A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo video can be found at https://youtu.be/Bkt53dAehj

IMECE2004-59893 WAVE MOTION OF A NONLINEAR ELASTIC BAR SUBJECTED TO AXIAL EXCITATION

ABSTRACT This research intends to investigate the wave motion in a nonlinear elastic bar with large deflection subjected to an axial external exertion. A nonlinear elastic constitutive relation governs the material of the bar. General form of the nonlinear wave equations governing the wave motion in the bar is derived. With a modified complete approximate method, the asymptotic solution of solitary wave is developed for theoretical and numerical analyses of the wave motion. Various initial conditions and system parameters are considered for investigating the shape and propagation of the nonlinear elastic wave. With the governing equation of the wave motion of the bar and the solution developed, the characteristics of the nonlinear elastic wave of the bar are analyzed theoretically and numerically. Properties of the wave propagation and the effects of the system parameters of the bar and the influences of the initial conditions to the characteristics of the wave motion are investigated in details. Based on the theoretical analysis as well as the numerical simulations, it is found that the nonlinearity of the elastic bar may cause solitary wave in the bar. The velocity of the solitary wave propagating in the bar is related to the initial condition of the wave motion. This exhibits an obvious different characteristic between the nonlinear wave and that of the linear wave of an elastic bar. It is also found in the research that the solitary wave is a pulse wave with stable propagation. If the stability of the wave propagation is destroyed, the solitary wave will no longer exist. The results of the present research may provide guidelines for the wave motion analysis of nonlinear elastic solid elements

Advances in Perovskite Solar Cells

Organolead halide perovskite materials possess a combination of remarkable optoelectronic properties, such as steep optical absorption edge and high absorption coefficients, long charge carrier diffusion lengths and lifetimes. Taken together with the ability for low temperature preparation, also from solution, perovskite-based devices, especially photovoltaic (PV) cells have been studied intensively, with remarkable progress in performance, over the past few years. The combination of high efficiency, low cost and additional (non-PV) applications provides great potential for commercialization. Performance and applications of perovskite solar cells often correlate with their device structures. Many innovative device structures were developed, aiming at large-scale fabrication, reducing fabrication cost, enhancing the power conversion efficiency and thus broadening potential future applications. This review summarizes typical structures of perovskite solar cells and comments on novel device structures. The applications of perovskite solar cells are discussed

Advances in Perovskite Solar Cells

Organolead halide perovskite materials possess a combination of remarkable optoelectronic properties, such as steep optical absorption edge and high absorption coefficients, long charge carrier diffusion lengths and lifetimes. Taken together with the ability for low temperature preparation, also from solution, perovskite-based devices, especially photovoltaic (PV) cells have been studied intensively, with remarkable progress in performance, over the past few years. The combination of high efficiency, low cost and additional (non-PV) applications provides great potential for commercialization. Performance and applications of perovskite solar cells often correlate with their device structures. Many innovative device structures were developed, aiming at large-scale fabrication, reducing fabrication cost, enhancing the power conversion efficiency and thus broadening potential future applications. This review summarizes typical structures of perovskite solar cells and comments on novel device structures. The applications of perovskite solar cells are discussed