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Wheeled robots have been widely used in People’s Daily life. Accurate positioning is the premise of autonomous navigation. In this paper, an optimization-based visual-inertial-wheel odometer tightly coupled system is proposed, which solves the problem of failure of visual inertia initialization due to unobservable scale.The aim of this paper is to achieve robust localization of visually challenging scenes.

During system initialization, the wheel odometer measurement and visual-inertial odometry (VIO) fusion are initialized using maximum a posteriori (MAP). Aiming at the visual challenge scene, a fusion method of wheel odometer and inertial measurement unit (IMU) measurement is proposed, which can still be robust initialization in the scene without visual features. To solve the problem of low track accuracy caused by cumulative errors of VIO, the local and global positioning accuracy is improved by integrating wheel odometer data. The system is validated on a public data set.

The results show that our system performs well in visual challenge scenarios, can achieve robust initialization with high efficiency and improves the state estimation accuracy of wheeled robots.

To realize robust initialization of wheeled robot, wheel odometer measurement and vision-inertia fusion are initialized using MAP. Aiming at the visual challenge scene, a fusion method of wheel odometer and IMU measurement is proposed. To improve the accuracy of state estimation of wheeled robot, wheel encoder measurement and plane constraint information are added to local and global BA, so as to achieve refined scale estimation.

To ensure the stable operation of ironmaking process and the quality and output of sinter, the multi-objective optimization of sintering machine batching process was carried out.

The purpose of this study is to establish a multi-objective optimization model with iron taste content and batch cost as targets, constrained by field process requirements and sinter quality standards, and to propose an improved balance optimizer algorithm (LILCEO) based on a lens imaging anti-learning mechanism and a population redundancy error correction mechanism. In this method, the lens imaging inverse learning strategy is introduced to initialize the population, improve the population diversity in the early iteration period, avoid falling into local optimal in the late iteration period and improve the population redundancy error correction mechanism to accelerate the convergence rate in the early iteration period.

By selecting nine standard test functions of BT series for simulation experiments, and comparing with NSGA-?, MOEAD, EO, LMOCSO, NMPSO and other mainstream optimization algorithms, the experimental results verify the superior performance of the improved algorithm. The results show that the algorithm can effectively reduce the cost of sintering ingredients while ensuring the iron taste of sinter, which is of great significance for the comprehensive utilization and quality assurance of sinter iron ore resources.

An optimization model with dual objectives of TFe content and raw material cost was developed taking into account the chemical composition and quality indicators required by the blast furnace as well as factors such as raw material inventory and cost constraints. This model was used to adjust and optimize the sintering raw material ratio. Addressing the limitations of existing optimization algorithms for sintering raw materials including low convergence accuracy slow speed limited initial solution production and difficulty in practical application we proposed the LILCEO algorithm. Comparative tests with NSGA-III MOEAD EO LMOCSO and NMPSO algorithms demonstrated the superiority of the proposed algorithm. Practical applications showed that the proposed method effectively overcomes many limitations of the current manual raw material ratio model providing scientific and stable decision-making guidance for sintering production operations.

Food taste is essential for customer satisfaction and loyalty with food products and services. This study examines how ethnic cues influence taste perceptions in the growing traditional food sector.

Two experiments were conducted among students, faculty and staff members of two Taiwanese universities. The first experiment manipulated congruence of three ethnic cues (chef, wait staff and atmosphere) in an ethnic food setting, the second manipulated local identity salience and cue congruence for chefs in a local traditional food setting.

Ethnic congruities between food and chefs, wait staff and atmospherics increase perceived taste of traditional dishes, mediated by perceptions of authenticity and enhanced by consumer cosmopolitanism. In local traditional food settings, the indirect effect of ethnic congruence was found only when subjects perceived strong local identity. Cosmopolitanism played a negative role in the local traditional food setting.

The findings of this research provide insights into the potential taste management for both ethnic and local traditional food products and services and aid in the development of marketing strategies based on ethnic cues.

This research extends understanding of accessibility-diagnosticity theory to food judgments, empirically testing the implicit theory that ethnic food presented with ethnically congruent cues tastes better. To our knowledge, this is the first investigation distinguishing the different effects of ethnic cues on actual perceived taste for unfamiliar ethnic food and familiar local traditional food.

The purpose of this paper is to combine triboelectric nanogeneration technology with ball bearing structure to achieve energy collection and fault monitoring.

In this paper, according to the rotation mode of ball bearings, the freestanding mode of triboelectric nanogeneration is selected to design and manufacture a novel triboelectric nanogeneration device Rolling Ball Triboelectric Nanogenerator (RB-TENG) which combines rotary energy collection with ball bearing fault self-sensing.

The 10,000s continuous operation experiment of the RB-TENG is carried out to verify its robustness. The accurate feedback relationship between the RB-TENG and rotation velocity can be demonstrated by the fitting comparison between the theoretical and experimental electrical signal periods at a certain time. By comparing the output electrical signals of the normal RB-TENG and the rotor spalling RB-TENG and polytetrafluoroethylene (PTFE) balls with different degrees of wear at 500 r/min, it can be concluded that the RB-TENG has an ideal monitoring effect on the radial clearance distance of bearings. The spalling fault test of the RB-TENG stator inner ring and rotor outer ring is carried out.

Through coupling experiments of rotor spalling fault of the RB-TENG and PTFE balls fault with different degrees of wear, it can be seen that when rotor spalling fault occurs, balls wear has a greater impact on the normal operation of the RB-TENG, and it is easier to identify. The fault self-sensing ability of the RB-TENG can be obtained, which is expected to provide an effective scheme for monitoring the radial wear clearance distance of ball bearings.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-08-2024-0295/