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Self-driving vehicle systems have become mainstream as major international research and development companies compete for road detection and mapping projects such as localization. The latter plays an important role in self-driving systems because an accurate determination of the vehicle's position improves trajectory and offset results. And with a good localization function, a high-precision map can be established. This paper proposes using pole maps to enhance vehicle localization while correcting previous vehicle localization trajectory offsets. We have established a pole feature map with pole-shaped characteristic point clouds along the road that are marked with spatial coordinate information. We use three-dimensional light detection and ranging (3D Lidar) as a sensor for environmental scanning, dynamic segment thresholds, and point cloud projections to the image to extract poles, which avoids identification errors typically caused by the scattering effect of 3D Lidar. The resulting pole map uses the occupancy grid map to filter out noise. In terms of localization, we continue to detect pole features while the vehicle is moving, and compare these with the map. When the results match, we update the current localized information. The localization point corrects the information of the trajectory of the undetected pole, which improves vehicle localization accuracy.

This dissertation is to characterize two evolutionarily conserved but uncharacterized mitochondrial proteins using yeast and mammalian cells. The first protein, which we named respiratory supercomplex factor 1 (Rcf1), is required for the assembly of respiratory supercomplexes. Deletion of the RCF1 gene causes destabilization of respiratory supercomplexes, impaires respiration and elevates mitochondrial oxidative stress. We also show that HIG2A, a mammalian homolog of RCF1, performs the same function in mammalian cells. Therefore, we suggest that Rcf1 and HIG2A are members of a conserved protein family that acts to maintain the homeostasis of mitochondrial metabolism by promoting respiratory supercomplex assembly. The second protein on which my dissertation research was based, originally annotated as mitochondrial sorting of protein 1 (Msp1), performs multiple tasks. The first function is its role in facilitating the removal of tail-anchored (TA) proteins that are mislocalized to mitochondria. Disruption of the guided entry of tail-anchored protein (GET) system was shown to cause a subset of TA proteins to mislocalize to mitochondria. The AAA+ ATPase Msp1 can limit the accumulation of mislocalized TA proteins on mitochondria. The human homolog of Msp1, ATAD1, also limits the mitochondrial mislocalization of TA proteins in mammalian cells. Therefore, Msp1 and ATAD1 are conserved members of a mitochondrial protein quality control system that functions to promote the extraction and degradation of mislocalized TA proteins to maintain mitochondrial integrity. The second role of Msp1 and ATAD1 is in a novel vesicular trafficking system from mitochondria to peroxisomes in an ATPase activity-dependent manner. Impaired peroxisome biogenesis and mislocalization of peroxins (peroxisomal biogenesis factors) to the mitochondria has been observed in cells from Zellweger patients. Overexpression of ATAD1 facilitates the removal of these peroxins from mitochondria and the accumulation in vesicle-like structures of unknown character and function. We speculate that these vesicles might sort the peroxins to peroxisomes for peroxisomal biogenesis. Therefore, we propose that Msp1 and ATAD1 participate in a novel vesicular trafficking pathway, which is likely associated with protein sorting from mitochondria to peroxisomes. In conclusion, our findings provide a better understanding of mitochondrial biology, which further sheds light on the etiology of human mitochondrial diseases.

The culture broth of Cerrena sp. A593, which was isolated from Pogostemon cablin, showed potent cytotoxicity against several human tumor cell lines. The following chemical study resulted in the isolation of two new triquinane-type sesquiterpenoids, named cerrenins D (1) and E (2), along with two known compounds plerocybellone A (3) and chloriolin B (4). Their structures were fully assigned with the aid of extensive spectroscopic analysis (1H and 13C NMR, HSQC, HMBC, 1H-1H COSY, HRESIMS, and IR) and data from the literature. Moreover, cytotoxic activity in vitro of compounds 1–4 were evaluated against SF-268, MCF-7, NCI-H460, and HepG-2 tumor cell lines. The new compound 1 exhibited weak growth inhibitory activity against all the four tumor cell lines with IC50 values of 41.01, 14.43, 29.67, 44.32 μM.

In this work, the stabilization control problem is investigated for the planar vertical take-off and landing (PVTOL) aircraft with unknown model parameters. To cope with the challenges caused by non-minimum phase and parametric uncertainties, a new appropriate output, different from the general centroid position output, is carefully constructed to ensure the zero dynamics asymptotically stable, then the sliding-mode technique is applied to design a state feedback control law. The proposed robust control law is proved able to asymptotically stabilize the PVTOL aircraft to the desired fixed position with null velocities and roll angle despite the unknown model parameters. Simulation examples illustrate the effectiveness of the proposed control algorithm.

Two new polyketide metabolites, the 12-membered macrolides 4-hydroxy-12-methyloxacyclododecane-2,5,6-trione (1) and 12-methyloxacyclododecane-2,5,6-trione (2), were isolated from the endophytic fungal strain Cladosprium colocasiae A801 of the plant Callistemon viminalis, together with five known derivatives. Their structures were fully characterized by means of detailed spectroscopic analysis for new structures, and in comparison with published data for known compounds. The antibacterial, cytotoxic, and α-glucosidase inhibitory activities of the new compounds 1 and 2 were evaluated.

Two new cyclohexene derivatives colletotricones A and B (1 and 2) and a new thiazole derivative colletotricole A (5), along with six known natural metabolites were isolated from the extract of Colletotrichum gloeosporioides A12, an endophytic fungus derived from Aquilaria sinensis. Among them, the colletotricones A and B possess a cyclohexenone skeleton, whereas the colletotricole A is a thiazole derivative. Their structures were fully assigned with the aid of extensive spectroscopic analysis and data from the literature. Moreover, cytotoxic activity in vitro of compounds 1 and 3–9 were evaluated against MCF-7, NCI-H460, HepG-2 and SF-268 tumour cell lines. The new compound 1 exhibited growth inhibitory activity against all the four tumour cell lines with IC50 values ranging from 15.7 to 46.8 μM.