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Cong Liu,Hui Liu,Lijin Han,Changle Xiang 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.1
This paper proposes a novel integrated multi-algorithm fusion localization and trajectory tracking framework for autonomous vehicles under extreme conditions with non-Gaussian noises. Firstly, in order to solve the problem that GPS signals are interfered with non-Gaussian noises or lost, a localization method based on Particle Filter (PF) is designed, which takes full advantage of the reference objects position information and vehicle driving state information, thus realizing the self-localization for high-speed autonomous vehicles. Besides, considering the accumulated errors of the model-driven Inertial Measurement Unit (IMU) in the long-horizon positioning prediction, an online future driving state prediction algorithm based on multi-order variable-step Markov model (MM) is proposed to calculate the future vehicle position in scenarios without reference. The fusion of these two methods can give full play to their respective advantages, thus improving the accuracy and robustness of the whole localization algorithm in scenes with non-Gaussian noises. Then, the location information and the future driving state are applied to the trajectory tracking controller based on adaptive model predictive control (AMPC). Finally, the CarSim-Matlab/Simulink cGAOo-simulations results show the effectiveness of the proposed framework when GPS signal is interfered with non-Gaussian noises, which further improve the positioning accuracy and autonomous tracking stability.
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An Optical Graphene-silicon Resonator Phase Shifter Suitable for Universal Linear Circuits
Changling Liu,Jianping Wang,Hongyao Chen,Zizheng Li 한국광학회 2022 Current Optics and Photonics Vol.6 No.1
This paper describes the construction of a phase shifter with low loss and small volume. To construct it, we use the two graphene layers that are separated by a hexagonal boron nitride (hBN) and embedded in a silicon waveguide. The refractive index of the waveguide is adjusted by applying a bias voltage to the graphene sheet to create an optical phase shift. This waveguide is a compact device that only has a radius of 5 μm. It has a phase shift of 6π. In addition, the extinction ratio (ER) is 11.6 dB and the inser-tion loss (IL) is 0.031 dB. Due to its unique characteristics, this device has great potential in silicon onchip optical interconnection and all-optical multiple-input multiple-output processing.
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An Efficient Downlink MAC Protocol for Multi-User MIMO WLANs
( Kui Liu ),( Changle Li ),( Chao Guo ),( Rui Chen ) 한국인터넷정보학회 2017 KSII Transactions on Internet and Information Syst Vol.11 No.9
Multi-User Multiple-Input Multiple-Output (MU-MIMO) technology has recently attracted significant attention from academia and industry because of it is increasingly important role in improving networks` capacity and data rate. Moreover, MU-MIMO systems for the Fifth Generation (5G) have already been researched. High Quality of Service (QoS) and efficient operations at the Medium Access Control (MAC) layer have become key requirements. In this paper, we propose a downlink MU-MIMO MAC protocol based on adaptive Channel State Information (CSI) feedback (called MMM-A) for Wireless Local Area Networks (WLANs). A modified CSMA/CA mechanism using new frame formats is adopted in the proposed protocol. Specifically, the CSI is exchanged between stations (STAs) in an adaptive way, and a packet selection strategy which can guarantee a fairer QoS for scenarios with differentiated traffic is also included in the MMM-A protocol. We then derive the expressions of the throughput and access delay, and analyze the performance of the protocol. It is easy to find that the MMM-A protocol outperforms the commonly used protocols in terms of the saturated throughput and access delay through simulation and analysis results.
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Gravity balance mechanism for a spatial robotic manipulator
Yanyan Chen,Yubin Liu,Changle Li,Gangfeng Liu,Yanhe Zhu,Jie Zhao,Hegao Cai 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.2
A gravity balance mechanism for spatial robotic manipulator is proposed. In this design, a parallelogram linkage mechanism, pulleys and springs are utilized to accomplish the balance. As a passive structure, it needs no motors or actuators, and safety is another great highlight of the mechanism. The balance mechanism can solve the balance problem of both planar 2-link mechanism and spatial 2-link mechanism (a roll-pitch-yaw-roll 2-link mechanism) by adding a rotational degree of freedom. This is a more simple and effective method to solve the balance problem of spatial linkage system, especially the linkage system of multi-degree of freedom joint. And the mechanism can be extended to solve a multilink balance problem.
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Functional mechanisms for diabetic nephropathy-associated genetic variants
Hong Xu,Chengxin Gong,Yonghu Xu,Yongfang Fan,Xingzi Liu,Chaopeng Xiong,Luling He,Changle Liu,Shenqiang Rao,Wen Xiao,Lu Ding,Lan Tang,Fangfang Hu,Mengqi Xiong,Mei Yang,Shangdong Liang 한국유전학회 2016 Genes & Genomics Vol.38 No.7
Diabetic nephropathy (DN) is one of the major complications of diabetes. A tremendous amount of genetic variations have been identified to be associated with DN. However, most of them only generate from statistical associations at the DNA level, generally without direct functional evidence regarding their association mechanisms underlying DN. Based on the publicly available datasets and resources, this study performed integrative analyses (expression quantitative trait loci analysis, differential gene expression analysis and functional prediction analysis) to detect the molecular functional mechanisms underlying the associations for DN. Among 150 selected (P\E-4) genetic associations that were archived in the public databases, two single nucleotide polymorphisms (SNPs) (rs3135377 and rs9469220) have been found to act as cis-effect regulators of the ‘‘identified’’ gene (HLADRA and HLA-DRB1). These eQTL genes have differential expression signals in the DN-associated cell groups. These SNPs were predicted as regulatory sites by utilizing online prediction tools. Our data suggest potential mechanistic links underlying the association between DN and two identified SNPs. These results could help us to have a deeper understanding of the functional relevance of genetic variants with susceptibility to DN, which is useful for pursuit of in-depth validation studies to dissect their involvements and molecular functional mechanisms in DN.
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