To address the issues of low positioning accuracy and weak robustness of prior visual simultaneous localization and mapping (VSLAM) systems in dynamic environments, a semantic VSLAM (Sem-VSLAM) approach based on deep learning is proposed in this article. The proposed Sem-VSLAM algorithm adds semantic segmentation threads in parallel based on the open-source ORB-SLAM2’s visual odometry. First, while extracting the ORB features from an RGB-D image, the frame image is semantically segmented, and the segmented results are detected and repaired. Then, the feature points of dynamic objects are eliminated by using semantic information and motion consistency detection, and the poses are estimated by using the remaining feature points after the dynamic feature elimination. Finally, a 3D point cloud map is constructed by using tracking information and semantic information. The experiment uses Technical University of Munich public data to show the usefulness of the Sem-VSLAM algorithm. The experimental results show that the Sem-VSLAM algorithm can reduce the absolute trajectory error and relative attitude error of attitude estimation by about 95% compared to the ORB-SLAM2 algorithm and by about 14% compared to the VO-YOLOv5s in a highly dynamic environment and the average time consumption of tracking each frame image reaches 61 ms. It is verified that the Sem-VSLAM algorithm effectively improves the robustness and positioning accuracy in high dynamic environment and owning a satisfying real-time performance. Therefore, the Sem-VSLAM has a better mapping effect in a highly dynamic environment.

Modern studies suggest that the upper ocean heat content (OHC) in the tropical Indian Ocean (TIO) is a better qualitative predictor of the Indian summer monsoon rainfall (ISMR). But it is still unknown how the OHC is mechanically linked to ISMR and whether it can be applied to long-term climate changes. By analyzing reanalysis datasets across the 20th century, we illustrate that in contrast to those anomalies associated with stronger ISM westerlies, higher ISMR is accompanied with summer surface high pressure and east wind anomalies from the South China Sea to the Bay of Bengal (BOB), and is loosely related to increased western TIO OHC during decayed phases of positive Indian Ocean dipole (IOD) and of El Niño. Except for 1944–1968 AD, this interannually lagged ISMR response to winter OHC is insignificant, probably suppressed by those simultaneous effects of positive IOD and El Niño on ISMR. In our paleoclimatic simulations, this modern observed lagged response is interrupted by seasonally reversed insolation anomalies at the 23,000-year precessional band. Our sensitivity experiments further prove that, the ISMR can be simultaneously reduced by positive IOD-like summer OHC anomalies both for modern and precessional situations. This damping effect is mainly contributed by the warmer western TIO that triggers anomalous surface high pressure, easterly winds, and drastically reduced rainfall from BOB to Arabian Peninsula, but with slightly increased rainfall in the northern ISM region. And the cooler southeastern TIO will only moderately increase rainfall in the southern ISM region.

We prove the following conjecture of Z.-W. Sun [‘On congruences related to central binomial coefficients’, J. Number Theory 13(11) (2011), 2219–2238]. Let p be an odd prime. Then

$$ \begin{align*} \sum_{k=1}^{p-1}\frac{\binom{2k}k}{k2^k}\equiv-\frac12H_{{(p-1)}/2}+\frac7{16}p^2B_{p-3}\pmod{p^3}, \end{align*} $$

where $H_n$ is the nth harmonic number and $B_n$ is the nth Bernoulli number. In addition, we evaluate $\sum _{k=0}^{p-1}(ak+b)\binom {2k}k/2^k$ modulo $p^3$ for any p-adic integers $a, b$.

In this paper, we mainly prove the following conjectures of Sun [16]: Let p > 3 be a prime. Then

\begin{align*}&A_{2p}\equiv A_2-\frac{1648}3p^3B_{p-3}\ ({\rm{mod}}\ p^4),\\&A_{2p-1}\equiv A_1+\frac{16p^3}3B_{p-3}\ ({\rm{mod}}\ p^4),\\&A_{3p}\equiv A_3-36738p^3B_{p-3}\ ({\rm{mod}}\ p^4),\end{align*}

where $A_n=\sum_{k=0}^n\binom{n}k^2\binom{n+k}{k}^2$ is the nth Apéry number, and Bn is the nth Bernoulli number.

The asymptotic behavior of the Jaccard index in G(n, p), the classical Erdös–Rényi random graph model, is studied as n goes to infinity. We first derive the asymptotic distribution of the Jaccard index of any pair of distinct vertices, as well as the first two moments of this index. Then the average of the Jaccard indices over all vertex pairs in G(n, p) is shown to be asymptotically normal under an additional mild condition that $np\to\infty$ and $n^2(1-p)\to\infty$.

The release of GNSS raw data on Android smartphones provides the potential for high-precision smartphone positioning using multi-constellation and multi-frequency signals. However, severe multipath and low observation quality in kinematic environments make double-differenced uncombined ambiguities difficult to resolve reliably. To address this, the paper proposes an improved wide-lane (WL) integer ambiguity resolution (IAR) method that combines integer rounding and the Least-Square AMBiguity Decorrelation Adjustment (LAMBDA) methods. The proposed method achieved fix rates of 57% to 70% in challenging environments, with an average improvement of 7 · 7% in horizontal positioning accuracy compared to the float solution. The traditional partial integer rounding method only improved accuracy by 1 · 1%.

In this paper, we mainly prove the following conjectures of Z.-W. Sun (J. Number Theory 133 (2013), 2914–2928): let $p>2$ be a prime. If $p=x^2+3y^2$ with $x,y\in \mathbb {Z}$ and $x\equiv 1\ ({\rm {mod}}\ 3)$, then

\[ x\equiv\frac14\sum_{k=0}^{p-1}(3k+4)\frac{f_k}{2^k}\equiv\frac12\sum_{k=0}^{p-1}(3k+2)\frac{f_k}{({-}4)^k}\ ({\rm{mod}}\ p^2), \]

$p\equiv 1\pmod 3$

\[ \sum_{k=0}^{p-1}\frac{f_k}{2^k}\equiv\sum_{k=0}^{p-1}\frac{f_k}{({-}4)^k}\ ({\rm{mod}}\ p^3), \]

$f_n=\sum _{k=0}^n\binom {n}k^3$

$n$

A method is presented for configuration selection to obtain the best tip-over stability of a modular reconfigurable mobile manipulator (MRMM) under various application situations. The said MRMM consists of a modular reconfigurable robot (MRR) mounted on a mobile platform. The MRR in different configurations creates different wrenches onto the mobile platform, leading to different tip-over moments of the MRMM, even though the joint speeds or tip speeds remain the same. The underlying problem pertains to selecting one configuration of MRR for reconfiguration that would obtain the best tip-over stability under a given application. First, all the permissible configurations are identified through an enumeration method. Then, the feasible configurations are determined based on application-oriented workspace classifications. At last, two workspace indices, vertical reach and horizontal reach, are used to select an optimal configuration. The tip-over stability analysis and evaluation of MRMM are carried out for verification for three cases including vertical, horizontal, and general 3D space applications. The results demonstrate the effectiveness of the proposed method.

We prove a higher genus version of the genus $0$ local-relative correspondence of van Garrel-Graber-Ruddat: for $(X,D)$ a pair with X a smooth projective variety and D a nef smooth divisor, maximal contact Gromov-Witten theory of $(X,D)$ with $\lambda _g$-insertion is related to Gromov-Witten theory of the total space of ${\mathcal O}_X(-D)$ and local Gromov-Witten theory of D.

Specializing to $(X,D)=(S,E)$ for S a del Pezzo surface or a rational elliptic surface and E a smooth anticanonical divisor, we show that maximal contact Gromov-Witten theory of $(S,E)$ is determined by the Gromov-Witten theory of the Calabi-Yau 3-fold ${\mathcal O}_S(-E)$ and the stationary Gromov-Witten theory of the elliptic curve E.

Specializing further to $S={\mathbb P}^2$, we prove that higher genus generating series of maximal contact Gromov-Witten invariants of $({\mathbb P}^2,E)$ are quasimodular and satisfy a holomorphic anomaly equation. The proof combines the quasimodularity results and the holomorphic anomaly equations previously known for local ${\mathbb P}^2$ and the elliptic curve.

Furthermore, using the connection between maximal contact Gromov-Witten invariants of $({\mathbb P}^2,E)$ and Betti numbers of moduli spaces of semistable one-dimensional sheaves on ${\mathbb P}^2$, we obtain a proof of the quasimodularity and holomorphic anomaly equation predicted in the physics literature for the refined topological string free energy of local ${\mathbb P}^2$ in the Nekrasov-Shatashvili limit.

It is urgent to develop new antimalarial drugs with good therapeutic effects to address the emergence of drug resistance. Here, the artelinic acid-choline derivative (AD) was synthesized by dehydration reaction and esterification reaction, aimed to avoid the emergence of drug resistance by synergistic effect of artemisinins and choline derivative, which could compete with choline for rate-limiting enzymes in the phosphatidylcholine (PC) biosynthetic pathway. AD was formulated into liposomes (ADLs) by the thin-film hydration method. Efficacy of ADLs was evaluated by Peters 4-day suppression test. The suppression percentage against Plasmodium yoelii BY265 (PyBY265) in ADLs group was higher than those of positive control groups (dihydroartemisinin liposomes, P < 0.05) and other control groups (P ⩽ 0.05) at the doses of 4.4, 8.8, 17.6 µmol (kg·d)−1, respectively. The negative conversion fraction, recrudescence fraction and survival fraction of ADLs group were superior to other control groups. Pharmacokinetics in rats after intravenous injection suggested that ADLs exhibited higher exposure levels (indexed by area under concentration-time curve) than that of AD solution, artelinic acid liposomes or artelinic acid solution (P < 0.01). Taken together, ADLs exhibited promising antimalarial efficacy and pharmacokinetic characteristics.

We prove the genus-one restriction of the all-genus Landau–Ginzburg/Calabi–Yau conjecture of Chiodo and Ruan, stated in terms of the geometric quantization of an explicit symplectomorphism determined by genus-zero invariants. This gives the first evidence supporting the higher-genus Landau–Ginzburg/Calabi–Yau correspondence for the quintic $3$-fold, and exhibits the first instance of the ‘genus zero controls higher genus’ principle, in the sense of Givental’s quantization formalism, for non-semisimple cohomological field theories.

The aim of the study was to investigate any association between extrauterine growth restriction (EUGR) and intestinal flora of <30-week-old preterm infants. A total of 59 preterm infants were assigned to EUGR (n=23) and non-EUGR (n=36) groups. Intestinal bacteria were compared by using high-throughput sequencing of bacterial rRNA. The total abundance of bacteria in 344 genera (7568 v. 13,760; P<0.0001) and 456 species (10,032 v. 18,240; P<0.0001) was significantly decreased in the EUGR group compared with the non-EUGR group. After application of a multivariate logistic model and adjusting for potential confounding factors, as well as false-discovery rate corrections, we found four bacterial genera with higher and one bacterial genus with lower abundance in the EUGR group compared with the control group. In addition, the EUGR group showed significantly increased abundances of six species (Streptococcus parasanguinis, Bacterium RB5FF6, two Klebsiella species and Microbacterium), but decreased frequencies of three species (one Acinetobacter species, Endosymbiont_of_Sphenophorus_lev and one Enterobacter_species) compared with the non-EUGR group. Taken together, there were significant changes in the intestinal microflora of preterm infants with EUGR compared to preterm infants without EUGR.

The Beidou System (BDS) started functioning at the end of 2012. The Yaw-Steering (YS) attitude mode for Inclined Geosynchronous Orbit (IGSO) and Medium Earth Orbit (MEO) satellites in BDS ensures that the solar panels face the Sun. The orbit radial accuracies for IGSO/MEO satellites are 0·5 m and the User Equivalent Range Errors (UERE) are 1·5 m in YS mode. BDS-2 satellites adopt Orbit-Normal (ON) mode to meet the power supply and thermal control requirements of the satellite during deep Earth eclipse periods. In ON mode, long-term orbit ephemeris accuracy monitoring in the Operational Control System (OCS) of BDS indicates that the orbit accuracies for IGSO/MEOs are reduced to a few hundreds of metres, seriously affecting the positioning accuracy and navigation service capability of the BDS system. Solar Radiation Pressure (SRP) is difficult to model in ON mode. Continuous Yaw-Steering (CYS) mode is available for new generation Beidou satellites launched since 2015. The orbit accuracies for these new generation Beidou (BDS-3) satellites were estimated based on BDS monitoring station data and SRP models including ECOM 9/5/3. The evaluation method consisted of four steps, namely, orbit internal consistency analysis, UERE calculation, Satellite Laser Ranging (SLR) data fitting Root Mean Square (RMS) determinations and positioning performance analysis; the data gathering period lasted for more than 60 days and included two CYS periods and one ON period. The experiments showed that the orbit accuracy of the radial component in CYS mode for the BDS-3 satellites degrades by 2 to 3 cm and positioning accuracy degrades only by 1 cm over that in YS mode which is just a small reduction in accuracy compared with the decimetre-level BDS orbit accuracy and the metre-level single point positioning accuracy with BDS pseudorange data. This overcomes declining orbit and positioning accuracy issues in ON mode for BDS-2 satellites. Other results also show that the reliability of BDS has been improved.

The Chinese Solar and Geophysical Data (CSGD) was first issued at the Beijing Astronomical Observatory, Chinese Academy of Sciences (now the headquarter of the National Astronomical Observatories, Chinese Academy of Sciences) in 1971, when China’s satellite-industry was booming. CSGD covers the observational data (observations of the sunspots, solar flares, solar radio bursts, ionospheric storm and geomagnetic storm) from a couple of domestic observatories and the forecast data. The compiler of CSGD still keeps the data exchange with other institutes worldwide. The type of the dataset includes texts, tables, figures and so on. Up to now, we have electronized all the historic archives, making them easily accessible to people who are interested in them.

Gamma prime (γ′) stability and its influence on tensile behavior of a newly developed wrought superalloy with various Fe contents was studied both experimentally and thermodynamically. The results show that the γ′-solvus temperature is higher and γ–γ′ lattice mismatch is bigger in the alloy with the lower Fe content. During long-term thermal exposure at 650–750 °C, the coarsening behavior of γ′ precipitates follows Ostwald ripening kinetics and the lower Fe content can decrease the coarsening rate of γ′ precipitates due to the increase of the activation energy for γ′ coarsening. Moreover, the lower Fe content can retard the transformation from γ′ to η phase. The tensile properties of the alloys with different Fe contents are almost same after standard heat treatment. However, after thermal exposure, the decrease of tensile strength in the alloy with lower Fe content is less than that of the alloys with higher Fe content due to the improvement of γ′ stability.

We address a queueing control problem considering service times and conversion timesfollowing normal distributions. We formulate the multi-server queueing control problem byconstructing a semi-Markov decision process (SMDP) model. The mechanism of statetransitions is developed through mathematical derivation of the transition probabilitiesand transition times. We also study the property of the queueing control system and showthat optimizing the objective function of the addressed queueing control problem isequivalent to maximizing the time-average reward.