Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption that the Jacobians of the motion and observation models need to be evaluated at the ground truth. It is also shown that the output of RI-EKF is invariant under any stochastic rigid body transformation in contrast to $\mathbb{SO}(3)$ based EKF SLAM algorithm ($\mathbb{SO}(3)$-EKF) that is only invariant under deterministic rigid body transformation. Implications of these invariance properties on the consistency of the estimator are also discussed. Monte Carlo simulation results demonstrate that RI-EKF outperforms $\mathbb{SO}(3)$-EKF, Robocentric-EKF and the "First Estimates Jacobian" EKF, for 3D point feature based SLAM

Blockchain-Based Digital Trust Mechanism: A Use Case of Cloud Manufacturing of LDS Syringes for COVID-19 Vaccination

Trust is essential in the digital world. It is a critical task to build digital trust for the ongoing digital engineering transformation. Aiming at developing a blockchain-based digital trust mechanism for Cloud Manufacturing or Manufacturing-as-a-Service (MaaS), in this paper, we use the manufacturing of low dead space (LDS) medical syringes through Cloud Manufacturing as a motivating scenario to develop a basic framework. To meet the need of optimally saving COVID-19 vaccine doses to save more lives, the medical device manufacturing community needs to make a swift move to meet the surged need for LDS syringes. Cloud Manufacturing is a form of emerging Digital Manufacturing facilitated with Cloud/Edge Computing, the Internet of Things, and other digital technologies. Cloud manufacturing allows quickly establishing a digital virtual enterprise that pools together various manufacturing resources worldwide to meet the surged needs of products and save cost and time. Trusting the product quality and safety is a significant challenge when using Cloud Manufacturing to manufacture the products. This paper proposes a schema of blockchain-based digital trust mechanisms with examples of using Cloud Manufacturing of medical LDS syringes for the urgent needs of catering COVID-19 vaccination