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Robust Vehicle-Infrastructure Localization Using Factor Graph and Probability Data Association
Feihu Zhang,Mingyong Liu,Dhiraj Gulati,Alois Knoll 한국통신학회 2018 Journal of communications and networks Vol.20 No.4
This paper presents a robust graph-based optimizationframework for vehicle-infrastructure cooperative localization. Compared to the state-of-the-art approaches, the proposed solutionkeeps high performance in presence of unknown data associationenvironments. In this paper, the association probability of eachmeasurement is calculated, and then assigned to the correspondingedges on the graph, in which the nonlinear least square method isutilized to optimize the state. Thus the proposed approach presentsa robust framework in the presence of high association uncertaintyduring vehicle-infrastructure cooperative localization, in which thecorresponding weights from outliers are lower than the true vehicles. The experimental results demonstrate the good robustness insimulated data.
Xiaowei Ding,Kaihui Liu,Yonggui Zhang,Feihu Liu 한국미생물학회 2017 The journal of microbiology Vol.55 No.11
In the present study, we identified genes that are putatively involved in the production of fungal 10-hydroxycamptothecin via transcriptome sequencing and characterization of the Xylaria sp. M71 treated with salicylic acid (SA). A total of 60,664,200 raw reads were assembled into 26,044 unigenes. BLAST assigned 8,767 (33.7%) and 10,840 (41.6%) unigenes to 40 Gene Ontology (GO) annotations and 108 Kyoto Encyclopedia of Genes and Genomes (KEGG) pathways, respectively. A total of 3,713 unigenes comprising 1,504 upregulated and 2,209 downregulated unigenes were found to be differentially expressed between SA-induced and control fungi. Based on the camptothecin biosynthesis pathway in plants, 13 functional genes of Xylaria sp. M71 were mapped to the mevalonate (MVA) pathway, suggesting that the fungal 10-hydroxycamptothecin is produced via the MVA pathway. In summary, analysis of the Xylaria sp. M71 transcriptome allowed the identification of unigenes that are putatively involved in 10-hydroxycamptothecin biosynthesis in fungi.