ImMesh: An Immediate LiDAR Localization and Meshing Framework

In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework termed ImMesh comprises four tightly-coupled modules: receiver, localization, meshing, and broadcaster. The localization module utilizes the prepossessed sensor data from the receiver, estimates the sensor pose online by registering LiDAR scans to maps, and dynamically grows the map. Then, our meshing module takes the registered LiDAR scan for incrementally reconstructing the triangle mesh on the fly. Finally, the real-time odometry, map, and mesh are published via our broadcaster. The key contribution of this work is the meshing module, which represents a scene by an efficient hierarchical voxels structure, performs fast finding of voxels observed by new scans, and reconstructs triangle facets in each voxel in an incremental manner. This voxel-wise meshing operation is delicately designed for the purpose of efficiency; it first performs a dimension reduction by projecting 3D points to a 2D local plane contained in the voxel, and then executes the meshing operation with pull, commit and push steps for incremental reconstruction of triangle facets. To the best of our knowledge, this is the first work in literature that can reconstruct online the triangle mesh of large-scale scenes, just relying on a standard CPU without GPU acceleration. To share our findings and make contributions to the community, we make our code publicly available on our GitHub: https://github.com/hku-mars/ImMesh

Effects of microgels fabricated by microfluidic on the stability, antioxidant, and immunoenhancing activities of aquatic protein

Aquatic products are considered a potential source of novel bioactive proteins, which are used as therapeutic drugs for the treatment of different diseases (such as oxidative stress, immunocompromised, and inflammation), as well as nutraceuticals and cosmetics. However, the physical and chemical properties of proteins are unstable, and they are easily denatured by the influence of external high temperature and polar pH during processing, resulting in the loss of their functional activity. Herein, Fenneropenaeus chinensis water-soluble protein (FCWP) and Lateolabrax japonicus water-soluble protein (LJWP) were encapsulated within spherical biopolymer microgels composed of pectin and chitosan produced by the microfluidic device. The encapsulated samples remained inside the microgels when they were exposed to upper gastrointestinal but were released when they were exposed to simulated colonic fluid due to the hydrolysis effect by enzymes secreted by the colonic microflora. The results showed that microgels improve the thermal stability of FCWP and LJWP due to the interaction between polysaccharides and proteins in the microgels. In addition, microgels encapsulation did not affect the antioxidant and immunoenhancing activities of FCWP and LJWP. In summary, these microgels are suitable for oral colon-specific delivery in functional foods and supplements

Carbon Gels for Electrochemical Applications

International audienc