This paper presents the first 3D LIDAR (light detection and ranging) constructed from two 1D FPCB (flexible printed circuit board) oscillation mirrors and one single-point LIDAR with a very low total cost of ∼$150 (assuming no additional angle sensor used). One FPCB mirror is for vertical scanning and the other is for horizontal scanning. The low cost is realized because of the low cost 1D FPCB mirror (a few dollars), as well as the widely available and relatively easy to make single-point LIDAR (<$100 cost for mass production). The 3D LIDAR can be used to obtain 3D map for navigation and obstacle avoidance of AGVs (automated guidance vehicles) subject to low speed and low acceleration. The FPCB mirror in this paper evolves from FPCB micromirrors previously developed but has a large aperture (20 × 20 mm). The achieved performance is: horizontal and vertical FOV (field of view) of 38° and 24°, respectively, 12.5 or 25 horizontal scanning lines, refreshing rate of 2, 4 or 8 fps (frames per second), 0.2∼20 m detection distance for low reflectivity object, and 1, 250∼5,000 points/frame when using the standard single-point LIDAR (TF03). If using a customized single-point LIDAR, the distance would be increased to 50∼80 m with 10 times more points/frame. The 3D LIDAR is suitable for AGV's navigation and obstacle avoidance. Modeling, prototyping and testing are presented. 相似文献
Graphene oxide/gold nanorod (GO/GNR) nanohybrids were synthesized with a GO- and gold-seed-mediated in situ growth method at room temperature by mixing polystyrene sulfonate (PSS) functionalized GO, secondary growth solution, and gold seeds. Compared with ex situ preparation methods of GO/GNRs or graphene (G)/GNRs, the in situ synthesis of GO/GNRs addressed the issue of the aggregation of the GNRs before their attachment onto the GO. The method is straightforward and environment-friendly. The GO/GNRs showed a remarkable photothermal effect in vitro. The temperature of the GO/GNR nanohybrids increased from 25 to 49.9 °C at a concentration of 50 μg/mL after irradiation with an 808-nm laser (0.4 W/cm2) for 6 min. Additionally, the GO/GNRs exhibited good optical and morphological stability and photothermal properties after six cycles of laser irradiation. Upon injection of the GO/GNRs into xenograft tumors, excellent computed tomography (CT) imaging properties and photothermal effect were obtained. The preclinical CT agent iohexol was combined with the GO/GNRs and further enhanced CT imaging. Therefore, the GO/GNR nanohybrids have great potential for precise CT-image-guided tumor photothermal treatment.
Driver’s collision avoidance performance has a direct link to the collision risk and crash severity. Previous studies demonstrated that the distracted driving, such as using a cell phone while driving, disrupted the driver’s performance on road. This study aimed to investigate the manner and extent to which cell phone use and driver’s gender affected driving performance and collision risk in a rear-end collision avoidance process. Forty-two licensed drivers completed the driving simulation experiment in three phone use conditions: no phone use, hands-free, and hand-held, in which the drivers drove in a car-following situation with potential rear-end collision risks caused by the leading vehicle’s sudden deceleration. Based on the experiment data, a rear-end collision risk assessment model was developed to assess the influence of cell phone use and driver’s gender. The cell phone use and driver’s gender were found to be significant factors that affected the braking performances in the rear-end collision avoidance process, including the brake reaction time, the deceleration adjusting time and the maximum deceleration rate. The minimum headway distance between the leading vehicle and the simulator during the rear-end collision avoidance process was the final output variable, which could be used to measure the rear-end collision risk and judge whether a collision occurred. The results showed that although cell phone use drivers took some compensatory behaviors in the collision avoidance process to reduce the mental workload, the collision risk in cell phone use conditions was still higher than that without the phone use. More importantly, the results proved that the hands-free condition did not eliminate the safety problem associated with distracted driving because it impaired the driving performance in the same way as much as the use of hand-held phones. In addition, the gender effect indicated that although female drivers had longer reaction time than male drivers in critical situation, they were more quickly in braking with larger maximum deceleration rate, and they tended to keep a larger safety margin with the leading vehicle compared to male drivers. The findings shed some light on the further development of advanced collision avoidance technologies and the targeted intervention strategies about cell phone use while driving. 相似文献
Many clustering approaches have been proposed in the literature, but most of them are vulnerable to the different cluster sizes, shapes and densities. In this paper, we present a graph-theoretical clustering method which is robust to the difference. Based on the graph composed of two rounds of minimum spanning trees (MST), the proposed method (2-MSTClus) classifies cluster problems into two groups, i.e. separated cluster problems and touching cluster problems, and identifies the two groups of cluster problems automatically. It contains two clustering algorithms which deal with separated clusters and touching clusters in two phases, respectively. In the first phase, two round minimum spanning trees are employed to construct a graph and detect separated clusters which cover distance separated and density separated clusters. In the second phase, touching clusters, which are subgroups produced in the first phase, can be partitioned by comparing cuts, respectively, on the two round minimum spanning trees. The proposed method is robust to the varied cluster sizes, shapes and densities, and can discover the number of clusters. Experimental results on synthetic and real datasets demonstrate the performance of the proposed method. 相似文献