Asynchronous Collaborative Autoscanning with Mode Switching for Multi-Robot Scene Reconstruction

When conducting autonomous scanning for the online reconstruction of unknown indoor environments, robots have to be competent at exploring scene structure and reconstructing objects with high quality. Our key observation is that different tasks demand specialized scanning properties of robots: rapid moving speed and far vision for global exploration and slow moving speed and narrow vision for local object reconstruction, which are referred as two different scanning modes: explorer and reconstructor, respectively. When requiring multiple robots to collaborate for efficient exploration and fine-grained reconstruction, the questions on when to generate and how to assign those tasks should be carefully answered. Therefore, we propose a novel asynchronous collaborative autoscanning method with mode switching, which generates two kinds of scanning tasks with associated scanning modes, i.e., exploration task with explorer mode and reconstruction task with reconstructor mode, and assign them to the robots to execute in an asynchronous collaborative manner to highly boost the scanning efficiency and reconstruction quality. The task assignment is optimized by solving a modified Multi-Depot Multiple Traveling Salesman Problem (MDMTSP). Moreover, to further enhance the collaboration and increase the efficiency, we propose a task-flow model that actives the task generation and assignment process immediately when any of the robots finish all its tasks with no need to wait for all other robots to complete the tasks assigned in the previous iteration. Extensive experiments have been conducted to show the importance of each key component of our method and the superiority over previous methods in scanning efficiency and reconstruction quality.Comment: 13pages, 12 figures, Conference: SIGGRAPH Asia 202

Research on Heat Transfer Inside the Furnace of Large Scale CFB Boilers

Field tests in one unit of 135MWe and two units of 300MWe commercial Circulating Fluidized bed (CFB) boilers (A&B) with different structures were carried out. The influence of operating conditions on the thermal boundary layer, local heat transfer coefficient and peripheral distribution of heat transfer coefficient were studied. It was found that, in the 135MWe and 300MWe-A CFB furnace, the thickness of the thermal boundary layer was almost constant, about 100mm, and independent of the height above the distributor and the boiler load. The local heat transfer coefficient increased with increasing load as well as the coal feeding rate and air volume in both the 135MWe and 300MWe-A CFB boilers. The boiler structure and heating surface layout had a great influence on the distribution of the heat transfer coefficient in the large-scale CFB boilers. In both the 135MWe furnace and the 300MWe-B CFB boilers, the heat transfer coefficient was lower in the center than near the corner due to higher suspension density in the corner. In the 300MWe-B CFB with heating surfaces in the furnace, because of the uneven layout of the heating surface and the mal-distribution of gas-solid flow caused by the asymmetric arrangement of cyclones, heat transfer coefficients tended to be higher in the middle part than at the walls

Coal Ignition Temperature in Oxygen-Enriched CFB Boiler

The oxygen-enriched Circulating fluidized bed (CFB) combustion technology is a new method to reduce CO2 emissions. The coal ignition temperature, Ti F, in an oxygen-enriched CFB boiler is an important parameter for designing the startup burner and for choosing the operating strategy during the startup process. The combustion of five types of coal under four different atmospheres (air, O2 27 %, O2 40%, O2 53%, CO2 as balance gas) was measured in a laboratory scale fluidized bed (FB) with an under-bed preheat system. Using thermocouples and a Gas Analyzer, the changes in bed temperature and the concentration of the different components, such as O2, CO2 and CO, in flue gas were directly measured to determine Ti F. It was found that Ti F decreased with increasing O2 concentration. The differences between the ignition temperatures determined in air and with 27 % O2 were not significant. At lower bed temperatures, for two coal types with higher volatiles, a two stage-ignition for volatiles and char was observed under a high O2 concentration. The time delay between the two stages decreased and finally merged into one with increasing bed temperature. Similar results were obtained in air. The coal with the higher volatile content had a lower ignition temperature in an oxygen-enriched CFB. Comparison of the ignition temperatures obtained by different methods and the feed temperatures in industrial CFB boilers showd that the measured result in a fluidized bed can be used as a reference for oxygen-enriched CFB boilers

Review on Applications of Lignin in Pavement Engineering: A Recent Survey

Lignin is the second-largest plant polymer on Earth after cellulose. About 98% of lignin produced in the papermaking and pulping industry is used for combustion heating or power generation. Less than 2% of lignin is used in more valuable fields, mainly in the formulation of dispersants, adhesives, and surfactants. Asphalt is one of the most important materials in pavement engineering. It is a dark brown complex mixture composed of hydrocarbons with different molecular weights and their non-metallic derivatives. Because the chemical structure of lignin is similar to that of asphalt, it is a carbon-based hydrocarbon material. More researchers studied the application of lignin in pavement engineering. In this paper, the structure, application, and extraction technology of lignin were summarized. This is a review article describing the different applications of lignin in pavement engineering and exploring the prospects of the application. There are three main types of pavement materials that can be used for lignin in pavement engineering, which are asphalt, asphalt mixture, and roadbed soil. In asphalt, lignin can be used as a modifier, extender, emulsifier, antioxidant, and coupling agent. In asphalt mixtures, lignin can be used as an additive. In road base soils, lignin can be used as a soil stabilizer. Furthermore, the article analyzed the application effects of lignin from the life cycle assessment. The conclusions suggest that lignin-modified asphalt exhibits more viscosity and hardness, and its high-temperature resistance and rutting resistance can be significantly improved compared with conventional asphalt. In addition, some lignin-modified asphalt binders exhibit reduced low-temperature crack resistance and fatigue resistance, which can be adjusted and selected according to the climate change in different regions. The performance of lignin as an asphalt mixture additive and asphalt extender has been proved to be feasible. Lignin can also produce good mechanical properties as well as environmental benefits as a soil stabilizer. In summary, lignin plays an important role in asphalt pavement and roadbed soil, and it is likely to be a development trend in the future due to its environmental friendliness and low cost. More research is needed to generalize the application of lignin in pavement engineering

How to Achieve Efficiency and Accuracy in Discrete Element Simulation of Asphalt Mixture: A DRF-Based Equivalent Model for Asphalt Sand Mortar

The clump-based discrete element model is one of the asphalt mixture simulation methods, which has the potential to not only predict mixture performance but also simulate particle movement during compaction, transporting, and other situations. However, modelling of asphalt sand mortar in this method remains to be a problem due to computing capacity. Larger-sized balls (generally 2.0-2.36 mm) were usually used to model the smaller particles and asphalt binder, but this replacement may result in the mixture\u27s unrealistic volumetric features. More specifically, replacing original elements with equal volume but larger size particles will increase in buck volume and then different particle contacting states. The major objective of this research is to provide a solution to the dilemma situation through an improved equivalent model of the smaller particles and asphalt binders. The key parameter of the equivalent model is the diameter reduction factor (DRF), which was proposed in this research to minimize the effects of asphalt mortar\u27s particle replacement modelling. To determine DRF, the DEM-based analysis was conducted to evaluate several mixture features, including element overlap ratio, ball-wall contact number, and the average wall stress. Through this study, it was observed that when the original glued ball diameters are ranging from 2.00 mm and 2.36 mm, the diameter reduction factor changes from 0.82 to 0.86 for AC mixtures and 0.80 to 0.84 for SMA mixtures. The modelling method presented in this research is suitable not only for asphalt mixtures but also for the other particulate mix with multisize particles

Investigation on The Hydrodynamic Properties in The External Loop of Circulating Fluidized Bed With a Loop Seal

The pressure balance and mass balance are influenced by the characteristics of different components in the loop of a circulating fluidized bed (CFB). Experiments were conducted in a 4.3 m high cold laboratory CFB test rig with a loop seal. With a fixed bed inventory and superficial gas velocity, the pressure drop of the loop seal decreased with increasing aeration, thus causing an increase in the solid circulation flux (Gs). Correspondingly, the pressure drop in the riser became higher with increasing Gs; the pressure drop of the cyclone had a non-linear relationship with Gs, and the transition point was determined in the experiment. Using the laser fiber and gas tracer method, hydrodynamic characteristics in the standpipe were directly measured. It was found that the pressure gradient, voidage, and solid height in the standpipe were affected by the pressure balance in the whole loop. By adjusting the gas flow rate and direction in the standpipe, the gas-solid slip velocity and pressure gradient changed correspondingly. Therefore, the standpipe could maintain the pressure balance and realize self-equilibrium of the loop by absorbing the pressure drop variations of other parts in the system

Ligustrazine Inhibits the Migration and Invasion of Renal Cell Carcinoma

Ligustrazine is a Chinese herb (Chuanxiong) approved for use as a medical drug in China. Recent evidence suggests that ligustrazine has promising antitumor properties. Our preliminary results showed that ligustrazine could inhibit the growth of human renal cell carcinoma (RCC) cell lines. However, the complicated molecular mechanism has not been fully revealed. Therefore, the purpose of this study to investigate the mechanism of ligustrazine resistance in human RCC cells. Cell proliferation, migration, invasion, and colony-formation ability of RCC cells A498 were detected by MTT assay, clonal formation rates, and transwell chamber assay in vitro. The expression of epithelial–mesenchymal transition (EMT)–related proteins were analyzed using western blot test. The effect of ligustrazine on the growth of A498 cells in nude mice was investigated in vivo. Our results showed that ligustrazine could significantly inhibit the proliferation, migration, and invasion of A498 both in vivo and vitro. Western blot analysis showed that the expressions of EMT-related, N-cadherin, snail, and slug proteins were significantly decreased in A498 in the ligustrazine treatment group. This study indicated that ligustrazine could significantly inhibit the malignant biological behaviors of RCC cell lines, possibly by inhibiting the EMT process

Effect of puerarin on glutamine synthetase activity in rat retina following acute intraocular hypertension

This study was conducted to demonstrate whether puerarin regulates glutamine synthetase (GS) activity following intraocular hypertension and has therapeutic potential in ophthalmology for the protection of optic nerves in patients with glaucoma. This study used a Wistar rat model of acute closed-angle glaucoma to investigate the effect of puerarin on GS activity in rat retina following intraocular hypertension. Acute intraocular hypertension was induced by increasing anterior chamber pressure to 110 mmHg for 30 min in the left eyes of 50 Wistar rats, while 5 additional Wistar rats lacking intraocular hypertension were used as a control group. Retinal GS activity was measured at 4, 12, 24, 36 and 72 h after induction of acute intraocular hypertension with/without puerarin treatment. Compared to the control group that lacked intraocular hypertension, GS activity in the intraocular hypertension group significantly decreased at 4 and 12 h (P<0.01), before increasing at 24 to 36 h and restoring to a level similar to the control group at 72 h. However, puerarin significantly (P<0.05) prevented the loss of GS activity seen in the intraocular hypertension group at 4 and 12 h, with no significant (P<0.05) difference in GS activity noted between the control group and rats treated with puerarin at these early time points. GS activity significantly (P<0.05) increased above control values at 24 and 36 h in the puerarin-treated group before eventually restoring to control levels at 72 h. These findings suggest puerarin protects GS activity in the early stages of retinal acute intraocular hypertension and may be of potential therapeutic benefit in acute closed-angle glaucoma

Experimental investigations on the Chlorine-induced corrosion of HVOF thermal sprayed Stellite-6 and NiAl coatings with fluidised bed biomass/anthracite combustion systems

Stellite-6 (Co-based) and NiAl coatings (Ni-based) were deposited via HVOF spraying onto 304 stainless steels and tested in a 20 kWth biomass fired bubbling fluidised bed (BFB) combustor for 20 hours and an industrial scale anthracite fired CFB boiler for 1630 hours. Stellite-6 showed excellent corrosion resistance in both fluidised bed combustion systems because of the formation of outermost Cr2O3 layer and the spinel CoCr2O4 beneath, whereas NiAl coatings' anti-corrosion performance was significantly depleted due to the chlorine attack, and the resultant formation of Al2O3 layer at the coating/substrate interface finally led to coating spallation in both systems

Ligustrazine Inhibits the Migration and Invasion of Renal Cell Carcinoma

Ligustrazine is a Chinese herb (Chuanxiong) approved for use as a medical drug in China. Recent evidence suggests that ligustrazine has promising antitumor properties. Our preliminary results showed that ligustrazine could inhibit the growth of human renal cell carcinoma (RCC) cell lines. However, the complicated molecular mechanism has not been fully revealed. Therefore, the purpose of this study to investigate the mechanism of ligustrazine resistance in human RCC cells. Cell proliferation, migration, invasion, and colony-formation ability of RCC cells A498 were detected by MTT assay, clonal formation rates, and transwell chamber assay in vitro. The expression of epithelial–mesenchymal transition (EMT)–related proteins were analyzed using western blot test. The effect of ligustrazine on the growth of A498 cells in nude mice was investigated in vivo. Our results showed that ligustrazine could significantly inhibit the proliferation, migration, and invasion of A498 both in vivo and vitro. Western blot analysis showed that the expressions of EMT-related, N-cadherin, snail, and slug proteins were significantly decreased in A498 in the ligustrazine treatment group. This study indicated that ligustrazine could significantly inhibit the malignant biological behaviors of RCC cell lines, possibly by inhibiting the EMT process