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.

Bound and Resonating Multiquark Configurations

We review the predictions of quark models for multiquark configurations that are bound or resonant states,and compare different methods for estimating the properties of resonances.

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.

Engineering of geometrical configurations in dual-atom catalysts for electrocatalytic applications

Geometrical configurations play a crucial role in dual-atom catalysts(DACs)for electrocatalytic applications.Significant progress has been made to design DACs electrocatalysts with various geometri-cal configurations,but in-depth understanding the relationship between geometrical configurations and metal-metal interaction mechanisms for designing targeted DACs is still required.In this review,the recent progress in engineering of geometrical configurations of DACs is systematically summarized.Based on the polarity of geometrical configuration,DACs can be classified into two different types that are homonuclear and heteronuclear DACs.Furthermore,with regard to the geometrical configurations of the active sites,homonuclear DACs are identified into adjacent and bridged configurations,and heteronuclear DACs can be classified into adjacent,bridged,and separated configurations.Subsequently,metal-metal interactions in DACs with different geometrical configurations are introduced.Additionally,the applications of DACs in different electrocatalytic reactions are discussed,including the oxygen reduction reaction(ORR),oxygen evolution reaction(OER),hydrogen evolution reaction(HER),and other catalysis.Finally,the future challenges and perspectives for advancements in DACs are high-lighted.This review aims to provide inspiration for the design of highly effcient DACs towards energy relatedapplications.

Orientation and Decision-Making for Soccer Based on Sports Analytics and AI:A Systematic Review

Due to ever-growing soccer data collection approaches and progressing artificial intelligence(AI) methods, soccer analysis, evaluation, and decision-making have received increasing interest from not only the professional sports analytics realm but also the academic AI research community. AI brings gamechanging approaches for soccer analytics where soccer has been a typical benchmark for AI research. The combination has been an emerging topic. In this paper, soccer match analytics are taken as a complete observation-orientation-decision-action(OODA) loop.In addition, as in AI frameworks such as that for reinforcement learning, interacting with a virtual environment enables an evolving model. Therefore, both soccer analytics in the real world and virtual domains are discussed. With the intersection of the OODA loop and the real-virtual domains, available soccer data, including event and tracking data, and diverse orientation and decisionmaking models for both real-world and virtual soccer matches are comprehensively reviewed. Finally, some promising directions in this interdisciplinary area are pointed out. It is claimed that paradigms for both professional sports analytics and AI research could be combined. Moreover, it is quite promising to bridge the gap between the real and virtual domains for soccer match analysis and decision-making.

Ethical Decision-Making Framework Based on Incremental ILP Considering Conflicts

Humans are experiencing the inclusion of artificial agents in their lives,such as unmanned vehicles,service robots,voice assistants,and intelligent medical care.If the artificial agents cannot align with social values or make ethical decisions,they may not meet the expectations of humans.Traditionally,an ethical decision-making framework is constructed by rule-based or statistical approaches.In this paper,we propose an ethical decision-making framework based on incremental ILP(Inductive Logic Programming),which can overcome the brittleness of rule-based approaches and little interpretability of statistical approaches.As the current incremental ILP makes it difficult to solve conflicts,we propose a novel ethical decision-making framework considering conflicts in this paper,which adopts our proposed incremental ILP system.The framework consists of two processes:the learning process and the deduction process.The first process records bottom clauses with their score functions and learns rules guided by the entailment and the score function.The second process obtains an ethical decision based on the rules.In an ethical scenario about chatbots for teenagers’mental health,we verify that our framework can learn ethical rules and make ethical decisions.Besides,we extract incremental ILP from the framework and compare it with the state-of-the-art ILP systems based on ASP(Answer Set Programming)focusing on conflict resolution.The results of comparisons show that our proposed system can generate better-quality rules than most other systems.

Review of the Configuration and Transient Stability of Large-scale Renewable Energy Generation through Hybrid DC Transmission

Based on the complementary advantages of Line Commutated Converter(LCC)and Modular Multilevel Converter(MMC)in power grid applications,there are two types of hybrid DC system topologies:one is the parallel connection of LCC converter stations and MMC converter stations,and the other is the series connection of LCC and MMC converter stations within a single station.The hybrid DC transmission system faces broad application prospects and development potential in large-scale clean energy integration across regions and the construction of a new power system dominated by new energy sources in China.This paper first analyzes the system forms and topological characteristics of hybrid DC transmission,introducing the forms and topological characteristics of converter-level hybrid DC transmission systems and system-level hybrid DC transmission systems.Next,it analyzes the operating characteristics of LCC and MMC inverter-level hybrid DC transmission systems,provides insights into the transient stability of hybrid DC transmission systems,and typical fault ride-through control strategies.Finally,it summarizes the networking characteristics of the LCC-MMC series within the converter station hybrid DC transmission system,studies the transient characteristics and fault ridethrough control strategies under different fault types for the LCC-MMC series in the receiving-end converter station,and investigates the transient characteristics and fault ride-through control strategies under different fault types for the LCC-MMC series in the sending-end converter station.

Seismic fragility analysis of three-tower cable-stayed bridges with different connection configurations

Seismic fragility analysis of three-tower cable-stayed bridges with three different structural systems,including rigid system(RS),floating system(FS),and passive energy dissipation system(PEDS),is conducted to study the effects of connection configurations on seismic responses and fragilities.Finite element models of bridges are established using OpenSees.A new ground motion screening method based on the statistical characteristic of the predominant period is proposed to avoid irregular behavior in the selection process of ground motions,and incremental dynamic analysis(IDA)is performed to develop components and systems fragility curves.The effects of damper failure on calculated results for PEDS are examined in terms of seismic response and fragility analysis.The results show that the bridge tower is the most affected component by different structural systems.For RS,the fragility of the middle tower is significantly higher than other components,and the bridge failure starts from the middle tower,exhibiting a characteristic of local failure.For FS and PEDS,the fragility of the edge tower is higher than the middle tower.The system fragility of RS is higher than FS and PEDS.Taking the failure of dampers into account is necessary to obtain reliable seismic capacity of cable-stayed bridges.

Stroke Risk Assessment Decision-Making Using a Machine Learning Model:Logistic-AdaBoost

Stroke is a chronic cerebrovascular disease that carries a high risk.Stroke risk assessment is of great significance in preventing,reversing and reducing the spread and the health hazards caused by stroke.Aiming to objectively predict and identify strokes,this paper proposes a new stroke risk assessment decision-making model named Logistic-AdaBoost(Logistic-AB)based on machine learning.First,the categorical boosting(CatBoost)method is used to perform feature selection for all features of stroke,and 8 main features are selected to form a new index evaluation system to predict the risk of stroke.Second,the borderline synthetic minority oversampling technique(SMOTE)algorithm is applied to transform the unbalanced stroke dataset into a balanced dataset.Finally,the stroke risk assessment decision-makingmodel Logistic-AB is constructed,and the overall prediction performance of this new model is evaluated by comparing it with ten other similar models.The comparison results show that the new model proposed in this paper performs better than the two single algorithms(logistic regression and AdaBoost)on the four indicators of recall,precision,F1 score,and accuracy,and the overall performance of the proposed model is better than that of common machine learning algorithms.The Logistic-AB model presented in this paper can more accurately predict patients’stroke risk.

Sliding and damming properties of granular debris with different geometric configurations and grain size distributions

Granular debris plays a significant role in determining damming deposit characteristics. An indepth understanding of how variations in grain size distribution(GSD) and geometric configurations impact the behavior of granular debris during the occurrence of granular debris is essential for precise assessment and effective mitigation of landslide hazards in mountainous terrains. This research aims to investigate the impact of GSD and geometric configurations on sliding and damming properties through laboratory experiments. The geometric configurations were categorized into three categories based on the spatial distribution of maximum volume: located at the front(Type Ⅰ), middle(Type Ⅱ), and rear(Type Ⅲ) of the granular debris. Our experimental findings highlight that the sliding and damming processes primarily depend on the interaction among the geometric configuration, grain size, and GSD in granular debris. Different sliding and damming mechanisms across various geometric configurations induce variability in motion parameters and deposition patterns. For Type Ⅰ configurations, the front debris functions as the critical and primary driving component, with energy dissipation primarily occurring through inter-grain interactions. In contrast, Type Ⅱ configurations feature the middle debris as the dominant driving component, experiencing hindrance from the front debris and propulsion from the rear, leading to complex alterations in sliding motion. Here, energy dissipation arises from a combination of inter-grain and grain-substrate interactions. Lastly, in Type Ⅲ configurations, both the middle and rear debris serve as the main driving components, with the rear sliding debris impeded by the front. In this case, energy dissipation predominantly results from grainsubstrate interaction. Moreover, we have quantitatively demonstrated that the inverse grading in damming deposits, where coarse grain moves upward and fine grain moves downward, is primarily caused by grain sorting due to collisions among the grains and between the grain and the base. The impact of grain on the horizontal channel further aids grain sorting and contributes to inverse grading. The proposed classification of three geometric configurations in our study enhances the understanding of damming properties from the view of mechanism, which provides valuable insights for related study about damming granular debris.

Network Configuration Entity Extraction Method Based on Transformer with Multi-Head Attention Mechanism

Nowadays,ensuring thequality of networkserviceshas become increasingly vital.Experts are turning toknowledge graph technology,with a significant emphasis on entity extraction in the identification of device configurations.This research paper presents a novel entity extraction method that leverages a combination of active learning and attention mechanisms.Initially,an improved active learning approach is employed to select the most valuable unlabeled samples,which are subsequently submitted for expert labeling.This approach successfully addresses the problems of isolated points and sample redundancy within the network configuration sample set.Then the labeled samples are utilized to train the model for network configuration entity extraction.Furthermore,the multi-head self-attention of the transformer model is enhanced by introducing the Adaptive Weighting method based on the Laplace mixture distribution.This enhancement enables the transformer model to dynamically adapt its focus to words in various positions,displaying exceptional adaptability to abnormal data and further elevating the accuracy of the proposed model.Through comparisons with Random Sampling(RANDOM),Maximum Normalized Log-Probability(MNLP),Least Confidence(LC),Token Entrop(TE),and Entropy Query by Bagging(EQB),the proposed method,Entropy Query by Bagging and Maximum Influence Active Learning(EQBMIAL),achieves comparable performance with only 40% of the samples on both datasets,while other algorithms require 50% of the samples.Furthermore,the entity extraction algorithm with the Adaptive Weighted Multi-head Attention mechanism(AW-MHA)is compared with BILSTM-CRF,Mutil_Attention-Bilstm-Crf,Deep_Neural_Model_NER and BERT_Transformer,achieving precision rates of 75.98% and 98.32% on the two datasets,respectively.Statistical tests demonstrate the statistical significance and effectiveness of the proposed algorithms in this paper.

A numerical survey of parameters to reach ignition condition for axial compression of a large-sized field reversed configuration

Field reversed configuration(FRC)is widely considered as an ideal target plasma for magnetoinertial fusion.However,its confinement and stability,both proportional to the radius,will deteriorate inevitably during radial compression.Hence,we propose a new fusion approach based on axial compression of a large-sized FRC.The axial compression can be made by plasma jets or plasmoids converging onto the axial ends of the FRC.The parameter space that can reach the ignition condition while preserving the FRC's overall quality is studied using a numerical model based on different FRC confinement scalings.It is found that ignition is possible for a large FRC that can be achieved with the current FRC formation techniques if compression ratio is greater than 50.A more realistic compression is to combine axial with moderate radial compression,which is also presented and calculated in this work.

Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of torpedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

The Spherical q-Linear Diophantine Fuzzy Multiple-Criteria Group Decision-Making Based on Differential Measure

Spherical q-linearDiophantine fuzzy sets(Sq-LDFSs)provedmore effective for handling uncertainty and vagueness in multi-criteria decision-making(MADM).It does not only cover the data in two variable parameters but is also beneficial for three parametric data.By Pythagorean fuzzy sets,the difference is calculated only between two parameters(membership and non-membership).According to human thoughts,fuzzy data can be found in three parameters(membership uncertainty,and non-membership).So,to make a compromise decision,comparing Sq-LDFSs is essential.Existing measures of different fuzzy sets do,however,can have several flaws that can lead to counterintuitive results.For instance,they treat any increase or decrease in the membership degree as the same as the non-membership degree because the uncertainty does not change,even though each parameter has a different implication.In the Sq-LDFSs comparison,this research develops the differentialmeasure(DFM).Themain goal of the DFM is to cover the unfair arguments that come from treating different types of FSs opposing criteria equally.Due to their relative positions in the attribute space and the similarity of their membership and non-membership degrees,two Sq-LDFSs formthis preference connectionwhen the uncertainty remains same in both sets.According to the degree of superiority or inferiority,two Sq-LDFSs are shown as identical,equivalent,superior,or inferior over one another.The suggested DFM’s fundamental characteristics are provided.Based on the newly developed DFM,a unique approach tomultiple criterion group decision-making is offered.Our suggestedmethod verifies the novel way of calculating the expert weights for Sq-LDFSS as in PFSs.Our proposed technique in three parameters is applied to evaluate solid-state drives and choose the optimum photovoltaic cell in two applications by taking uncertainty parameter zero.The method’s applicability and validity shown by the findings are contrasted with those obtained using various other existing approaches.To assess its stability and usefulness,a sensitivity analysis is done.

Spatiotemporal variations,influencing factors,and configurational promotion paths of energy efficiency in China’s cities

The promotion of energy efficiency(EE)helps address energy constraints and promote environmental sustainability.This study comprehensively explores the spatiotemporal variations,influencing factors,and configuration promotion paths of EE in 284 Chinese cities during 2003‒2019 using the global super-efficiency minimum distance to strong efficient frontier(G-S-MinDS),exploratory spatial data analysis(ESDA),multiscale geographically weighted regression(MGWR),and fuzzy set qualitative comparative analysis(fsQCA)methods.The findings are:①China’s cities have an annual average EE of 0.658 with a growth rate of 0.53%,showing considerable promotion potential.②Industrial structure optimization,population agglomeration,economic development,and increased green coverage contribute positively,while government intervention and openness hinder China’s urban EE.③Four configurational promotion paths for enhancing China’s urban EE are identified,where among those paths population density is a core condition,while government intervention is not.This study provides valuable insights into substantially improving urban EE,emphasizing the need for targeted policies to address energy and environmental crises in China.

Effect of the Particle Packing Configuration on Fixed Bed Performance

Fixed-bed reactors are generally considered the optimal choice for numerous multi-phase catalytic reactions due to their excellent performance and stability.However,conventional fixed beds often encounter challenges related to inadequate mass transfer and a high pressure drop caused by the non-uniform void fraction distribution.To enhance the overall performance of fixed beds,the impact of different packing configurations on performance was investigated.Experimental and simulation methods were used to investigate the fluid flow and mass transfer performances of various packed beds under different flow rates.It was found that structured beds exhibited a significantly lower pressure drop per unit length than conventional packed beds.Furthermore,the packing configurations had a critical role in improving the overall performance of fixed beds.Specifically,structured packed beds,particularly the H-2 packing configuration,effectively reduced the pressure drop per unit length and improved the mass transfer efficiency.The H-2 packing configuration consisted of two parallel strips of particles in each layer,with strips arranged perpendicularly between adjacent layers,and the spacing between the strips varied from layer to layer.

A NovelMethod for Determining Tourism Carrying Capacity in a Decision-Making Context Using q−Rung Orthopair Fuzzy Hypersoft Environment

Tourism is a popular activity that allows individuals to escape their daily routines and explore new destinations for various reasons,including leisure,pleasure,or business.A recent study has proposed a unique mathematical concept called a q−Rung orthopair fuzzy hypersoft set(q−ROFHS)to enhance the formal representation of human thought processes and evaluate tourism carrying capacity.This approach can capture the imprecision and ambiguity often present in human perception.With the advanced mathematical tools in this field,the study has also incorporated the Einstein aggregation operator and score function into the q−ROFHS values to supportmultiattribute decision-making algorithms.By implementing this technique,effective plans can be developed for social and economic development while avoiding detrimental effects such as overcrowding or environmental damage caused by tourism.A case study of selected tourism carrying capacity will demonstrate the proposed methodology.

UAV maneuvering decision-making algorithm based on deep reinforcement learning under the guidance of expert experience

Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.

Tuning Structural and Electronic Configuration of FeN_(4) via External S for Enhanced Oxygen Reduction Reaction

The Fe-N-C material represents an attractive oxygen reduction reaction electrocatalyst,and the FeN_(4)moiety has been identified as a very competitive catalytic active site.Fine tuning of the coordination structure of FeN_(4)has an essential impact on the catalytic performance.Herein,we construct a sulfur-modified Fe-N-C catalyst with controllable local coordination environment,where the Fe is coordinated with four in-plane N and an axial external S.The external S atom affects not only the electron distribution but also the spin state of Fe in the FeN_(4)active site.The appearance of higher valence states and spin states for Fe demonstrates the increase in unpaired electrons.With the above characteristics,the adsorption and desorption of the reactants at FeN_(4)active sites are optimized,thus promoting the oxygen reduction reaction activity.This work explores the key point in electronic configuration and coordination environment tuning of FeN_(4)through S doping and provides new insight into the construction of M-N-C-based oxygen reduction reaction catalysts.

Constructing long-cycling crystalline C_(3)N_(4)-based carbonaceous anodes for sodium-ion battery via N configuration control

Carbon nitrides with two-dimensional layered structures and high theoretical capacities are attractive as anode materials for sodium-ion batteries while their low crystallinity and insufficient structural stability strongly restrict their practical applications.Coupling carbon nitrides with conductive carbon may relieve these issues.However,little is known about the influence of nitrogen(N)configurations on the interactions between carbon and C_(3)N_(4),which is fundamentally critical for guiding the precise design of advanced C_(3)N_(4)-related electrodes.Herein,highly crystalline C_(3)N_(4)(poly(triazine imide),PTI)based all-carbon composites were developed by molten salt strategy.More importantly,the vital role of pyrrolic-N for enhancing charge transfer and boosting Na+storage of C_(3)N_(4)-based composites,which was confirmed by both theoretical and experimental evidence,was spot-highlighted for the first time.By elaborately controlling the salt composition,the composite with high pyrrolic-N and minimized graphitic-N content was obtained.Profiting from the formation of highly crystalline PTI and electrochemically favorable pyrrolic-N configurations,the composite delivered an unusual reverse growth and record-level cycling stability even after 5000 cycles along with high reversible capacity and outstanding full-cell capacity retention.This work broadens the energy storage applications of C_(3)N_(4) and provides new prospects for the design of advanced all-carbon electrodes.