RESUMEN
SLAM (Simultaneous Localization and Mapping) is mainly composed of five parts: sensor data reading, front-end visual odometry, back-end optimization, loopback detection, and map building. And when visual SLAM is estimated by visual odometry only, cumulative drift will inevitably occur. Loopback detection is used in classical visual SLAM, and if loopback is not detected during operation, it is not possible to correct the positional trajectory using loopback. Therefore, to address the cumulative drift problem of visual SLAM, this paper adds Indoor Positioning System (IPS) to the back-end optimization of visual SLAM, and uses the two-label orientation method to estimate the heading angle of the mobile robot as the pose information, and outputs the pose information with position and heading angle. It is also added to the optimization as an absolute constraint. Global constraints are provided for the optimization of the positional trajectory. We conducted experiments on the AUTOLABOR mobile robot, and the experimental results show that the localization accuracy of the SLAM back-end optimization algorithm with fused IPS can be maintained between 0.02 m and 0.03 m, which meets the requirements of indoor localization, and there is no cumulative drift problem when there is no loopback detection, which solves the problem of cumulative drift of the visual SLAM system to some extent.
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Dispositivos Ópticos , AlgoritmosRESUMEN
ß-Trifluoromethyl (CF3 ) enones were proved to act as good dienophiles in asymmetric normal-electron-demand Diels-Alder cycloadditions with 2,4-dienals under trienamine catalysis with a chiral secondary amine. The sequential reductive amination transformations with benzylamine produced cis- and trans-fused chiral trifluoromethylated octahydroisoquinolines in a diastereodivergent manner by using NaBH(OAc)3 and NaBH3 CN as the reductants, respectively. Moreover, other types of activated alkenes that bear a CF3 group have also been successfully utilized to construct a diverse range of chiral cyclic frameworks in high stereoselectivity.
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Crop resilience refers to the adaptive ability of crops to resist drought at a certain level. Currently, most of the research focuses on the changes in root or photosynthesis traits of crops after drought and rehydration. Still, the persistence effect (drought period (T2) - rehydration period (T3) - harvest period (T4)) of drought stress on crops and quantitative estimation of resilience is still unclear. Field experiments were conducted in this study to determine the persistence effects on above-ground and below-ground growth indicators of summer maize at different levels and durations of drought. Next, an evaluation method for integrated resilience of summer maize was proposed, and a quantitative assessment of integrated resilience was made by Principal Component Analysis (PCA) and resilience index calculation. The results showed that the resilience of summer maize decreased with increasing drought levels, which persisted until harvest. Although summer maize resilience was strong after rewatering under light drought (DR1), declined after sustained rewatering. At the same time, production had decreased. However, a specific drought duration could improve the resilience of summer maize under light drought conditions. In particular, leaf biomass and root growth in the 30-50 cm layer could be enhanced under long duration light drought (LDR1), thus improving summer maize resilience and yield. Thus, under water shortage conditions, a certain level and duration drought could improve the resilience and yield of summer maize, which would persist until harvest. Clarifying the persistent effects on the growth indicators of summer maize and quantitatively evaluating the resilience of summer maize could improve agricultural food production and water use efficiency.
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The investigation of a Lewis base catalyzed asymmetric allylic amination of Morita-Baylis-Hillman carbonates derived from isatins afforded an electrophilic pathway to access multifunctional oxindoles bearing a C3-quaternary stereocenter, provided with good to excellent enantioselectivity (up to 94% ee) and in high yields (up to 97%).
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The permanental sum of a graph G can be defined as the sum of absolute value of coefficients of permanental polynomial of G. It is closely related to stability of structure of a graph, and its computing complexity is #P-complete. Pentagon-chain polymers is an important type of organic polymers. In this paper, we determine the upper and lower bounds of permanental sum of pentagon-chain polymers, and the corresponding pentagon-chain polymers are also determined.
RESUMEN
An asymmetric exo-Diels-Alder reaction of α-methylene carbonyl compounds, generated in situ from stable methiodide salts of Mannich bases, with 2,4-dienals, has been developed through trienamine activation of a chiral secondary amine. A spectrum of spirocyclanes with high molecular complexity was efficiently constructed in moderate to excellent diastereo- and enantioselectivity.