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.

Scale-dependent effects of habitat fragmentation on the genetic diversity of Actinidia chinensis populations in China

Spatial scale partly explains the differentiated effects of habitat fragmentation on plant biodiversity,but the mechanisms remain unclear.To investigate the effects of habitat fragmentation on genetic diversity at different scales,we sampled Actinidia chinensis Planch.at broad and fine scales,China.The broad-scale sampling included five mountain populations and one oceanic island population(Zhoushan Archipelago),and the fine-scale sampling covered 11 lake islands and three neighboring land populations in Thousand-Island Lake(TIL).These populations were genotyped at 30 microsatellite loci,and genetic diversity,gene flow,and genetic differentiation were evaluated.Genetic differentiation was positively related to geographical distance at the broad scale,indicating an isolation-bydistance effect of habitat fragmentation on genetic diversity.The oceanic population differed from the mainland populations and experienced recent bottleneck events,but it showed high gene flow with low genetic differentiation from a mountain population connected by the Yangtze River.At the fine scale,no negative genetic effects of habitat fragmentation were found because seed dispersal with water facilitates gene flow between islands.The population size of A.chinensis was positively correlated with the area of TIL islands,supporting island biogeography theory,but no correlation was found between genetic diversity and island area.Our results highlight the scale-dependent effects of habitat fragmentation on genetic diversity and the importance of connectivity between island-like isolated habitats at both the broad and fine scales.

Ultra-fast phosphating synthesis of metastable crystalline phase-controllable ultra-small MPX/CNT(M = Pd, Pt, Ru) for polyalcohol electrooxidation

A general approach is reported for ultra-fast phosphating synthesis of a series of ultra-small(<5 nm)noble metal phosphides(MPX/CNT,M=Pd,Pt,Ru)which are successfully produced in just 75 s for the first time.The catalytic performance of the catalysts can be optimized by controlling the nanomaterials as the metastable crystalline phases.By altering the phosphorus source under the same conditions,the hexagonal structured Pd_(7)P_(3)(NaH_(2)PO_(2).H_(2)O as P source)and monoclinic structured Pd_(6)P(Na_(4)P_(2)O_(7) as P source)can be prepared successfully.Both of them exhibit excellent polyol oxidation performance in alkaline media.Monoclinic Pd_(6)P/CNT and hexagonal Pd_(7)P_(3)/CNT have large ECSA which are confirmed as 82.1 m2 g^(-1)and 86.2 m2 g^(-1),respectively.Hexagonal Pd_(7)P_(3)/CNT has the highest mass activity of 6.14 A mgPd^(-1)(3.21 A mgPd^(-1)for Pd_(6)P/CNT)for GOR,which far exceeded Pt/C(2.81 A mgPt^(-1)).Meanwhile,the mass activity of monoclinic Pt_(5)P_(2)/CNT for EGOR achieved 12.4 A mg_(Pt)^(-1),which far exceeded Pt/C(6.8 A mg_(Pt)^(-1)).The stability test proved that the activity decay of these catalysts was negligible after the 12-hour durability test.Meanwhile,they have excellent CO anti-poisoning abilities.

免疫“分子机器”的金属干预

免疫“分子机器”的识别与调控是免疫系统有序工作的关键.金属元素作为机体必需的营养物质,具有独特的化学性质,可以通过不同机制广泛地影响和干预免疫“分子机器”.本文站在细胞内、外不同的免疫“分子机器”的角度,总结了金属对免疫“分子机器”的直接干预和间接影响,阐释了不同免疫“分子机器”中金属元素的重要作用,提出了目前相关研究的不足及其历史成因.最后,本文通过分析金属干预的化学特性,提出要结合近年来新兴的研究手段从全局性、特异性和可变性等方面进行研究,为免疫“分子机器”的金属靶向干预提供了新的见解.

Zinc Ion-Induced Immune Responses in Antitumor Immunotherapy

Zinc has emerged as a crucial metal in the field of antitumor immunotherapy.Despite its recognized significance,the specific molecular mechanisms behind zinc ion-mediated antitumor immune responses remain inadequately elucidated.Herein,we present a comprehensive analysis of the effects of zinc ions on immune regulation in antitumor immunotherapy.Zinc ions overload within tumor cells results in the generation of reactive oxygen species(ROS)through two mechanisms:the leakage of electrons from aerobic respiration in mitochondria and the oxidation of reduced nicotinamide adenine dinucleotide phosphate(NADPH)by NADPH oxidase 1(NOX1).The accumulation of ROS and the resulting damage to mitochondrial DNA(mtDNA)activate multiple signaling pathways,leading to the production of high levels of interferons and inflammatory cytokines.Besides,excessive zinc ions induce tumor cell pyroptosis through two pathways:the caspase-1/GSDMD-dependent canonical pathway and the caspase-3/GSDME-dependent alternative pathway,leading to the exposure of many damage-associated molecular patterns(DAMPs).As a result,strong systemic antitumor immunity is triggered,leading to the inhibition of tumor growth.This study unveils the intricate network of signaling pathways mediated by zinc ions in the tumor microenvironment(TME).Such findings not only lay a solid foundation for the development of zinc-based antitumor drugs but also advance the field of zinc-based metalloimmunotherapy.

Transient stimulated Raman scattering spectroscopy and imaging

Stimulated Raman scattering(SRS)has been developed as an essential quantitative contrast for chemical imaging in recent years.However,while spectral lines near the natural linewidth limit can be routinely achieved by state-of-the-art spontaneous Raman microscopes,spectral broadening is inevitable for current mainstream SRS imaging methods.This is because those SRS signals are all measured in the frequency domain.There is a compromise between sensitivity and spectral resolution:as the nonlinear process benefits from pulsed excitations,the fundamental time-energy uncertainty limits the spectral resolution.Besides,the spectral range and acquisition speed are mutually restricted.Here we report transient stimulated Raman scattering(T-SRS),an alternative time-domain strategy that bypasses all these fundamental conjugations.T-SRS is achieved by quantum coherence manipulation:we encode the vibrational oscillations in the stimulated Raman loss(SRL)signal by femtosecond pulse-pair sequence excited vibrational wave packet interference.The Raman spectrum was then achieved by Fourier transform of the time-domain SRL signal.Since all Raman modes are impulsively and simultaneously excited,T-SRS features the natural-linewidth-limit spectral line shapes,laser-bandwidth-determined spectral range,and improved sensitivity.With~150-fs laser pulses,we boost the sensitivity of typical Raman modes to the sub-mM level.With all-plane-mirror high-speed time-delay scanning,we further demonstrated hyperspectral SRS imaging of live-cell metabolism and high-density multiplexed imaging with the natural-linewidth-limit spectral resolution.T-SRS shall find valuable applications for advanced Raman imaging.

Revealing the nature of Pt-based immunotherapy through the lens of neoantigens in cancer

Metal elements play an important role in immune modulation[1,2], Pt-based drugs are broadly applied in the clinical treatment of different human tumors due to their superior clinical efficacy[3,4]. In recent years, the combination therapy of Pt-based chemotherapy and immunotherapy has demonstrated improved clinical outcomes in several types of cancer [5].

Exploring point zero:a study of 20 Chinese cities

A point zero represents a central geographical location of a city,which is essential for not only measuring distances,but also understanding the historical and/or cultural origin of a city.Although extensive studies have focused on delineating city centers,to our knowledge,no studies have paid attention to determining the location for a point zero.Here,our goal is to investigate various potential approaches for identifying such a location.Specifically,three typical approaches,geometric-based,topological-based,and thematic-based,are proposed to recommend point zeros and different scales,administrative divisions,kernel density sur-faces,and regions enclosed by ring roads are used for analysis.The effectiveness of different approaches and scales are evaluated and compared by calculating an offset distance between recommended and actual point zero locations in 20 Chinese cities.Using the different approaches,the average offset distance for most Chinese cities is 2-4 km,and the thematicbased approach performs best.Both the topological-based and thematic-based approaches are less sensitive to the analyzed scale than the geometric-based approach.The results indicate that it is possible to determine the approximate location for a point zero from geographical data.Based on the buffer zone of such a location,an actual point zero may further be recommended.

SOTIF risk mitigation based on unified ODD monitoring for autonomous vehicles

Purpose–The purpose of this paper is to design a unified operational design domain(ODD)monitoring framework for mitigating Safety of the Intended Functionality(SOTIF)risks triggered by vehicles exceeding ODD boundaries in complex traffic scenarios.Design/methodology/approach–A unified model of ODD monitoring is constructed,which consists of three modules:weather condition monitoring for unusual weather conditions,such as rain,snow and fog;vehicle behavior monitoring for abnormal vehicle behavior,such as traffic rule violations;and road condition monitoring for abnormal road conditions,such as road defects,unexpected obstacles and slippery roads.Additionally,the applications of the proposed unified ODD monitoring framework are demonstrated.The practicability and effectiveness of the proposed unified ODD monitoring framework for mitigating SOTIF risk are verified in the applications.Findings–First,the application of weather condition monitoring demonstrates that the autonomous vehicle can make a safe decision based on the performance degradation of Lidar on rainy days using the proposed monitoring framework.Second,the application of vehicle behavior monitoring demonstrates that the autonomous vehicle can properly adhere to traffic rules using the proposed monitoring framework.Third,the application of road condition monitoring demonstrates that the proposed unified ODD monitoring framework enables the ego vehicle to successfully monitor and avoid road defects.Originality/value–The value of this paper is that the proposed unified ODD monitoring framework establishes a new foundation for monitoring and mitigating SOTIF risks in complex traffic environments.

Pressure shear assisted extraction of polysaccharide from Auricularia auricula and its biological activities

In this paper,using to the comprehensive scoring method,pressure shear assisted extraction was used to prepare polysaccharide from Auricularia auricula(PS-AAP)by orthogonal test to optimize the extraction.The highest comprehensive score(90.70)was obtained under 1:70 g/mL solid-liquid ratio,110°C reaction temperature,60 min reaction time and 1.0 MPa reaction pressure.Compared to AAP by water bath(WB-AAP),PS-AAP led to a higher extraction efficiency and decreased the relative molecular weight.In addition,infrared spectrum(FT-IR)analysis showed that pressure shear assisted did not change the polysaccharide structure.Scanning electron microscope(SEM)showed that PS-AAP was smaller and more broken by pressure shear assisted.Furthermore,the ratio of glucose to mannose in PS-AAP was relatively higher than WB-AAP,which also proved that PS-AAP had certain antioxidant and hypoglycemic activities.Compared with WB-AAP,the inhibitionα-glucosidase andα-amylase activity of PS-AAP increased by 11.37%and 24.43%respectively.These results revealed that PS-AAP has the poten-tial value of being a antioxidant and hypoglycemic agent.