Tightly Coupled 3D Lidar Inertial Odometry and Mapping

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled lidar-IMU fusion method in this paper. By jointly minimizing the cost derived from lidar and IMU measurements, the lidar-IMU odometry (LIO) can perform well with acceptable drift after long-term experiment, even in challenging cases where the lidar measurements can be degraded. Besides, to obtain more reliable estimations of the lidar poses, a rotation-constrained refinement algorithm (LIO-mapping) is proposed to further align the lidar poses with the global map. The experiment results demonstrate that the proposed method can estimate the poses of the sensor pair at the IMU update rate with high precision, even under fast motion conditions or with insufficient features.Comment: Accepted by ICRA 201

Double Hopf bifurcation of a diffusive predator–prey system with strong Allee effect and two delays

In this paper, we consider a diffusive predator–prey system with strong Allee effect and two delays. First, we explore the stability region of the positive constant steady state by calculating the stability switching curves. Then we derive the Hopf and double Hopf bifurcation theorem via the crossing directions of the stability switching curves. Moreover, we calculate the normal forms near the double Hopf singularities by taking two delays as parameters. We carry out some numerical simulations for illustrating the theoretical results. Both theoretical analysis and numerical simulation show that the system near double Hopf singularity has rich dynamics, including stable spatially homogeneous and inhomogeneous periodic solutions. Finally, we evaluate the influence of two parameters on the existence of double Hopf bifurcation

Study on Competitive Strategy of B2C Platform

The article builds a competitive model of the incumbent and later entrant, considering the case of single-homing andmultihoming. Results show that the conditions that later entrant platform profits exceed incumbent platform are the same underthe case of single homing and multihoming. At the same time, the later entrant should turn to charge rather than subsidizingenterprise when two platforms get an equilibrium. Later entrant platform can focus on improving user\u27s evaluation of one sideif it wants to exceed the incumbent in profits. Finally, the case of Tmall and Amazon China in B2C market is discussed

Lattice Boltzmann parallel simulation of microflow dynamics over structured surfaces

In the present work, a parallel lattice Boltzmann multiphase model was developed to investigate the effects of surface structures on wettabilities and flow dynamics in a microchannel. The theory of wetting transition was firstly discussed. Then three types including triangular, rectangle and hierarchical shaped microstructures were constructed on the surface to examine the effects on wettabilities and drag reduction. It was found that flow behaviour is strongly affected by the surface morphology of the channel. The results indicated that hierarchical structures on the surface could improve the hydrophobicity significantly. For rectangular structures, they can improve the hydrophobicity with the increase of height and distance ratio h/d of the structures, and the improvement will reach its optimal hydrophobicity when the value h/d is over a certain value of 0.6. Moreover, to accelerate computational speed, the Open Multi-Processing (OpenMP) was employed for the parallelization of the model. A maximum speedup of 2.95 times was obtained for 4 threads on a multi-core CPU platform