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This paper improves the accuracy of a mine robot’s positioning and mapping for rapid rescue. Specifically, we improved the FastSLAM algorithm inspired by the lion swarm optimization method. Through the division of labor between different individuals in the lion swarm optimization algorithm, the optimized particle set distribution after importance sampling in the FastSLAM algorithm is realized. The particles are distributed in a high likelihood area, thereby solving the problem of particle weight degradation. Meanwhile, the diversity of particles is increased since the foraging methods between individuals in the lion swarm algorithm are different so that improving the accuracy of the robot’s positioning and mapping. The experimental results confirmed the improvement of the algorithm and the accuracy of the robot.

The jump Markov cardinality balanced multi-target multi-Bernoulli (JM-CBMeMBer) filter can estimate both state and number of targets from uncertain measurements. To deal with high computational complexity and imprecise estimations of the existing JM-CBMeMBer filters, we put forward a novel Rao-Blackwellized JM-CBMeMBer filter and its sequential Monte Carlo implementation in this paper. Different from the previous works, we first divide target state space into the nonlinear and linear components based on the Rao-Blackwellized theory, where the linear component is estimated by the Kalman filter (KF) and the results are applied to extract the nonlinear component in lower dimension state space. Moreover, the track management scheme is considered to simplify tracking parameters and distinguish target track. After analysis on computational complexity, the optimised Rao-Blackwellized filtering scheme is presented to reduce the number of the KF recursions. As a result, the computational complexity is reduced and the estimation accuracy is improved owing to small estimation covariance during the whole filtering process. Finally, the numerical simulation results are provided to show the reliability and efficiency of the proposed filter. [ABSTRACT FROM AUTHOR]

This work presents the relation between the fragment density and the permanent residual stress in fragmented tempered glasses of various thicknesses. Therefore, fracture tests were carried out on tempered glass plates and the fragments in observation fields of 50 mm × 50 mm were counted. The average fragment density in the observation fields was set in correlation with the average measured residual stress of each specimen. Furthermore, the average particle weight of 130 particles per specimen chosen by random was determined. The relation between the average particle weight and the measured residual stress is given. The volume and the base surface as well as the radius of the particles are calculated assuming cylindrical fragments with approximately unchanged thicknesses. The relation between the residual stress and the particle base surface of regular polygonal shapes n=3–8 edges in addition to the cylindrical fragment (n→∞) is also determined. The glass used for the fracture tests was commercial soda-lime-silica glass with three different thicknesses 4, 8 and 12 mm. The results in this work are a basis for the establishment of a theoretical model to predict macro-scale fracture patterns from elastic strain energy in tempered glass.

This paper improves the accuracy of a mine robot's positioning and mapping for rapid rescue. Specifically, we improved the FastSLAM algorithm inspired by the lion swarm optimization method. Through the division of labor between different individuals in the lion swarm optimization algorithm, the optimized particle set distribution after importance sampling in the FastSLAM algorithm is realized. The particles are distributed in a high likelihood area, thereby solving the problem of particle weight degradation. Meanwhile, the diversity of particles is increased since the foraging methods between individuals in the lion swarm algorithm are different so that improving the accuracy of the robot's positioning and mapping. The experimental results confirmed the improvement of the algorithm and the accuracy of the robot. [ABSTRACT FROM AUTHOR]

The effect of solubilized cholesterol and 1-monoolein on the size of micellar aggregates of sodium taurocholate (3α,7α,12α-trihydroxy-5β-cholanoyl taurine) has been determined in vitro.Measurements of the self-diffusion coefficient of sodium taurocholate (0.15 m in Na+) at 37°C and pH 7.4 led to the conclusion that at concentrations above the critical micelle concentration (6.7 mm) the solutions contain, besides monomeric ions, a single micellar species containing five taurocholate ions. In the presence of cholesterol, much larger micelles are formed, apparently containing one molecule of cholesterol and 25 of taurocholate. These mixed micelles coexist with small micelles of pure taurocholate as well as the taurocholate monomers. The addition of 1-monoolein increases the solubility of cholesterol in the taurocholate solution, but not by reducing the size of the micelle into which the cholesterol will fit: three-component micelles (monoolein-taurocholate-cholesterol) are, if their diffusion coefficients are any guide, still larger than taurocholate-cholesterol micelles. The molar ratio of cholesterol to taurocholate is higher in these solutions than in the absence of monoolein.Comparison with work by other authors on taurodeoxycholate-cholesterol micelles suggests that more than 25 molecules of either dihydroxy or trihydroxy bile salts are needed to transport each molecule of cholesterol through an aqueous solution in the absence of other amphipathic molecules.