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The coal reserves overlain by buildings, water bodies and railways are estimated to be about 14 billion tons in China. Based on the concept of green mining, in order to save the unit energy, Double pumps in parallel forms of pumping are adopted in 0the paste filling of the pumping system. The optimal solution of the objective function could be obtained by taking the unit flow power of the pumping system as the objective function, using the quadratic polynomial by the least square method curve fitting and by the application of MATLAB. Thereby it is possible to reduce power consumption and increase the efficiency of the operating economy in the paste filling station.

The purpose of this study is to investigate the deformation characteristics and failure modes of the right bank slope of Xiluodu Hydropower Station after excavation.

Micro-seismic monitoring technology is applied to obtain the microfracture information and study the internal damage evolution law of the slope rock mass. A numerical model for discontinuous deformation analysis (DDA) is established to analyse the deformation characteristics and failure mode of the slope. Micro-seismic monitoring and DDA can verify and supplement each other's results in the investigation of slope failure.

The results show that the slope has a downhill displacement along the weathered zone under natural conditions; the maximum resultant displacement at the monitoring point is 380 mm. The micro-seismic events are concentrated in an area located 30–100 m horizontally away from the slope surface and at an elevation of 390–470 m. The distribution of these micro-seismic events is consistent with the location of the unloading and weathered zones; it is the same as the DDA simulation result.

The study is anticipated to be used as reference for the stability analysis of rock slopes. By combining the continuous (micro-seismic monitoring technology) and discontinuous (DDA) methods, the entire process starting from the gradual accumulation of internal rock micro-damage to the macroscopic discontinuous deformation and failure of the slope can be investigated.

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches.

In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust.

Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM.

In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.