General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Growth behaviors and emission properties of Co-deposited MAPbI_(3) ultrathin films on MoS_(2)

Hybrid organic–inorganic perovskite thin films have attracted much attention in optoelectronic and information fields because of their intriguing properties. Due to quantum confinement effects, ultrathin films in nm scale usually show special properties. Here, we report on the growth of methylammonium lead iodide(MAPbI_(3)) ultrathin films via co-deposition of PbI_2 and CH_3NH_3I(MAI) on chemical-vapor-deposition-grown monolayer MoS_(2) as well as the corresponding photoluminescence(PL) properties at different growing stages. Atomic force microscopy and scanning electron microscopy measurements reveal the MoS_(2) tuned growth of MAPbI_(3) in a Stranski–Krastanov mode. PL and Kelvin probe force microscopy results confirm that MAPbI_(3) /MoS_(2) heterostructures have a type-Ⅱ energy level alignment at the interface. Temperaturedependent PL measurements on layered MAPbI_(3) (at the initial stage) and on MAPbI_(3) crystals in averaged size of 500 nm(at the later stage) show rather different temperature dependence as well as the phase transitions from tetragonal to orthorhombic at 120 and 150 K, respectively. Our findings are useful in fabricating MAPbI_(3) /transition-metal dichalcogenide based innovative devices for wider optoelectronic applications.

Comprehensively-modified polymer electrolyte membranes with multifunctional PMIA for highly-stable all-solid-state lithium-ion batteries

Polyethylene oxide(PEO)-based electrolytes have obvious merits such as strong ability to dissolve salts(e.g.,LiTFSI)and high flexibility,but their applications in solid-state batteries is hindered by the low ion conductance and poor mechanical and thermal properties.Herein,poly(m-phenylene isophthalamide)(PMIA)is employed as a multifunctional additive to improve the overall properties of the PEO-based electrolytes.The hydrogen-bond interactions between PMIA and PEO/TFSI-can effectively prevent the PEO crystallization and meanwhile facilitate the LiTFSI dissociation,and thus greatly improve the ionic conductivity(two times that of the pristine electrolyte at room temperature).With the incorporation of the high-strength PMIA with tough amide-benzene backbones,the PMIA/PEO-LiTFSI composite polymer electrolyte(CPE)membranes also show much higher mechanical strength(2.96 MPa),thermostability(4190℃)and interfacial stability against Li dendrites(468 h at 0.10 mA cm-2)than the pristine electrolyte(0.32 MPa,364℃and short circuit after 246 h).Furthermore,the CPE-based LiFePO4/Li cells exhibit superior cycling stability(137 mAh g^-1 with 93%retention after 100 cycles at 0.5 C)and rate performance(123 mAh g^-1 at 1.0 C).This work provides a novel and effective CPE structure design strategy to achieve comprehensively-upgraded electrolytes for promising solid-state battery applications.

A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving

In mixed and dynamic traffic environments,accurate long-term trajectory forecasting of surrounding vehicles is one of the indispensable preconditions for autonomous vehicles to accomplish reasonable behavioral decisions and guarantee driving safety.In this paper,we propose an integrated probabilistic architecture for long-term vehicle trajectory prediction,which consists of a driving inference model(DIM)and a trajectory prediction model(TPM).The DIM is designed and employed to accurately infer the potential driving intention based on a dynamic Bayesian network.The proposed DIM incorporates the basic traffic rules and multivariate vehicle motion information.To further improve the prediction accuracy and realize uncertainty estimation,we develop a Gaussian process-based TPM,considering both the short-term prediction results of the vehicle model and the driving motion characteristics.Afterward,the effectiveness of our novel approach is demonstrated by conducting experiments on a public naturalistic driving dataset under lane-changing scenarios.The superior performance on the task of long-term trajectory prediction is presented and verified by comparing with other advanced methods.

Multi-Scale Convolutional Gated Recurrent Unit Networks for Tool Wear Prediction in Smart Manufacturing

As an integrated application of modern information technologies and artificial intelligence,Prognostic and Health Management(PHM)is important for machine health monitoring.Prediction of tool wear is one of the symbolic applications of PHM technology in modern manufacturing systems and industry.In this paper,a multi-scale Convolutional Gated Recurrent Unit network(MCGRU)is proposed to address raw sensory data for tool wear prediction.At the bottom of MCGRU,six parallel and independent branches with different kernel sizes are designed to form a multi-scale convolutional neural network,which augments the adaptability to features of different time scales.These features of different scales extracted from raw data are then fed into a Deep Gated Recurrent Unit network to capture long-term dependencies and learn significant representations.At the top of the MCGRU,a fully connected layer and a regression layer are built for cutting tool wear prediction.Two case studies are performed to verify the capability and effectiveness of the proposed MCGRU network and results show that MCGRU outperforms several state-of-the-art baseline models.

Research Progress on Material Basis,Pharmacological Effect and Clinical Application of Danggui Shaoyao Powder

The research of modern pharmacology displays that main material basis of Danggui Shaoyao Powder exerting efficacy includes ligustilide,paeoniflorin,poria acid,ferulic acid,ligustrazine and so on,and its efficacy is mainly realized by regulating neural receptor-ligand interaction,cytokine release,and TNF-αinflammatory pathway.Systematic study of metabonomics,serum pharmacochemistry and network pharmacology of Danggui Shaoyao Powder sufficiently clarifies its potential pharmacodynamic mechanism,and it could provide scientific theoretical basis for its clinical application.In this paper,by systemically analyzing material basis of Danggui Shaoyao Powder,and exploring its complex pharmacological mechanism and clinical application in vivo,it could comprehensively understand the clinical value of Danggui Shaoyao Powder,so as to provide beneficial reference for further development of the material basis,quality control and classical prescription of Danggui Shaoyao Powder.

Interfaces between MoO x and Mo X2(X=S,Se,and Te)

In the past decades there have been many breakthroughs in low-dimensional materials,especially in two-dimensional(2D)atomically thin crystals like graphene.As structural analogues of graphene but with a sizeable band gap,monolayers of atomically thin transition metal dichalcogenides(with formula of MX2,M=Mo,W;X=S,Se,Te,etc.)have emerged as the ideal 2D prototypes for exploring fundamentals in physics such as valleytronics due to the quantum confinement effects,and for engineering a wide range of nanoelectronic,optoelectronic,and photocatalytic applications.Transition metal trioxides as promising materials with low evaporation temperature,high work function,and inertness to air have been widely used in the fabrication and modification of MX2.In this review,we reported the fabrications of one-dimensional MoS2 wrapped MoO2 single crystals with varied crystal direction via atmospheric pressure chemical vapor deposition method and of 2D MoOx covered MoX2 by means of exposing MoX2 to ultraviolet ozone.The prototype devices show good performances.The approaches are common to other transition metal dichalcogenides and transition metal oxides.

The Design and Implementation of Black Tea Traceability System Based on UHF RFID

In order to realize the whole process of consumer- producer bidirectional traceability and distinguish the true from the false,according to Yinghong 9,planting,processing and circulation situation,we introduce UHF RFID and Network information technology,to design and develop the UHF RFID black tea traceability system.The system adopts.NET technology,uses Microsoft Visual Studio 2010 + VB.NET,Microsoft SQL SERVER 2005,T-SQL language for development and design,and uses the network architecture of C /S combined with B /S,to randomly generate ID with 20 bit code and label,thereby forming the only corresponding relation and pointing to the corresponding batch and product types.The technology mode using three-layer structure for development realizes the functions of data collection,tracing,sharing and query.The data and business processing are concentrated on the server,simplifying the development,use and maintenance of system.We build and implement Yinghong 9 black tea traceability system,to the needs of government,the public and the producers for Yinghong 9 brand protection,product quality tracking and market regulation.

Effects of intermittent cold-exposure on culprit plaque morphology in ST-segment elevation myocardial infarction patients: a retrospective study based on optical coherence tomography

Objective:Present study aimed to explore the effects of intermittent cold-exposure(ICE)on culprit plaque morphology in patients with ST-segment elevation myocardial infarction(STEMI)in frigid zone.Methods:Totally 848 STEMI patients with plaque rupture(N=637)or plaque erosion(N=211)were enrolled consecutively according to optical coherence tomography imaging.Data on the changes of outdoor air temperature corresponding to 24 solar terms were collected.Patients were divided into different groups according to 24 solar terms and the number of days with indoor central heating.Imaging data were measured and analyzed qualitatively and quantitatively.Statistical analysis was conducted to elucidate the possible association of the STEMI patients of different groups with plaque morphology of culprit vessel with alterations of ambient temperature.Results:The incidence of both plaque rupture and plaque erosion presented trough in summer.The incidence of plaque rupture reached a peak value in early winter when outdoor air temperature dropped below 0℃and declined with supply of central heating.Persistent cold exposure in early winter was positively and significantly associated with plaque rupture.The incidence of plaque erosion presented a peak in severe winter with outdoor air temperature dropping below-20℃and steady supply of central heating.ICE in severe winter was positively and significantly associated with plaque with intact intima,especially in aged male or current smoking patients.The positive correlation of cold exposure with lipid size in culprit plaque in winter weakened with central heating.Conclusion:ICE resulted from switching staying in between outdoor cold environment and indoor warm temperature with central heating in severe winter changed culprit plaque morphology in STEMI.Plaque rupture decreased whereas plaque erosion increased impacted by ICE.The effect of ICE on the transformation of plaque morphology might be explained by reduced lipid deposition.

The Education of Japanese Honorifics and Cultivating Intercultural Communication Competence

Japanese honorifics which symbolizes the social culture of Japan are linguistic forms that are indispensable in the Japanese language education.Hence,the Japanese language education requires an improvement of previously solidified teaching methods with the cultivation of students’intercultural communication competence,in order for students to understand Japanese honorifics in-depth and apply them in practice.This paper analyzes the necessity of cultivating students’intercultural communication competence,the difficulties in Japanese honorifics education,and proposes specific training methods to help students improve their competence.

Exploring the abundance and influencing factors of antimicrobial resistance genes in manure plasmidome from swine farms

Plasmids play a critical role in the dissemination of antimicrobial resistance genes(ARGs),however,a systematical understanding of ARGs originated from plasmids in swine production is currently lacking.Herein,quantitative polymerase chain reaction was applied to determine the prevalence of ten ARGs and the class1 integron gene intI1 of plasmid source in swinemanure from 44 farms in Sichuan,Hubei and Hebei provinces,China.All assayed ARGs were observed in plasmid DNA samples,and the average absolute abundance of aac(6’)-Ib-cr,blaNDM,blaCTX-M,optrA,ermB,floR,mcr-1,qnrS,tetM,sul1 and intI1 were 7.09,2.90,4.67,6.62,7.55,7.14,4.08,4.85,7.16,7.11 and 8.07 of 10 log copies/gram,respectively.IntI1 showed a high correlation(r>0.8,P<0.01)with the abundance of aac(6’)-Ib-cr and sul1 in swine manure.Moreover,the farm scale(i.e.,herd population)and geographical location were not found to be critical factors influencing the absolute abundance of ARGs of plasmid DNA in swine farms.However,the concentrations of florfenicol,Cu,Zn,Fe,total phosphorus(TP)and total potassium(TK)demonstrated a significant correlation with the abundance of several ARGs.Particularly,Cu and Zn had high correlations with optrA and blaCTX-M,respectively.Our results demonstrated that antibiotics,heavy metals and environmental nutrients are likely jointly contributing to the long-term persistence of ARGs in swine production.This study provides insights into the abundance and influencing factors of ARGs from swine manure,which is of significance for assessing and reducing the public health risks in livestock production.

Retrospective Analysis of the Duration of Hospitalization of Imported Patients Infected with SARS-CoV-2 in Guangzhou, 2021

The pandemic of coronavirus disease 2019 is“not over,”in fact,the“dynamic clearing”policy for SARS-CoV-2 control and prevention in China has been firmly enforced.This study aimed to analyze the clinical symptoms and dynamic viral RNA changes in 2021 at Guangzhou Eighth People’s Hospital.This study showed that 31.4%of the patients(695/2212)tested negative for viral RNA from admission to the final release from quarantine.Of all negative cases,86.5%(601/695)remained in the hospital for no more than 5 days and were asymptomatic or mild.Among the remaining 402 patients who stayed for no more than 5 days,76.4%(307/402)were viral RNA retest positive during the isolation stage.However,96.4%of the peak viral RNA(296/307)was over Ct=33 cycles during the isolation stage.

Rice caryopsis development Ⅱ: Dynamic changes in the endosperm

The rice endosperm plays crucial roles in nourishing the embryo during embryogenesis and seed germination. Although previous studies have provided the general information about rice endosperm, a systematic investigation throughout the entire endosperm developmental process is still lacking. In this study, we examined in detail rice endosperm development on a daily basis throughout the 3o-day period of post-fertilization development. We observed that coenocytic nuclear division occurred in the first 2 days after pollination （DAP）, cellularization occurred between 3 and 5 DAP, differentiation of the aleurone and starchy endosperm occurred between 6 and 9 DAP, and accumulation of storage products occurred concurrently with the aleurone/starchy endosperm differentiation from 6 DAP onwards and was accomplished by 21 DAP. Changes in cytoplasmic membrane permeability, possibly caused by programmed cell death, were observed in the central region of the starchy endosperm at 8 DAP, and expanded to the whole starchy endosperm at 21 DAP when the aleurone is the only living component in the endosperm. Further, we observed that a distinct multi-layered dorsal aleurone formed near the dorsal vascular bundle, while the single- or occasionally two-cell layered aleurone was located in the lateral and ventral positions of endosperm. Our results provide in detail the dynamic changes in mitotic divisions, cellularization, cell differentiation, storage product accumulation, and programmed cell death that occur during rice endosperm development.

Rice caryopsis development Ⅰ: Dynamic changes in different cell layers

Rice caryopsis as one of the most important food sources for humans has a complex structure that is composed of maternal tissues including the pericarp and testa and filial tissues including the endosperm and embryo. Although rice caryopsis studies have been conducted previously, a system- atic characterization throughout the entire developmental process is still lacking. In this study, detailed morphological examinations of caryopses were made during the entire 30- day developmental process. We observed some rapid changes in cell differentiation events and cataloged how cellular degeneration processes occurred in maternal tissues. The differentiations of tube cells and cross cells were achieved by 9 days after pollination （DAP）. In the testa, the outer integument was degenerated by 3 DAP, while the outer layer of the inner integument degenerated by 7 DAP. In the nucellus, all tissues with the exception of the nucellar projection and the nucellar epidermis degenerated in the first 5 DAP. By 21 DAP, all maternal tissues, including vascular bundles, the nucellar projection and the nucellar epidermal cells were degenerated. In summary, this study provides a complete atlas of the dynamic changes in cell differentiation and degeneration for individual maternal cell layers of rice caryopsis.

Space-confined growth of metal halide perovskite crystal films

Metal halide perovskites,as a new generation of optoelectronic materials,have attracted a great deal of interest due to their remarkable intrinsic properties.Due to the excellent optoelectronic properties,the perovskite crystals are widely used in lasers,photodetectors,X-ray detectors and solar cells.Considering the device performance and fabrication requirements,proper thickness of the crystal is required to avoid carrier loss and simultaneously ensure sufficient light absorption,which can realize the full potential of its excellent carrier transport property.Thus,the fabrication of perovskite crystal in a thin film with an adjustable thickness is highly desirable.The space-confined method has been demonstrated to be an effective way of preparing perovskite with controlled thickness.In this method,the thickness of perovskite can be regulated flexibly in a geometric confined space.Moreover,the size,quality and architecture of perovskite crystal films are also major concerns for practical photoelectric devices,which can also be optimized by the space-confined method owing to its good adaptability towards various modified strategies.In a word,the space-confined method is not only a simple and conventional way to adjust the thickness of perovskite crystal films,but also provides a platform to optimize their size,quality and architecture through applying appropriate strategies to the confined space.Herein,we review the space-confined growth of perovskite crystal films.Particularly,various modified strategies based on the space-confined method applied to the optimization of thickness,size,quality and architecture are highlighted.Then the stability investigating and component regulating of perovskite crystal films would be also mentioned.Furthermore,the correlation between the perovskite thickness and the device performance is discussed.Finally,several key challenges and proposed solutions of perovskite thin films based on the space-confined method are discussed.

玻璃球上的魔法:二维原子晶体的可控带隙生长

对于半导体材料,带隙是一个非常重要的性质标签[1]其表示半导体中电子被激发到能参与导电的状态所需要的最小能量,决定了材料的众多基本物理特性,如光子的吸收激发和电子传输等,带隙的精确调控有利于获取具有特定性质的订制材料.目前报道的二维原子晶体带隙调控方法主要分为化学调控及物理调控两大类.

Enormous enhancement in electrical performance of few-layered MoTe2 due to Schottky barrier reduction induced by ultraviolet ozone treatment

Doping can improve the band alignment at the metal-semiconductor interface to modify the corresponding Schottky barrier,which is crucial for the realization of high-performance logic components.Here,we systematically investigated a convenient and effective method,ultraviolet ozone treatment,for p-type doping of MoTe2 field-effect transistors to enormously enhance the corresponding electrical performance.The resulted hole concentration and mobility are near 100 times enhanced to be〜1.0×10^13 cm^-2 and 101.4 cm^2/(V·s),respectively,and the conductivity is improved by 5 orders of magnitude.These values are comparable to the highest ones ever obtained via annealing doping or non-lithographic fabrication methods at room temperature.Compared with the pristine one,the photoresponsivity(522 mA/W)is enhanced approximately 100 times.Such excellent performances can be attributed to the sharply reduced Schottky barrier because of the surface charge transfer from MoTe2 to MoOx(x<3),as proved by photoemission spectroscopy.Additionally,the p-doped devices exhibit excellent stability in ambient air.Our findings show significant potential in future nanoelectronic and optoelectronic applications.

Highly in-plane anisotropy of thermal transport in suspended ternary chalcogenide Ta_(2)NiS_(5)

Energy dissipation has always been an attention-getting issue in modern electronics and the emerging low-symmetry two-dimensional(2D)materials are considered to have broad prospects in solving the energy dissipation problem.Herein the thermal transport of a typical 2D ternary chalcogenide Ta_(2)NiS_(5) is investigated.For the first time we have observed strongly anisotropic in-plane thermal conductivity towards armchair and zigzag axes of suspended few-layer Ta_(2)NiS_(5) flakes through Raman thermometry.For 7-nm-thick Ta_(2)NiS_(5) flakes,theκz i g z a g is 4.76 W·m^(−1)·K^(−1) andκa r m c h a i r is 7.79 W·m^(−1)·K^(−1),with a large anisotropic ratio(κa r m c h a i r/κz i g z a g)of 1.64 mainly ascribed to different phonon mean-free-paths along armchair and zigzag axes.Moreover,the thickness dependence of thermal anisotropy is also discussed.As the flake thickness increases,theκa r m c h a i r/κz i g z a g reduces sharply from 1.64 to 1.07.This could be attributed to the diversity in phonon boundary scattering,which decreases faster in zigzag direction than in armchair direction.Such anisotropic property enables heat flow manipulation in Ta_(2)NiS_(5) based devices to improve thermal management and device performance.Our work helps reveal the anisotropy physics of ternary transition metal chalcogenides,along with significant guidance to develop energy-efficient next generation nanodevices.

Highly anisotropic thermal conductivity of few-layer CrOCl for efficient heat dissipation in graphene device

With the packing density growing continuously in integrated electronic devices,sufficient heat dissipation becomes a serious challenge.Recently,dielectric materials with high thermal conductivity have brought insight into effective dissipation of waste heat in electronic devices to prevent them from overheating and guarantee the performance stability.Layered CrOCl,an antiferromagnetic insulator with low-symmetry crystal structure and atomic level flatness,might be a promising solution to the thermal challenge.Herein,we have systematically studied the thermal transport of suspended few-layer CrOCl flakes by microRaman thermometry.The CrOCl flakes exhibit high thermal conductivities along zigzag direction,from~392±33 to~1,017±46 W·m^(−1)·K^(−1) with flake thickness from 2 to 50 nm.Besides,pronounced thickness-dependent thermal conductivity ratio(/from~2.8±0.24 to~4.3±0.25)has been observed in the CrOCl flakes,attributed to the discrepancy of phonon dispersion and phonon surface scattering.As a demonstration to the heat sink application of layered CrOCl,we then investigate the energy dissipation in graphene devices on CrOCl,SiO_(2) and hexagonal boron nitride(h-BN)substrates,respectively.The graphene device temperature rise on CrOCl is only 15.4%of that on SiO_(2) and 30%on h-BN upon the same electric power density,indicating the efficient heat dissipation of graphene device on CrOCl.Our study provides new insights into two-dimentional(2D)dielectric material with high thermal conductivity and strong anisotropy for the application of thermal management in electronic devices.

Prognostic nomogram incorporating radiological features for predicting overall survival in patients with AIDS-related non-Hodgkin lymphoma

Background: Acquired immune deficiency syndrome (AIDS)-related non-Hodgkin lymphoma (AR-NHL) is a high-risk factor for morbidity and mortality in patients with AIDS. This study aimed to determine the prognostic factors associated with overall survival (OS) and to develop a prognostic nomogram incorporating computed tomography imaging features in patients with acquired immune deficiency syndrome-related non-Hodgkin lymphoma (AR-NHL).Methods: A total of 121 AR-NHL patients between July 2012 and November 2019 were retrospectively reviewed. Clinical and radiological independent predictors of OS were confirmed using multivariable Cox analysis. A prognostic nomogram was constructed based on the above clinical and radiological factors and then provided optimum accuracy in predicting OS. The predictive accuracy of the nomogram was determined by Harrell C-statistic. Kaplan-Meier survival analysis was used to determine median OS. The prognostic value of adjuvant therapy was evaluated in different subgroups.Results: In the multivariate Cox regression analysis, involvement of mediastinal or hilar lymph nodes, liver, necrosis in the lesions, the treatment with chemotherapy, and the CD4 ≤100 cells/μL were independent risk factors for poor OS (allP < 0.050). The predictive nomogram based on Cox regression has good discrimination (Harrell C-index = 0.716) and good calibration (Hosmer-Lemeshow test,P = 0.620) in high- and low-risk groups. Only patients in the high-risk group who received adjuvant chemotherapy had a significantly better survival outcome.Conclusion: A survival-predicting nomogram was developed in this study, which was effective in assessing the survival outcomes of patients with AR-NHL. Notably, decision-making of chemotherapy regimens and more frequent follow-up should be considered in the high-risk group determined by this model.