Abstract: A system for sensor calibration is provided. The system includes a processor in communication with a memory device and a plurality of LiDAR sensors of an autonomous vehicle. The processor is configured to detect, based on data received from a first LiDAR sensor of the plurality of LiDAR sensors, a relative velocity of the autonomous vehicle to a static object while the autonomous vehicle is traveling along a straight trajectory, compute, based on the relative velocity, a vector representing a velocity estimate of the autonomous vehicle, identify the first LiDAR sensor as misaligned when a lateral component of the computed vector is greater than a threshold lateral component, and store, in the memory device, a status of the first LiDAR sensor as misaligned, wherein the autonomous vehicle is controlled based in part on the status of the first LiDAR sensor.

Abstract: A system for monitoring radar misalignment on an autonomous vehicle is provided. The system includes a radar sensor configured to capture sensor data. The radar sensor is disposed on an autonomous vehicle traveling along a trajectory. The system also includes an autonomy computing system comprising a processor and a memory storing computer executable instructions. The processor, upon executing the computer executable instructions, configured to: generate a radar coordinate system from the sensor data, identify a static object from the sensor data, compute a vehicle coordinate system based on the static object. The system further includes computing a misalignment between the radar coordinate system and the vehicle coordinate system based on a comparison of an orientation of the radar coordinate system and an orientation of the vehicle coordinate system, and generate a sensor data transformation to align the sensor data to the vehicle coordinate system.

Abstract: A system for sensor calibration is provided. The system includes a processor in communication with a memory device and a plurality of LiDAR sensors of an autonomous vehicle. The processor is configured to detect, based on data received from a first LiDAR sensor of the plurality of LiDAR sensors, a relative velocity of the autonomous vehicle to a static object while the autonomous vehicle is traveling along a straight trajectory, compute, based on the relative velocity, a vector representing a velocity estimate of the autonomous vehicle, identify the first LiDAR sensor as misaligned when a lateral component of the computed vector is greater than a threshold lateral component, and store, in the memory device, a status of the first LiDAR sensor as misaligned, wherein the autonomous vehicle is controlled based in part on the status of the first LiDAR sensor.

Abstract: A structural formula of a shikonin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (I) or (II); a structural formula of an alkannin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (III) or (IV); and a structural formula of a racemic shikonin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (V) or (VI), wherein R1 is alkane, olefin, arene, or substituting arene comprising 1 to 6 carbon atoms; and R2 is alkane, olefin, arene, or substituting arene comprising 1 to 6 carbon atoms or is H. The shikonin, alkannin, and racemic oxime derivatives of the present invention have novel structures, and in-vitro experiments show that the present invention has good growth inhibitory activity against tumor cells and can be used in tumor treatment.

Abstract: A structural formula of a shikonin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (I) or (II); a structural formula of an alkannin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (III) or (IV); and a structural formula of a racemic shikonin naphthazarin parent nucleus hydroxyl methylation carbonyl oxime derivative is shown in Formula (V) or (VI), wherein R1 is alkane, olefin, arene, or substituting arene comprising 1 to 6 carbon atoms; and R2 is alkane, olefin, arene, or substituting arene comprising 1 to 6 carbon atoms or is H. The shikonin, alkannin, and racemic oxime derivatives of the present invention have novel structures, and in-vitro experiments show that the present invention has good growth inhibitory activity against tumor cells and can be used in tumor treatment.