Abstract: A method for vehicle tracking and localization includes receiving, by a controller, odometry data from a sensor of the first vehicle; geospatial data from a Global Positioning System (GPS) device of the first vehicle; inertial data from an inertial measurement unit (IMU) of the first vehicle; estimating an estimated-current location of the first vehicle and an estimated-current trajectory of the first vehicle using the odometry data from the sensor, the geospatial data from the GPS device, and the inertial data from the IMU of the first vehicle; inputting the inertial data into a Bayesian Network to determine a predicted location of the first vehicle and a predicted trajectory of the first vehicle, and updating the Bayesian Network using the estimated-current location and the estimated-current trajectory of the first vehicle using the odometry data and the geospatial data.

Abstract: A method for vehicle tracking and localization includes receiving, by a controller, odometry data from a sensor of the first vehicle; geospatial data from a Global Positioning System (GPS) device of the first vehicle; inertial data from an inertial measurement unit (IMU) of the first vehicle; estimating an estimated-current location of the first vehicle and an estimated-current trajectory of the first vehicle using the odometry data from the sensor, the geospatial data from the GPS device, and the inertial data from the IMU of the first vehicle; inputting the inertial data into a Bayesian Network to determine a predicted location of the first vehicle and a predicted trajectory of the first vehicle, and updating the Bayesian Network using the estimated-current location and the estimated-current trajectory of the first vehicle using the odometry data and the geospatial data.

Abstract: A method for producing laccase by liquid fermentation of Lentinus edodes comprises the following steps of: (1) inoculating strains of Lentinus edodes into the PD liquid fermentation medium to perform activation culture and obtain a seed liquid; (2) inoculating the seed solution into a liquid fermentation medium to perform liquid fermentation culture, then adding an expansin solution to perform further culture, separating the supernatant to obtain a ferment solution; (3) extracting laccase from the ferment solution. A plant expansin and an optimized fermentation method are applied for producing laccase by liquid fermentation of Lentinus edodes, which increases the liquid fermentation output of laccase of Lentinus edodes remarkably, by more than 3 times in comparing with traditional fermentation production methods.

Abstract: A method for producing laccase by liquid fermentation of Lentinus edodes comprises the following steps of: (1) inoculating strains of Lentinus edodes into the PD liquid fermentation medium to perform activation culture and obtain a seed liquid; (2) inoculating the seed solution into a liquid fermentation medium to perform liquid fermentation culture, then adding an expansin solution to perform further culture, separating the supernatant to obtain a ferment solution; (3) extracting laccase from the ferment solution. A plant expansin and an optimized fermentation method are applied for producing laccase by liquid fermentation of Lentinus edodes, which increases the liquid fermentation output of laccase of Lentinus edodes remarkably, by more than 3 times in comparing with traditional fermentation production methods.