Abstract: A composite nanoparticle, a preparation method thereof and preparation method of a composite nano preparation using thereof, wherein the composite nanoparticle is a polymer-lipid nanoparticle encapsulating psoralen, isopsoralen and paclitaxel simultaneously, and the preparation method thereof comprises the following steps of: S1. dissolving soybean lecithin and DSPE-PEG2000 in an aqueous phase, subjected to blending and preheating; and S2. dissolving psoralen, isopsoralen, paclitaxel and PLGA in an oleic phase, subjected to blending and injecting into the aqueous phase of S1 to obtain a mixture, and then heating and blending the mixture to obtain the composite nanoparticle.

Abstract: Some embodiments provide a method for providing dynamic host configuration protocol (DHCP) services to different data compute nodes (e.g., virtual machines) that belong to different logical networks (e.g., for different tenants in a datacenter). In some embodiments, the method inserts a logical network identifier (LNI) value to each DHCP packet and forwards the packet to a DHCP server module for processing the DHCP request. Based on the LNI value, the DHCP server of some embodiments identifies the logical network from which the DHCP packet is received. The DHCP server then provides the requested DHCP service (e.g., assigning an IP address to a data compute node that has originated the DHCP packet, assigning a domain name, etc.) according to a DHCP service configuration for the identified logical network.

Abstract: Camera based localization performed to determine a current pose of an autonomous vehicle without the aid of depth sensors such as LiDAR. The vehicle comprises an imaging system configured to capture image frames depicting portions of the surrounding area. Based on an initial pose of the vehicle, edgels corresponding to three-dimensional locations are loaded and mapped to corresponding edge pixels of the captured image frame. A pose of the vehicle is optimized based upon the determined correspondences by identifying a transformation that minimizes a distance between the edgels and their corresponding edge pixels. The determined transformation can be applied to the initial pose to determine an updated pose of the vehicle.

Abstract: Some embodiments provide a method for a managed first forwarding element executing on a first data compute node (DCN) that operates on a first host machine within a public datacenter. The managed first forwarding element is configured to implement a logical network. The method receives a data packet from an application, executing on the first data compute node, that sends and receives data packets through the logical network. When the data packet has a destination address that is not associated with the logical network, the method sends the packet directly to a second forwarding element configured by an administrator of the datacenter. When the data packet has a destination address associated with the logical network, the method sends the packet to a managed third forwarding element configured to implement the logical network. The managed third forwarding element executes on a second DCN on a second host machine within the datacenter.

Abstract: Some embodiments provide a method for configuring a logical middlebox in a hosting system that includes a set of nodes. The logical middlebox is part of a logical network that includes a set of logical forwarding elements that connect a set of end machines. The method receives a set of configuration data for the logical middlebox. The method uses a stored set of tables describing physical locations of the end machines to identify a set of nodes at which to implement the logical middlebox. The method provides the logical middlebox configuration for distribution to the identified nodes.

Abstract: Some embodiments provide method for implementing a logical router of a logical network. The method receives a configuration for a first logical router. The configuration includes a static route for the first logical router. The method defines several routing components with separate routing tables for the logical router. The method adds a first route, having a first static route type, for the static route to the routing tables of at least a first subset of the routing components. Based on the connection of a second logical router to the first logical router, adding a second route, having a second static route type, to the routing tables of at least a second subset of the routing components.

Abstract: According to an aspect of an embodiment, operations may comprise accessing high definition (HD) map data of a region, presenting, via a user interface, information describing the HD map data, receiving instructions, via the user interface, for modifying the HD map data by adding one or more synthetic objects to locations in the HD map data, modifying the HD map data based on the received instructions, and generating a synthetic track in the modified HD map data comprising, for each of one or more vehicle poses, generated synthetic sensor data based on the one or more synthetic objects in the modified HD map data.

Abstract: Some embodiments provide a system for implementing a logical network that includes a set of end machines, a first logical middlebox, and a second logical middlebox connected by a set of logical forwarding elements. The system includes a set of nodes. Each of several nodes includes (i) a virtual machine for implementing an end machine of the logical network, (ii) a managed switching element for implementing the set of logical forwarding elements of the logical network, and (iii) a middlebox element for implementing the first logical middlebox of the logical network. The system includes a physical middlebox appliance for implementing the second logical middlebox.

Abstract: Operations may comprise obtaining a plurality of light detection and ranging (LIDAR) scans of a region. The operations may also comprise identifying a plurality of LIDAR poses that correspond to the plurality of LIDAR scans. In addition, the operations may comprise identifying, as a plurality of keyframes, a plurality of images of the region that are captured during capturing of the plurality of LIDAR scans. The operations may also comprise determining, based on the plurality of LIDAR poses, a plurality of camera poses that correspond to the keyframes. Further, the operations may comprise identifying a plurality of two-dimensional (2D) keypoints in the keyframes. The operations also may comprise generating one or more three-dimensional (3D) keypoints based on the plurality of 2D keypoints and the respective camera poses of the plurality of keyframes.

Abstract: The technology disclosed herein enables synchronization of routing information between at least two edge systems in an edge system cluster. In a particular embodiment, a method provides, in each of the edge systems, receiving network routing information from a plurality of routers that route outbound network traffic from the edge systems and synchronizing the network routing information between the edge systems. Additionally, in each of the edge systems, the method provides receiving outbound network traffic via a logical router spanning the edge systems and routing the outbound network traffic from the edge systems in accordance with the network routing information after synchronization.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: For a network controller for managing hosts in a network, a method for configuring a host to resolve network addresses is described. The method configures an address resolution module in a host to resolve a network address. The method configures a managed forwarding element in the host to (1) avoid sending a request to resolve the network address to another host by using the address resolution module to resolve the network address and (2) forward packets using the resolved network address.

Abstract: Some embodiments provide a method for a network controller that manages several logical networks. The method receives a specification of a logical network that includes at least one logical forwarding element attached to a logical service (e.g., DHCP). The method selects at least one host machine to host the specified logical service from several host machines designated for hosting logical services. The method generates logical service configuration information for distribution to the selected host machine. In some embodiments, the method selects a master host machine and a backup host machine for hosting logical service. In some embodiments, a particular one of the designated host machines hosts at least two DHCP services for two different logical networks as separate processes operating on the particular host machine.

Abstract: Some embodiments provide a method for providing dynamic host configuration protocol (DHCP) services to different data compute nodes (e.g., virtual machines) that belong to different logical networks (e.g., for different tenants in a datacenter). In some embodiments, the method inserts a logical network identifier (LNI) value to each DHCP packet and forwards the packet to a DHCP server module for processing the DHCP request. Based on the LNI value, the DHCP server of some embodiments identifies the logical network from which the DHCP packet is received. The DHCP server then provides the requested DHCP service (e.g., assigning an IP address to a data compute node that has originated the DHCP packet, assigning a domain name, etc.) according to a DHCP service configuration for the identified logical network.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath daemon is provided. The datapath daemon is a run-to-completion process that performs various data-plane packet-processing operations at the edge of the network. In some embodiments, the datapath daemon dispatches packets to other processes or processing threads outside of the daemon. In some embodiments, the datapath daemon dispatches packets to a kernel network stack in order to support packet traffic monitoring.

Abstract: Some embodiments provide method for implementing a logical router of a logical network. The method receives a configuration for a first logical router. The configuration includes a static route for the first logical router. The method defines several routing components with separate routing tables for the logical router. The method adds a first route, having a first static route type, for the static route to the routing tables of at least a first subset of the routing components. Based on the connection of a second logical router to the first logical router, adding a second route, having a second static route type, to the routing tables of at least a second subset of the routing components.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath pipeline is provided. The datapath pipeline includes multiple stages for performing various data-plane packet-processing operations at the edge of the network. The processing stages include centralized routing stages and distributed routing stages. The processing stages can include service-providing stages such as NAT and firewall. The gateway caches the result previous packet operations and reapplies the result to subsequent packets that meet certain criteria. For packets that do not have applicable or valid result from previous packet processing operations, the gateway datapath daemon executes the pipelined packet processing stages and records a set of data from each stage of the pipeline and synthesizes those data into a cache entry for subsequent packets.

Abstract: As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area.

Abstract: Some embodiments provide a method for a network controller that manages several logical networks. The method receives a specification of a logical network that includes at least one logical forwarding element attached to a logical service (e.g., DHCP). The method selects at least one host machine to host the specified logical service from several host machines designated for hosting logical services. The method generates logical service configuration information for distribution to the selected host machine. In some embodiments, the method selects a master host machine and a backup host machine for hosting logical service. In some embodiments, a particular one of the designated host machines hosts at least two DHCP services for two different logical networks as separate processes operating on the particular host machine.

Abstract: Some embodiments provide a method for configuring a logical router that interfaces with an external network. The method receives a configuration for a logical network that includes a logical router with several interfaces that connect to at least one physical router external to the logical network. The method selects a separate host machine to host a centralized routing component for each of the interfaces. The method selects a particular one of the host machines for operating a dynamic routing protocol control plane that receives routing protocol data from each of the centralized routing components and updates routing tables of each of the centralized routing components.