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.

Oxygen functionalization-assisted anionic exchange toward unique construction of flower-like transition metal chalcogenide embedded carbon fabric for ultra-long life flexible energy storage and conversion

The metal-organic framework(MOF)derived Ni–Co–C–N composite alloys(NiCCZ)were“embedded”inside the carbon cloth(CC)strands as opposed to the popular idea of growing them upward to realize ultrastable energy storage and conversion application.The NiCCZ was then oxygen functionalized,facilitating the next step of stoichiometric sulfur anion diffusion during hydrothermal sulfurization,generating a flower-like metal hydroxysulfide structure(NiCCZOS)with strong partial implantation inside CC.Thus obtained NiCCZOS shows an excellent capacity when tested as a supercapacitor electrode in a three-electrode configuration.Moreover,when paired with the biomass-derived nitrogen-rich activated carbon,the asymmetric supercapacitor device shows almost 100%capacity retention even after 45,000 charge–discharge cycles with remarkable energy density(59.4 Wh kg^(-1)/263.8μWh cm^(–2))owing to a uniquely designed cathode.Furthermore,the same electrode performed as an excellent bifunctional water-splitting electrocatalyst with an overpotential of 271 mV for oxygen evolution reaction(OER)and 168.4 mV for hydrogen evolution reaction(HER)at 10 mA cm−2 current density along with 30 h of unhinged chronopotentiometric stability performance for both HER and OER.Hence,a unique metal chalcogenide composite electrode/substrate configuration has been proposed as a highly stable electrode material for flexible energy storage and conversion applications.

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.

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.

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.

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.

Advances of embedded resistive random access memory in industrial manufacturing and its potential applications

Embedded memory,which heavily relies on the manufacturing process,has been widely adopted in various industrial applications.As the field of embedded memory continues to evolve,innovative strategies are emerging to enhance performance.Among them,resistive random access memory(RRAM)has gained significant attention due to its numerousadvantages over traditional memory devices,including high speed(<1 ns),high density(4 F^(2)·n^(-1)),high scalability(~nm),and low power consumption(~pJ).This review focuses on the recent progress of embedded RRAM in industrial manufacturing and its potentialapplications.It provides a brief introduction to the concepts and advantages of RRAM,discusses the key factors that impact its industrial manufacturing,and presents the commercial progress driven by cutting-edge nanotechnology,which has been pursued by manysemiconductor giants.Additionally,it highlights the adoption of embedded RRAM in emerging applications within the realm of the Internet of Things and future intelligent computing,with a particular emphasis on its role in neuromorphic computing.Finally,the review discusses thecurrent challenges and provides insights into the prospects of embedded RRAM in the era of big data and artificial intelligence.

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.

EG-STC: An Efficient Secure Two-Party Computation Scheme Based on Embedded GPU for Artificial Intelligence Systems

This paper presents a comprehensive exploration into the integration of Internet of Things(IoT),big data analysis,cloud computing,and Artificial Intelligence(AI),which has led to an unprecedented era of connectivity.We delve into the emerging trend of machine learning on embedded devices,enabling tasks in resource-limited environ-ments.However,the widespread adoption of machine learning raises significant privacy concerns,necessitating the development of privacy-preserving techniques.One such technique,secure multi-party computation(MPC),allows collaborative computations without exposing private inputs.Despite its potential,complex protocols and communication interactions hinder performance,especially on resource-constrained devices.Efforts to enhance efficiency have been made,but scalability remains a challenge.Given the success of GPUs in deep learning,lever-aging embedded GPUs,such as those offered by NVIDIA,emerges as a promising solution.Therefore,we propose an Embedded GPU-based Secure Two-party Computation(EG-STC)framework for Artificial Intelligence(AI)systems.To the best of our knowledge,this work represents the first endeavor to fully implement machine learning model training based on secure two-party computing on the Embedded GPU platform.Our experimental results demonstrate the effectiveness of EG-STC.On an embedded GPU with a power draw of 5 W,our implementation achieved a secure two-party matrix multiplication throughput of 5881.5 kilo-operations per millisecond(kops/ms),with an energy efficiency ratio of 1176.3 kops/ms/W.Furthermore,leveraging our EG-STC framework,we achieved an overall time acceleration ratio of 5–6 times compared to solutions running on server-grade CPUs.Our solution also exhibited a reduced runtime,requiring only 60%to 70%of the runtime of previously best-known methods on the same platform.In summary,our research contributes to the advancement of secure and efficient machine learning implementations on resource-constrained embedded devices,paving the way for broader adoption of AI technologies in various applications.

CL2ES-KDBC:A Novel Covariance Embedded Selection Based on Kernel Distributed Bayes Classifier for Detection of Cyber-Attacks in IoT Systems

The Internet of Things(IoT)is a growing technology that allows the sharing of data with other devices across wireless networks.Specifically,IoT systems are vulnerable to cyberattacks due to its opennes The proposed work intends to implement a new security framework for detecting the most specific and harmful intrusions in IoT networks.In this framework,a Covariance Linear Learning Embedding Selection(CL2ES)methodology is used at first to extract the features highly associated with the IoT intrusions.Then,the Kernel Distributed Bayes Classifier(KDBC)is created to forecast attacks based on the probability distribution value precisely.In addition,a unique Mongolian Gazellas Optimization(MGO)algorithm is used to optimize the weight value for the learning of the classifier.The effectiveness of the proposed CL2ES-KDBC framework has been assessed using several IoT cyber-attack datasets,The obtained results are then compared with current classification methods regarding accuracy(97%),precision(96.5%),and other factors.Computational analysis of the CL2ES-KDBC system on IoT intrusion datasets is performed,which provides valuable insight into its performance,efficiency,and suitability for securing IoT networks.

Decision-Making and Management of Self-Care in Persons with Traumatic Spinal Cord Injuries: A Preliminary Study

Patients and physicians understand the importance of self-care following spinal cord injury (SCI), yet many individuals with SCI do not adhere to recommended self-care activities despite logistical supports. Neurobehavioral determinants of SCI self-care behavior, such as impulsivity, are not widely studied, yet understanding them could inform efforts to improve SCI self-care. We explored associations between impulsivity and self-care in an observational study of 35 US adults age 18 - 50 who had traumatic SCI with paraplegia at least six months before assessment. The primary outcome measure was self-reported self-care. In LASSO regression models that included all neurobehavioral measures and demographics as predictors of self-care, dispositional measures of greater impulsivity (negative urgency, lack of premeditation, lack of perseverance), and reduced mindfulness were associated with reduced self-care. Outcome (magnitude) sensitivity, a latent decision-making parameter derived from computationally modeling successive choices in a gambling task, was also associated with self-care behavior. These results are preliminary;more research is needed to demonstrate the utility of these findings in clinical settings. Information about associations between impulsivity and poor self-care in people with SCI could guide the development of interventions to improve SCI self-care and help patients with elevated risks related to self-care and secondary health conditions.

Research on Public Engineering Emergency Decision-Making Based on Multi-Granularity Language Information

To effectively deal with fuzzy and uncertain information in public engineering emergencies,an emergency decision-making method based on multi-granularity language information is proposed.Firstly,decision makers select the appropriate language phrase set according to their own situation,give the preference information of the weight of each key indicator,and then transform the multi-granularity language information through consistency.On this basis,the sequential optimization technology of the approximately ideal scheme is introduced to obtain the weight coefficient of each key indicator.Subsequently,the weighted average operator is used to aggregate the preference information of each alternative scheme with the relative importance of decision-makers and the weight of key indicators in sequence,and the comprehensive evaluation value of each scheme is obtained to determine the optimal scheme.Lastly,the effectiveness and practicability of the method are verified by taking the earthwork collapse accident in the construction of a reservoir as an example.

A Blind Spot in the Reframing of a Universe of Possibles: Towards a Suitable Model for Decision-Making Theory and A.I.

Bayesian inference model is an optimal processing of incomplete information that, more than other models, better captures the way in which any decision-maker learns and updates his degree of rational beliefs about possible states of nature, in order to make a better judgment while taking new evidence into account. Such a scientific model proposed for the general theory of decision-making, like all others in general, whether in statistics, economics, operations research, A.I., data science or applied mathematics, regardless of whether they are time-dependent, have in common a theoretical basis that is axiomatized by relying on related concepts of a universe of possibles, especially the so-called universe (or the world), the state of nature (or the state of the world), when formulated explicitly. The issue of where to stand as an observer or a decision-maker to reframe such a universe of possibles together with a partition structure of knowledge (i.e. semantic formalisms), including a copy of itself as it was initially while generalizing it, is not addressed. Memory being the substratum, whether human or artificial, wherein everything stands, to date, even the theoretical possibility of such an operation of self-inclusion is prohibited by pure mathematics. We make this blind spot come to light through a counter-example (namely Archimedes’ Eureka experiment) and explore novel theoretical foundations, fitting better with a quantum form than with fuzzy modeling, to deal with more than a reference universe of possibles. This could open up a new path of investigation for the general theory of decision-making, as well as for Artificial Intelligence, often considered as the science of the imitation of human abilities, while being also the science of knowledge representation and the science of concept formation and reasoning.

Crossing the Achilles Heel of Algorithms:Identifying the Developmental Dilemma of Artificial Intelligence-Assisted Judicial Decision-Making

In the developmental dilemma of artificial intelligence(AI)-assisted judicial decision-making,the technical architecture of AI determines its inherent lack of transparency and interpretability,which is challenging to fundamentally improve.This can be considered a true challenge in the realm of AI-assisted judicial decision-making.By examining the court’s acceptance,integration,and trade-offs of AI technology embedded in the judicial field,the exploration of potential conflicts,interactions,and even mutual shaping between the two will not only reshape their conceptual connotations and intellectual boundaries but also strengthen the cognition and re-interpretation of the basic principles and core values of the judicial trial system.

Teaching Reform and Practice of Embedded System Design Based on Outcome-Based Education

Embedded system design is the core course of the telecommunication major in engineering universities,which combines software and hardware through embedded development boards.Aiming at the problems existing in traditional teaching,this paper proposes curriculum teaching reform based on the outcome-based education(OBE)concept,including determining course objectives,reforming teaching modes and methods,and improving the curriculum assessment and evaluation system.After two semesters of practice,this method not only enhances students’learning initiative but also improves teaching quality.

Artificial intelligence promotes shared decision-making through recommending tests to febrile pediatric outpatients

BACKGROUND:To promote the shared decision-making(SDM)between patients and doctors in pediatric outpatient departments,this study was designed to validate artificial intelligence(AI)-initiated medical tests for children with fever.METHODS:We designed an AI model,named Xiaoyi,to suggest necessary tests for a febrile child before visiting a pediatric outpatient clinic.We calculated the sensitivity,specificity,and F1 score to evaluate the efficacy of Xiaoyi’s recommendations.The patients were divided into the rejection and acceptance groups.Then we analyzed the rejected examination items in order to obtain the corresponding reasons.RESULTS:We recruited a total of 11,867 children with fever who had used Xiaoyi in outpatient clinics.The recommended examinations given by Xiaoyi for 10,636(89.6%)patients were qualified.The average F1 score reached 0.94.A total of 58.4%of the patients accepted Xiaoyi’s suggestions(acceptance group),and 41.6%refused(rejection group).Imaging examinations were rejected by most patients(46.7%).The tests being time-consuming were rejected by 2,133 patients(43.2%),including rejecting pathogen studies in 1,347 patients(68.5%)and image studies in 732 patients(31.8%).The difficulty of sampling was the main reason for rejecting routine tests(41.9%).CONCLUSION:Our model has high accuracy and acceptability in recommending medical tests to febrile pediatric patients,and is worth promoting in facilitating SDM.

A multi-enterprise quality function deployment paradigm with unstructured decision-making in linguistic contexts

This paper presents an operational framework of unstructured decision-making approach involving quality function deployment(QFD)in an uncertain linguistic context.Firstly,QFD is extended to the multi-enterprise paradigm in a real-world manufacturing environment.Secondly,hesitant fuzzy linguistic term sets(HFLTSs),which facilitate the management and handling of information equivocality,are designed to construct a house of quality(HoQ)in the product planning process.The technique of computing with words is applied to bridge the gap between mechanisms of the human brain and machine processes with fuzzy linguistic term sets.Thirdly,a multi-enterprise QFD pattern is formulated as an unstructured decision-making problem for alternative infrastructure project selection in a manufacturing organization.The inter-relationships of cooperative partners are directly matched with a back propagation neural network(BPNN)to construct the multi-enterprise manufacturing network.The resilience of the manufacturing organization is considered by formulating an outranking method on the basis of HFLTSs to decide on infrastructure project alternatives.Finally,a real-world example,namely,the prototype manufacturing of an automatic transmission for a vehicle,is provided to illustrate the effectiveness of the proposed decision-making approach.

A Self‑Powered,Highly Embedded and Sensitive Tribo‑Label‑Sensor for the Fast and Stable Label Printer

Label-sensor is an essential component of the label printer which is becoming a most significant tool for the development of Internet of Things(IoT).However,some drawbacks of the traditional infrared label-sensor make the printer fail to realize the high-speed recognition of labels as well as stable printing.Herein,we propose a selfpowered and highly sensitive tribo-label-sensor(TLS)for accurate label identification,positioning and counting by embedding triboelectric nanogenerator into the indispensable roller structure of a label printer.The sensing mechanism,device parameters and deep comparison with infrared sensor are systematically studied both in theory and experiment.As the results,TLS delivers 6 times higher signal magnitude than traditional one.Moreover,TLS is immune to label jitter and temperature variation during fast printing and can also be used for transparent label directly and shows long-term robustness.This work may provide an alternative toolkit with outstanding advantages to improve current label printer and further promote the development of IoT.