In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer. It utilizes the displacement increment of visual output and UWB ranging information as measurement values and applies the extended Kalman filtering algorithm for data fusion. This study utilized the constructed experimental platform to collect images and ultra-wideband ranging data in outdoor environments and experimentally validated the combined positioning method. The experimental results show that the algorithm outperforms individual UWB or loosely coupled combination positioning methods in terms of positioning accuracy. It effectively eliminates non-line-of-sight errors in UWB, improving the accuracy and stability of the combined positioning system.
The development of the paper industry has led to the discharge of a large amount of papermaking waste liquid containing lignosulfonate. These lignin black liquids cause a lot of pollution in nature, which runs counter to the current environmental protection strategy under the global goal. Through the development and use of lignosulfonate in papermaking waste liquid to increase the utilization of harmful substances in waste liquid, we aim to promote waste liquid treatment and reduce environmental pollution. This paper proposes a new strategy to synthesize novel glue-free biocomposites with high-performance interfacial compatibility from papermaking by-product sodium lignosulfonate/chitosan (L/C) and waste bamboo. This L/C bamboo biocomposite material has good mechanical properties and durability, low formaldehyde emissions, a high recovery rate, meets the requirements of wood-based panels, and reduces environmental pollution. This method is low in cost, has the potential for large-scale production, and can effectively reduce the environmental pollution of the paper industry, promoting the recycling of biomass and helping the future manufacture of glue-free panels, which can be widely used in the preparation of bookcase, furniture, floor and so on.
We analyzed the problematic textile fiber waste as potential precursor material to produce multilayer cotton fiber biocomposite. The properties of the products were better than the current dry bearing type particleboards and ordinary dry medium-density fiberboard in terms of the static bending strength (67.86 MPa), internal bonding strength (1.52 MPa) and water expansion rate (9.57%). The three-layer, four-layer and five-layer waste cotton fiber composite (WCFC) were tried in the experiment, the mechanical properties of the three-layer WCFC are insufficient, the five-layer WCFC is too thick and the four-layer WCFC had the best comprehensive performance. The cross-section morphology of the four-layer WCFC shows a dense structure with a high number of adhesives attached to the fiber. The hardness and stiffness of the four-layer cotton fiber composite enhanced by the high crystallinity of cellulose content, and several chemical bondings were presence in the composites. Minimum mass loss (30%) and thermal weight loss rate (0.70%/°C) was found for the four-layer WCFC. Overall, our findings suggested that the use of waste cotton fiber (WCF) to prepare biocomposite with desirable physical and chemical properties is feasible, and which can potentially be used as building material, furniture and automotive applications.
Cotton Fiber , Textiles , Cellulose/chemistry
