Mixed neuroendocrine non-neuroendocrine neoplasms in gastroenteropancreatic tract

Mixed neuroendocrine non-neuroendocrine neoplasms(MiNENs)are a hetero-geneous group of malignant neoplasms that can settle in the gastroenteropan-creatic tract.They are composed of a neuroendocrine(NE)and a non-NE compo-nent in at least 30%of each tumour.The non-NE component can include different histological combinations of glandular,squamous,mucinous and sarcomatoid phenotypes,and one or both of the components can be low-or high grade malignant.Recent changes in the nomenclature of these neoplasms might lead to great deal of confusion,and the lack of specific clinical trials is the main reason why their management is difficult.The review aims to clarify the definition of MiNEN and analyze available evidence about their diagnosis and treatment options according to their location and extension through careful analysis of the available data.It would be important to reach a general consensus on their diagnosis in order to construct a classification that remains stable over time and facilitates the design of clinical trials that,due to their low incidence,will require long recruitment periods.

Mixed neuroendocrine non-neuroendocrine tumors:The quest for evidence

Mixed neuroendocrine non-neuroendocrine neoplasms(MiNENs)are rare mixed tumors containing both neuroendocrine and non-neuroendocrine components that occupy at least 30%of the whole tumor.Biologically,both components appear to derive from an identical cellular precursor undergoing early dual differentiation or late transdifferentiation.While our understanding of MiNENs has improved in recent years,many areas of uncertainty remain.In this context,setting diagnostic criteria capable of capturing the continuum of disease biology while providing clinically meaningful information in terms of prognosis and response to treatments appears vital to advance the field and improve patients’outcomes.Evidence is needed to generate robust classification schemes,and multi-institutional cooperation will likely play a crucial role in building adequately powered cohorts to address some of the most pressing questions discussed in this Editorial.What is the minimum representation for each component needed to define MiNENs?How can the epidemiology of MiNENs change according to different diagnostic definitions?How can we generate the clinical evidence nee-ded to optimize the management of MiNENs?

Amino-functionalized UiO-66-doped mixed matrix membranes with high permeation performance and fouling resistance

For the reduction of bovine serum proteins from wastewater,a novel mixed matrix membrane was prepared by functionalizing the substrate material polyaryletherketone(PAEK),followed by carboxyl groups(C-SPAEKS),and then adding amino-functionalized UiO-66-NH_(2)(Am-UiO-66-NH_(2)).Aminofunctionalization of UiO-66 was accomplished by melamine,followed by an amidation reaction to immobilize Am-UiO-66-NH_(2),which was immobilized on the surface of the membrane as well as in the pore channels,which enhanced the hydrophilicity of the membrane surface while increasing the negative potential of the membrane surface.This nanoparticle-loaded ultrafiltration membrane has good permeation performance,with a pure water flux of up to 482.3 L·m^(-2)·h^(-1) for C-SPAEKS/AmUiO-66-NH_(2) and a retention rate of up to 98.7%for bovine serum albumin(BSA)-contaminated solutions.Meanwhile,after several hydrophilic modifications,the flux recovery of BSA contaminants by this series of membranes increased from 56.2%to 80.55%of pure membranes.The results of ultra-filtration flux time tests performed at room temperature showed that the series of ultrafiltration membranes remained relatively stable over a test time of 300 min.Thus,the newly developed mixed matrix membrane showed potential for high efficiency and stability in wastewater treatment containing bovine serum proteins.

A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

Touch-sensitive screens are crucial components of wearable devices.Materials such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive screens.However,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus values.Delamination results in failure to offer accurate touch screen recognition.In this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch sensing.This is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene nanosheets.Here,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible substrates.After being subjected to 3000 bending actions,we observed almost no change in touch sensitivity.The screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

Mixed D-vine copula-based conditional quantile model for stochastic monthly streamflow simulation

Copula functions have been widely used in stochastic simulation and prediction of streamflow.However,existing models are usually limited to single two-dimensional or three-dimensional copulas with the same bivariate block for all months.To address this limitation,this study developed a mixed D-vine copula-based conditional quantile model that can capture temporal correlations.This model can generate streamflow by selecting different historical streamflow variables as the conditions for different months and by exploiting the conditional quantile functions of streamflows in different months with mixed D-vine copulas.The up-to-down sequential method,which couples the maximum weight approach with the Akaike information criteria and the maximum likelihood approach,was used to determine the structures of multivariate Dvine copulas.The developed model was used in a case study to synthesize the monthly streamflow at the Tangnaihai hydrological station,the inflow control station of the Longyangxia Reservoir in the Yellow River Basin.The results showed that the developed model outperformed the commonly used bivariate copula model in terms of the performance in simulating the seasonality and interannual variability of streamflow.This model provides useful information for water-related natural hazard risk assessment and integrated water resources management and utilization.

Degradation of ciprofloxacin hydrochloride in a multiphase mixed system by subaquatic gas-liquid discharge plasma

In recent years, antibiotic pollution has become a serious threat to human health. In this study, a gas-liquid discharge plasma is developed to degrade ciprofloxacin hydrochloride in a multiphase mixed system containing inorganic and organic impurities. The discharge characteristics are analyzed by diagnosing the applied voltage and discharge current waveforms, as well as the optical emission spectra. The work investigates how degradation efficiency is affected by applied voltage, gas flow rate, treatment time, initial concentration as well as the addition of γ-Al_(2)O_(3) pellets and peanut straw. After 70 min, the degradation efficiency of ciprofloxacin hydrochloride in the multiphase mixed system reached 99.6%. Its removal efficiency increases as the initial concentration decreases and the applied voltage increases. Besides, there is still a good degradation efficiency of ciprofloxacin hydrochloride with the addition of peanut straw.The degradation mechanism of ciprofloxacin hydrochloride is investigated through the analysis of degraded intermediates and reactive species.

Stability Analysis and Performance Evaluation of Additive Mixed-Precision Runge-Kutta Methods

Additive Runge-Kutta methods designed for preserving highly accurate solutions in mixed-precision computation were previously proposed and analyzed.These specially designed methods use reduced precision for the implicit computations and full precision for the explicit computations.In this work,we analyze the stability properties of these methods and their sensitivity to the low-precision rounding errors,and demonstrate their performance in terms of accuracy and efficiency.We develop codes in FORTRAN and Julia to solve nonlinear systems of ODEs and PDEs using the mixed-precision additive Runge-Kutta(MP-ARK)methods.The convergence,accuracy,and runtime of these methods are explored.We show that for a given level of accuracy,suitably chosen MP-ARK methods may provide significant reductions in runtime.

Influences of oscillation on the physical stability and explosion characteristics of solid-liquid mixed fuel

The stratification phenomenon resulting from differences in the physical properties of solid-liquid components seriously affect the final combustion and explosion characteristics of mixed fuel under the action of oscillation.The effects of oscillation on the physical stability of mixed fuel with two solid-liquid ratios and three liquid component distribution ratios have been investigated using a self-designed experimental system at oscillation frequencies of 60-300 r/min.The explosion characteristics of mixed fuel before and after oscillation are gained from a 20 L spherical explosion container system.When the mass ratio of liquid components is controlled at 66.9%,64.7%,62.6%the final explosion characteristics are stable,with a maximum difference of only 0.71%.The volume of liquid fuel precipitation increases with increasing oscillation frequency when the mass ratio of liquid components reaches 71.7%,69.6%,67.7%.The fuel explosion overpressure after oscillation decreases with increasing liquid precipitation volume,and the repeatability is poor,with a maximum standard deviation of 82.736,which is much higher than the ratio without stratification.Properly controlling the mass ratio of liquid components of the mixed fuel can effectively combat the impact of oscillation on the physical state and maintain the stability of the final explosion characteristics.

Influence of mixed layer depth on chlorophyll-a concentration in the Southern Ocean

The element iron limitation is one of the crucial factors contributing to high nutrient low chlorophyll in the Southern Ocean(SO).Mixed layer dynamics regulate the availability of iron to phytoplankton.In this paper,we investigate the influence of surface iron supplementation triggered by the mixed layer depth(MLD)variation on chlorophyll-a(Chl-a)concentration in the SO on seasonal and interannual timescales.This analysis is based on the Biogeochemical Southern Ocean State Estimate for the period from 2013 to 2021.We provide a comprehensive and systematic mapping of the regions within the SO,where Chl-a is affected by iron input related to MLD deepening.The relationship between the MLD and the Chl-a varies with the latitude on the seasonal time scale.Both the MLD and sea ice melting affect the distribution of Chl-a.On the interannual scale,iron supply due to MLD deepening occurs primarily north of 60°S.Horizontal advection-induced entrainment enhances the surface iron input during the austral summer,which favors Chl-a increase.In addition to the MLD,the melting of sea ice and cooling of the sea surface can also alter iron input and subsequently affect Chl-a distribution in the austral summer.During the austral winter,entrainment can boost iron stocks,stimulating a subsequent spring increase of Chl-a in the SO.Furthermore,sea surface temperature declines during the austral winter,promoting an increased iron supply and creating favorable conditions for the subsequent spring Chl-a increase in the SO.

On the Application of Mixed Models of Probability and Convex Set for Time-Variant Reliability Analysis

In time-variant reliability problems,there are a lot of uncertain variables from different sources.Therefore,it is important to consider these uncertainties in engineering.In addition,time-variant reliability problems typically involve a complexmultilevel nested optimization problem,which can result in an enormous amount of computation.To this end,this paper studies the time-variant reliability evaluation of structures with stochastic and bounded uncertainties using a mixed probability and convex set model.In this method,the stochastic process of a limit-state function with mixed uncertain parameters is first discretized and then converted into a timeindependent reliability problem.Further,to solve the double nested optimization problem in hybrid reliability calculation,an efficient iterative scheme is designed in standard uncertainty space to determine the most probable point(MPP).The limit state function is linearized at these points,and an innovative random variable is defined to solve the equivalent static reliability analysis model.The effectiveness of the proposed method is verified by two benchmark numerical examples and a practical engineering problem.

ON DIVIDENDS AND GERBER-SHIU ANALYSIS WITH CONSTANT INTEREST AND A PERIODIC-THRESHOLD MIXED STRATEGY

In recent years,the research focus in insurance risk theory has shifted towards multi-type mixed dividend strategies.However,the practical factors and constraints in financial market transactions,such as interest rates,tax rates,and transaction fees,inevitably impact these strategies.By incorporating appropriate constraints,a multi-type mixed strategy can better simulate real-world transactions.Following the approach of Liu et al.[28],we examine a classical compound Poisson risk model that incorporates the constraints of constant interest rates and a periodic-threshold mixed dividend strategy.In this model,the surplus process of insurance companies is influenced by several factors.These factors include constant interest rates,continuously distributed dividends within intervals(threshold dividend strategy),and dividends at discrete time points(periodic dividend strategy).We derive the piecewise integro-differential equations(IDEs)that describe the expected present value of dividends(EPVDs)until ruin time and the Gerber-Shiu expected discounted penalty function.Furthermore,we provide explicit solutions to these IDEs using an alternative method based on the inverse Laplace transform combined with the Dickson-Hipp operator.This enables us to obtain explicit expressions for the dividend and Gerber-Shiu functions.Additionally,we present examples to illustrate the application of our results.

Impacts of bus holding strategy on the performance and pollutant emissions of a two-lane mixed traffic system

This paper investigates the impacts of a bus holding strategy on the mutual interference between buses and passenger cars in a non-dedicated bus route,as well as the impacts on the characteristics of pollutant emissions of passenger cars.The dynamic behaviors of these two types of vehicles are described using cellular automata(CA)models under open boundary conditions.Numerical simulations are carried out to obtain the phase diagrams of the bus system and the trajectories of buses and passenger cars before and after the implementation of the bus holding strategy under different probabilities of passenger cars entering a two-lane mixed traffic system.Then,we analyze the flow rate,satisfaction rate,and pollutant emission rates of passenger cars together with the performance of a mixed traffic system.The results show that the bus holding strategy can effectively alleviate bus bunching,whereas it has no significant impact on the flow rate and pollutant emission rates of passenger cars;the flow rate,satisfaction rate,and pollutant emission rates of passenger cars for either the traffic system or for each lane are influenced by the bus departure interval and the number of passengers arriving at bus stops.

Practical hints for the diagnosis of mixed neuroendocrine-nonneuroendocrine neoplasms of the digestive system

In this editorial,a comment on the article by Díaz-López et al published in the recent issue of the 2024 is provided.We focus on the practical implications critical for providing a correct and complete diagnosis of mixed neuroendocrine-nonneuroendocrine neoplasm(MiNEN)in the gastrointestinal system.The diagnosis of MiNEN begins with the recognition of neuroendocrine features in one component of a biphasic tumor.The non-neuroendocrine counterpart can be virtually represented by any neoplastic type,even though the most frequent histologies are glandular and squamous.However,qualification of the neuroendocrine component requires histological and immunohistochemical confirmation.Neuroendocrine tumors are characterized by a peculiar architectural organization and bland nuclei with granular“salt and pepper”chromatin.Although neuroendocrine carcinomas have multiple and variable presentations,they typically show a solid or organoid architecture.The histological aspect needs to be confirmed by immunohistochemistry,and a diagnosis is confirmed whenever the expression of keratin and neuroendocrine markers is observed.Once both histopathological and immunohistochemical features of neuroendocrine neoplasms are identified,it is important to consider the three major pitfalls of MiNEN diagnostics:(1)Entrapment of neuroendocrine non-neoplastic cells within the tumor mass;(2)Differential diagnosis with amphicrine neoplasms;and(3)Differential diagnosis of tumors that partially express neuroendocrine markers.According to the current guidelines for diagnosing digestive MiNEN,each component must represent at least 30%of the entire neoplastic mass.Although the high-grade histopathological subtype frequently determines disease prognosis,both components can significantly affect prognosis.Thus,if one of the components,either neuroendocrine or non-neuroendocrine,does not fulfill the volumetric criteria,the guidelines still encourage reporting it.These strict criteria are essential for correctly recognizing and characterizing digestive MiNENs.This task is essential because it has prognostic relevance and substantial potential value for guiding further studies in this field.In the future,systematic analyses should be performed to validate or reconsider the current 30%cutoff value.

Dual-functional poly(2-methyl-2-oxazoline)/poly(2-(dimethylamine)ethyl methacrylate)mixed brushes with switchable protein adsorption and antibacterial properties

Herein,binary mixed brushes consisting of poly(2-methyl-2-oxazoline)(PMOXA)and poly(2-(dimethylamine)ethyl methacrylate)(PDMAEMA)with different chain lengths were fabricated by successive grafting of NH_(2)-terminated PMOXA and SH-terminated PDMAEMA onto polydopamine-anchored substrates.The mixed-brush coating was characterized by variable-angle spectroscopic ellipsometry,X-ray photoelectron spectroscopy,Fourier transform infrared spectroscopy,zeta potential measurements,water contact angle,and atomic force microscopy.The mixed brushes showed tunable surface charge,wettability,and surface roughness,depending on the degree of PDMAEMA swelling under varying pH and ionic strength(Ⅰ).Then the adsorption behaviors of pepsin,bovine serum albumin(BSA),γ-globulin,and lysozyme,four very different proteins with regard to isoelectric point,on the mixed brushes coating were studied by using fluorescence microscopy and surface plasmon resonance.When the chain length of PDMAEMA was about twice as long as PMOXA,the mixed brushes not only had high adsorption capacity for pepsin,BSA,and y-globulin but also had a desorption efficiency of 86.9%,87.1%,and 93.5%,respectively.It is explained that electrostatic attraction between the protonated PDMAEMA and positively charged acidic proteins(pepsin and BSA,whose isoelectric points were below the pK_(a) of PDMAEMA)would drive the intensive adsorption(at pH 3,I=10^(-3)mol·L^(-1)for pepsin,and pH 5,I=10^(-5)mol·L^(-1)for BSA),while desorption was dominated by the hydrophilic PMOXA when PDMAEMA was shrinking(at pH 7,I=10^(-1)mol·L^(-1)for pepsin,and pH 9,I=10^(-1)mol·L^(-1)for BSA).Furthermore,the isoelectric precipitation led to the adsorption of neutral protein(γ-globulin,whose isoelectric point was near the pK_a of PDMAEMA)at pH 7,I=10^(-5)mol·L^(-1),while electrostatic repulsion and antifouling PMOXA triggered the desorption of y-globulin at pH 3,I-10^(-1)mol·L^(-1).However,alkaline protein(lysozyme,whose isoelectric point was higher than the pK_(a) of PDMAEMA)exhibited slight adsorption on PMOXA/PDMAEMA mixed brushes under test conditions,regardless of whether PMOXA or PDMAEMA occupied the outermost layer.The antibacterial property of the mixed brushes against Escherichia coli was investigated.PMOXA/PDMAEMA mixed brushes showed significant bactericidal activity at pH 3,I=10^(-3)mol·L^(-1),while the rinse of pH 9,I=10^(-1)mol·L^(-1)solution could remove most of the residual bacteria.This work not only enables controlled adsorption of proteins with different isoelectric points but also ensures that the surface of the coating is minimized from bacterial contamination.

Mixed-ownership Reform:Private Firms’Role in Targeted Poverty Alleviation-A Perspective on Resource Complementarity and Check&Balance

Targeted poverty alleviation(TPA)serves as a winning formula for fighting poverty and has generated valuable experiences for achieving common prosperity.The mixed-ownership reform has enhanced corporate economic performance.However,further testing is required to assess whether enterprises contribute to the improvement of distribution by participating in TPA.Taking A-share-listed private enterprises between 2016 and 2021 as research samples,we conducted an investigation into the extent and manner in which the mixed-ownership reform contributes to TPA.Our research reveals that a higher proportion of state capital equity participation is correlated with a greater level of private enterprises’contribution to TPA.This indicates that the mixed-ownership reform is beneficial for prompting private enterprises to shoulder responsibilities for building a society of common prosperity.As shown by the mechanism test,state capital equity participation encourages private enterprises to contribute to TPA primarily by alleviating corporate financing constraints through the resource complementarity effect.In contrast,the check&balance effect of promoting corporate poverty alleviation by mitigating the principal-agent problem has not yet been significantly demonstrated.Regarding the poverty alleviation model,state capital equity participation prompts private enterprises to contribute to TPA through industrial development,educational investment,and environmental protection,emphasizing a combination of providing external assistance and cultivating endogenous development capacity.In terms of TPA regions,state capital equity participation plays a significant role in supporting economically less-developed regions,regions with high unemployment rates,and central and western regions.This paper provides new empirical evidence for deepening mixed-ownership reforms and advancing common prosperity.

3D printing of poly(ethyleneimine)-functionalized Mg-Al mixed metal oxide monoliths for direct air capture of CO_(2)

Direct air capture(DAC)of CO_(2)plays an indispensable role in achieving carbon-neutral goals as one of the key negative emission technologies.Since large air flows are required to capture the ultradilute CO_(2)from the air,lab-synthesized adsorbents in powder form may cause unacceptable gas pressure drops and poor heat and mass transfer efficiencies.A structured adsorbent is essential for the implementation of gas-solid contactors for cost-and energy-efficient DAC systems.In this study,efficient adsorbent poly(ethyleneimine)(PEI)-functionalized Mg-Al-CO_(3)layered double hydroxide(LDH)-derived mixed metal oxides(MMOs)are three-dimensional(3D)printed into monoliths for the first time with more than 90%adsorbent loadings.The printing process has been optimized by initially printing the LDH powder into monoliths followed by calcination into MMO monoliths.This structure exhibits a 32.7%higher specific surface area and a 46.1%higher pore volume,as compared to the direct printing of the MMO powder into a monolith.After impregnation of PEI,the monolith demonstrates a large adsorption capacity(1.82 mmol/g)and fast kinetics(0.7 mmol/g/h)using a CO_(2)feed gas at 400 ppm at 25℃,one of the highest values among the shaped DAC adsorbents.Smearing of the amino-polymers during the post-printing process affects the diffusion of CO_(2),resulting in slower adsorption kinetics of pre-impregnation monoliths compared to post-impregnation monoliths.The optimal PEI/MeOH ratio for the post-impregnation solution prevents pores clogging that would affect both adsorption capacity and kinetics.

Long-term changes in radial growth of seven tree species in the mixed broadleaf-Korean pine forest in Northeast China:Are deciduous trees favored by climate change?

The role of the temperate mixed broadleaf-Korean pine forest(BKF)in global biogeochemical cycles will depend on how the tree species community responds to climate;however,species-specific responses and vulner-abilities of common trees in BKF to extreme climates are poorly understood.Here we used dendrochronological meth-ods to assess radial growth of seven main tree species(Pinus koraiensis,Picea jezoensis,Abies nephrolepis,Fraxinus mandshurica,Phellodendron amurense,Quercus mongolica,and Ulmus davidiana)in an old-growth BKF in response to climate changes in the Xiaoxing’an Mountains and to improve predictions of changes in the tree species compo-sition.Temperature in most months and winter precipita-tion significantly negatively affected growth of P.jezoensis and A.nephrolepis,but positively impacted growth of P.koraiensis and the broadleaf species,especially F.mandshu-rica and U.davidiana.Precipitation and relative humidity in June significantly positively impacted the growth of most tree species.The positive effect of the temperature during the previous non-growing season(PNG)on growth of F.mandshurica and Q.mongolica strengthened significantly with rapid warming around 1981,while the impact of PNG temperature on the growth of P.jezoensis and A.nephrolepis changed from significantly negative to weakly negative or positive at this time.The negative response of radial growth of P.jezoensis and A.nephrolepis to precipitation during the growing season gradually weakened,and the negative response to PNG precipitation was enhanced.Among the studied species,P.koraiensis was the most resistant to drought,and U.davidiana recovered the best after extreme drought.Ulmus davidiana,P.jezoensis and A.nephrolepis were more resistant to extreme cold than the other species.Climate warming generally exacerbated the opposite growth patterns of conifer(decline)and broadleaf(increase)spe-cies.Deciduous broadleaf tree species in the old-growth BKF probably will gradually become dominant as warming continues.Species-specific growth-climate relationships should be considered in future models of biogeochemical cycles and in forestry management practices.

What induced the trend shift of mixed-layer depths in the Antarctic Circumpolar Current region in the mid-1980s?

An obvious trend shift in the annual mean and winter mixed layer depth(MLD)in the Antarctic Circumpolar Current(ACC)region was detected during the 1960–2021 period.Shallowing trends stopped in mid-1980s,followed by a period of weak trends.The MLD deepening trend difference between the two periods were mainly distributed in the western areas in the Drake Passage,the areas north to Victoria Land and Wilkes Land,and the central parts of the South Indian sector.The newly formed ocean current shear due to the meridional shift of the ACC flow axis between the two periods is the dominant driver for the MLD trends shift distributed in the western areas in the Drake Passage and the central parts of the South Indian sector.The saltier trends in the regions north to Victoria Land and Wilkes Land could be responsible for the strengthening mixing processes in this region.

Highly dispersed MgInCe-mixed metal oxides catalyzed direct carbonylation of glycerol and CO_(2)into glycerol carbonate

Glycerol carbonate,an important glycerol value-added product,has been widely used as an active intermediate and inert solvent in the synthesis of cosmetics,detergents,chemical intermediates,polymers,and so on.The direct carbonylation from glycerol with CO_(2)is considered a promising route,but still tough work due to the thermodynamic stability and the kinetic inertness of CO_(2).In this work,highlyselective direct carbonylation of glycerol and CO_(2)into glycerol carbonate has been achieved over highly dispersed MgInCe-mixed metal oxides(MgInCe-MMO),which were prepared through the topological transformation derived from the MgInCe-layered double hydroxides(MgInCe-LDHs).By precisely modulating the surface basic-acidic properties and the oxygen vacancies,an efficient carbonylation of glycerol with CO_(2)has been achieved with a selectivity of up to>99%to glycerol carbonate.Deep investigation into the synergistic catalysis of base-acid sites and oxygen vacancies has been clarified.

Robust Platoon Control of Mixed Autonomous and Human-Driven Vehicles for Obstacle Collision Avoidance:A Cooperative Sensing-Based Adaptive Model Predictive Control Approach

Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.