoanodes for practical solar water oxidation