A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle c...A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.展开更多
Adult male tree shrews vigorously defend against intruding male conspecifics. However, the characteristics of social behavior have not been entirely explored in these males. In this study, male wild-type tree shrews(T...Adult male tree shrews vigorously defend against intruding male conspecifics. However, the characteristics of social behavior have not been entirely explored in these males. In this study, male wild-type tree shrews(Tupaia belangeri chinensis)and C57 BL/6 J mice were first allowed to familiarize themselves with an open-field apparatus. The tree shrews exhibited a short duration of movement(moving) in the novel environment, whereas the mice exhibited a long duration of movement. In the 30 min social preference-avoidance test, target animals significantly decreased the time spent by the experimental tree shrews in the social interaction(SI)zone, whereas experimental male mice exhibited the opposite. In addition, experimental tree shrews displayed a significantly longer latency to enter the SI zone in the second 15 min session(targetpresent) than in the first 15 min session(targetabsent), which was different from that found in mice.Distinct behavioral patterns in response to a conspecific male were also observed in male tree shrews and mice in the first, second, and third 5 min periods. Thus, social behaviors in tree shrews and mice appeared to be time dependent. In summary,our study provides results of a modified social preference-avoidance test designed for the assessment of social behavior in tree shrews. Our findings demonstrate the existence of social avoidance behavior in male tree shrews and prosocial behavior in male mice toward unfamiliar conspecifics. The tree shrew may be a new animal model, which differs from mice, for the study of social avoidance and prosocial behaviors.展开更多
Earthworm toxicity tests are useful tools for terrestrial risk assessment but require a hierarchy of test designs that differ in effect levels （behavior, sublethal, lethal）. In this study, the toxicity of chlorpyrif...Earthworm toxicity tests are useful tools for terrestrial risk assessment but require a hierarchy of test designs that differ in effect levels （behavior, sublethal, lethal）. In this study, the toxicity of chlorpyrifos contaminated soil on earthworms was assessed. In addition to the acute and chronic tests, an avoidance response test was applied. Earthworms were exposed to sublethal and lethal concentration of chlorpyrifos, and evaluated for acute toxicity, growth, fecundity and avoidance response after a certain exposure period. The test methods covered all important ecological relevant endpoints （acute, chronic, behavioral）. Concentration of 78.91 mg/kg, chlorpyrifos caused significant toxic effects in all test methods, but at lower test concentrations, only significant chronic toxic effects could be observed. In present study, chlorpyrifos had adverse effect on growth and fecundity in earthworm exposed to 5 mg/kg chlorpyrifos after eight weeks. The avoidance response test, however, showed significant repellent effects at concentration of 40 mg/kg chlorpyrifos. For chlorpyrifos, concentration affecting avoidance response was far greater than growth and fecundity, it seemed likely that earthworms were not able to escape from pesticide-contaminated soil into the clean soil in field and hence were exposed continuously to elevated concentrations of pesticides.展开更多
基金supported by the National Natural Science Foundation of China(61572229,6171101066)the Key Scientific and Technological Projects for Jilin Province Development Plan(20170204074GX,20180201068GX)Jilin Provincial International Cooperation Foundation(20180414015GH)。
文摘A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.
基金the National Natural Science Foundation of China(81671344,31500859)Major International(Regional)Joint Research Project of the National Natural Science Foundation of China(81920108018)+1 种基金1.3.5 Project for Disciplines of Excellence,Special Foundation for Brain Research from the Science and Technology Program of Guangdong(2018B030334001)West China Hospital of Sichuan University(ZY2016103,ZY2016203)。
文摘Adult male tree shrews vigorously defend against intruding male conspecifics. However, the characteristics of social behavior have not been entirely explored in these males. In this study, male wild-type tree shrews(Tupaia belangeri chinensis)and C57 BL/6 J mice were first allowed to familiarize themselves with an open-field apparatus. The tree shrews exhibited a short duration of movement(moving) in the novel environment, whereas the mice exhibited a long duration of movement. In the 30 min social preference-avoidance test, target animals significantly decreased the time spent by the experimental tree shrews in the social interaction(SI)zone, whereas experimental male mice exhibited the opposite. In addition, experimental tree shrews displayed a significantly longer latency to enter the SI zone in the second 15 min session(targetpresent) than in the first 15 min session(targetabsent), which was different from that found in mice.Distinct behavioral patterns in response to a conspecific male were also observed in male tree shrews and mice in the first, second, and third 5 min periods. Thus, social behaviors in tree shrews and mice appeared to be time dependent. In summary,our study provides results of a modified social preference-avoidance test designed for the assessment of social behavior in tree shrews. Our findings demonstrate the existence of social avoidance behavior in male tree shrews and prosocial behavior in male mice toward unfamiliar conspecifics. The tree shrew may be a new animal model, which differs from mice, for the study of social avoidance and prosocial behaviors.
基金Preject supported by the New Century Excellent Talents in Chinese Uni-versity (No. NCET-04-0914)the National Natural Science Foundationof China (No. 30640022)Yunnan Natural Sciences Foundations (No.2002C0001Z, 2005C0004Q).
文摘Earthworm toxicity tests are useful tools for terrestrial risk assessment but require a hierarchy of test designs that differ in effect levels （behavior, sublethal, lethal）. In this study, the toxicity of chlorpyrifos contaminated soil on earthworms was assessed. In addition to the acute and chronic tests, an avoidance response test was applied. Earthworms were exposed to sublethal and lethal concentration of chlorpyrifos, and evaluated for acute toxicity, growth, fecundity and avoidance response after a certain exposure period. The test methods covered all important ecological relevant endpoints （acute, chronic, behavioral）. Concentration of 78.91 mg/kg, chlorpyrifos caused significant toxic effects in all test methods, but at lower test concentrations, only significant chronic toxic effects could be observed. In present study, chlorpyrifos had adverse effect on growth and fecundity in earthworm exposed to 5 mg/kg chlorpyrifos after eight weeks. The avoidance response test, however, showed significant repellent effects at concentration of 40 mg/kg chlorpyrifos. For chlorpyrifos, concentration affecting avoidance response was far greater than growth and fecundity, it seemed likely that earthworms were not able to escape from pesticide-contaminated soil into the clean soil in field and hence were exposed continuously to elevated concentrations of pesticides.
