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This paper aims to propose a noise-robust method to estimate the frequency of the reflective echo to reduce the negative effects of noise and improve the accuracy and resolution of a resonant surface acoustic wave (SAW) sensor.

The proposed approach exploits the singular value decomposition to obtain the frequency information of a SAW response signal and overcome the noise influences.

Compared with the commonly used Fourier transform (FT) method, the accuracy and resolution improvement of the proposed method used in the SAW sensor is validated.

The system using the proposed method delivers lesser standard deviation, that is, delivers higher performance than the conventional system using the fast FT method.

The aim of this study is to numerically simulate the density-driven convection in heterogeneous porous media associated with anisotropic permeability field, which is important to the safe and stable long term CO₂ storage in laminar saline aquifers.

The study uses compact finite difference and the pseudospectral method to solve Darcy’s law.

The presence of heterogeneous anisotropy may result in non-monotonic trend of the breakthrough time and quantity of CO₂ dissolved in the porous medium, which are important to the CO₂ underground storage.

The manuscript numerically study the convective phenomena of mixture contained CO₂ and brine. The phenomena are important to the process of CO₂ enhanced oil recovery. Interesting qualitative patterns and quantitative trends are revealed in the manuscript.

With excellent mechanic properties and hydrogen embrittlement (HE) resistance, 12Cr2Mo1R(H) steel is suitable to make hot-wall hydrogenation reactors. However, longtime exposure to a harsh environment of high-pressure hydrogen at medium temperature in practical application would still induce severe hydrogen uptake and eventually damage the mechanical properties of the steel. The study aims to evaluate the HE resistance of the steel under different tensile strain rates after hydrogen charging and analyze the hydrogen effect from atomic level.

This research studied the HE properties of 12Cr2Mo1R(H) steel by slow strain rate tests. Meanwhile, the effect of hydrogen on the structures and the mechanical properties of the simplified models of the steel was also investigated by first-principle calculations.

Experimental results showed that after hydrogen pre-charging in this work, hydrogen had little effect on the microstructure of the steel. The elongations and reduction of cross-sectional area of the samples reduced a lot, by contrast, the yield and tensile strengths changed slightly. The 12Cr2Mo1R(H) steel was not very susceptible to HE with a maximum embrittlement index of about 20.00%. First principles calculation results showed that after H dissolution, lattice distortion occurred and interstitial H atoms would preferentially occupy the tetrahedral interstitial site in bcc-Fe crystal and increase the stability of the supercells. With the increase of H atoms added into the simplified model, the steel still possessed a good ductility and toughness at a low hydrogen concentration, while the material would become brittle as the concentration of hydrogen continued to increase.

These finds can provide valuable information for subsequent HE studies on this steel.

The purpose of this paper is to present a Rao–Blackwellized particle filter (RBPF) approach for the visual simultaneous localization and mapping (SLAM) of small unmanned aerial vehicles (UAVs).

Measurements from inertial measurement unit, barometric altimeter and monocular camera are fused to estimate the state of the vehicle while building a feature map. In this SLAM framework, an extra factorization method is proposed to partition the vehicle model into subspaces as the internal and external states. The internal state is estimated by an extended Kalman filter (EKF). A particle filter is employed for the external state estimation and parallel EKFs are for the map management.

Simulation results indicate that the proposed approach is more stable and accurate than other existing marginalized particle filter-based SLAM algorithms. Experiments are also carried out to verify the effectiveness of this SLAM method by comparing with a referential global positioning system/inertial navigation system.

The main contribution of this paper is the theoretical derivation and experimental application of the Rao–Blackwellized visual SLAM algorithm with vehicle model partition for small UAVs.