Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

An Environment‑Tolerant Ion‑Conducting Double‑Network Composite Hydrogel for High‑Performance Flexible Electronic Devices

High-performance ion-conducting hydrogels(ICHs)are vital for developing flexible electronic devices.However,the robustness and ion-conducting behavior of ICHs deteriorate at extreme tempera-tures,hampering their use in soft electronics.To resolve these issues,a method involving freeze–thawing and ionizing radiation technology is reported herein for synthesizing a novel double-network(DN)ICH based on a poly(ionic liquid)/MXene/poly(vinyl alcohol)(PMP DN ICH)system.The well-designed ICH exhibits outstanding ionic conductivity(63.89 mS cm^(-1) at 25℃),excellent temperature resistance(-60–80℃),prolonged stability(30 d at ambient temperature),high oxidation resist-ance,remarkable antibacterial activity,decent mechanical performance,and adhesion.Additionally,the ICH performs effectively in a flexible wireless strain sensor,thermal sensor,all-solid-state supercapacitor,and single-electrode triboelectric nanogenerator,thereby highlighting its viability in constructing soft electronic devices.The highly integrated gel structure endows these flexible electronic devices with stable,reliable signal output performance.In particular,the all-solid-state supercapacitor containing the PMP DN ICH electrolyte exhibits a high areal specific capacitance of 253.38 mF cm^(-2)(current density,1 mA cm^(-2))and excellent environmental adaptability.This study paves the way for the design and fabrication of high-performance mul-tifunctional/flexible ICHs for wearable sensing,energy-storage,and energy-harvesting applications.

Viologen-based flexible electrochromic devices

Electrochromic technology has gained significant attention in various fields such as displays,smart windows,biomedical monitoring,military camouflage,human-machine interaction,and electronic skin due to its ability to provide reversible and fast color changes under applied voltage.With the rapid development and increasing demand for flexible electronics,flexible electrochromic devices(FECDs)that offer smarter and more controllable light modulation hold great promise for practical applications.The electrochromic material(ECM)undergoing color changes during the electrochemical reactions is one of the key components in electrochromic devices.Among the ECMs,viologens,a family of organic small molecules with 1,1'-disubstituted-4,4'-dipyridinium salts,have garnered extensive research interest,due to their well-reversible redox reactions,excellent electron acceptance ability,and the ability to produce multiple colors.Notably,viologen-based FECDs demonstrate color changes in the liquid or semisolid electrolyte layer,eliminating the need for two solid electrodes and thus simplifying the device structure.Consequently,viologens offer significant potential for the development of FECDs with high optical contrast,fast response speed,and excellent stability.This review aims to provide a comprehensive overview of the progress and perspectives of viologen-based FECDs.It begins by summarizing the typical structure and recent exciting developments in viologen-based FECDs,along with their advantages and disadvantages.Furthermore,the review discusses recent advancements in FECDs with additional functionalities such as sensing,photochromism,and energy storage.Finally,the remaining challenges and potential research directions for the future of viologen-based FECDs are addressed.

Driving pressure in mechanical ventilation:A review

Driving pressure(ΔP)is a core therapeutic component of mechanical ventilation(MV).Varying levels ofΔP have been employed during MV depending on the type of underlying pathology and severity of injury.However,ΔP levels have also been shown to closely impact hard endpoints such as mortality.Considering this,conducting an in-depth review ofΔP as a unique,outcome-impacting therapeutic modality is extremely important.There is a need to understand the subtleties involved in making sureΔP levels are optimized to enhance outcomes and minimize harm.We performed this narrative review to further explore the various uses ofΔP,the different parameters that can affect its use,and how outcomes vary in different patient populations at different pressure levels.To better utilizeΔP in MV-requiring patients,additional large-scale clinical studies are needed.

Self-assembly of perovskite nanocrystals:From driving forces to applications

Self-assembly of metal halide perovskite nanocrystals(NCs)into superlattices can exhibit unique collective properties,which have significant application values in the display,detector,and solar cell field.This review discusses the driving forces behind the self-assembly process of perovskite NCs,and the commonly used self-assembly methods and different self-assembly structures are detailed.Subsequently,we summarize the collective optoelectronic properties and application areas of perovskite superlattice structures.Finally,we conclude with an outlook on the potential issues and future challenges in developing perovskite NCs.

Device-measured physical activity and sedentary time in the Nordic countries:A scoping review of population-based studies

Purpose:The purpose of this scoping review was to summarize and describe the methodology and results from population-based studies of physical activity and sedentary time measured with devices in the Nordic countries(Denmark,Finland,Iceland,Norway,and Sweden)and published in 2000 or later.Methods:A systematic search was carried out in PubMed and Web of Science in June 2023 using predefined search terms.Results:Fourteen unique research projects or surveillance studies were identified.Additionally,2 surveillance studies published by national agencies were included,resulting in a total of 16 studies for inclusion.National surveillance systems exist in Finland and Norway,with regular survey waves in school-aged children/adolescents and adults.In Denmark,recent nationally representative data have been collected in school children only.So far,Sweden has no regular national surveillance system using device-based data collection.No studies were found from Iceland.The first study was conducted in 2001 and the most recent in 2022,with most data collected from 2016 to date.Five studies included children/adole scents 6-18 years,no study included preschoolers.In total 11 studies included adults,of which 8 also covered older adults.No study focused specifically on older adults.The analytical sample size ranged from 205 to 27,890.Detailed methodology is presented,such as information on sampling strategy,device type and placement,wear protocols,and physical activity classification schemes.Levels of physical activity and sedentary time in children/adolescents,adults,and older adults across the Nordic countries are presented.Conclusion:A growing implementation of device-based population surveillance of physical activity and sedentary behavior in the Nordic countries has been identified.The variety of devices,placement,and data procedures both within and between the Nordic countries highlights the challenges when it comes to comparing study outcomes as well as the need for more standardized data collection.

Numerical studies for plasmas of a linear plasma device HIT-PSI with geometry modified SOLPS-ITER

The HIT-PSI is a linear plasma device built for physically simulating the high heat flux environment of future reactor divertors to test/develop advanced target plate materials.In this study,the geometry-modified SOLPS-ITER program is employed to examine the effects of the magnetic field strength and neutral pressure in the device on the heat flux experienced by the target plate of the HIT-PSI device.The findings of the numerical simulation indicate a positive correlation between the magnetic field strength and the heat flux density.Conversely,there is a negative correlation observed between the heat flux density and the neutral pressure.When the magnetic field strength at the axis exceeds 1 tesla and the neutral pressure falls below 10 Pa,the HIT-PSI has the capability to attain a heat flux of 10 MW·m-2 at the target plate.The simulation results offer a valuable point of reference for subsequent experiments at HIT-PSI.

Recent progresses in thermal treatment of β-Ga_(2)O_(3) single crystals and devices

In recent years,ultra-wide bandgap β-Ga_(2)O_(3) has emerged as a fascinating semiconductor material due to its great potential in power and photoelectric devices.In semiconductor industrial,thermal treatment has been widely utilized as a convenient and effective approach for substrate property modulation and device fabrication.Thus,a thorough summary of β-Ga_(2)O_(3) substrates and devices behaviors after high-temperature treatment should be significant.In this review,we present the recent advances in modulating properties of β-Ga_(2)O_(3) substrates by thermal treatment,which include three major applications:(ⅰ)tuning surface electrical properties,(ⅱ)modifying surface morphology,and(ⅲ)oxidating films.Meanwhile,regulating electrical contacts and handling with radiation damage and ion implantation have also been discussed in device fabrication.In each category,universal annealing conditions were speculated to figure out the corresponding problems,and some unsolved questions were proposed clearly.This review could construct a systematic thermal treatment strategy for various purposes and applications of β-Ga_(2)O_(3).

Land use change and its driving factors in the ecological function area:A case study in the Hedong Region of the Gansu Province,China

Land use and cover change(LUCC)is important for the provision of ecosystem services.An increasing number of recent studies link LUCC processes to ecosystem services and human well-being at different scales recently.However,the dynamic of land use and its drivers receive insufficient attention within ecological function areas,particularly in quantifying the dynamic roles of climate change and human activities on land use based on a long time series.This study utilizes geospatial analysis and geographical detectors to examine the temporal dynamics of land use patterns and their underlying drivers in the Hedong Region of the Gansu Province from 1990 to 2020.Results indicated that grassland,cropland,and forestland collectively accounted for approximately 99% of the total land area.Cropland initially increased and then decreased after 2000,while grassland decreased with fluctuations.In contrast,forestland and construction land were continuously expanded,with net growth areas of 6235.2 and 455.9 km^(2),respectively.From 1990 to 2020,cropland was converted to grassland,and both of them were converted to forestland as a whole.The expansion of construction land primarily originated from cropland.From 2000 to 2005,land use experienced intensified temporal dynamics and a shift of relatively active zones from the central to the southeastern region.Grain yield,economic factors,and precipitation were the major factors accounting for most land use changes.Climatic impacts on land use changes were stronger before 1995,succeeded by the impact of animal husbandry during 1995-2000,followed by the impacts of grain production and gross domestic product(GDP)after 2000.Moreover,agricultural and pastoral activities,coupled with climate change,exhibited stronger enhancement effects after 2000 through their interaction with population and economic factors.These patterns closely correlated with ecological restoration projects in China since 1999.This study implies the importance of synergy between human activity and climate change for optimizing land use via ecological patterns in the ecological function area.

Landscape ecological risk assessment and its driving factors in the Weihe River basin,China

Weihe River basin is of great significance to analyze the changes of land use pattern and landscape ecological risk and to improve the ecological basis of regional development.Based on land use data of the Weihe River basin in 2000,2010,and 2020,with the support of Aeronautical Reconnaissance Coverage Geographic Information System(ArcGIS),GeoDa,and other technologies,this study analyzed the spatial-temporal characteristics and driving factors of land use pattern and landscape ecological risk.Results showed that land use structure of the Weihe River basin has changed significantly,with the decrease of cropland and the increase of forest land and construction land.In the past 20 a,cropland has decreased by 7347.70 km2,and cropland was mainly converted into forest land,grassland,and construction land.The fragmentation and dispersion of ecological landscape pattern in the Weihe River basin were improved,and land use pattern became more concentrated.Meanwhile,landscape ecological risk of the Weihe River basin has been improved.Severe landscape ecological risk area decreased by 19,177.87 km2,high landscape ecological risk area decreased by 3904.35 km2,and moderate and low landscape ecological risk areas continued to increase.It is worth noting that landscape ecological risks in the upper reaches of the Weihe River basin are still relatively serious,especially in the contiguous areas of high ecological risk,such as Tianshui,Pingliang,Dingxi areas and some areas of Ningxia Hui Autonomous Region.Landscape ecological risk showed obvious spatial dependence,and high ecological risk area was concentrated.Among the driving factors,population density,precipitation,normalized difference vegetation index(NDVI),and their interactions are the most important factors affecting the landscape ecological risk of the Weihe River basin.The findings significantly contribute to our understanding of the ecological dynamics in the Weihe River basin,providing crucial insights for sustainable management in the region.

Recent advances in two-dimensional photovoltaic devices

Two-dimensional(2D)materials have attracted tremendous interest in view of the outstanding optoelectronic properties,showing new possibilities for future photovoltaic devices toward high performance,high specific power and flexibility.In recent years,substantial works have focused on 2D photovoltaic devices,and great progress has been achieved.Here,we present the review of recent advances in 2D photovoltaic devices,focusing on 2D-material-based Schottky junctions,homojunctions,2D−2D heterojunctions,2D−3D heterojunctions,and bulk photovoltaic effect devices.Furthermore,advanced strategies for improving the photovoltaic performances are demonstrated in detail.Finally,conclusions and outlooks are delivered,providing a guideline for the further development of 2D photovoltaic devices.

Neutron irradiation influence on high-power thyristor device under fusion environment

Because of their economy and applicability,high-power thyristor devices are widely used in the power supply systems for large fusion devices.When high-dose neutrons produced by deuterium–tritium(D–T)fusion reactions are irradiated on a thyristor device for a long time,the electrical characteristics of the device change,which may eventually cause irreversible damage.In this study,with the thyristor switch of the commutation circuit in the quench protection system(QPS)of a fusion device as the study object,the relationship between the internal physical structure and external electrical parameters of the irradiated thyristor is established.Subsequently,a series of targeted thyristor physical simulations and neutron irradiation experiments are conducted to verify the accuracy of the theoretical analysis.In addition,the effect of irradiated thyristor electrical characteristic changes on the entire QPS is studied by accurate simulation,providing valuable guidelines for the maintenance and renovation of the QPS.

Unconventional room-temperature negative magnetoresistance effect in Au/n-Ge:Sb/Au devices

Non-magnetic semiconductor materials and their devices have attracted wide attention since they are usually prone to exhibit large positive magnetoresistance(MR)effect in a low static magnetic field environment at room temperature.However,how to obtain a large room-temperature negative MR effect in them remains to be studied.In this paper,by designing an Au/n-Ge:Sb/Au device with metal electrodes located on identical side,we observe an obvious room-temperature negative MR effect in a specific 50 T pulsed high magnetic field direction environment,but not in a static low magnetic field environment.Through the analysis of the experimental measurement of the Hall effect results and bipolar transport theory,we propose that this unconventional negative MR effect is mainly related to the charge accumulation on the surface of the device under the modulation of the stronger Lorentz force provided by the pulsed high magnetic field.This theoretical analytical model is further confirmed by regulating the geometry size of the device.Our work sheds light on the development of novel magnetic sensing,magnetic logic and other devices based on non-magnetic semiconductors operating in pulsed high magnetic field environment.

Exploring innovative synthetic solutions for advanced polymer-based electrochromic energy storage devices:Phenoxazine as a promising chromophore

The current investigation offers an innovative synthetic solution regarding electrochromic(EC)and energy storage applications by exploring phenoxazine(POZ)moiety.Subsequently,three POZ-based polymers(polyimide,polyazomethine,and polyamide)were synthesized to ascertain the superior performer.The polyamide exhibited remarkable attributes,including high redox stability during 500 repetitive CVs,optical contrast of 61.98%,rapid response times of 1.02 and 1.38 s for coloring and bleaching,EC efficiency of 280 cm^(2)C^(-1).and decays of the optical density and EC efficiency of only 12.18%and 6.23%after 1000 cycles.Then,the energy storage performance of polyamide PA was tested,for which the following parameters were obtained:74.7 F g^(-1)(CV,scan rate of 10 mV s^(-1))and 118 F g^(-1)(GCD,charging current of 0.1 A g^(-1)).Then,the polyamide was tested in EES devices,which yielded the following EC parameters:an optical contrast of 62.15%,response times of 9.24 and 5.01 s for coloring and bleaching,EC efficiency of 178 cm^(2)C^(-1),and moderate decays of 20.25%and 23.24%for the optical density and EC efficiency after 500 cycles.The energy storage performance included a capacitance of 106 F g^(-1)(CV,scan rate of 0.1 mV s^(-1))and 9.23 F g^(-1)(GCD,charging current of 0.1 A g^(-1)),capacitance decay of 11.9%after500 cycles,and 1.7 V retention after 2 h.Also,two EES devices connected in series powered a 3 V LED for almost 30 s.

Piezotronic neuromorphic devices:principle,manufacture,and applications

With the arrival of the era of artificial intelligence(AI)and big data,the explosive growth of data has raised higher demands on computer hardware and systems.Neuromorphic techniques inspired by biological nervous systems are expected to be one of the approaches to breaking the von Neumann bottleneck.Piezotronic neuromorphic devices modulate electrical transport characteristics by piezopotential and directly associate external mechanical motion with electrical output signals in an active manner,with the capability to sense/store/process information of external stimuli.In this review,we have presented the piezotronic neuromorphic devices(which are classified into strain-gated piezotronic transistors and piezoelectric nanogenerator-gated field effect transistors based on device structure)and discussed their operating mechanisms and related manufacture techniques.Secondly,we summarized the research progress of piezotronic neuromorphic devices in recent years and provided a detailed discussion on multifunctional applications,including bionic sensing,information storage,logic computing,and electrical/optical artificial synapses.Finally,in the context of future development,challenges,and perspectives,we have discussed how to modulate novel neuromorphic devices with piezotronic effects more effectively.It is believed that the piezotronic neuromorphic devices have great potential for the next generation of interactive sensation/memory/computation to facilitate the development of the Internet of Things,AI,biomedical engineering,etc.

Light-emitting devices based on atomically thin MoSe_(2)

Atomically thin MoSe_(2) layers,as a core member of the transition metal dichalcogenides(TMDs)family,benefit from their appealing properties,including tunable band gaps,high exciton binding energies,and giant oscillator strengths,thus pro-viding an intriguing platform for optoelectronic applications of light-emitting diodes(LEDs),field-effect transistors(FETs),sin-gle-photon emitters(SPEs),and coherent light sources(CLSs).Moreover,these MoSe_(2) layers can realize strong excitonic emis-sion in the near-infrared wavelengths,which can be combined with the silicon-based integration technologies and further encourage the development of the new generation technologies of on-chip optical interconnection,quantum computing,and quantum information processing.Herein,we overview the state-of-the-art applications of light-emitting devices based on two-dimensional MoSe_(2) layers.Firstly,we introduce recent developments in excitonic emission features from atomically thin MoSe_(2) and their dependences on typical physical fields.Next,we focus on the exciton-polaritons and plasmon-exciton polaritons in MoSe_(2) coupled to the diverse forms of optical microcavities.Then,we highlight the promising applications of LEDs,SPEs,and CLSs based on MoSe_(2) and their heterostructures.Finally,we summarize the challenges and opportunities for high-quality emis-sion of MoSe_(2) and high-performance light-emitting devices.

Process,Material,and Regulatory Considerations for 3D Printed Medical Devices and Tissue Constructs

Three-dimensional(3D)printing is a highly automated platform that facilitates material deposition in a layer-by-layer approach to fabricate pre-defined 3D complex structures on demand.It is a highly promising technique for the fabrication of personalized medical devices or even patient-specific tissue constructs.Each type of 3D printing technique has its unique advantages and limitations,and the selection of a suitable 3D printing technique is highly dependent on its intended application.In this review paper,we present and highlight some of the critical processes(printing parameters,build orientation,build location,and support structures),material(batch-to-batch consistency,recycling,protein adsorption,biocompatibility,and degradation properties),and regulatory considerations(sterility and mechanical properties)for 3D printing of personalized medical devices.The goal of this review paper is to provide the readers with a good understanding of the various key considerations(process,material,and regulatory)in 3D printing,which are critical for the fabrication of improved patient-specific 3D printed medical devices and tissue constructs.

Analysis of the Spatiotemporal Variation Characteristics and Driving Factors of Land Vegetation GPP in a Certain Region of Asia

Gross primary productivity (GPP) of vegetation is a critical indicator of ecosystem growth and carbon sequestration. The spatiotemporal variation characteristics of land vegetation GPP trends in a specific region of Asia from 2001 to 2020 were analyzed by Sen and MK trend analysis methods in this study .Moreover , a GPP change attribution model was established to explore the driving influences of factors such as Leaf Area Index (LAI), Land Surface Temperature (LST), Vapor Pressure Deficit (VPD), Soil Moisture, Solar Radiation and Wind Speed on GPP. The results indicate that summer GPP values are significantly higher than those in other months, accounting for 60.8% of the annual total GPP;spring and autumn contribute 18.91% and 13.04%, respectively. In winter, due to vegetation being nearly dormant, the contribution is minimal at 7.19%. Spatially, GPP shows a decreasing trend from southeast to northwest. LAI primarily drives the spatial and seasonal variations of regional GPP, while VPD, surface temperature, solar radiation, and soil moisture have varying impacts on GPP across different dimensions. Additionally, wind speed exhibits a minor contribution to GPP across different dimensions.

Miniature tunable Airy beam optical meta-device

Tunable Airy beams with controllable propagation trajectories have sparked interest in various fields,such as optical manipulation and laser fabrication.Existing research approaches encounter challenges related to insufficient compactness and integration feasibility,or they require enhanced tunability to enable real-time dynamic manipulation of the propagation trajectory.In this work,we present a novel method that utilizes a dual metasurface system to surpass these limitations,significantly enhancing the practical potential of the Airy beam.Our approach involves encoding a cubic phase profile and two off-axis Fresnel lens phase profiles across the two metasurfaces.The validity of the proposed strategy has been confirmed through simulation and experimental results.The proposed meta-device addresses the existing limitations and lays the foundation for broadening the applicability of Airy beams across diverse domains,encompassing light-sheet microscopy,laser fabrication,optical tweezers,etc.

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.