The Impact of Road Configuration on V2V-based Cooperative Localization

Cooperative localization with map matching has been shown to reduce Global Navigation Satellite System (GNSS) localization error from several meters to sub-meter level by fusing the GNSS measurements of four vehicles in our previous work. While further error reduction is expected to be achievable by increasing the number of vehicles, the quantitative relationship between the estimation error and the number of connected vehicles has neither been systematically investigated nor analytically proved. In this work, a theoretical study is presented that analytically proves the correlation between the localization error and the number of connected vehicles in two cases of practical interest. More specifically, it is shown that, under the assumption of small non-common error, the expected square error of the GNSS common error correction is inversely proportional to the number of vehicles, if the road directions obey a uniform distribution, or inversely proportional to logarithm of the number of vehicles, if the road directions obey a Bernoulli distribution. Numerical simulations are conducted to justify these analytic results. Moreover, the simulation results show that the aforementioned error decrement rates hold even when the assumption of small non-common error is violated

Mechanism of Triglyceride Lowering Action of \u3ci\u3eAkkermansia muciniphila\u3c/i\u3e and Fenugreek in a Genetic Induced Hyperlipidemia

Hyperlipidemia is a condition of abnormally elevated levels of lipids and/or lipoproteins in the blood circulation. It is usually accompanied with obesity, type 2 diabetes, insulin resistance, hypertension and non-alcoholic fatty liver diseases (NAFLD) and has become a great threat to human health. New therapeutic strategies are needed for the prevention and treatment of both genetic intervention-induced hyperlipidemia and environmentally induced hyperlipidemia. In this study, we determined the therapeutic effects of a diseaseprotecting gut bacteria, Akkermansia muciniphila, and an annual legume, fenugreek, on hypertriglyceridemia induced by genetic depletion of cAMP responsive binding protein H (CREBH KO) in mice. We found that inoculation of A. muciniphila ameliorates both acute and chronic hyperlipidemia in mice. Increased colonization of A. muciniphila in CREBH KO mice enhanced the expression of hepatic LDL receptor and facilitated the clearance of triglyceride (TG) rich lipoproteins. Moreover, A. muciniphila administration in mice also alleviated hepatic endoplasmic reticulum (ER) stress and metabolic inflammation. Feeding CREBH KO mice with a diet containing fenugreek seed (2%) also attenuated the hypertriglyceridemia caused by depletion of CREBH or induced by a high fat diet (HFD). Fenugreek seed inhibited hepatic apoB100 biosynthesis and suppressed very low density lipoprotein (VLDL) assembly and secretion. It further improved insulin resistance induced by HFD. Advisor: Qiaozhu S