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.

我国超高层建筑智能顶升平台设计和施工研究进展

超高层建筑的兴起对施工技术提出了巨大的挑战,尤其在安全性、稳定性和施工效率等方面。作为一种创新的解决方案,智能顶升平台技术引起了研究者们的广泛关注。本文旨在综述关于超高层建筑智能顶升平台技术研究进展的文章,着重阐述智能平台设计和施工技术研究的必要性、现有研究成果的主要内容以及未来研究的趋势。随着超高层建筑数量的增加,传统施工方法在面对复杂施工环境时显得力不从心。智能顶升平台技术通过自动化和智能化控制,显著提高了施工效率和安全性。国内外学者们提出了一系列的设计和控制方法,以应对这些挑战。一些研究专注于智能顶升平台的核心技术,通过改进现有技术来提高施工效率和安全性。然而,目前的研究主要集中在有限元模拟分析上,缺乏充分的现场测试数据来验证这些理论模型。现有研究成果涵盖了智能顶升平台在多缸同步控制、系统可靠性和安装调试方面的进展。通过现场调研和数据监测,分析出顶升过程中不同步的原因主要是顶升油缸负载不平衡,并利用先进的仿真技术和控制算法提升同步顶升精度。这些研究成果为智能顶升平台的设计和应用提供了坚实的基础。未来的研究趋势应集中在以下几个方面:首先,需要更多的现场试测数据来验证现有的理论模型和技术方案,以确保其在实际施工中的可行性和可靠性。其次,智能顶升平台应推广至高层建筑和住宅式建筑,扩大其应用范围。此外,进一步完善智能顶升平台的设计和控制方法,实现关键施工环节的智能化控制和工业化建造,减少施工过程中的人力干预,提高施工质量和效率。超高层建筑智能顶升平台技术在解决传统施工方法存在的问题方面具有巨大潜力。通过进一步的研究和优化设计,智能顶升平台将能够更好地满足超高层建筑的施工需求,促进建筑行业的可持续发展。

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.

Recent developments in superjunction power devices

Abstract:Superjunction(SJ)is one of the most innovative concepts in the field of power semiconductor devices and is often referred to as a"milestone"in power MOS.Its balanced charge field modulation mechanism breaks through the strong dependency between the doping concentration in the drift region and the breakdown voltage V_(B)in conventional devices.This results in a reduction of the trade-off relationship between specific on-resistance R_(on,sp)and V_(B)from the conventional R_(on,sp)∝V_(B)^(2.5)to R_(on,sp)∝W·V_(B)^(1.32),and even to R_(on,sp)∝W·V_(B)^(1.03).As the exponential term coefficient decreases,R_(on,sp)decreases with the cell width W,exhibiting a development pattern reminiscent of"Moore's Law".This paper provides an overview of the latest research developments in SJ power semiconductor devices.Firstly,it introduces the minimum specific on-resistance R_(on,min)theory of SJ devices,along with its combination with special effects like 3-D depletion and tunneling,discussing the development of R_(on,min)theory in the wide bandgap SJ field.Subsequently,it discusses the latest advancements in silicon-based and wide bandgap SJ power devices.Finally,it introduces the homogenization field(HOF)and high-K voltage-sustaining layers derived from the concept of SJ charge balance.SJ has made significant progress in device performance,reliability,and integration,and in the future,it will continue to evolve through deeper integration with different materials,processes,and packaging technologies,enhancing the overall performance of semiconductor power devices.

Non-Hermitian CHSH^(*)Game with a Single Trapped-Ion Qubit

The Clauser-Horne-Shimony-Holt(CHSH)game provides a captivating illustration of the advantages of quantum strategies over classical ones.In a recent study,a variant of the CHSH game leveraging a single qubit system,referred to as the CHSH^(*)game,has been identified.We demonstrate that this mapping relationship between these two games remains effective even for a non-unitary gate.Here we delve into the breach of Tsirelson’s bound in a non-Hermitian system,predicting changes in the upper and lower bounds of the player’s winning probability when employing quantum strategies in a single dissipative qubit system.We experimentally explore the impact of the CHSH^(*)game on the player’s winning probability in a single trapped-ion dissipative system,demonstrating a violation of Tsirelson’s bound under the influence of parity-time(PT)symmetry.These results contribute to a deeper understanding of the influence of non-Hermitian systems on quantum games and the behavior of quantum systems under PT symmetry,which is crucial for designing more robust and efficient quantum protocols.

理想流体中多孔球形粒子的声辐射力的研究

主要根据Biot-Stoll多孔介质理论,推导了平面波入射到理想流体中多孔球形粒子的声散射系数以及所受声辐射力表达式,通过数值模拟分析了开孔和闭孔情况下多孔球形粒子在不同体孔隙率、不同面孔隙率以及不同药物材料下所受的声辐射力大小,并利用有限元仿真对理论结果进行了验证.从结果可以看出体孔隙率越大,多孔粒子所受的声辐射力越大,对于不同的药物粒子,由于各类性质不同,所以相对而言所受的声辐射力的波动较大.研究为流体中粒子的声操控提供了理论基础,有助于从药物材料、孔隙率等方面改善和发展用于医学相关领域的药物操控.

cAMP/Epac/Rap1信号通路调控NG2细胞分泌IL-1β、TNF-α、BDNF及酸枣仁皂苷A的作用研究

目的研究环磷酸腺苷(cAMP)/环磷酸腺苷结合蛋白(Epac)/Ras相关蛋白1(Rap1)信号通路是否参与调控NG2细胞分泌白细胞介素-1β(IL-1β)、肿瘤坏死因子-α(TNF-α)、脑源性神经营养因子(BDNF)及酸枣仁皂苷A(JuA)的作用。方法体外培养NG2细胞,分为对照组、百日咳毒素(PTX)组、非环状核苷酸Epac拮抗剂(ESI-09)组、酸枣仁皂苷A(JuA)组、艾司唑仑(阳性药)组。采用CCK-8法检测不同浓度JuA对NG2细胞存活率的影响,RT-PCR法和Western blot法检测各组细胞IL-1β、TNF-α、BDNF、cAMP、Epac、Rap1 mRNA及蛋白的表达情况。结果与对照组比较,PTX组降低IL-1β和TNF-αmRNA和蛋白的表达(P<0.01),增加BDNF和cAMP mRNA和蛋白的表达(P<0.01);ESI-09组增加IL-1β和TNF-αmRNA和蛋白的表达(P<0.05),降低BDNF、Epac和Rap1 mRNA和蛋白的表达(P<0.01);JuA组、阳性药组均增加IL-1β、TNF-α、BDNF、cAMP、Epac、Rap1 mRNA和蛋白的表达(P<0.05)。结论cAMP/Epac/Rap1信号通路可介导NG2细胞分泌IL-1β、TNF-α、BDNF,JuA可能作用于cAMP/Epac/Rap1信号通路影响NG2细胞分泌BDNF。

Status of UnDifferenced and Uncombined GNSS Data Processing Activities in China

With the continued development of multiple Global Navigation Satellite Systems(GNSS)and the emergence of various frequencies,UnDifferenced and UnCombined(UDUC)data processing has become an increasingly attractive option.In this contribution,we provide an overview of the current status of UDUC GNSS data processing activities in China.These activities encompass the formulation of Precise Point Positioning(PPP)models and PPP-Real-Time Kinematic(PPP-RTK)models for processing single-station and multi-station GNSS data,respectively.Regarding single-station data processing,we discuss the advancements in PPP models,particularly the extension from a single system to multiple systems,and from dual frequencies to single and multiple frequencies.Additionally,we introduce the modified PPP model,which accounts for the time variation of receiver code biases,a departure from the conventional PPP model that typically assumes these biases to be time-constant.In the realm of multi-station PPP-RTK data processing,we introduce the ionosphere-weighted PPP-RTK model,which enhances the model strength by considering the spatial correlation of ionospheric delays.We also review the phase-only PPP-RTK model,designed to mitigate the impact of unmodelled code-related errors.Furthermore,we explore GLONASS PPP-RTK,achieved through the application of the integer-estimable model.For large-scale network data processing,we introduce the all-in-view PPP-RTK model,which alleviates the strict common-view requirement at all receivers.Moreover,we present the decentralized PPP-RTK data processing strategy,designed to improve computational efficiency.Overall,this work highlights the various advancements in UDUC GNSS data processing,providing insights into the state-of-the-art techniques employed in China to achieve precise GNSS applications.

Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel horizon.The proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

Parallel Reinforcement Learning:A Framework and Case Study

In this paper, a new machine learning framework is developed for complex system control, called parallel reinforcement learning. To overcome data deficiency of current data-driven algorithms, a parallel system is built to improve complex learning system by self-guidance. Based on the Markov chain(MC) theory, we combine the transfer learning, predictive learning, deep learning and reinforcement learning to tackle the data and action processes and to express the knowledge. Parallel reinforcement learning framework is formulated and several case studies for real-world problems are finally introduced.

Alterations in gut microbiota during remission and recurrence of diabetes after duodenal-jejunal bypass in rats

AIM: To observe the alterations in gut microbiota in high-fat diet(HFD)-induced diabetes recurrence after duodenal-jejunal bypass(DJB) in rats. METHODS: We assigned HDF- and low-dose streptozotocin-induced diabetic rats into two major groups to receive DJB and sham operation respectively. When the DJB was completed, we used HFD to induce diabetes recurrence. Then, we grouped the DJB-operated rats by blood glucose level into the DJB-remission(DJB-RM) group and the DJB-recurrence(DJB-RC) group. At a sequence of time points after operations, we compared calorie content in the food intake(calorie intake), oral glucose tolerance test, homeostasis model assessment of insulin resistance(HOMA-IR), concentrations of glucagon-like peptide 1(GLP-1), serum insulin, total bile acids(TBAs) and lipopolysaccharide(LPS) and alterations in colonic microbiota.RESULTS: The relative abundance of Firmicutes in the control(58.06% ± 11.12%; P < 0.05 vs sham; P < 0.05 vs DJB-RC) and DJB-RM(55.58% ± 6.16%; P < 0.05 vs sham; P < 0.05 vs DJB-RC) groups was higher than that in the sham(29.04% ± 1.36%) and DJB-RC(27.44% ± 2.17%) groups; but the relative abundance of Bacteroidetes was lower(control group: 33.46% ± 10.52%, P < 0.05 vs sham 46.88% ± 2.34%, P < 0.05 vs DJB-RC 47.41% ± 5.67%. DJB-RM group: 34.63% ± 3.37%, P < 0.05 vs sham; P < 0.05 vs DJB-RC). Escherichia coli was higher in the sham(15.72% ± 1.67%, P < 0.05 vs control, P < 0.05 vs DJB-RM) and DJB-RC(16.42% ± 3.00%; P < 0.05 vs control; P < 0.05 vs DJB-RM) groups than in the control(3.58% ± 3.67%) and DJB-RM(4.15% ± 2.76%) groups. Improved HOMA-IR(2.82 ± 0.73, P < 0.05 vs DJB-RC 4.23 ± 0.72), increased TBAs(27803.17 ± 4673.42 ng/m L; P < 0.05 vs DJB-RC 18744.00 ± 3047.26 ng/m L) and decreased LPS(0.12 ± 0.04 ng/m L, P < 0.05 vs DJBRC 0.19 ± 0.03 ng/m L) were observed the in DJB-RM group; however, these improvements were reversed in the DJB-RC group, with the exception of GLP-1(DJB-RM vs DJB-RC P > 0.05). CONCLUSION: Alterations in gut microbiota may be responsible for the diabetes remission and recurrence after DJB, possibly by influencing serum LPS and TBAs.

Parallel Reinforcement Learning-Based Energy Efficiency Improvement for a Cyber-Physical System

As a complex and critical cyber-physical system(CPS),the hybrid electric powertrain is significant to mitigate air pollution and improve fuel economy.Energy management strategy(EMS)is playing a key role to improve the energy efficiency of this CPS.This paper presents a novel bidirectional long shortterm memory(LSTM)network based parallel reinforcement learning(PRL)approach to construct EMS for a hybrid tracked vehicle(HTV).This method contains two levels.The high-level establishes a parallel system first,which includes a real powertrain system and an artificial system.Then,the synthesized data from this parallel system is trained by a bidirectional LSTM network.The lower-level determines the optimal EMS using the trained action state function in the model-free reinforcement learning(RL)framework.PRL is a fully data-driven and learning-enabled approach that does not depend on any prediction and predefined rules.Finally,real vehicle testing is implemented and relevant experiment data is collected and calibrated.Experimental results validate that the proposed EMS can achieve considerable energy efficiency improvement by comparing with the conventional RL approach and deep RL.

Diabetes recurrence after metabolic surgeries correlates with re-impaired insulin sensitivity rather than beta-cell function

AIM To investigate factors causing diabetes recurrence after sleeve gastrectomy(SG)and duodenal-jejunal bypass(DJB).METHODS SG and DJB were performed on rats with diabetes induced by high-fat diet(HFD)and streptozotocin(STZ).HFD was used to induce diabetes recurrence at 4 wk postoperatively.Body weight,oral glucose tolerance test,homeostatic model assessment of insulin resistance(HOMA-IR),insulin signaling[IR,insulin receptor substrate(IRS 1,IRS2,phosphatidylinositol3-kinase and AKT in liver and skeletal muscle],oral glucose stimulated insulin secretion,beta-cell morphology(mass,apoptosis and insulin secretion),glucagon-like peptide(GLP)-1,PYY and ghrelin were compared among SG rats with common low-fat diet(SG-LFD),SG with HFD(SG-HFD),DJB rats with LFD(DJB-LFD),DJB with HFD(DJB-HFD)and shamoperation with LFD(Sham)at targeted postoperative times.RESULTS SG and DJB resulted in significant improvement in glucose tolerance,lower HOMA-IR,up-regulated hepatic and muscular insulin signaling,higher levels of oral glucose-stimulated insulin secretion,bigger betacell mass,higher immunofluorescence intensity of insulin,fewer transferase-mediated d UTP-biotin 3’nick end-labeling(TUNEL)-positive beta cells and higher postprandial GLP-1 and PYY levels than in the Sham group.The improvement in glucose tolerance was reversed at 12 wk postoperatively.Compared with the SG-LFD and DJB-LFD groups,the SG-HFD and DJB-HFD groups showed higher HOMA-IR,down-regulated hepatic and muscular insulin signaling,and more TUNEL-positive beta cells.No significant difference was detected between HFD and LFD groups for body weight,glucose-stimulated insulin secretion,betacell mass,immunofluorescence intensity of insulin,and postprandial GLP-1 and PYY levels.Fasting serum ghrelin decreased in SG groups,and there was no difference between HFD-SG and LFD-SG groups.CONCLUSION HFD reverses the improvement in glucose homeostasis after SG and DJB.Diabetes recurrence may correlate with re-impaired insulin sensitivity,but not with alterations of beta-cell function and body weight.

Effects of sleeve gastrectomy plus trunk vagotomy compared with sleeve gastrectomy on glucose metabolism in diabetic rats

AIM To investigate the effects of sleeve gastrectomy plus trunk vagotomy(SGTV) compared with sleeve gastrectomy(SG) in a diabetic rat model.METHODS SGTV, SG, TV and Sham operations were performed on rats with diabetes induced by high-fat diet and streptozotocin. Body weight, food intake, oral glucose tolerance test, homeostasis model assessment of insulin resistance(HOMA-IR), hepatic insulin signaling(IR, IRS1, IRS2, PI3 K and AKT), oral glucose stimulatedinsulin secretion, GLP-1 and ghrelin were compared at various postoperative times.RESULTS Both SG and SGTV resulted in better glucose tolerance, lower HOMA-IR, up-regulated hepatic insulin signaling, higher levels of oral glucose-stimulated insulin secretion, higher postprandial GLP-1 and lower fasting ghrelin levels than the TV and Sham groups. No significant differences were observed between the SG and SGTV groups. In addition, no significant differences were found between the TV and Sham groups in terms of glucose tolerance, HOMA-IR, hepatic insulin signaling, oral glucose-stimulated insulin secretion, postprandial GLP-1 and fasting ghrelin levels. No differences in body weight and food intake were noted between the four groups.CONCLUSION SGTV is feasible for diabetes control and is independent of weight loss. However, SGTV did not result in a better improvement in diabetes than SG alone.

PCPA致皮质NG2细胞活动变化及NG2与睡眠-觉醒相关神经元的共存关系和酸枣仁汤的干预作用

目的 观察NG2细胞在大鼠皮质五羟色胺(5-Hydroxytryptamine,5-Ht)下降后的活动变化和NG2与5-Ht、谷氨酸(glutamate,GLU)、γ-氨基丁酸(γ-aminobutyric acid,GABA)能神经元的共存关系,以及酸枣仁汤的干预作用。方法 将60只SD大鼠随机分为正常组、对照组、对氯苯丙氨酸(Para-Chlorophenylalanine,PCPA)组、PCPA+酸枣仁汤组、酸枣仁汤组,正常组不给任何处理;对照组腹腔注射氯化钠溶液;PCPA组和PCPA+酸枣仁汤组按350 mg/kg体质量以10 mL/kg体积腹腔注射PCPA,酸枣仁汤组腹腔注射等体积的氯化钠溶液。均为每天1次,连续注射6 d。第7天开始,正常组不做处理,对照组和PCPA组灌胃氯化钠溶液,酸枣仁汤组和PCPA+酸枣仁汤组按照7.5 g/kg体质量以10 mL/kg体积灌胃酸枣仁汤,每天1次,连续8 d。取材后采用免疫荧光双标法,观察皮质NG2细胞活动变化,分析NG2细胞与5-Ht、Glu、Gaba能神经元的共存关系,以及酸枣仁汤干预前后NG2和5-Ht、Glu、Gaba能神经元标志物的表达变化。结果 PCPA使皮质NG2和囊泡谷氨酸转运蛋白2(vesicular glutamate transporter 2,Vglut2)表达明显升高(P<0.01),色氨酸羟化酶(tryptophan hydroxylase,TPH)和桥尾蛋白(gephyrin)表达下降(P<0.05),差异均有统计学意义;NG2与5-Ht、Glu、Gaba能神经元之间存在着良好的,但程度不同的区域共表达。酸枣仁汤治疗后皮质NG2、Vglut2表达明显下降(P<0.01),Tph、Gephyrin表达明显升高(P<0.01),差异具有显著统计学意义。结论 PCPA可激活皮质NG2细胞,NG2与5-Ht、Glu、Gaba能神经元在大脑皮层存在不同程度共定位;酸枣仁汤能调节NG2和5-Ht、Glu、Gaba能神经元的兴奋性。

Polycrystalline cubic boron nitride prepared with cubic-hexagonal boron nitride under high pressure and high temperature

Polycrystalline cubic boron nitride(Pc BN)compacts,using the mixture of submicron cubic boron nitride(c BN)powder and hexagonal BN(h BN)powder as starting materials,were sintered at pressures of 6.5–10.0 GPa and temperature of1750℃without additives.In this paper,the sintering behavior and mechanical properties of samples were investigated.The XRD patterns of samples reveal that single cubic phase was observed when the sintering pressure exceeded 7.5 GPa and h BN contents ranged from 20 vol.%to 24 vol.%,which is ascribed to like-internal pressure generated at grain-to-grain contact under high pressure.Transmission electron microscopy(TEM)analysis shows that after high pressure and high temperature(HPHT)treatments,the submicron c BN grains abounded with high-density nanotwins and stacking faults,and this contributed to the outstanding mechanical properties of Pc BN.The pure bulk Pc BN that was obtained at 7.7 GPa/1750℃possessed the outstanding properties,including a high Vickers hardness(~61.5 GPa),thermal stability(~1290℃in air),and high density(~3.46 g/cm^(3)).

中缝核NG2细胞及5-HT的共同作用对大鼠睡眠-觉醒功能的调节

目的:探究中缝核NG2胶质细胞及5-羟色胺(5-HT)的共同作用对大鼠睡眠-觉醒功能的影响。方法:将70只SD大鼠随机分成正常组、空白组、神经元-胶质细胞抗原2(NG2)单克隆抗体(NG2-Ab)组、对氯苯丙氨酸(PCPA)组、5-HT组、NG2-Ab+PCPA组及NG2-Ab+5-HT组,每组10只。正常组大鼠不做任何处理;对其他6组大鼠进行脑电图(EEG)和肌电图(EMG)记录电极及微量注射套管的埋置。恢复7 d后,对各组大鼠进行24 h的EEG/EMG信号记录。正常组大鼠不给予任何药物,向其他各组大鼠中缝核内分别微量注射药物:(1)空白对照组大鼠微量注射1μL生理盐水;(2)NG2-Ab组大鼠微量注射1μL NG2-Ab溶液(5 g/L);(3)PCPA组大鼠微量注射1μL PCPA溶液(10 g/L);(4)5-HT组大鼠微量注射1μL 5-HT溶液(2.5 g/L);(5)NG2-Ab+PCPA组大鼠微量注射1μL PCPA溶液(10 g/L)和1μL NG2-Ab溶液(5 g/L);(6)NG2-Ab+5-HT组大鼠微量注射1μL 5-HT溶液(2.5 g/L)和1μL NG2-Ab溶液(5 g/L),连续给药2 d。末次给药2 h后再次记录各组大鼠的EEG/EMG信号,连续记录72 h。结果:与给药前1 d相比,NG2-Ab组和PCPA组大鼠的觉醒(W)时间在给药后显著延长(P<0.05),非快眼动睡眠(NREMS)、快眼动睡眠(REMS)及总睡眠(TS)时间在给药后显著缩短(P<0.05);5-HT组大鼠的W时间在给药后显著缩短(P<0.05),NREMS、REMS及TS时间在给药后显著延长(P<0.05)。与PCPA组相比,NG2-Ab+PCPA组大鼠的W时间在给药后显著缩短(P<0.05),NREMS、REMS及TS时间在给药后均显著延长(P<0.05)。与5-HT组相比,NG2-Ab+5-HT组大鼠的W时间在给药后显著延长(P<0.05),NREMS、REMS及TS时间在给药后均显著缩短(P<0.05)。与空白对照组相比,NG2-Ab组大鼠的EEG波形特征在给药后无明显变化;PCPA组大鼠δ波百分比在给药后显著增加(P<0.05),α波和β波百分比在给药后均显著减少(P<0.05);5-HT组大鼠的EEG波形特征在给药后无明显变化。与PCPA组相比,NG2-Ab+PCPA组大鼠δ波百分比在给药后显著减少(P<0.05)。与5-HT组相比,NG2-Ab+5-HT组大鼠β波百分比在给药后显著增加(P<0.05)。结论:中缝核NG2细胞及NG2细胞与5-HT的共同作用能够调节大鼠的睡眠-觉醒时间及EEG活动。

Driving Environment Uncertainty-Aware Motion Planning for Autonomous Vehicles

Autonomous vehicles require safe motion planning in uncertain environments,which are largely caused by surrounding vehicles.In this paper,a driving environment uncertainty-aware motion planning framework is proposed to lower the risk of position uncertainty of surrounding vehicles with considering the risk of rollover.First,a 4-degree of freedom vehicle dynamics model,and a rollover risk index are introduced.Besides,the uncertainty of surrounding vehicles’position is processed and propagated based on the Extended Kalman Filter method.Then,the uncertainty potential field is established to handle the position uncertainty of autonomous vehicles.In addition,the model predictive controller is designed as the motion planning framework which accounts for the rollover risk,the position uncertainty of the surrounding vehicles,and vehicle dynamic constraints of autonomous vehicles.Furthermore,two edge cases,the cut-in scenario,and merging scenario are designed.Finally,the safety,effectiveness,and real-time performance of the proposed motion planning framework are demonstrated by employing a hardware-in-the-loop experiment bench.

Renormalization Group Theory of Eigen Microstates

We propose a renormalization group(RG)theory of eigen microstates,which are introduced in the statistical ensemble composed of microstates obtained from experiments or computer simulations.A microstate in the ensemble can be considered as a linear superposition of eigen microstates with probability amplitudes equal to their eigenvalues.Under the renormalization of a factor b,the largest eigenvalueσ1 has two trivial fixed points at low and high temperature limits and a critical fixed point with the RG relationσb1=bβ/νσ1,whereβandνare the critical exponents of order parameter and correlation length,respectively.With the Ising model in different dimensions,it has been demonstrated that the RG theory of eigen microstates is able to identify the critical point and to predict critical exponents and the universality class.Our theory can be used in research of critical phenomena both in equilibrium and non-equilibrium systems without considering the Hamiltonian,which is the foundation of Wilson’s RG theory and is absent for most complex systems.

Extended π-conjugated N-containing heteroaromatic hexacarboxylate organic anode for high performance rechargeable batteries

Organic electrode materials are desirable for green and sustainable Li-ion batteries(LIBs) due to their light-weight, low cost, abundance and multi-electron transfer reactions during battery operation. However, the successful utilization of organic electrodes is hindered by their poor electrical conductivity and low cyclic stability. Herein, a facile synthesis of π-conjugated N-containing heteroaromatic hexacarboxylate(Li6-HAT) compound and its electrochemical performance as an anode material in LIBs is reported.The as-synthesized Li6-HAT electrode renders an ultrahigh initial capacity of 1126.3 m Ah g^(-1) at the current density of 100 m A g^(-1). Moreover, π-conjugated N-containing heteroaromatic center provide excellent reversibility of(de)lithiation process, resulting in excellent capacity retention. Furthermore, a combination of density functional theory(DFT) calculations, in-situ Fourier transform infrared(FTIR) and ex-situ X-ray photoelectron spectroscopy(XPS) characterization reveal that the π-conjugated nitrogen and carboxyl oxygen act as electrochemically active sites during the charge/discharge process. The current work provides novel insights into the charge storage mechanism of organic electrodes and opens up avenues for further development and utilization of organic electrodes in Li-ion batteries.