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Localization and mapping algorithm based on Lidar-IMU-Camera fusion

Journal of Intelligent and Connected Vehicles 2024年第2期7卷 97-107页

作者： Yibing Zhao Yuhe Liang zhenqiang ma Lie Guo Hexin Zhang School of Mechanical Engineering Dalian University of TechnologyDalian 116024China Department of the Built Environment Technology University of EindhovenEindhoven 5600MBthe Netherlands

Positioning and mapping technology is a difficult and hot topic in autonomous driving environment sensing *** a complex traffic environment,the signal of the Global Navigation Satellite System(GNSS)will be blocked,leading to inaccurate vehicle *** ensure the security of automatic electric campus vehicles,this study is based on the Lightweight and Ground-Optimized Lidar Odometry and mapping on Variable Terrain(LEGO-LOAM)algorithm with a monocular vision system *** algorithm framework based on Lidar-IMU-Camera(Lidar means light detection and ranging)fusion was proposed.A lightweight monocular vision odometer model was used,and the LEGO-LOAM system was employed to initialize monocular *** visual odometer information was taken as the initial value of the laser *** the back-end opti9mization phase error state,the Kalman filtering fusion algorithm was employed to fuse the visual odometer and LEGO-LOAM system for *** visual word bag model was applied to perform loopback *** the test results into account,the laser radar loopback detection was further optimized,reducing the accumulated positioning *** real car experiment results showed that our algorithm could improve the mapping quality and positioning accuracy in the campus *** Lidar-IMU-Camera algorithm framework was verified on the Hong Kong city dataset *** with the LEGO-LOAM algorithm,the results show that the proposed algorithm can effectively reduce map drift,improve map resolution,and output more accurate driving trajectory information.

关键词： Lightweight and Ground-Optimized Lidar Odometry and mapping on Variable Terrain(LEGO-LOAM) monocular vision system error state Kalman filter odometer

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High-performance flexible BiCMOS electronics based on single-crystal Si nanomembrane

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npj Flexible Electronics 2017年第1期1卷 1-7页

作者： Jung-Hun Seo Kan Zhang Munho Kim Weidong Zhou zhenqiang ma Department of Electrical and Computer Engineering University of Wisconsin-MadisonMadisonWI 53706USA Department of Electrical Engineering University of Texas at ArlingtonArlingtonTX 76019USA Department of materials Design and Innovation University at BuffaloThe State University of New YorkBuffaloNY 14260USA

In this work,we have demonstrated for the first time integrated flexible bipolar-complementary metal-oxide-semiconductor(BiCMOS)thin-film transistors(TFTs)based on a transferable single crystalline Si nanomembrane(Si NM)on a single piece of bendable plastic *** n-channel,p-channel metal-oxide semiconductor field-effect transistors(N-MOSFETs&P-MOSFETs),and NPN bipolar junction transistors(BJTs)were realized together on a 340-nm thick Si NM layer with minimized processing complexity at low cost for advanced flexible electronic *** fabrication process was simplified by thoughtfully arranging the sequence of necessary ion implantation steps with carefully selected energies,doses and anneal conditions,and by wisely combining some costly processing steps that are otherwise separately needed for all three types of *** types of TFTs demonstrated excellent DC and radio-frequency(RF)characteristics and exhibited stable transconductance and current gain under bending ***,Si NM-based flexible BiCMOS TFTs offer great promises for high-performance and multifunctional future flexible electronics applications and is expected to provide a much larger and more versatile platform to address a broader range of ***,the flexible BiCMOS process proposed and demonstrated here is compatible with commercial microfabrication technology,making its adaptation to future commercial use straightforward.

关键词： BiCMOS bipolar performance

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High Power SiGe X-Band (8～10GHz) Heterojunction Bipolar Transistors and Amplifiers

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Journal of Semiconductors 2006年第2期27卷 270-275页

作者： ma zhenqiang Wang Guogong Jiang Ningyue Ponchak G E Alterovitz S A Department of Electrical and Computer Engineering University of Wisconsin-Madison Madison WI 53706 USA NASA-Glenn Research Center Cleveland OH 44135 USA

Limited by increased parasitics and thermal effects as device size increases, current commercial SiGe power HBTs are difficult to operate at X-band （8--12GHz） frequencies with adequate power added efficiencies at high power levels. We find that, by changing the heterostructure and doping profile of SiGe HBTs, their power gain can be significantly improved without resorting to substantial lateral scaling. Furthermore,employing a common-base configuration with a proper doping profile instead of a common-emitter configuration improves the power gain characteristics of SiGe HBTs,thus permitting these devices to be efficiently operated at X-band frequencies. In this paper,we report the results of SiGe power HBTs and MMIC power amplifiers operating at 8 *** 10GHz,a 22.5dBm （178mW） RF output power with a concurrent gain of 7.32dB is measured at the peak power-added efficiency of 20.0%, and a maximum RF output power of 24.0dBm （250mW） is achieved from a 20 emitter finger SiGe power HBT. The demonstration of a single-stage X-band medium-power linear MMIC power amplifier is also realized at 8GHz. Employing a 10-emitter finger SiGe HBT and on-chip input and output matching passive components, a linear gain of 9.7dB, a maximum output power of 23.4dBm,and peak power add- ed efficiency of 16% are achieved from the power amplifier. The MMIC exhibits very low distortion with 3rd order intermodulation （IM） suppression C/I of -13dBc at an output power of 21,2dBm and over 20dBm 3^rd order output intercept point （OIP3）.

关键词：晶体管放大器基极发射极掺杂

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Micromolded honeycomb scaffold design to support the generation of a bilayered RPE and photoreceptor cell construct

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Bioactive materials 2023年第12期30卷 142-153页

作者： In-Kyu Lee Ruosen Xie Agustin Luz-madrigal Seunghwan Min Jingcheng Zhu Jiahe Jin Kimberly L.Edwards M.Joseph Phillips Allison L.Ludwig David M.Gamm Shaoqin Gong zhenqiang ma Department of Electrical and Computer Engineering University of Wisconsin-MadisonMadisonWI53706USA Wisconsin Institute for Discovery University of Wisconsin-MadisonMadisonWI53715USA Department of Ophthalmology and Visual Sciences University of Wisconsin-MadisonMadisonWI53705USA Department of Biomedical Engineering University of Wisconsin-MadisonMadisonWI53706USA McPherson Eye Research Institute University of Wisconsin-MadisonMadisonWI53705USA Waisman Center University of Wisconsin-MadisonMadisonWI53705USA Department of Comparative Biomedical Sciences University of Wisconsin–MadisonMadisonWI53706USA Department of materials Science and Engineering University of Wisconsin-MadisonMadisonWI53706USA Department of Engineering Physics University of Wisconsin-MadisonMadisonWI53706USA Grainger Institute for Engineering University of Wisconsin-MadisonMadisonWI53706USA

Age-related macular degeneration(AMD)causes blindness due to loss of retinal pigment epithelium(RPE)and photoreceptors(PRs),which comprise the two outermost layers of the *** the small size of the macula and the importance of direct contact between RPE and PRs,the use of scaffolds for targeted reconstruction of the outer retina in later stage AMD and other macular dystrophies is particularly *** developed microfabricated,honeycomb-patterned,biodegradable poly(glycerol sebacate)(PGS)scaffolds to deliver organized,adjacent layers of RPE and PRs to the subretinal ***,an optimized process was developed to photocure PGS,shortening scaffold production time from days to *** resulting scaffolds robustly supported the seeding of human pluripotent stem cell-derived RPE and PRs,either separately or as a dual celllayered *** advanced,economical,and versatile scaffolds can accelerate retinal cell transplantation efforts and benefit patients with AMD and other retinal degenerative diseases.

关键词： Microfabrication Retina Scaffolds Stem cells Tissue engineering

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Epidermal radio frequency electronics for wireless power transfer

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Microsystems & Nanoengineering 2016年第1期2卷 52-60页

作者： Xian Huang Yuhao Liu Gil Woo Kong Jung Hun Seo Yinji ma Kyung-In Jang Jonathan A.Fan Shimin mao Qiwen Chen Daizhen Li Hank Liu Chuxuan Wang Dwipayan Patnaik Limei Tian Giovanni A.Salvatore Xue Feng zhenqiang ma Yonggang Huang John A.Rogers Department of Biomedical Engineering School of Precision Instrument and Opto-electronics EngineeringTianjin UniversityTianjin 300072China Department of materials Science and Engineering University of Illinois at Urbana-ChampaignUrbanaIL 61801USA Department of Electrical and Computer Engineering University of Wisconsin-MadisonMadisonWI 53706USA Department of Civil and Environmental Engineering Northwestern UniversityEvanstonIL 60208USA Department of Engineering Mechanics Center for Mechanics and MaterialsTsinghua UniversityBeijing 100084China Department of Mechanical Engineering Northwestern UniversityEvanstonIL 60208USA Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologyDaegu 42988Republic of Korea Department of Electrical Engineering Stanford UniversityStanfordCA 94305USA

Epidermal electronic systems feature physical properties that approximate those of the skin,to enable intimate,long-lived skin interfaces for physiological measurements,human–machine interfaces and other applications that cannot be addressed by wearable hardware that is commercially available today.A primary challenge is power supply;the physical bulk,large mass and high mechanical modulus associated with conventional battery technologies can hinder efforts to achieve epidermal characteristics,and near-field power transfer schemes offer only a limited operating *** we introduce an epidermal,farfield radio frequency(RF)power harvester built using a modularized collection of ultrathin antennas,rectifiers and voltage *** components,separately fabricated and tested,can be integrated together via methods involving soft contact *** studies of the individual components and the overall performance in various dielectric environments highlight the key operational features of these systems and strategies for their *** results suggest robust capabilities for battery-free RF power,with relevance to many emerging epidermal technologies.

关键词： antenna design epidermal electronics modularization silicon nanomembrane soft-contact lamination specific absorption rate wireless power

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Optically pumped room temperature lowthreshold deep UV lasers grown on nativeAlN substrates

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Opto-Electronic Advances 2020年第4期3卷 1-6页

作者： Akhil Raj Kumar Kalapala Dong Liu Sang June Cho Jeongpil Park Deyin Zhao John D.Albrecht Baxter Moody zhenqiang ma Weidong Zhou Department of Electrical and Computer Engineering University of Texas at ArlingtonArlingtonTexas 76019United States Department of Electrical and Computer Engineering University of Wisconsin-MadisonMadisonWisconsin 53706United States HexaTech Inc.991 Aviation ParkwaySuite 800MorrisvilleNorth Carolina 27560United States Department of Electrical and Computer Engineering Michigan State UniversityEast LansingMichigan 48824United States.

We report here an optically pumped deep UV edge emitting laser with AlGaN multiple quantum wells(MQWs)active region grown on AlN substrate by low pressure organometallic vapor phase epitaxy(LP-OMVPE)in a high-temperature *** 21 period Al0.53Ga0.47N/Al0.7Ga0.3N MQWs laser structure was optically pumped using 193 nm deep UV excimer laser source.A laser peak was achieved from the cleaved facets at 280.3 nm with linewidth of 0.08 nm at room temperature with threshold power density of 320 kW/cm^*** emission is completely TE polarized and the side mode suppression ratio(SMSR)is measured to be around 14 dB at 450 kW/cm^2.

关键词： optically pumped AlGaN UV edge emitting laser AlN substrate

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全地下式再生水厂CASS—CMF工艺设计要点及难点解析

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给水排水 2010年第12期36卷 43-46页

作者：张颖马振强广州市市政工程设计研究院广州510060

广州国际生物岛再生水厂工程设计处理规模1万m3/d,采用CASS—CMF(连续膜过滤)工艺,构筑物为全地下式布置,要求出水达到城市杂用水水质标准,污泥采用一体化浓缩脱水处理。通过对再生水厂工艺设计的总体阐述,介绍了该工程的主要设计参数... 详细信息

广州国际生物岛再生水厂工程设计处理规模1万m3/d,采用CASS—CMF(连续膜过滤)工艺,构筑物为全地下式布置,要求出水达到城市杂用水水质标准,污泥采用一体化浓缩脱水处理。通过对再生水厂工艺设计的总体阐述,介绍了该工程的主要设计参数以及设计要点和难点。

关键词：再生水厂全地下式 CASS—CMF工艺水量平衡

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海绵城市智慧管控平台构建

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环境工程 2023年第S1期41卷 545-549页

作者：马振强隋军广东首汇蓝天工程科技有限公司广州510000

基于海绵城市建设的目标和需求,提出海绵城市智慧管控平台建设的迫切性。并从平台架构、功能模块划分、数据结构、系统维护4个方面对管控平台的设计及架构进行了详细的探讨。通过海绵城市信息化管理平台的建设,实现一张图可视化展示、... 详细信息

基于海绵城市建设的目标和需求,提出海绵城市智慧管控平台建设的迫切性。并从平台架构、功能模块划分、数据结构、系统维护4个方面对管控平台的设计及架构进行了详细的探讨。通过海绵城市信息化管理平台的建设,实现一张图可视化展示、建设情况分级显示、监测数据集成显示、考核指标动态评估、海绵城市项目信息管理、现场运行情况采集等功能,实现海绵城市建设全生命周期管理,为海绵城市的建设、运营、管理、考核评估等提供平台架构及数据支撑,为海绵城市智慧管控平台的构建提供了参考和借鉴。

关键词：海绵城市管控平台考核评估信息化数据结构

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编码混淆:一种新型匿名通信模型

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武汉大学学报（理学版） 2011年第5期57卷 401-407页

作者：吴振强马亚蕾陕西师范大学计算机科学学院陕西西安710062

无线网络的特殊性决定了它会受到多种网络攻击的威胁,目前的广播、代理、洋葱路由和包混淆等匿名通信模型都无法完全适应链路开放、拓扑结构动态变化、资源有限的无线网络.本文在比较分析了抗流量分析的匿名技术基础上,根据网络编码具... 详细信息

无线网络的特殊性决定了它会受到多种网络攻击的威胁,目前的广播、代理、洋葱路由和包混淆等匿名通信模型都无法完全适应链路开放、拓扑结构动态变化、资源有限的无线网络.本文在比较分析了抗流量分析的匿名技术基础上,根据网络编码具有混淆与伪装数据的功能,提出了一种新型编码混淆匿名通信模型.该模型通过链路层编码混淆、网络层数据包拆分与多径路由等方法相结合,使路由节点数据包出入的对应关系和信息表现形式发生变化,提高匿名通信的抗攻击能力;新模型可以实现通信的保密性与匿名性.

关键词：编码混淆网络编码多径路由匿名通信基础设施

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低氟废水深度处理技术研究

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工业水处理 2014年第9期34卷 18-21页

作者：李捷徐浩马振强汪传新隋军广州市市政工程设计研究院广东广州510060

将混凝沉淀法应用于低浓度含氟废水处理，同时对其影响因素进行了系统的研究。结果显示：当进水pH控制在6.6~7.0，PAC投加量为800 mg/L，PAM投加量为3 mg/L时，可将原水中氟离子质量浓度从20 mg/L降至5.0 mg/L，远远低于国家规定的《污... 详细信息

将混凝沉淀法应用于低浓度含氟废水处理，同时对其影响因素进行了系统的研究。结果显示：当进水pH控制在6.6~7.0，PAC投加量为800 mg/L，PAM投加量为3 mg/L时，可将原水中氟离子质量浓度从20 mg/L降至5.0 mg/L，远远低于国家规定的《污水综合排放标准》（GB 8978-1996）中的一级排放标准。

关键词：含氟废水混凝沉淀聚合氯化铝聚丙烯酰胺

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