Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale...Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.展开更多
为研究搭接率对Inconel625涂层的耐磨耐腐蚀性能的影响,采用同轴送粉的方式在2205不锈钢基材上制备不同搭接率的Inconel625熔覆层。通过扫描电子显微镜(scanning electron microscope,SEM)、硬度测试和摩擦磨损试验,分析搭接率在30%、35...为研究搭接率对Inconel625涂层的耐磨耐腐蚀性能的影响,采用同轴送粉的方式在2205不锈钢基材上制备不同搭接率的Inconel625熔覆层。通过扫描电子显微镜(scanning electron microscope,SEM)、硬度测试和摩擦磨损试验,分析搭接率在30%、35%、40%、45%和50%时的熔覆层组织性能。研究结果表明,激光熔覆技术能够显著提高2205基体的硬度、耐磨性以及耐腐蚀性能,其中在搭接率为45%时熔覆层的硬度较基体提高了1.9倍,搭接率对熔覆层的摩擦系数影响不明显,搭接率为50%时摩擦损失质量最小为0.00583 g,由于不同搭接率对涂层微观组织产生影响,使涂层产生气孔进而影响了熔覆层的耐腐蚀性能。展开更多
基金the Project Fund for Key Discipline of the Shanghai Municipal Education Commission(No.J50104)the Major State Basic Research Development Program of China(No.2017YFB0403500)。
文摘Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.
文摘为研究搭接率对Inconel625涂层的耐磨耐腐蚀性能的影响,采用同轴送粉的方式在2205不锈钢基材上制备不同搭接率的Inconel625熔覆层。通过扫描电子显微镜(scanning electron microscope,SEM)、硬度测试和摩擦磨损试验,分析搭接率在30%、35%、40%、45%和50%时的熔覆层组织性能。研究结果表明,激光熔覆技术能够显著提高2205基体的硬度、耐磨性以及耐腐蚀性能,其中在搭接率为45%时熔覆层的硬度较基体提高了1.9倍,搭接率对熔覆层的摩擦系数影响不明显,搭接率为50%时摩擦损失质量最小为0.00583 g,由于不同搭接率对涂层微观组织产生影响,使涂层产生气孔进而影响了熔覆层的耐腐蚀性能。
