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We need to predict mathematical model of the system and a priori knowledge of the noise statistics when traditional simultaneous localization and mapping (SLAM) solutions are used. However, in many practical applications, prior statistics of the noise are unknown or time-varying, which will lead to large estimation errors or even cause divergence. In order to solve the above problem, an innovative cubature Kalman filter-based SLAM (CKF-SLAM) algorithm based on an adaptive cubature Kalman filter (ACKF) was established in this paper. The novel algorithm estimates the statistical parameters of the unknown system noise by introducing the Sage-Husa noise statistic estimator. Combining the advantages of the CKF-SLAM and the adaptive estimator, the new ACKF-SLAM algorithm can reduce the state estimated error significantly and improve the navigation accuracy of the SLAM system effectively. The performance of this new algorithm has been examined through numerical simulations in different scenarios. The results have shown that the position error can be effectively reduced with the new adaptive CKF-SLAM algorithm. Compared with other traditional SLAM methods, the accuracy of the nonlinear SLAM system is significantly improved. It verifies that the proposed ACKF-SLAM algorithm is valid and feasible.

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Abstract:A sequential anode-cathode double-chamber microbial fuel cell (MFC), in which the effluent of anode chamber was used as a continuous feed for an aerated cathode chamber, was constructed in this experiment to investigate the performance of brewery wastewater treatment in conjugation with electricity generation. Carbon fiber was used as anode and plain carbon felt with biofilm as cathode. When hydraulic retention time (HRT) was 14. at an external resistance of 300 Ω. To estimate the electrochemical performance of the MFC, electrochemical measurements were carried out and showed that polarization resistance of anode was the major limiting factor in the MFC. Since a high COD removal efficiency was achieved, we conclude that the sequential anode-cathode MFC constructed with bio-cathode in this experiment could provide a new approach for brewery wastewater treatment.