Abstract: A vision-aided inertial navigation system (VINS) implements a square-root multi-state constraint Kalman filter (SR-MSCKF) for navigation. In one example, a processor of a VINS receives image data and motion data for a plurality of poses of a frame of reference along a trajectory. The processor executes an Extended Kalman Filter (EKF)-based estimator to compute estimates for a position and orientation for each of the plurality of poses of the frame of reference along the trajectory. For features observed from multiple poses along the trajectory, the estimator computes constraints that geometrically relate the multiple poses of the respective feature. Using the motion data and the computed constraints, the estimator computes state estimates for the position and orientation of the frame of reference. Further, the estimator determines uncertainty data for the state estimates and maintains the uncertainty data as a square root factor of a covariance matrix.

Abstract: Some embodiments include an integrated assembly having a vertical stack of alternating insulative levels and conductive levels. The insulative levels have a same primary composition as one another. At least one of the insulative levels is compositionally different relative to others of the insulative levels due to said at least one of the insulative levels including dopant dispersed within the primary composition. An opening extends vertically through the stack. Some embodiments include methods of forming integrated assemblies.

Abstract: A semiconductor structure, a system, and a method of forming a multi-silicide structure for stacked FETs within the semiconductor. The semiconductor structure may include an NFET. The semiconductor structure may also include a PFET. The semiconductor structure may also include an NFET silicide proximately connected to the NFET, where the NFET silicide is a first material. The semiconductor structure may also include a PFET silicide proximately connected to the PFET, where the PFET silicide is a second material different than the first material. The system may include the semiconductor structure. The method may include forming an NFET silicide proximately connected to an NFET, where the NFET silicide is a first material. The method may also include forming a PFET silicide proximately connected to a PFET, where the PFET silicide is a second material different than the first material.

Abstract: A discrete attribute value dataset is obtained that is associated with a plurality of probe spots each assigned a different probe spot barcode. The dataset comprises spatial projections, each comprising images of a biological sample. Each image includes a corresponding plurality of discrete attribute values for the probe spots. Each such value is associated with a probe spot in the plurality of probes spots based on the probe spot barcodes. The dataset is clustered using the discrete attribute values, or dimension reduction components thereof, for a plurality of loci at each respective probe spot across the images of the projections thereby assigning each probe spot to a cluster in a plurality of clusters. Morphological patterns are identified from the spatial arrangement of the probe spots in the various clusters.

Abstract: An example valve includes: a housing having a first port and a second port; a stem disposed and rotatable within the housing; and a ball disposed within the housing and rotatable by the stem, wherein the ball has a hole therethrough to control fluid flow from the first port to the second port, wherein the hole has a profile comprising: a first opening at a base of the hole, a first channel connected to and extending from the first opening, wherein the first channel has a width that is less than a respective width of the first opening such that a neck portion is formed at a connection of the first channel with the first opening, a second channel extending from the first channel and diverging by a particular angle, and a second opening connected to the second channel.

Abstract: A pharmaceutical composition exhibiting anti-tumor activity is provided. The pharmaceutical composition comprises para-toluenesulfonamide (PTS) and a pharmaceutically acceptable carrier. The pharmaceutical composition is used for treating squamous-cell carcinoma. The present invention further provides a method for treating a patient suffering from cancer and a method for inhibiting tumor growth.

Abstract: A semiconductor device is provided and includes a first substrate including a first transistor; a laser reflection layer on the first transistor; and a second substrate on the laser reflection layer, the second substrate including a second transistor.

Abstract: A visualization system comprising a persistent memory, storing a dataset, and a non-persistent memory implements a pattern visualizing method. The dataset contains discrete attribute values for each first entity of a first type in a plurality of first entities of the first type and discrete attribute values for each first entity of a second type in a plurality of first entities of the second type for each second entity in a plurality of second entities. The dataset is compressed by blocked compression and represents discrete attribute values in both compressed sparse row and column formats. The discrete attribute values are clustered to assign each second entity to a cluster in a plurality of clusters.

Abstract: A discrete attribute value dataset is obtained that is associated with a plurality of probe spots each assigned a different probe spot barcode. The dataset comprises spatial projections, each comprising images of a biological sample. Each image includes a corresponding plurality of discrete attribute values for the probe spots. Each such value is associated with a probe spot in the plurality of probes spots based on the probe spot barcodes. The dataset is clustered using the discrete attribute values, or dimension reduction components thereof, for a plurality of loci at each respective probe spot across the images of the projections thereby assigning each probe spot to a cluster in a plurality of clusters. Morphological patterns are identified from the spatial arrangement of the probe spots in the various clusters.

Abstract: A visualization system comprising processing cores, memory, and a display performs a visualization method by obtaining a block of data. The data represents a single-cell characteristic of cells in a plurality of cells across each bin in a plurality of bins. Each bin maps to a different portion of a reference genome. The cells are clustered based upon the single-cell characteristic across the plurality of bins, thereby forming a tree structure that includes a current root node, a plurality of intermediate nodes, and the plurality of cells. Th plurality of cells constitute terminal nodes in the tree structure and each respective intermediate node has a corresponding plurality of daughter nodes, each daughter node being an intermediate node or a cell. The single-cell characteristic is plotted for the current root node of the tree on the screen using the dataset, across all or the portion of the plurality of bins.

Abstract: A plaintext is received. For example, a plaintext may be a text record that is to be encrypted and then stored in a database. A determination is made to see if a size of the plaintext is above a threshold. The threshold is based on an efficiency of a Format Preserving Encryption (FPE) algorithm. In response to the size of the plaintext being above the threshold: the plaintext is divided into a plurality of blocks based on a block size; each of the blocks are individually encrypted using the FPE algorithm; and each of the blocks are stored as a single FPE cyphertext. This makes the FPE encryption process much more effacement than has previously been achieved. For example, the FPE process may be 30% more efficient depending on the size of the plain text.

Abstract: A dataset is obtained comprising data blocks, each representing a different characteristic, for a plurality of cells across a plurality of bins, each bin representing a different portion of a reference sequence. Cells are clustered on one such characteristic across the bins thereby forming a tree that includes root, intermediate, and terminal nodes, where the cells are terminal nodes and intermediate nodes have daughter nodes, themselves being intermediate nodes or a cell. A subset of the tree is displayed that includes the root and leaves, each leaf representing an intermediate node or a cell. A heat map of the characteristic is also displayed, the map including a segment for each leaf, across the bins. When a segment represents an intermediate node, it is an average of the characteristic across daughters of the node. Graphs of characteristics for the root across the bins are also displayed.

Abstract: An electric vehicle includes a reconfigurable energy storage system with a first submodule and a second submodule. An interface circuit is operable to transfer a charging power to the reconfigurable energy storage system from a charging station that is external to the electric vehicle. A switching circuit is operable to electrically arrange the first submodule and the second submodule in series or in parallel. A diode is operable to convey the charging power between the first submodule and the second submodule while the reconfigurable energy storage system is arranged in series and the charging power is present. A bias circuit is operable to maintain a reverse bias across the diode while the reconfigurable energy storage system is arranged in series and the charging power is absent.

Abstract: A vision-aided inertial navigation system (VINS) comprises an image source for producing image data along a trajectory. The VINS further comprises an inertial measurement unit (IMU) configured to produce IMU data indicative of motion of the VINS and an odometry unit configured to produce odometry data. The VINS further comprises a processor configured to compute, based on the image data, the IMU data, and the odometry data, state estimates for a position and orientation of the VINS for poses of the VINS along the trajectory. The processor maintains a state vector having states for a position and orientation of the VINS and positions within the environment for observed features for a sliding window of poses. The processor applies a sliding window filter to compute, based on the odometry data, constraints between the poses within the sliding window and compute, based on the constraints, the state estimates.

Abstract: A method of forming a microelectronic device comprises forming a stack structure comprising a vertically alternating sequence of insulative structures and additional insulative structures, at least some of the additional insulative structures comprising silicon nitride having a ratio of nitrogen atoms to silicon atoms greater than about 1.58:1.00, forming openings through the stack structure, and forming cell pillar structures within the openings, the cell pillar structures individually comprising a semiconductor channel material vertically extending through the stack structure. Related methods, microelectronic devices, memory devices, and electronic systems are also described.

Abstract: A method of forming a semiconductor device comprising forming a patterned resist over a stack comprising at least one material and removing a portion of the stack exposed through the patterned resist to form a stack opening. A portion of the patterned resist is laterally removed to form a trimmed resist and an additional portion of the stack exposed through the trimmed resist is removed to form steps in sidewalls of the stack. A dielectric material is formed between the sidewalls of the stack to substantially completely fill the stack opening, and the dielectric material is planarized. Additional methods are disclosed, as well as semiconductor devices.

Abstract: A method of forming a microelectronic device comprises forming a stack structure comprising a vertically alternating sequence of insulative structures and additional insulative structures, at least some of the additional insulative structures comprising silicon nitride having a ratio of nitrogen atoms to silicon atoms greater than about 1.58:1.00, forming openings through the stack structure, and forming cell pillar structures within the openings, the cell pillar structures individually comprising a semiconductor channel material vertically extending through the stack structure. Related methods, microelectronic devices, memory devices, and electronic systems are also described.

Abstract: A vision-aided inertial navigation system (VINS) implements a square-root multi-state constraint Kalman filter (SR-MSCKF) for navigation. In one example, a processor of a VINS receives image data and motion data for a plurality of poses of a frame of reference along a trajectory. The processor executes an Extended Kalman Filter (EKF)-based estimator to compute estimates for a position and orientation for each of the plurality of poses of the frame of reference along the trajectory. For features observed from multiple poses along the trajectory, the estimator computes constraints that geometrically relate the multiple poses of the respective feature. Using the motion data and the computed constraints, the estimator computes state estimates for the position and orientation of the frame of reference. Further, the estimator determines uncertainty data for the state estimates and maintains the uncertainty data as a square root factor of a covariance matrix.

Abstract: A visualization system comprising a persistent memory, storing a dataset, and a non-persistent memory implements a pattern visualizing method. The dataset contains discrete attribute values for each first entity of a first type in a plurality of first entities of the first type and discrete attribute values for each first entity of a second type in a plurality of first entities of the second type for each second entity in a plurality of second entities. The dataset is compressed by blocked compression and represents discrete attribute values in both compressed sparse row and column formats. The discrete attribute values are clustered to assign each second entity to a cluster in a plurality of clusters.

Abstract: A vision-aided inertial navigation system (VINS) comprises an image source for producing image data along a trajectory. The VINS further comprises an inertial measurement unit (IMU) configured to produce IMU data indicative of motion of the VINS and an odometry unit configured to produce odometry data. The VINS further comprises a processor configured to compute, based on the image data, the IMU data, and the odometry data, state estimates for a position and orientation of the VINS for poses of the VINS along the trajectory. The processor maintains a state vector having states for a position and orientation of the VINS and positions within the environment for observed features for a sliding window of poses. The processor applies a sliding window filter to compute, based on the odometry data, constraints between the poses within the sliding window and compute, based on the constraints, the state estimates.