Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

A Survey on an Emerging Safety Challenge for Autonomous Vehicles:Safety of the Intended Functionality

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

Synergism of preintercalated manganese ions and lattice water in vanadium oxide cathodes for high-capacity and long-life Zn-ion batteries

Aqueous Zn-ion batteries(AZIBs)are recognized as a promising energy storage system with intrinsic safety and low cost,but its applications still rely on the design of high-capacity and stable-cycling cathode materials.In this work,we present an intercalation mechanism-based cathode materials for AZIB,i.e.the vanadium oxide with pre-intercalated manganese ions and lattice water(noted as MVOH).The synergistic effect between Mn^(2+)and lattice H_(2)O not only expands the interlayer spacing,but also significantly enhances the structural stability.Systematic in-situ and ex-situ characterizations clarify the Zn^(2+)/H^(+)co–(de)intercalation mechanism of MVOH in aqueous electrolyte.The demonstrated remarkable structure stability,excellent kinetic behaviors and ion-storage mechanism together enable the MVOH to demonstrate satisfactory specific capacity of 450 mA h g^(−1)at 0.2 A g^(−1),excellent rate performance of 288.8 mA h g^(−1)at 10 A g^(−1)and long cycle life over 20,000 cycles at 5 A g^(−1).This work provides a practical cathode material,and contributes to the understanding of the ion-intercalation mechanism and structural evolution of the vanadium-based cathode for AZIBs.

Reinforcement Learning-Based Energy Management for Hybrid Power Systems:State-of-the-Art Survey,Review,and Perspectives

The new energy vehicle plays a crucial role in green transportation,and the energy management strategy of hybrid power systems is essential for ensuring energy-efficient driving.This paper presents a state-of-the-art survey and review of reinforcement learning-based energy management strategies for hybrid power systems.Additionally,it envisions the outlook for autonomous intelligent hybrid electric vehicles,with reinforcement learning as the foundational technology.First of all,to provide a macro view of historical development,the brief history of deep learning,reinforcement learning,and deep reinforcement learning is presented in the form of a timeline.Then,the comprehensive survey and review are conducted by collecting papers from mainstream academic databases.Enumerating most of the contributions based on three main directions—algorithm innovation,powertrain innovation,and environment innovation—provides an objective review of the research status.Finally,to advance the application of reinforcement learning in autonomous intelligent hybrid electric vehicles,future research plans positioned as“Alpha HEV”are envisioned,integrating Autopilot and energy-saving control.

Membrane tension evolution and mechanical regulation of melittin-induced membrane poration

Membrane tension plays a crucial role in various fundamental cellular processes,with one notable example being the T cell-mediated elimination of tumor cells through perforin-induced membrane perforation by amplifying cellular force.However,the mechanisms governing the regulation of biomolecular activities at the cell interface by membrane tension remain elusive.In this study,we investigated the correlation between membrane tension and poration activity of melittin,a prototypical pore-forming peptide,using dynamic giant unilamellar vesicle leakage assays combined with flickering tension analysis,molecular dynamics simulations,and live cell assays.The results demonstrate that an increase in membrane tension enhances the activity of melittin,particularly near its critical pore-forming concentration.Moreover,peptide actions such as binding,insertion,and aggregation in the membrane further influence the evolution of membrane tension.Live cell experiments reveal that artificially enhancing membrane tension effectively enhances melittin’s ability to induce pore formation and disrupt membranes,resulting in up to a ten-fold increase in A549 cell mortality when exposed to a concentration of 2.0-μg·mL^(-1)melittin.Our findings elucidate the relationship between membrane tension and the mechanism of action as well as pore-forming efficiency of melittin,while providing a practical mechanical approach for regulating functional activity of molecules at the cell-membrane interface.

Diamond-based electron emission:Structure,properties and mechanisms

Diamond has an ultrawide bandgap with excellent physical properties,such as high critical electric field,excellent thermal conductivity,high carrier mobility,etc.Diamond with a hydrogen-terminated(H-terminated)surface has a negative electron affinity(NEA)and can easily produce surface electrons from valence or trapped electrons via optical absorption,thermal heating energy or carrier transport in a PN junction.The NEA of the H-terminated surface enables surface electrons to emit with high efficiency into the vacuum without encountering additional barriers and promotes further development and application of diamond-based emitting devices.This article reviews the electron emission properties of H-terminated diamond surfaces exhibiting NEA characteristics.The electron emission is induced by different physical mechanisms.Recent advancements in electron-emitting devices based on diamond are also summarized.Finally,the current challenges and future development opportunities are discussed to further develop the relevant applications of diamond-based electronemitting devices.

Early peripheral perfusion index predicts 28-day outcome in patients with septic shock

BACKGROUND:To investigate the prognostic value of the peripheral perfusion index(PPI)in patients with septic shock.METHODS:This prospective cohort study,conducted at the emergency intensive care unit of Peking University People's Hospital,recruited 200 patients with septic shock between January 2023 and August 2023.These patients were divided into survival(n=84)and death(n=116)groups based on 28-day outcomes.Clinical evaluations included laboratory tests and clinical scores,with lactate and PPI values assessed upon admission to the emergency room and at 6 h and 12 h after admission.Risk factors associated with mortality were analyzed using univariate and multivariate Cox regression analyses.Receiver operator characteristic(ROC)curve was used to assess predictive performance.Mortality rates were compared,and Kaplan-Meier survival plots were created.RESULTS:Compared to the survival group,patients in the death group were older and had more severe liver damage and coagulation dysfunction,necessitating higher norepinephrine doses and increased fl uid replacement.Higher lactate levels and lower PPI levels at 0 h,6 h,and 12 h were observed in the death group.Multivariate Cox regression identifi ed prolonged prothrombin time(PT),decreased 6-h PPI and 12-h PPI as independent risk factors for death.The area under the curves for 6-h PPI and 12-h PPI were 0.802(95%CI 0.742-0.863,P<0.001)and 0.945(95%CI 0.915-0.974,P<0.001),respectively,which were superior to Glasgow Coma Scale(GCS),Sequential Organ Failure Assessment(SOFA)scores(0.864 and 0.928).Cumulative mortality in the low PPI groups at 6 h and 12 h was signifi cantly higher than in the high PPI groups(6-h PPI:77.52%vs.22.54%;12-h PPI:92.04%vs.13.79%,P<0.001).CONCLUSION:PPI may have value in predicting 28-day mortality in patients with septic shock.

Molten salt construction of core-shell structured S-scheme CuInS_(2)@CoS_(2) heterojunction to boost charge transfer for efficient photocatalytic CO_(2) reduction

Weak redox ability and severe charge recombination pose significant obstacles to the advancement of CO_(2) photoreduction.To tackle this challenge and enhance the CO_(2) photoconversion efficiency,fabricating well-matched S-scheme heterostructure and establishing a robust built-in electric field emerge as pivotal strategies.In pursuit of this goal,a core-shell structured CuInS_(2)@CoS_(2)S-scheme heterojunction was meticulously engineered through a two-step molten salt method.This approach over the CuInS_(2)-based composites produced an internal electric field owing to the disparity be-tween the Fermi levels of CoS_(2) and CuInS_(2) at their interface.Consequently,the electric field facili-tated the directed migration of charges and the proficient separation of photoinduced carriers.The resulting CuInS_(2)@CoS_(2) heterostructure exhibited remarkable CO_(2) photoreduction performance,which was 21.7 and 26.5 times that of pure CuInS_(2) and CoS_(2),respectively.The S-scheme heterojunc-tion photogenerated charge transfer mechanism was validated through a series of rigorous anal-yses,including in situ irradiation X-ray photoelectron spectroscopy,work function calculations,and differential charge density examinations.Furthermore,in situ infrared spectroscopy and density functional theory calculations corroborated the fact that the CuInS_(2)@CoS_(2) heterojunction substan-tially lowered the formation energy of *COOH and *CO.This study demonstrates the application potential of S-scheme heterojunctions fabricated via the molten salt method in the realm of ad-dressing carbon-related environmental issues.

Experimental Investigation of Particles Dynamics and Solid-Liquid Mixing Uniformity in a Stirred Tank

Particle suspension and deposition dynamics are significant factors affecting the level of mixing quality in solidliquid two-phase stirring processes. In general, the ability to increase the suspension rate and minimize depositioneffects is instrumental in improving the uniformity of particle mixing, accelerating the reaction of involved solidliquid two-phase, and improving the efficiency of production operations. In this work, suspension and depositionindicator based on the Betti number and a uniformity indicator are introduced and obtained by means of imageanalysis. The influence of the blade type, rotation speed, blade diameter and blade bottom height on the particlesuspension/deposition characteristics and mixing uniformity are carefully investigated. The experimental resultsshow that the two-phase motion region can be divided into three local regions, including a bottom motion alongthe wall, a low-degree suspension region under the blade and a high suspension region above the blade. The bestdegree of particle suspension is attained by the double-inclined blade paddle at a speed of 270 r/min, a paddlediameter ratio of 0.414, and a height-diameter ratio of 0.086. The double-inclined blade paddle has a better effecton promoting particle suspension and solid-liquid two-phase mixing uniformity.

肟的立体选择性合成概述

立体化学纯的肟被广泛应用于有机合成、药物、食品添加剂等领域。传统方法合成肟的立体选择性取决于底物取代基的空间位阻,其立体选择性合成一直是有机合成领域的难点与挑战。本文简要介绍了立体选择性合成肟的新方法和技术的研究进展。本文的内容来源于基础有机化学,将此内容融入到教学中可以拓展学生的视野,也有助于激发学生发现和解决难题的兴趣。

Family functioning mediation in tic severity and quality of life for children with Tourette syndrome

BACKGROUND Tourette syndrome(TS)is recognized as a neurodevelopmental disorder profoundly influenced by familial factors,particularly family functioning.However,the relationship among family functioning,tic severity,and quality of life in individuals with TS during childhood and adolescence remains unclear.We hypothesized that family functioning plays a role in the association between the severity of TS and quality of life in children.AIM To determine the role of family functioning in the relationship between TS severity and quality of life.METHODS This study enrolled 139 children(male/female=113/26)with TS.We assessed tic severity using the Yale Global Tic Severity Scale,quality of life via the Tourette Syndrome Quality of Life Scale,and family functioning through the Family Assessment Device.Our analysis focused on correlating these measures and exploring the mediating role of family functioning in the relationship between tic severity and quality of life.Additionally,we examined if this mediating effect varied by gender or the presence of comorbidity.RESULTS We found that family communication dysfunction had a significant mediating effect between tic severity and both psychological symptoms(indirect effect:Β=0.0038,95%confidence interval:0.0006-0.0082)as well as physical and activities of daily living impairment(indirect effect:Β=0.0029,95%confidence interval:0.0004-0.0065).For vocal tic severity,this mediation was found to be even more pronounced.Additionally,in male participants and those without attention deficit hyperactivity disorder,the mediating effect of family communication dysfunction was still evident.CONCLUSION Our study highlights the impact of family functioning on the tic severity and the quality of life in children.This relationship is influenced by gender and comorbid conditions like attention deficit hyperactivity disorder.

综合性高分子化学实验设计:硬质聚氨酯泡沫材料制备与性能表征

针对传统“高分子化学实验”课程教学中,存在综合性、研究性实验项目少,不能支撑“新工科”人才实践和创新能力培养要求等问题,开发了硬质聚氨酯泡沫材料制备与性能表征综合实验项目。采用全水发泡体系,通过调节发泡剂和阻燃剂用量,制备了七组聚氨酯泡沫材料,然后采用国标方法表征了材料的表观密度、压缩强度和氧指数,分析了发泡剂和阻燃剂不同配比对泡沫材料性能的影响及原因。本实验贴近高分子产业发展,突出综合性和研究性,教学过程实现了基本实验技能与科学研究方法训练的有机结合,有助于提升高分子化学实验课程“创新性、高阶性和挑战度”,支撑“新工科”人才培养。

Application of particle swarm optimization-based least square support vector machine in quantitative analysis of extraction solution of yangxinshi tablet using near infrared spectroscopy

A particle swarm optimization(PSO)-based least square support vector machine(LS-SVM)method was investigated for quantitative analysis of extraction solution of Y angxinshi tablet using near infrared(NIR)spectroscopy.The usable spectral region(5400-6200cm^(-1))was identified,then the first derivative spectra smoothed using a Savitzky-Golay filter were employed to establish calibration models.The PSO algorithm was applied to select the LS-SVM hyper-parameters(including the regularization and kernel parametens).The calibration models of total flavonoids,puerarin,salvianolic acid B and icarin were established using the optimumn hyper-parameters of LS SVM.The performance of LS SVM models were compared with partial least squares(PLS)regression,feed forward back propagation network(BPANN)and support vector machine(SVM).Experimental results showed that both the calibration results and prediction accuracy of the PSO-based LS SVM method were superior to PLS,BP-ANN and SVM.For PSO-based LS-SVM models,the determination cofficients(R2)for the calibration set were above 0.9881,and the RSEP values were controlled within 5.772%.For the validation set,the RMSEP values were close to RMSEC and less than 0.042,the RSEP values were under 8.778%,which were much lower than the PLS,BP-ANN and SVM models.The PSO-based LS SVM algorithm employed in this study exhibited excellent calibration performance and prediction accuracy,which has definite practice significance and application value.

海外社交平台中国媒体国际传播能力建构——基于推特账号@ChinaDaily“一带一路”报道网络议程设置效果分析

对中国日报推特账号@ChinaDaily“一带一路”报道(2019~2021年)进行网络议程设置效果分析以寻求国际传播能力构建启示。研究发现,相关报道议题网络中的政治、经济和文化议题与其他议题类型共现频次最高,政治与经济、政治与文化、文化与艺术三组议题表现出强关联性;个人用户推文议题网络中,经济、政治和文化议题与其他类议题关联频次居前三,各类议题组合更加灵活自由;三年中@ChinaDaily“一带一路”报道议题网络对公众议题网络总体影响较明显,呈现下降后回升趋势。中国媒体在重大主题传播中应树立议题关联意识,利用议题竞合关系,高峰传播与常态传播相结合,追求以公众认同为目标的议题传播效能。

急性冠状动脉综合征患者经皮冠状动脉介入术前负荷剂量瑞舒伐他汀疗效的Meta分析

目的系统评价急性冠状动脉综合征(ACS)患者经皮冠状动脉介入术(PCI)术前给予负荷剂量瑞舒伐他汀的疗效。方法计算机检索PubMed、Embase、The Cochrane Library、CNKI和WanFang Data数据库,搜集关于ACS患者PCI术前给予负荷剂量瑞舒伐他汀对比未用他汀类药物的随机对照试验和前瞻性队列研究,检索时限均为建库至2022年10月31日。由2名研究者独立筛选文献、提取资料并评价纳入研究的偏倚风险后,采用Stata 12.0软件进行Meta分析。结果共纳入19项研究,包括3201例患者。Meta分析结果显示,和术前未用他汀类药物相比,术前给予负荷剂量瑞舒伐他汀可显著降低患者术后主要心血管事件(MACE)[RR=0.40,95%CI(0.32,0.49),P<0.001]、心肌梗死(MI)[RR=0.46,95%CI(0.35,0.60),P<0.001]和全因死亡(ACM)[RR=0.31,95%CI(0.13,0.72),P=0.006]的发生率。按随访时间进行亚组分析,结果显示除术后3个月外,住院期间、术后30 d、术后6个月和术后1年时两组MACE发生率差异均有统计学意义(P<0.05);术前给予负荷剂量瑞舒伐他汀组术后30 d的MI发生率显著低于术前未用他汀类药物组[RR=0.48,95%CI(0.37,0.64),P<0.001],但其他随访时间点两组间差异无统计学意义(P>0.05);各时间点两组ACM发生率差异均无统计学意义(P>0.05)。结论术前给予负荷剂量瑞舒伐他汀可降低ACS患者PCI术后MACE、MI和ACM风险,但由于部分随访时间点的数据较少,上述结论尚待更多高质量研究予以验证。

Design principles in MOF-derived electromagnetic wave absorption materials:Review and perspective

At present,metal-organic framework(MOF)-derived nano-micro architectures are actively explored for electromagnetic(EM)wave absorption owing to their flexible composition and structural manipulation that enhance dielectric and magnetic attenuations.However,the basic design principles in MOF-derived microwave absorption materials have not been summarized.This review is devoted to analyzing design principles in MOF-derived microwave absorption materials from the following perspectives:diverse monomers(ligands and ions of MOFs),topologies,chemical states,and physical properties.The derived essential information regarding the EM wave absorption mechanism and the structural-functional dependency is also comprehensively summarized.Finally,a clear insight into the challenges and perspectives of the industrial revolution upgrading in this promising field is proposed.

Risk factors for chronic ankle instability after first episode of lateral ankle sprain:A retrospective analysis of 362 cases

Background:Chronic ankle instability(CAI) is a common sequela following an acute lateral ankle sprain(LAS).To treat an acture LAS more effectively and efficiently,it is important to identify patients at substantial risk for developing CAI.This study identifies magnetic resonance imaging(MRI) manifestations for predicting CAI development after a first episode of LAS and explores appropriate clinical indications for ordering MRI scans for these patients.Methods:All patients with a first-episode LAS who received plain radiograph and MRI scanning within the first 2 weeks after LAS from December 1,2017 to December 1,2019 were identified.Data were collected using the Cumberland Ankle Instability Tool at final follow-up.Demographic and other related clinical variables,including age,sex,body mass index,and treatment were also recorded.Univariable and multivariable analyses were performed successively to identify risk factors for CAI after first-episode LAS.Results:A total 131 out of 362 patients with a mean follow-up of 3.0± 0.6 years(mean ± SD;2.0—4.1 years) developed CAI after first-episode LAS.According to multivariable regression,development of CAI after first-episode LAS was associated with 5 prognostic factors:age(odds ratio(OR)=0.96,95% confidence interval(95%CI):0.93-1.00,p=0.032);body mass index(OR=1.09,95%CI:1.02-1.17,p=0.009);posterior talofibular ligament injury(OR=2.17,95%CI:1.05-4.48,p=0.035);large bone marrow lesion of the talus(OR=2.69,95%CI:1.30-5.58,p=0.008),and Grade 2 effusion of the tibiotalar joint(OR=2.61,95%CI:1.39-4.89,p=0.003).When patients had at least 1 positive clinical finding in the 10-m walk test,anterior drawer test,or inversion tilt test,they had a 90.2% sensitivity and 77.4% specificity in terms of detecting at least 1 prognostic factor by MRI.Conclusion:MRI scanning is valuable in predicting CAI after first-episode LAS for those patients with at least 1 positive clinical finding in the10-m walk test,anterior drawer test,and inversion tilt test.Further prospective and large-scale studies are necessary for validation.

Conducting Polymers Meet Lithium-Sulfur Batteries:Progress,Challenges,and Perspectives

Lithium-sulfur(Li-S)batteries have attracted increased interest because of the high theoretical energy density,low cost,and environmental friendliness.Conducting polymers(CPs),as one of the most promising materials used in Li-S batteries,can not only facilitate electron transfer and buffer the large volumetric change of sulfur benefiting from their porous structure and excellent flexibility,but also enable stronger physical/chemical adsorption capacity toward polysulfides(LiPSs)when doped with abundant heteroatoms to promote the sulfur redox kinetics and achieve the high sulfur loading.This review firstly introduces the properties of various CPs including structural CPs(polypyrrole(PPy),polyaniline(PANi),polyethylene dioxothiophene[PEDOT])and compound CPs(polyethylene oxide(PEO),polyvinyl alcohol(PVA)and poly(acrylic acid)[PAA]),and their application potential in Li-S batteries.Furthermore,the research progress of various CPs in different components(cathode,separator,and interlayer)of Li-S batteries is systematically summarized.Finally,the application perspective of the CPs in Li-S batteries as a potential guidance is comprehensively discussed.

High-performance solid-state lithium metal batteries achieved by interface modification

Garnet-structured ceramic electrolyte Li_(6.75)La_(3)Zr_(1.75)Ta_(0.25)O_(12)(LLZTO)attracts significant consideration in solid-state Li metal batteries due to its wide electrochemical window and favorable compatibility with Li metal.However,the deployment of LLZTO is severely hampered by poor contact between LLZTO and Li metal anode.In this paper,an ultra-thin Al-Si interface buffer layer(10 nm)is constructed on LLZTO by a magnetron sputtering method,which allows superior wetting of Li onto the LLZTO surface due to the alloying reaction between the Al-Si layer and Li metal.The resulting Li/Al-Si coated LLZTO(ASL)/Li symmetrical cell delivers an interfacial resistance of 15.0Ωcm^(-2),which is much lower than that of 1140.3Ωcm^(-2)for the bare LLZTO symmetrical cell.Moreover,the Li/ASL/Li symmetrical cells exhibit stable plating/striping performance(800 h)with small voltage hysteresis at 1.0 mA cm^(-2).Besides,the full cell with LiFePO_(4)cathode reveals a high capacity of 124.1 mA h g^(-1)after 600 cycles at 0.5C with a lowcapacity decay of 0.032%per cycle.We believe this work will facilitate the development of solid-state rechargeable batteries.