Abstract: A method for position and/or deviation correction of a moving object in a simultaneous localization and mapping (SLAM) environment. The method comprises receiving at the moving object point cloud data for an area associated with the moving object from a sensor located at a fixed location. A processor of the moving object performs the steps of: transforming the received point cloud data to a coordinate system of the moving object; matching the transformed point cloud data with point cloud data generated by a sensor at the moving object for the area associated with the moving object; and using the matched point cloud data to determine a corrected position and/or deviation of the moving object within a selected coordinate system.

Abstract: A request processing method includes: determining, based on a request of a terminal, first network slice information of a current network slice accessed by the terminal, and acquiring second network slice information respectively corresponding to at least one subscribed network slice, the subscribed network slice being a network slice allowing access of the terminal; and determining whether there is a detection result of target second network slice information satisfying an access condition in the respective second network slice information, and controlling the current network slice based on the detection result.

Abstract: A method of preparing monopentaerythritol, dipentaerthritol, and sodium formate through high temperature condensation and cascade recrystallization is disclosed. The method lowers the energy consumption dramatically and improves the cost-effectiveness by carrying out the reaction in a non-low-temperature zone, and thereby avoiding the requirement for refrigeration. The method alleviates the difficulty of separation and improves the product quality by means of cascade separation process, and thereby avoiding the low purity from a single separation. In addition, the mother liquor obtained after each separation step is recycled to the previous step as the recycling liquor, which avoids discharging waste, increases the product yield and lowers raw materials consumption.

Abstract: A method of preparing monopentaerythritol, dipentaerthritol, and sodium formate through high temperature condensation and cascade recrystallization is disclosed. The method lowers the energy consumption dramatically and improves the cost-effectiveness by carrying out the reaction in a non-low-temperature zone, and thereby avoiding the requirement for refrigeration. The method alleviates the difficulty of separation and improves the product quality by means of cascade separation process, and thereby avoiding the low purity from a single separation. In addition, the mother liquor obtained after each separation step is recycled to the previous step as the recycling liquor, which avoids discharging waste, increases the product yield and lowers raw materials consumption.