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1.
Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.  相似文献   
2.
Many tasks in geometry processing are modelled as variational problems solved numerically using the finite element method. For solid shapes, this requires a volumetric discretization, such as a boundary conforming tetrahedral mesh. Unfortunately, tetrahedral meshing remains an open challenge and existing methods either struggle to conform to complex boundary surfaces or require manual intervention to prevent failure. Rather than create a single volumetric mesh for the entire shape, we advocate for solid geometry processing on deconstructed domains, where a large and complex shape is composed of overlapping solid subdomains. As each smaller and simpler part is now easier to tetrahedralize, the question becomes how to account for overlaps during problem modelling and how to couple solutions on each subdomain together algebraically. We explore how and why previous coupling methods fail, and propose a method that couples solid domains only along their boundary surfaces. We demonstrate the superiority of this method through empirical convergence tests and qualitative applications to solid geometry processing on a variety of popular second‐order and fourth‐order partial differential equations.  相似文献   
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Nextel? 610 alumina fibers and alumina‐YAG (yttrium‐aluminum garnet) matrices were used to make oxide‐oxide ceramic matrix composites (CMCs) with and without monazite (LaPO4) fiber‐matrix interfaces. Twelve sequential aluminum oxychloride (AlOCl) infiltrations with 1 hour heat treatments at 1100°C and a final 1 hour heat treatment at 1200°C were used for matrix densification. This matrix processing sequence severely degraded CMC mechanical properties. CMC tensile strengths and interlaminar tensile (ILT) strengths were less than 10 MPa and 1 MPa, respectively. Axial fracture of Nextel? 610 fibers was observed after ILT testing, highlighting the extreme degradation of fiber strength. Extensive characterization was done to attempt to determine the responsible degradation mechanisms. Changes in Nextel? 610 fiber microstructure after CMC processing were characterized by optical microscopy, SEM, and extensively by TEM. In AlOCl degraded fibers, grain boundaries near the fiber surface were wetted with a glass that contained Y2O3/SiO2 or Y2O3/La2O3/P2O5/SiO2, and near‐surface pores were partially filled with Al2O3. This glass must also contain some Al2O3 and initially some chlorine. AlOCl decomposition products were predicted using the FactSage® Thermochemical code, and were characterized by mass spectrometry. Effects of AlOCl precursors on monazite coated and uncoated Nextel? 610 fibers tow and filament strength were evaluated. A mechanism for the severe degradation of the oxide‐oxide CMCs and Nextel? 610 fibers that involves subcritical crack growth promoted by release of chlorine containing species during breakdown of intergranular glasses in an anhydrous environment is proposed.  相似文献   
4.
Nanomedicines have been demonstrated to have passive or active tumor targeting behaviors, which are promising for cancer chemotherapy. However, most nanomedicines still suffer from a suboptimal targeting effect and drug leakage, resulting in unsatisfactory treatment outcome. Herein, a hierarchical responsive nanomedicine (HRNM) is developed for programmed delivery of chemotherapeutics. The HRNMs are prepared via the self‐assembly of cyclic Arg‐Gly‐Asp (RGD) peptide conjugated triblock copolymer, poly(2‐(hexamethyleneimino)ethyl methacrylate)‐poly(oligo‐(ethylene glycol) monomethyl ether methacrylate)‐poly[reduction‐responsive camptothecin] (PC7A‐POEG‐PssCPT). In blood circulation, the RGD peptides are shielded by the POEG coating; therefore, the nanosized HRNMs can achieve effective tumor accumulation through passive targeting. Once the HRNMs reach a tumor site, due to the hydrophobic‐to‐hydrophilic conversion of PC7A chains induced by the acidic tumor microenvironment, the RGD peptides will be exposed for enhanced tumor retention and cellular internalization. Moreover, in response to the glutathione inside cells, active CPT drugs will be released rapidly for chemotherapy. The in vitro and in vivo results confirm effective tumor targeting, potent antitumor effect, and reduced systemic toxicity of the HRNMs. This HRNM is promising for enhanced chemotherapeutic delivery.  相似文献   
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Oxidation of Metals - Vaporization often accompanies high-temperature oxidation and corrosion. In this review, vaporization under a vacuum as well as static gas and flowing gas conditions is...  相似文献   
7.
Thermodynamic parameters are reported for gaseous hydroxides and oxyhydroxides of Al, Zr, and Y. The structures and vibrational frequencies are calculated using density functional theory with the B3LYP functional. This yields entropies at 298.15 K and heat capacities. The enthalpies are calculated from appropriate reactions and the CCSD(T) (Coupled Cluster, Singles, Doubles, and perturbative Triples) approach. The hydroxide groups are treated as hindered rotors for all species. The results are compared to the limited experimental and theoretical calculations for these species. Finally, the data are put into a database for a free-energy minimizer and the vapor pressures for each species are compared.  相似文献   
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Public sector organizations increasingly form interorganizational networks that rely on technology to achieve what they cannot achieve independently. The governance of these public sector networks is complex due to the nature of interorganizational relationships and technology. This paper aims to increase our understanding of network governance by exploring the evolution of governance over the 40+ year lifespan of a public sector network. The historical case study is based on the technology affordance and organizational actualization concepts applied to three critical incidents in the history of a public safety network. The incidents provide evidence that technology and governance do interact, that timing matters and that future research is needed to understand more fully how and why network governance evolves and the implications of governance evolution on network performance.  相似文献   
10.
Digitale Zertifikate werden bereits in großem Umfang zur Verschlüsselung mit Desktop Clients wie Outlook eingesetzt. Damit ein Benutzer auch an all seinen Mobilgeräten verschlüsselte E-Mails lesen und an beliebige Empfänger verschlüsseln kann, müssen sein privater Schlüssel sowie die Zertifikate der Partner dort verfügbar sein.  相似文献   
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