This book focuses specifically on the environmental issues related to the air pollution control and design. It is divided into four parts: (1) Fundamentals of air pollution control, (2) fundamentals of energy utilization, (3) gaseous control and design, and (4) particulate control and design, each consisting of four to six chapters. The topics covered in this book not only introduce the basic concepts of air pollution control and design but also address the fundamentals of energy utilization in the context of good engineering practice and policy instruments. It also features several innovative technologies and integrated methodologies relating to gaseous and particulate matter control and design. To facilitate technology integration and meet the need for comprehensive information on sustainable development, the book discusses a wide range of areas concerning the principles, applications, and assessment of air pollution control and design and thermodynamics, heat transfer, advanced combustion and renewable energy for energy utilization. It also features regulations and policy instruments adopted around the globe as well as several case studies. Presenting the emerging challenges, new concepts, innovative methodologies, and resolving strategies, as well as illustrative and inspiring case studies, it appeals to a wide range of readers, such as researchers, graduate students, engineers, policy makers, and entrepreneurs.

This book offers a systematic and comprehensive introduction to the visual simultaneous localization and mapping (vSLAM) technology, which is a fundamental and essential component for many applications in robotics, wearable devices, and autonomous driving vehicles. The book starts from very basic mathematic background knowledge such as 3D rigid body geometry, the pinhole camera projection model, and nonlinear optimization techniques, before introducing readers to traditional computer vision topics like feature matching, optical flow, and bundle adjustment. The book employs a light writing style, instead of the rigorous yet dry approach that is common in academic literature. In addition, it includes a wealth of executable source code with increasing difficulty to help readers understand and use the practical techniques. The book can be used as a textbook for senior undergraduate or graduate students, or as reference material for researchers and engineers in related areas.

This book offers a systematic and comprehensive introduction to the visual simultaneous localization and mapping (vSLAM) technology, which is a fundamental and essential component for many applications in robotics, wearable devices, and autonomous driving vehicles. The book starts from very basic mathematic background knowledge such as 3D rigid body geometry, the pinhole camera projection model, and nonlinear optimization techniques, before introducing readers to traditional computer vision topics like feature matching, optical flow, and bundle adjustment. The book employs a light writing style, instead of the rigorous yet dry approach that is common in academic literature. In addition, it includes a wealth of executable source code with increasing difficulty to help readers understand and use the practical techniques. The book can be used as a textbook for senior undergraduate or graduate students, or as reference material for researchers and engineers in related areas.

The book is the first thorough study of the role of phosphorus chemistry in the origin of life. This book starts with depiction of the phosphorus role in life creation and evolution. Then it outlines in vital processes how different phosphorus-containing compounds participate as biomarker in life evolution. Written by renowned scientists, it is suitable for researchers and students in organic phosphorus chemistry and biochemistry.

Although the letter of credit is essentially an international instrument with an age-old pedigree, a troubling number of serious disputes still founder on national provisions with respect to the fraud rule (or fraud exception). The rule is embodied in several major international agreements, but its adjudication takes place under national statutes in which - in the opinion of Judge Xiang Gao of the Supreme People's Court of the People's Republic of China (PRC) - a significant degree of further refinement and harmonization is called for. Dr. Gao finds the best provisions and practices in respect of the fraud rule in the United States, the United Kingdom, Canada, and Australia, and applies these standards to the reformulation of the fraud rule in the PRC. In the process he surveys the entire field of the fraud rule in the law of letters of credit in its substantive aspects, thus going deeper than mere banking law analyses and revealing, for the benefit of jurists everywhere, the fundamental legal issues that must underlie all sound judicial reasoning in the area. In more practical terms, this approach also allows judges to meet their essential responsibility - that of giving an answer when a case is put before them - with the widest and best possible degree of discernment. Among the many factors contributing to the law and practice pertaining to letters of credit, Dr. Gao finds the following elements, among others, particularly relevant to his subject: the ICC Rules; the UNCITRAL Convention; Article 5 of the UCC; Sztejn versus J. Henry Schroder Banking Corp; US-Iranian cases; and the United City Merchants case. Drawing on all of these elements - as well as on the drafting process of the Supreme People's Court that led to a new fraud rule provision in 2001 - Dr. Gao gives us a wide-ranging judicial analysis of this subject.