Modeling and TOPSIS-GRA Algorithm for Autonomous Driving Decision-Making Under 5G-V2X Infrastructure

This paper is to explore the problems of intelligent connected vehicles(ICVs)autonomous driving decision-making under a 5G-V2X structured road environment.Through literature review and interviews with autonomous driving practitioners,this paper firstly puts forward a logical framework for designing a cerebrum-like autonomous driving system.Secondly,situated on this framework,it builds a hierarchical finite state machine(HFSM)model as well as a TOPSIS-GRA algorithm for making ICV autonomous driving decisions by employing a data fusion approach between the entropy weight method(EWM)and analytic hierarchy process method(AHP)and by employing a model fusion approach between the technique for order preference by similarity to an ideal solution(TOPSIS)and grey relational analysis(GRA).The HFSM model is composed of two layers:the global FSM model and the local FSM model.The decision of the former acts as partial input information of the latter and the result of the latter is sent forward to the local pathplanning module,meanwhile pulsating feedback to the former as real-time refresh data.To identify different traffic scenarios in a cerebrum-like way,the global FSM model is designed as 7 driving behavior states and 17 driving characteristic events,and the local FSM model is designed as 16 states and 8 characteristic events.In respect to designing a cerebrum-like algorithm for state transition,this paper firstly fuses AHP weight and EWM weight at their output layer to generate a synthetic weight coefficient for each characteristic event;then,it further fuses TOPSIS method and GRA method at the model building layer to obtain the implementable order of state transition.To verify the feasibility,reliability,and safety of theHFSMmodel aswell as its TOPSISGRA state transition algorithm,this paper elaborates on a series of simulative experiments conducted on the PreScan8.50 platform.The results display that the accuracy of obstacle detection gets 98%,lane line prediction is beyond 70 m,the speed of collision avoidance is higher than 45 km/h,the distance of collision avoidance is less than 5 m,path planning time for obstacle avoidance is averagely less than 50 ms,and brake deceleration is controlled under 6 m/s2.These technical indexes support that the driving states set and characteristic events set for the HFSM model as well as its TOPSIS-GRA algorithm may bring about cerebrum-like decision-making effectiveness for ICV autonomous driving under 5G-V2X intelligent road infrastructure.

Expression of Porcine Circovirus Type 2 ORF2 Gene in Myocardial Cells of Detached Cherry Valley Duck

The objective of this study was to construct the recombinant eukaryotic expression plasmid of ORF2 gene harboring enhanced green fluorescent protein （EGFP） report gene. ORF2 gene of porcine circovirus type 2 cloned by PCR was ligated to the expression vector pEGFP-N1, which contains enhanced green fluorescent protein （EGFP） report gene, the recombinant eukaryotic expression plasmid pEGFP-N1-ORF2 was constructed successfully and was transfected into pre- pared duck myocardial cells （DMCs） by lipofectin. According to the result, the fluorescence expression was directly detected with fluorescence microscope, and the expression of ORF2 were analyzed by RT-PCR and indirect immunofluorescence assay （IFA） respectively. About 48 h after transfection, green fluorescent can be observed on transfected cells ： T-PCR and IFA were positive. This indicated that ORF2 gene of PCV2 was expressed efficiently in transfected duck myocardial cells.

Mutation Breeding of Lactobacillus and Its Application in Yoghurt

With the gradual improvement of the quality of people’s life, the disorder of lipid metabolism caused by high-fat diet has become the main reason that affects the health of our people. Hyperlipidemia, hypertension and hyperglycemia have the effect of causing a large number of serious complications, and are also the main factors of cardiovascular disease. Lactic acid bacteria can avoid hyperlipidemia by inhibiting the excessive growth of harmful intestinal bacteria, maintaining the balance of intestinal microecology, absorbing intestinal cholesterol and regulating lipid metabolism. Therefore, this paper focused on the mutation and breeding of Lactobacillus, and analyzed its application in yoghurt, aiming to provide reference for relevant researchers.

Role and Effects of Eucommia ulmoides Leaves in the Growth Process of Livestock and Poultry

Substitutes of feed antibiotics have been a key research topic in the new stage of animal husbandry.Chinese veterinary medicine refers to decoction pieces and their preparations processed from natural plants,animals,and minerals and used for animal disease prevention and improvement of animal production performance under the guidance of Chinese veterinary pharmacy theory.Eucommia ulmoides leaf extract has many active functional components such as chlorogenic acid,E.ulmoides polysaccharides and flavonoids,which have many biological properties such as antibacterial,antioxidant,immune-regulation,sugar ester-and bone metabolism-regulation effects.This paper explored active ingredients and biological properties of E.ulmoides leaf extract,as well as its role and effects in livestock and poultry breeding,providing a scientific basis for the use of E.ulmoides leaves in livestock and poultry breeding.