3D LiDAR aided global navigation satellite system and the method for non-line-of-sight detection and correction

    公开(公告)号:US12123961B2

    公开(公告)日:2024-10-22

    申请号:US17659200

    申请日:2022-04-14

    发明人: Li-ta Hsu Weisong Wen

    摘要: A method for supporting positioning of a vehicle using a satellite positioning system is disclosed. The method includes generating, in real-time, a sliding window map (SWM) based on 3D point clouds from a 3D LiDAR sensor and an attitude and heading reference system (AHRS), wherein the SWM provides an environment description for detecting and correcting a non-line-of-sight (NLOS) reception; accumulating the 3D point clouds from previous frames into the SWM for enhancing a field of view (FOV) of the 3D LiDAR sensor; receiving global navigation satellite system (GNSS) measurements from satellites, by a GNSS receiver; detecting NLOS reception from the GNSS measurements using the SWM; correcting the NLOS reception by NLOS remodeling when a reflection point is not found in the SWM; and estimating a GNSS positioning by a least-squares algorithm. It is the objective to provide a method that mitigates NLOS caused by both static buildings and dynamic objects.

    COMBINED TESTBENCH TYPE AND WALKING TYPE COMPLIANT EXOSKELETON SYSTEM

    公开(公告)号:US20240335301A1

    公开(公告)日:2024-10-10

    申请号:US18132011

    申请日:2023-04-07

    发明人: Long TENG Lin LIU

    IPC分类号: A61F2/64 A61F2/66 A61F2/70

    CPC分类号: A61F2/64 A61F2/6607 A61F2/70

    摘要: A combined testbench type and walking type compliant exoskeleton system quickly and efficiently converts from a fixed testbench configuration to a mobile orthosis configuration. The addition of a series elastic actuator allows the combined testbench type and walking type compliant exoskeleton system to have a higher level of safe physical human-robot interaction and safety for users with spasticity or tremor. Alternate embodiments incorporating a combination of the rigid and compliant joints, allowing the combination of a swing test and enhancement of a user's strength for walking or other movement is also disclosed.

    REAL-TIME ULTRA-QUALITY MULTI-PARAMETRIC FOUR-DIMENSIONAL MAGNETIC RESONANCE IMAGING SYSTEM AND THE METHOD THEREOF

    公开(公告)号:US20240260848A1

    公开(公告)日:2024-08-08

    申请号:US18163913

    申请日:2023-02-03

    IPC分类号: A61B5/055 G06T7/00

    摘要: A computer-implemented method for training a convolutional neural network (CNN) using training data comprising a pair of original and downsampled 4D magnetic resonance imaging (MRI) data is provided. The CNN is used to generate multi-parametric 4D magnetic resonance (MR) images based on multi-parametric 3D MR images in real-time. The method includes receiving a 4D MR image formed by a plurality of fixed images of different frames; converting the plurality of fixed images into a plurality of k-space data by non-uniform fast Fourier transform (NUFFT); applying radial scan to the k-space data to simulate real-time MR image acquisition, and generating a plurality of downsampled fixed images by inverse NUFFT; training a CNN with training data comprising the 4D MR image and the corresponding downsampled 4D MR image; and estimating the multi-parametric 4D MR image in real-time by applying apply the predicted DVF to the multi-parametric 3D MR images.