Making 2D Map of Environments Based upon Routes Scenes

This paper proposes a method for making a map of large scale environment based upon route scenes, assuming that the topological relation of routes at intersections is known. A panoramic representation is used for describing route scenes, and the number of routes connecting at an intersection is assumed to be known. The idea is to decompose a 2D graph into a number of closed loops. By detecting the closed loops and storing the relation among them, we can describe the 2D map based upon route scenes. A robot can obtain a closed loop by taking the same turn (leftmost for example) at every intersection when it moves along routes. According to the information on routes at intersections, the robot can select unmoved routes for finding new closed loops. By fusing new closed loops with found ones, the robot can, further, build the map of environments. The effectiveness of our method are shown by experiment in a real-world environment.     

A Review on Current Nanofiber Technologies: Electrospinning,Centrifugal Spinning,and Electro-Centrifugal Spinning

Nanofiber-based products are widely used in the fields of public health, air/water filtration, energy storage, etc. The demand for nonwoven products is rapidly increasing especially after COVID-19 pandemic. Electrospinning is the most popular technology to produce nanofiber-based products from various kinds of materials in bench and commercial scales. While centrifugal spinning and electro-centrifugal spinning are considered to be the other two well-known technologies to fabricate nanofibers. However, their developments are restricted mainly due to the unnormalized spinning devices and spinning principles. High solution concentration and high production efficiency are the two main strengths of centrifugal spinning, but beaded fibers can be formed easily due to air perturbation or device vibration. Electro-centrifugal spinning is formed by introducing a high voltage electrostatic field into the centrifugal spinning system, which suppresses the formation of beaded fibers and results in producing elegant nanofibers. It is believed that electrospinning can be replaced by electro-centrifugal spinning in some specific application areas. This article gives an overview on the existing devices and the crucial processing parameters of these nanofiber technologies, also constructive suggestions are proposed to facilitate the development of centrifugal and electro-centrifugal spinning.