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Mobile robot localization has attracted substantial consideration from the scientists during the last two decades. Mobile robot localization is the basics of successful navigation in a mobile network. Localization plays a key role to attain a high accuracy in mobile robot localization and robustness in vehicular localization. For this purpose, a mobile robot localization technique is evaluated to accomplish a high accuracy. This paper provides the performance evaluation of three localization techniques named Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and Particle Filter (PF). In this work, three localization techniques are proposed. The performance of these three localization techniques is evaluated and analyzed while considering various aspects of localization. These aspects include localization coverage, time consumption, and velocity. The abovementioned localization techniques present a good accuracy and sound performance compared to other techniques.

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An Al-Mg-Si alloy was friction stir welded (FSW), and the microstructure of the zigzag line in the welds was investigated using optical microscopy, energy dispersive X-ray spectroscopy and scanning electron microscopy. The effect of the zigzag line on the mechanical properties of the as welded joints was also examined. It was found that in the welds with high heat input, small discontinuous cavities or microcracks of several micrometres in size exist along the zigzag line, and the microcracked zigzag line was found to significantly affect the face bend properties of the FSW joint, but had limited influence on the tensile properties of the butt welds. In joints with low heat input, the zigzag line was only composed of oxide particles, no cavities or microcracks were detected at the zigzag line.

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