The state-of-the-art visual simultaneous localization and mapping (V-SLAM) systems have high accuracy localization capabilities and impressive mapping effects. However, most of these systems assume that the operating environment is static, thereby limiting their application in the real dynamic world. In this paper, by fusing the information of an RGB-D camera and two encoders that are mounted on a differential-drive robot, we aim to estimate the motion of the robot and construct a static background OctoMap in both dynamic and static environments. A tightly coupled feature-based method is proposed to fuse the two types of information based on the optimization. Dynamic pixels occupied by dynamic objects are detected and culled to cope with dynamic environments. The ability to identify the dynamic pixels on both predefined and undefined dynamic objects is available, which is attributed to the combination of the CPU-based object detection method and a multiview constraint-based approach. We first construct local sub-OctoMaps by using the keyframes and then fuse the sub-OctoMaps into a full OctoMap. This submap-based approach gives the OctoMap the ability to deform, and significantly reduces the map updating time and memory costs. We evaluated the proposed system in various dynamic and static scenes. The results show that our system possesses competitive pose accuracy and high robustness, as well as the ability to construct a clean static OctoMap in dynamic scenes.

With the advent of the "Internet plus" era, the Internet of Things (IoT) is gradually penetrating into various fields, and the scale of its equipment is also showing an explosive growth trend. The age of the "Internet of Everything" is coming. The integration and diversification of IoT terminals and applications make IoT more vulnerable to various intrusion attacks. Therefore, it is particularly important to design an intrusion detection model that guarantees the security, integrity and reliability of the IoT. Traditional intrusion detection technology has the disadvantages of low detection rate and poor scalability, which cannot adapt to the complex and changeable IoT environment. In this paper, we propose a particle swarm optimization-based gradient descent (PSO-LightGBM) for the intrusion detection. In this method, PSO-LightGBM is used to extract the features of the data and inputs it into one-class SVM (OCSVM) to discover and identify malicious data. The UNSW-NB15 dataset is applied to verify the intrusion detection model. The experimental results show that the model we propose is very robust in detecting either normal or various malicious data, especially small sample data such as Backdoor, Shellcode and Worms. INDEX TERMS Intrusion detection, Internet of Things (IoT), particle swarm optimization (PSO), oneclass SVM(OCSVM)

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Due to the excellent current carrying performance of Bi2Sr2CaCu2O8+x (Bi-2212) and the development of its industrial manufacturing technology, Bi-2212 is a promising material to be developed as superconductor for application in fusion reactor magnets. The cable-in-conduit conductor (CICC) concept is often chosen for the development of large-scale magnets because of their high stability. Bi-2212 is presently the only kind of copper oxide superconducting material which can be made into solid round wire, which provides a good basis for developing CICCs. The over pressure (OP) heat treatment can significantly improve the superconducting performance of Bi-2212 wires but it also reduces the wire diameter by ∼5%. This leads to an increase of the void fraction of CICCs, typically from 30% to 40% for a CICC with ITER scale dimensions. A pre-OP heat treatment before OP is proposed in this study. The reduction of the wire diameter can be completed before the formation of the continuous superconducting phase, which would dramatically decrease the CICC void fraction. One Bi-2212 cable consisting of 84 wires, was first pre-OP heat treated successfully and after completing the OP heat treatment, the cable’s transport performance was tested. The results showed good performance with a critical current (I c) of 35.7 kA at 5.8 T background field in 4.2 K, which is consistent with the predication.

Occupied grid maps are sufficient for mobile robots to complete metric navigation tasks in domestic environments. However, they lack semantic information to endow the robots with the ability of social goal selection and human-friendly operation modes. In this paper, we propose an object semantic grid mapping system with 2D Light Detection and Ranging (LiDAR) and RGB-D sensors to solve this problem. At first, we use a laser-based Simultaneous Localization and Mapping (SLAM) to generate an occupied grid map and obtain a robot trajectory. Then, we employ object detection to get an object’s semantics of color images and use joint interpolation to refine camera poses. Based on object detection, depth images, and interpolated poses, we build a point cloud with object instances. To generate object-oriented minimum bounding rectangles, we propose a method for extracting the dominant directions of the room. Furthermore, we build object goal spaces to help the robots select navigation goals conveniently and socially. We have used the Robot@Home dataset to verify the system; the verification results show that our system is effective.

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