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您的检索式：作者名="Zishuo Zhao"
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| 1 | ClusterSLAM:A SLAM backend for simultaneous rigid body clustering and motion estimation显示文摘We present a practical backend for stereo visual SLAM which can simultaneously discover individual rigid bodies and compute their motions in dynamic environments.While recent factor graph based state optimization algorithms have shown their ability to robustly solve SLAM problems by treating dynamic objects as outliers,their dynamic motions are rarely considered.In this paper,we exploit the consensus of 3 D motions for landmarks extracted from the same rigid body for clustering,and to identify static and dynamic objects in a unified manner.Specifically,our algorithm builds a noise-aware motion affinity matrix from landmarks,and uses agglomerative clustering to distinguish rigid bodies.Using decoupled factor graph optimization to revise their shapes and trajectories,we obtain an iterative scheme to update both cluster assignments and motion estimation reciprocally.Evaluations on both synthetic scenes and KITTI demonstrate the capability of our approach,and further experiments considering online efficiency also show the effectiveness of our method for simultaneously tracking ego-motion and multiple objects. | Jiahui Huang Sheng Yang Zishuo Zhao Yu-Kun Lai Shi-Min Hu | 2021 | Computational Visual Media2021，7，1： | 3 |
| 2 | Analysis on Operational Safety and Efficiency of FAO System in Urban Rail Transit显示文摘This paper discusses two urgent problems that need to be solved in fully automatic operation(FAO)for urban rail transit.The first is the analysis of safety in FAO,while another is the analysis of efficiency in FAO.Firstly,this paper establishes an operational safety evaluation index system from the perspective of operation for the unique or typical risk sources of the FAO system,and uses the analytic hierarchy process(AHP)to evaluate the indicators,analyzes various factors that affect the safe operation of FAO,and provides safety management recommendations for FAO lines operation to maintain the FAO system specifically.Secondly,taking the Yanfang Line as an example,this paper uses OpenTrack software to analyze the efficiency of FAO operation,and conducts simulation calculations for key links such as the mainline tracking interval,train entry and exit,and return limit interval.The fault impact surface of the FAO trains is simulated and discussed to verify whether FAO can meet the long-term operation requirements of Yanfang Line.Finally,this paper compares the simulation data of FAO on the Yanfang Line with manual operation(MO)to verify the advantages of FAO and guide the engineering construction of subsequent fully automated driving lines. | Kaige Guo Jin Zhou Xiaoming Zhang Di Sun Zishuo Wang Lixian Zhao | 2023 | Computers, Materials & Continua2023，77，12： | 0 |
| 3 | Structure of human RNA polymerase Ⅲ elongation complex显示文摘RNA polymerase Ⅲ(Pol Ⅲ)transcribes essential structured small RNAs,such as tRNAs,5S rRNA and U6 snRNA.The transcriptional activity of Pol Ⅲ is tightly controlled and its dysregulation is associated with human diseases,such as cancer.Human Pol Ⅲ has two isoforms with difference only in one of its subunits RPC7(αandβ).Despite structural studies of yeast Pol Ⅲ,structure of human Pol Ⅲ remains unsolved.Here,we determined the structures of 17-subunit human Pol Ⅲαcomplex in the backtracked and post-translocation states,respectively.Human Pol Ⅲ contains a generally conserved catalytic core,similar to that of yeast counterpart,and structurally unique RPC3–RPC6–RPC7 heterotrimer and RPC10.The N-ribbon of TFIIS-like RPC10 docks on the RPC4–RPC5 heterodimer and the C-ribbon inserts into the funnel of Pol Ⅲ in the backtracked state but is more flexible in the post-translocation state.RPC7 threads through the heterotrimer and bridges the stalk and Pol Ⅲ core module.The winged helix 1 domain of RPC6 and the N-terminal region of RPC7αstabilize each other and may prevent Maf1-mediated repression of Pol Ⅲ activity.The C-terminal FeS cluster of RPC6 coordinates a network of interactions that mediate core–heterotrimer contacts and stabilize Pol Ⅲ.Our structural analysis sheds new light on the molecular mechanism of human Pol Ⅲα-specific transcriptional regulation and provides explanations for upregulated Pol Ⅲ activity in RPC7α-dominant cancer cells. | Liang Li Zishuo Yu Dan Zhao Yulei Ren Haifeng Hou Yanhui Xu | 2021 | Cell Research2021，31，7： | 0 |
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