Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

Joint computation offloading and parallel scheduling to maximize delay-guarantee in cooperative MEC systems

The growing development of the Internet of Things(IoT)is accelerating the emergence and growth of new IoT services and applications,which will result in massive amounts of data being generated,transmitted and pro-cessed in wireless communication networks.Mobile Edge Computing(MEC)is a desired paradigm to timely process the data from IoT for value maximization.In MEC,a number of computing-capable devices are deployed at the network edge near data sources to support edge computing,such that the long network transmission delay in cloud computing paradigm could be avoided.Since an edge device might not always have sufficient resources to process the massive amount of data,computation offloading is significantly important considering the coop-eration among edge devices.However,the dynamic traffic characteristics and heterogeneous computing capa-bilities of edge devices challenge the offloading.In addition,different scheduling schemes might provide different computation delays to the offloaded tasks.Thus,offloading in mobile nodes and scheduling in the MEC server are coupled to determine service delay.This paper seeks to guarantee low delay for computation intensive applica-tions by jointly optimizing the offloading and scheduling in such an MEC system.We propose a Delay-Greedy Computation Offloading(DGCO)algorithm to make offloading decisions for new tasks in distributed computing-enabled mobile devices.A Reinforcement Learning-based Parallel Scheduling(RLPS)algorithm is further designed to schedule offloaded tasks in the multi-core MEC server.With an offloading delay broadcast mechanism,the DGCO and RLPS cooperate to achieve the goal of delay-guarantee-ratio maximization.Finally,the simulation results show that our proposal can bound the end-to-end delay of various tasks.Even under slightly heavy task load,the delay-guarantee-ratio given by DGCO-RLPS can still approximate 95%,while that given by benchmarked algorithms is reduced to intolerable value.The simulation results are demonstrated the effective-ness of DGCO-RLPS for delay guarantee in MEC.

Twenty Years of the Implementation of the Human Rights Clause in the Constitution:Achievements,Implications,and Research Topics

On March 14,2004,the Second Session of the 10th National People’s Congress of China adopted the fourth amendment to the Chinese Constitution,the most noticeable highlight of which is the addition of the paragraph“the state respects and protects human rights”as the third clause in Article 33 of Chapter II“Basic Rights and Obligations of Citizens”in the Constitution.The inclusion of the clause of human rights in the Constitution is considered an important milestone in the history of human rights development in the People’s Republic of China.The implementation of the human rights clause not only showcases the values of the Party and the state in respecting and protecting human rights,but also promotes the development of human rights,shapes the culture of human rights,and endows the rule of law with a rich humanistic spirit.Over the past 20 years,the publicity,research and practice of the human rights clause have made the Chi-nese people realize that human rights are not only a“great term”,but also a common value shared by mankind.Amid the once-in-a-century changes of the world,although the development of human rights is facing various challenges,the humanistic spirit contained in the hu-man rights clause has become the internal driving force for building consensus in the whole of society.Reinterpreting the significance and value of the human rights clause can help us conscientiously draw on the experience in the implementation of the clause over the past 20 years and contribute Chinese wisdom and experience to global human rights governance with a more open mind and inclusive attitude.

From the Subjectivity of Human Rights to the Universality of Human Rights——A Preliminary Interpretation of the Theory on the Subjectivity of Human Rights

Universality is one of the essential characteristics of human rights, but there is a substantive difference between idealism and realism in understanding the concept of universality of human rights. The concepts of radical universality and strong universality based on the concept of natural human rights are too idealistic and thus have a high risk of being alienated into a tool of international re-pression in practice. On the contrary, the theory on the subjectivity of human rights can effectively defuse this risk brought about by radical universality and strong universality. Advocating a transition from the universality of human rights to the subjectivity of human rights not only keeps in line with the actual construction process of international human rights, but can also effectively interpret the practical difficul-ties in the realization process of international human rights. Therefore, it can be used as another alternative theory on human rights beyond the theory of natural human rights.

The Historical Position and Value Dimensions of Human Rights Civilization

Human beings are the mainstay and the ultimate goal of civilization.The history of human civilization is a continuous struggle to realize the respect,liberation,protection,and development of humanity.Human rights are an achievement of humanity and a symbol of progress,and the human rights civilization is an important component of human civilization.Understanding and interpreting human rights from the perspective of human rights civilization means that human rights are not only a concept or an idea but also a grand historical and long-term social practice.Up to now,the development of human rights civilization has roughly experienced four awakening eras:initialization,revolution,popularization,and globalization.In terms of its value dimensions,it has the characteristics of progressiveness,diversity,commonality,inclusiveness,indivisibility,openness,and so on.The historical position of human rights civilization and the development of its value dimensions have shown to the world that human rights are the common wealth of humanity,and human rights belong to all mankind;human rights are historical,concrete,and developmental;the concept of human rights is constantly evolving,and its connotations and categories are constantly expanding;achieving the free and well-rounded development of every person is the highest value realm of human rights civilization.The Chinese modernization endows Chinese civilization with modern strength and opens up new horizons for human rights civilization.The new pattern of human rights civilization to be created by Chinese modernization not only possesses the common characteristics of human rights civilization but also enjoys Chinese characteristics based on its own national conditions,enriching and developing the diversity of human rights civilization for all mankind.

Research on the Constitutional,Historical and Practical Logic of the Chinese Path of Human Rights Development——From the Perspective of the Inclusion of Human Rights Clause in the Constitution

The inclusion of the human rights clause in the Chi-nese Constitution is a concern and expression of the spirit of the Con-stitution,which has laid the institutional regulations of the fundamen-tal law for the development of human rights in China,provided the principles and value norms of the highest level of effectiveness for the legal protection of human rights,and built a profound constitutional basis for the formation and improvement of the Chinese path of human rights development.The human rights clause is not only a summariza-tion and affirmation of the historical practice of Chinese human rights development under the leadership of the Communist Party of China,but also a new starting point for the development of human rights in China under the leadership of the Communist Party of China.It marks that the development of human rights in China has entered a new era.The Party and the state have finally embarked on a path of human rights development with Chinese characteristics by formulating and implementing the Human Rights Action Plan of China,eliminating ab-solute poverty through the national poverty alleviation campaign,and promoting human rights protection through the rule of law.

Pioneering a New Realm of Human Rights Civilization in the Chinese Path to Modernization——An Overview of the Symposium on“The Chinese Path to Modernization and the Promotion of Free and Comprehensive Human Development”

On October 14,2023,a symposium themed“The Chinese Path to Modernization and the Promotion of Free and Comprehensive Human Development”was held in Changchun,Jilin Province,China.More than fifty experts,scholars,and researchers from national institutions and universities engaged in discussions and exchanges on human rights on the Chinese path to modernization,including the path,practice,knowledge systems,and civilization forms of human rights.This symposium played a significant role in advancing the construction of the disciplinary system,academic system,and discourse system of human rights in China.

Access to Financial Services——An Analysis from the Human Rights Perspective

There is a broad connection between finance and human rights,with finance having both positive and negative impacts on human rights.Everyone has a need for access to financial services.Documents in both the international human rights and international finance fields address the relationship between financial services and human rights.Among financial services,microcredit and inclusive finance have the closest connection to human rights and potentially the greatest impact on human rights.Access to financial services promotes economic,social,and cultural rights as well as the rights of specific groups.The conditions for access to financial services to promote human rights require the state to assume obligations to recognize,respect,protect,and fulfill the need for individuals to access financial services,and to ensure the availability,accessibility,acceptability,and adaptability of basic financial services.Access to financial services has played a significant role in China’s comprehensive victory in the battle of poverty alleviation,providing valuable experience for the international community in poverty eradication,achieving sustainable development goals,and protecting and promoting human rights.

The Historic Achievements of the Communist Party of China in Respecting and Protecting Human Rights in the New Era

In the new era,the Communist Party of China(CPC)has made historic achievements in respecting and protecting human rights.Building upon the principle of the“two integrations”(integrating the basic tenets of Marxism with China’s specific realities and fine traditional culture),it has nurtured new theories on respecting and protecting human rights in the new era,which can address the fundamental questions of whom and what the human rights protection efforts in the new era are for.Guided by the principle of“taking our own path,”it has charted a distinct course for the development of human rights,diverging from the Western approach.The CPC has maintained the unity between Party leadership and the respect for and protection of human rights,promoting progress in human rights through the pursuit of“high-quality development,”and ensuring various fundamental rights of the people through the rule of law.Building upon the past experience,the CPC has established the“source”of the institutional framework for respecting and protecting human rights in the new era,crafted the“body”of this institutional framework,and introduced its practical“application.”In promoting the comprehensive advancement of human rights protection,the CPC has facilitated the connotative development of human rights protection in China,empowering China in international human rights discourse,and contributing Chinese strength and wisdom to global human rights governance.

Problems and Countermeasures to Improve Clinical Trial Participants’Compensation Rights in China

Objective To discuss the problems existing in the compensation of Chinese clinical trial participants and propose some suggestions for improving their rights.Methods The literature related to the participants’right to compensation at home and abroad was searched to study the inadequacy of the compensation right for clinical trial participants in China from four aspects:insurance system,principle of attribution,legal relationship and compensation regulations.Then,some suggestions to improve the participants’right to compensation were proposed.Results and Conclusion China lacks clear legal norms for participants’right to compensation.There are problems such as unclear insurance rules and compensation rules,unclear contractual relationships between parties to clinical trials,and no laws and regulations to rely on for attribution and compensation.China should issue regulatory guidelines related to the right to compensation of participants in clinical trials,so that all parties in clinical trials can have rules to follow if there is the occurrence of injury,which can better protect the rights and interests of the participants.

Economic Growth:The Fundamental Path to the Realization of Social Security Rights for Migrant Workers

The International Labour Organization seems to only see the aspect of social security promoting economic growth,while neglecting the aspect of economic growth supporting social security.From the standpoint of materialism and the practice of social security,the realization of social security rights for migrant workers fundamentally depends on economic growth.The Belt and Road Initiative has provided a Chinese solution for creating a strong material and technological foundation to meet the social security needs of all people,including migrant workers.

Interplay of Human Rights and Development: The Implementation and Guarantee of Development after the Victory of the World War Ⅱ

Poverty affects social development and justice. It also deeply affects the realization of human rights, inclucing the right to development. The present unjust international order cannot solve poverty by means of human rights. Many developed countries avoid their obligation of dealing with poverty, denying the general realization and actionability of economic, social and development rights. Due to the position of these countries in the issues of human rights and development, many regions of the world were falling into the extremely poor state. The efforts by the United Nations are discounted in promoting the development and fighting against the poverty.

For a Legal Guarantee to Improve People’s Livelihood and Protect Human Rights——Thoughts on policy concerning Social Insurance Law (draft)

The People＇s Republic of China Social Insurance Law （draft） has undergone three readings at the Standing Committee of the National People＇s Congress. The Law, once promulgated, will be of great significance to implementation of the constitutional principle of ＂respecting and protecting human rights.＂ It will help regulate the various social insurance relationships and the rights and obligations of the parties involved.

Establishment of Safety Guarantee System of Mountainous Tourism——A Case Study of High and Higher Mountains

After summarizing researches on domestic and foreign tourism safety,it was found that there were few research results on mountainous tourism safety,especially tourism safety and tourism safety guarantee system of high and higher mountains with high risk.The paper had concluded hidden dangers and sources of safe accidents of mountainous tourism,and studied tourism safety guarantee system of high and higher mountains.Furthermore,it proposed that tourism safety guarantee system was composed of tourism safety policies and regulations,tourism precaution,tourism safety control,tourism safety rescue and tourism insurance;and finally pointed out components of each factor.

Guaranteed Cost Active Fault-tolerant Control of Networked Control System with Packet Dropout and Transmission Delay

The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.

Nonfragile guaranteed cost control for Delta operator-formulated uncertain time-delay systems

With consideration that the controller parameters may vary from the designed value when the controller is realized, based on Lyapunov stability theory, a design method of nonfragile guaranteed cost control for a class of Delta operator-formulated uncertain time-delay systems is studied. A sufficient condition for the existence of the nonfragile guaranteed cost controller is given. A numeric example is then given to illustrate the effectiveness and the feasibility of the designed method. The results show that even if the parameters of the designed controller are of variations, the closed-loop system is still asymptotically stable and the super value of the cost function can also be obtained, while the closed-loop system will be unstable if the variations of the controller parameters are not considered when the controller is designed. The nonfragile guaranteed cost controller derived from the traditional shift operator method may cause the closed-loop system to be unstable, while the nonfragile guaranteed cost controller based on Delta operator method can avoid the unstable problem of the closed-loop system.

An LMI Method to Robust Iterative Learning Fault-tolerant Guaranteed Cost Control for Batch Processes

Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry, a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes with actuator failures. This paper introduces relevant concepts of the fault-tolerant guaranteed cost control and formulates the robust iterative learning reliable guaranteed cost controller (ILRGCC). A significant advantage is that the proposed ILRGCC design method can be used for on-line optimization against batch-to-batch process uncertainties to realize robust tracking of set-point trajectory in time and batch-to-batch sequences. For the convenience of implementation, only measured output errors of current and previous cycles are used to design a synthetic controller for iterative learning control, consisting of dynamic output feedback plus feed-forward control. The proposed controller can not only guarantee the closed-loop convergency along time and cycle sequences but also satisfy the H∞performance level and a cost function with upper bounds for all admissible uncertainties and any actuator failures. Sufficient conditions for the controller solution are derived in terms of linear matrix inequalities (LMIs), and design procedures, which formulate a convex optimization problem with LMI constraints, are presented. An example of injection molding is given to illustrate the effectiveness and advantages of the ILRGCC design approach.

Optimal guaranteed cost control for fuzzy descriptor systems with time-varying delay

Based on the delay-independent rule, the problem of optimal guaranteed cost control for a class of Takagi-Sugeno （T-S） fuzzy descriptor systems with time-varying delay is studied. A linear quadratic cost function is considered as the performance index of the closed-loop system. Sufficient conditions for the existence of guaranteed cost controllers via state feedback are given in terms of linear matrix inequalities （LMIs）, and the design of an optimal guaranteed cost controller can be reduced to a convex optimization problem. It is shown that the designed controller not only guarantees the asymptotic stability of the closed-loop fuzzy descriptor delay system, but also provides an optimized upper bound of the guaranteed cost. At last, a numerical example is given to illustrate the effectiveness of the proposed method and the perfect performance of the optimal guaranteed cost controller.

Research on the Judicial Relief System of Villagers' Autonomy Rights

Starting from the division of the functions of the village committee,the use of self-government rights of the villagers was examined in view of the different functions.Judicial remedies should be screened whether or not the exercise of autonomy,as well as the main disputes in order to determine the specific litigation.The responsibility determination of the villagers' autonomy rights prosecution in different circumstances is put forward.

Obstacles to the Mortgage Financing of Forest Rights and its Countermeasures

Current status of the mortgage financing of forest rights is introduced.Significance of the development of mortgage financing of rural forest rights is analyzed,indicating that the mortgage financing of rural forest rights is an inevitable trend of rural reform development,Mortgage financing of forest rights in rural China is an effective vector for the farmers' income increase project with financial support,explores the great potential of forest resources,promotes the coordinated development of forestry and financial services.Major obstacles for the mortgage financing of forest rights at present is pointed out,which are the high assessment fees,the complex mortgage valuation,the unsound element market of forestry,and the lack of risk protection mechanism.Countermeasures for the development of mortgage financing of forest rights is out forward.For instance,both government and Forestry Bureau should strengthen the circulation services,establish smooth evaluation mechanism,establish companies for rural assets platform,increase the interest subsidies for forest right mortgage and the risk compensation,strengthen the team construction and improve the service system.