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Modelling of a Human Driver’s Interaction with Vehicle Automated Steering Using Cooperative Game Theory

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1095-1107页

作者： Xiaoxiang Na david J.cole Department of Engineering University of Cambridge

The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such interaction, while its counterpart, cooperative game theory is rarely discussed for similar applications despite it may be potentially more suitable. This paper describes the modelling of a human driver’s steering interaction with an automated steering system using cooperative game theory. The distributed Model Predictive Control approach is adopted to derive the driver’s and the automated steering system’s strategies in a Pareto equilibrium sense, namely their cooperative Pareto steering strategies. Two separate numerical studies are carried out to study the influence of strategy parameters, and the influence of strategy types on the driver’s and the automated system’s steering performance. It is found that when a driver interacts with an automated steering system using a cooperative Pareto steering strategy, the driver can improve his/her performance in following a target path through increasing his/her effort in pursuing his/her own interest under the driver-automation cooperative control goal. It is also found that a driver’s adoption of cooperative Pareto steering strategy leads to a reinforcement in the driver’s steering angle control, compared to the driver’s adoption of non-cooperative Nash strategy. This in turn enables the vehicle to return from a lane-change maneuver to straight-line driving swifter.

关键词： Automated driving system cooperative game theory driver modelling

CD8:Adhesion Molecule,Co-Receptor and Immuno-Modulator

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Cellular & Molecular Immunology 2004年第2期1卷 81-88页

作者： david K cole George F Gao Nuffield Department of Clinical Medicine John Radcliffe HospitalUniversity of OxfordHeadington Oxford OX3 9DUUnited Kingdom.

CD8 is a cell surface glycoprotein found in cytotoxic T lymphocytes,which are important components in cellular immunity,*** the immune response to cancer and chronic *** are two forms of CD8, either as an αα homodimer or αβ *** acts as an“assistant”or co-receptor in the function of cytotoxic T cells where specific immunity is mediated by interaction of specific T cell receptor(αβTCR)and its ligand peptide major histocompatibility complex(pMHC).CD8 also binds to pMHC but away from the interface of pMHC and TCR contact,thereof no influence on the specificity of this *** the TCR and CD8 bind to the same pMHC at the same time,CD8 is defined as a co-receptor,functioning through its signalling via its cytoplasmic tyrosine phosphorylation pathway;if CD8 binds to pMHC independently of the TCR,it is defined as an adhesion *** present,the co-receptor function theory is dominated in the field. Recent study has also shown that murine CD8αα binds to TL antigen,an MHC homologue,therefore acts as an *** this review,we discuss these current understandings of the three aspects of the CD8 functions and their structural *** & Molecular Immunology.2004;1(2):81-88.

关键词： CD8 T cell adhesion co-receptor immuno-modulator

微粒对多晶冰及冰川流变行为的影响——(Ⅰ)基于位错的弛豫模型

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地球物理学报 2007年第1期50卷 126-130页

作者：宋旼 david M.cole Ian Baker 中南大学粉末冶金国家重点实验室 US Army Cold Regions Research and Engineering Laboratory Hanover NH03755U.S.A. Thayer School of Engineering Dartmouth CollegeHanover NH03755U.S.A.

为量化冰及冰川在流变过程中位错密度随流变应力的变化,发展了一个基于位错的非线性弛豫模型.模型的计算表明:在冰的指数蠕变阶段,滞弹性试验所形成的应力/应变滞后环的宽度与面积随流变应力的增加呈线性增加,位错密度随流变应力的增加... 详细信息

为量化冰及冰川在流变过程中位错密度随流变应力的变化,发展了一个基于位错的非线性弛豫模型.模型的计算表明:在冰的指数蠕变阶段,滞弹性试验所形成的应力/应变滞后环的宽度与面积随流变应力的增加呈线性增加,位错密度随流变应力的增加呈平方增加;在冰的线性蠕变阶段,滞弹性试验所形成的应力/应变滞后环的宽度、面积和位错密度保持不变.

关键词：冰与冰川位错弛豫流变非线性模型

The promise of γδ T cells and the γδ T cell receptor for cancer immunotherapy

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Cellular & Molecular Immunology 2015年第6期12卷 656-668页

作者： Mateusz Legut david K cole Andrew K Sewell Division of Infection and Immunity and Svstems Immunitv Universitv Research Institute. Cardiff University School of Medicine Cardiff UK

γδ T cells form an important part of adaptive immune responses against infections and malignant transformation. The molecular targets of humanγδT cell receptors （TCRs） remain largely unknown, but recent studies have confirmed the recognition of phosphorylated prenyl metabolites, lipids in complex with CD1 molecules and markers of cellular stress. All of these molecules are upregulated on various cancer types, highlighting the potential importance of the γδ T cell compartment in cancer immunosurveiliance and paving the way for the use of γδTCRs in cancer therapy. Ligand recognition by the γδ TCR often requires accessorylco-stimulatory stress molecules on both T cells and target cells; this cellular stress context therefore provides a failsafe against harmful self-reactivity. Unlike αβ T cells, γδ T cells recognise their targets irrespective of HLA haplotype and therefore offer exciting possibilities for off-the-shelf, pan-population cancer immunotherapies. Here, we present a review of known ligands of human γδ T cells and discuss the promise of harnessing these cells for cancer treatment.

关键词： cancer γδ T cells immunotherapy phosphoantigens T cell receptor

Water Vapor Variability in the Tropical Western Pacific from 20-year Radiosonde Data

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Advances in Atmospheric Sciences 2001年第5期18卷 752-766页

作者： Junhong Wang, Harold L. cole and david J. Carlson National Center for Atmospheric Research P. O, Box 3000,Boulder, CO 80307 National Center for Atmospheric Research Boulder USA

The 20-year (1976-1995) daily radinsonde data at 17 stations in the tropical western Pacific was ana- lyzed. The analysls shows that the atmosphere is more humid in a warmer climate on seasonal,inter-annual and long-term (20-year) time scales, implying a positive water vapor feedback The vertlcal structure of the long-term trends in relative humidity (RH) is distinct from that on short-term (seasonal and inter-annual) time scales, suggesting that observed water vapor changes on short time scales could not be considered as a surrogate of long-term climate change. The increasing trend of RH (3%-5% / decade) in the upper troposphere is stronger than that in the lower troposphere (1 %-2% / decade). Such verthal structure would amplify positive water vapor feedback in comparison to the common assumption of constant RH changes vertically. The empicical orthogonal function (EOF) analysis of vertical structure of RH varmtions shows distinct features of the vert1cal structure of the first three EOFs. The first three EOFs are optimal for repre- sentation of water vapor profiles and provide some hints on physical mechanisms respons1ble for observed humidity variability. Vaisala radiosondes were used at nine stations, and VIZ radiosondes used at other eight stations The Vaisala data are corrected for temperature-dependence error using the correction siheme developed by NCAR / ATD and Vaisala. The comparison of Vaisala and VIZ data shows that the VIZ-measured RHs after October 1993 have a moist bias of - 10% at RHs < 20%. During 1976-1995, several changes in- cluding both instruments and reporting practice have been made at Vaisala stations and introduce errors to long-term RH variations.

关键词： Water vapor Radiosonde

微粒对多晶冰流变行为的影响——(Ⅱ)滞弹性行为

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地球物理学报 2007年第4期50卷 1156-1160页

作者：宋旼 david M cole Ian Baker 中南大学粉末冶金国家重点实验室 US Army Cold Regions Research and Engineering Laboratory HanoverNH03755USA Thayer School of Engineering Dartmouth CollegeHanoverNH03755USA

用反相直接加载的方法研究了微粒对多晶冰滞弹性的影响.结果表明:在较高频率时(1Hz和10-1Hz),滞弹性应变与应力峰值呈线性关系;在较低频率时(10-2Hz),其应力/应变偏离线性关系.微粒在高频时(1Hz)通过阻碍晶界滑移对晶界弛豫产生重要影响... 详细信息

用反相直接加载的方法研究了微粒对多晶冰滞弹性的影响.结果表明:在较高频率时(1Hz和10-1Hz),滞弹性应变与应力峰值呈线性关系;在较低频率时(10-2Hz),其应力/应变偏离线性关系.微粒在高频时(1Hz)通过阻碍晶界滑移对晶界弛豫产生重要影响,增加了模量和降低了内耗.但微粒对低频时的位错弛豫没有明显的影响.通过滞弹性实验计算了非线性弛豫模型的两个重要参数,计算表明K值约为0.07Pa,α值约为0.54.

关键词：冰与冰川滞弹性弛豫模型流变

Kinetics of sulfur isotope exchange between aqueous sulfide and thiosulfate involving intra-and intermolecular reactions at hydrothermal conditions

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Kinetics of sulfur isotope exchange between aqueous sulfide ...

应用三重四极杆GC-MS筛查食品中的600种农药

中国科学院地质与地球物理研究所2004学术年会

作者： Hiroshi Ohmoto david R.cole Department of Geosciences The Pennsylvania State UniversityUniversity ParkPA 16802USA Chemical Sciences Division Oak Ridge National LaboratoryP.O.Box 2008Oak RidgeTN 37831USA

Sulfur isotope exchange between sulfide(HS) and thiosulfate(HSSOH) can be described by the general rate law for a two-compound system(X and AB) with three exchangeable atoms(X,A,and B) proposed by[***,***, Kinetics of isotope exchange reactions involving intra- and intermolecular reactions:Ⅰ.Rate law for a system with two chemical compounds and three exchangeable *** 55 1991 1953-1961].According to the rate law,the isotope exchange reaction is comprised of one overall intramolecular exchange between sulfane(-SH or SH) and sulfonate(-SOH or SOH) sulfurs of thiosulfate(i.e.,SH(?)SOH in thiosulfate) and two overall intermolecular exchanges between sulfide and sulfane sulfur of thiosulfate(i.e.,HS(?)SH of thiosulfate) and between sulfide and sulfonate sulfur of thiosulfate(i.e.,HS(?)SOH of thiosulfate).The rate constants for the three overall exchange reactions and the equilibrium isotopic fractionation factors among sulfide,sulfane,and sulfonate of thiosulfate were estimated by fitting[***,***,***,***,Sulfur isotope exchange reaction in the aqueous system:thiosulfate-sulfide -sulfate at hydrothermal ***.J.19 1985 301-315]experimental data on sulfur isotope exchange between aqueous HS and sodium thiosulfate by the least squares *** temperatures of 100-170℃,the equilibrium fractionation factors(in per mil) can be expressed as: 10001nα = -0.327±0.055(10/T) + 2.676±0.341(l0/T) 10001nα= -0.352±0.009(10/T) + 7.523±0.054(10/T) and 10001nα= -0.0293±0.058(10/T) - 4.871±0.357(10/T) (T in K).At near-neutral pH,the overall rate(m s) for the sulfur isotope exchange between HS and -SOH of thiosulfate is described by logk(?)HS=-5.14(10/T) + 10.35 (T in K) with an activation energy of 98.3 kJ/mol at 100-170℃. A comparison of the rates of sulfur exchanges among HS,-SH,and -SOH of thiosulfate with the rates of polysulfide-thiosulfate formation and disproportion reactions determined by[***,Kinetics of the

关键词： Isotope exchange Sulfur isotopes Fractionation Kinetics Hydrothermal systems

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环境化学 2013年第10期32卷 2002-2004页

作者： david Steiniger Jason cole Paul Silcock Alex Semyonov Thermo Fisher Scientifi c Anstin TX USA

由于高灵敏度GC-MS的出现，使得农残检测中大部分化合物的分析都可以采用统一的样品前处理方法，因而可以将不同基质中不同化合物的检测整合到一个方法中，并且一针进样检测的化合物数量越来越多．GC-MS非常适合各种基质样品中多种残留... 详细信息

由于高灵敏度GC-MS的出现，使得农残检测中大部分化合物的分析都可以采用统一的样品前处理方法，因而可以将不同基质中不同化合物的检测整合到一个方法中，并且一针进样检测的化合物数量越来越多．GC-MS非常适合各种基质样品中多种残留物的分析，但是随着目标化合物数量增多，方法优化变得更加复杂，分析性能会变差．人们希望能够拓展有潜在危害的食品污染物清单．

关键词： GC-MS 食品污染物四极杆农药筛查应用前处理方法化合物

SAR of tricyclic sulfones as γ-secretase inhibitors

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Science China Chemistry 2011年第11期54卷 1688-1701页

作者： cole david ASBEROM Ted BARA Tom BENNETT Chad BURNETT Duane A. CLADER John DOMALSKI Martin GREENLEE William J. HYDE Lynn JOSIEN Hubert McBRIAR Mark McKITTRICK Brian PISSARNITSKI Dmitri RAJAGOPALAN Murali SASIKUMAR Thavalakulamgara Merck Research Laboratories 2015 Galloping Hill RoadKenilworth New Jersey 07033 USA

Novel tricyclic sulfones as γ-secretase inhibitors have been reported by this laboratory for the treatment of Alzheimer's disease. Compounds in this series have comparable or better in vitro activities and in vivo efficacies than sulfonamide analogues re- ported previously by this laboratory. Based on the previously reported tricyclic sulfone scaffold, additional SAR studies of C ring were carried out. Various C-ring structures including cyclohexane, pyran, and piperidine were tolerated. Additionally, the 7- and 8- positions of the C-ring were identified as the best sites to introduce substituent for modulating the pharmacokinetic properties of compounds from this series.

关键词： tricyclic sulfones T-secretase Alzheimer's disease inhibitors