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General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

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Engineering 2024年第2期33卷 63-76页

作者： Heye Huang Yicong liu Jinxin liu Qisong Yang Jianqiang Wang david Abbink Arkady Zgonnikov school of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive Robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

Role of climatic variability in shaping intraspecific variation of thermal tolerance in Mediterranean water beetles

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Insect science 2024年第1期31卷 285-298页

作者： susana Pallarés david Garoffolo Belén Rodríguez david sánchez-Fernández Department of Zoology University of SevilleSevilleSpain Faculty of Biology Department of Ecology and HydrologyUniversity of MurciaCampus EspinardoMurciaSpain

The climatic variability hypothesis(CVH)predicts that organisms in more thermally variable environments have wider thermal breadths and higher thermal plasticity than those from more stable ***,due to evolutionary trade-offs,taxa with greater absolute thermal limits may have little plasticity of such limits(trade-off hypothesis).The CVH assumes that climatic variability is the ultimate driver of thermal tolerance variation across latitudinal and altitudinal gradients,but average temperature also varies along such *** explored intraspecific variation of thermal tolerance in three typical Mediterranean saline water beetles(families Hydrophilidae and Dytiscidae).For each species,we compared two populations where the species coexist,with similar annual mean temperature but contrasting thermal variability(continental *** population).We estimated thermal limits of adults from each population,previously acclimated at 17,20,or 25℃.We found species-specific patterns but overall,our results agree with the CVH regarding thermal ranges,which were wider in the continental(more variable)*** the two hydrophilid species,this came at the cost of losing plasticity of the upper thermal limit in this population,supporting the trade-off hypothesis,but not in the dytiscid *** results support the role of local adaptation to thermal variability and trade-offs between basal tolerance and physiological plasticity in shaping thermal tolerance in aquatic ectotherms,but also suggest that intraspecific variation of thermal tolerance does not fit a general pattern among aquatic *** such intraspecific variation could lead to inaccurate predictions of the vulnerability of aquatic insects to global warming.

关键词： acclimation capacity aquatic insects climate change heat coma temperature supercooling point thermal plasticity

Impact of an oligosaccharide-based polymer on the metabolic profiles and microbial ecology of weanling pigs experimentally infected with a pathogenic ***

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Journal of Animal science and Biotechnology 2024年第2期15卷 749-764页

作者： Kwangwook Kim Cynthia Jinno Xunde Li david Bravo Eric Cox Peng Ji Yanhong liu Department of Animal science University of CaliforniaDavisCA 95616USA Department of Animal science Michigan State UniversityEast LansingMI 48824USA Cedars-sinai Medical Center Los AngelesCA 90084USA school of Veterinary Medicine University of CaliforniaDavisCA 95616USA Pancosma|ADM 1180 RolleSwitzerland Nutreco Exploration NutrecoThe Netherlands Department of Virology Parasitology and ImmunologyGhent University9000 GhentBelgium Department of Nutrition University of CaliforniaDavisCA 95616USA

Background Our previous study has reported that supplementation of oligosaccharide-based polymer enhances gut health and disease resistance of pigs infected with enterotoxigenic ***(ETEC)F18 in a manner similar to *** objective of this study was to investigate the impacts of oligosaccharide-based polymer or antibiotic on the host metabolic profiles and colon microbiota of weaned pigs experimentally infected with ETEC *** Multivariate analysis highlighted the differences in the metabolic profiles of serum and colon digesta which were predominantly found between pigs supplemented with oligosaccharide-based polymer and *** relative abundance of metabolic markers of immune responses and nutrient metabolisms,such as amino acids and carbohydrates,were significantly differentiated between the oligosaccharide-based polymer and antibiotic groups(q2.0).In addition,pigs in antibiotic had a reduced(Pspiraceae and Lactobacillaceae,whereas had greater(Pstridiaceae and streptococcaceae in the colon digesta on d 11 post-inoculation(PI)compared with d 5 *** The impact of oligosaccharide-based polymer on the metabolic and microbial profiles of pigs is not fully understood,and further exploration is ***,current research suggest that various mechanisms are involved in the enhanced disease resistance and performance in ETEC-challenged pigs by supplementing this polymer.

关键词： Carbadox Colon microbiota Enterotoxigenic E.coli F18 Metabolomics Oligosaccharide-based polymer Weaned pigs

Assessing the energy saving potential of using adaptive setpoint temperatures:The case study of a regional adaptive comfort model for Brazil in both the present and the future

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Building simulation 2024年第3期17卷 459-482页

作者： Daniel sánchez-García david Bienvenido-Huertas Carlos Rubio-Bellido Ricardo Forgiarini Rupp Department of Electrical Engineering University Carlos III of MadridMadridSpain Department of Building simulation ZEROCEM SLSevilleSpain Department of Building Constructions University of GranadaGranadaSpain Department of Building Constructions II University of SevilleSevilleSpain section of Design for sustainability Department of Civil and Mechanical EngineeringTechnical University of DenmarkKgs.LyngbyDenmark

It has been found in recent years that using setpoint temperatures based on adaptive thermal comfort models is a successful method of energy *** studies using adaptive setpoint temperatures incorporate international models from AsHRAE standard 55 and *** study,however,has instead considered a regional Brazilian adaptive comfort *** study investigates the energy demand arising from the use of a local Brazilian comfort model in order to assess the energy implications from the use of the worldwide AsHRAE standard 55 adaptive model and various fixed setpoint *** of Brazil’s climate zones,full air-conditioning,mixed-mode building operating modes,present-day climate change scenarios,and future scenarios—specifically Representative Concentration Pathways(RCP)2.6,4.5,and 8.5 for the years 2050 and 2100—have all been taken into account in building energy *** use of adaptive setpoint temperatures based on the Brazilian local model considering mixed-mode has been found to significantly reduce energy consumption when compared to static setpoint temperatures(average energy-saving values ranging from 52%to 58%)and the AsHRAE 55 adaptive model(average values ranging from 15%to 21%).Considering climate change and the mixed-mode Brazilian model,the overall energy demand for the three groups of climatic zones(annual average outdoor temperatures≤21℃,>21 and≤25℃and>25℃)ranged between 2%decrease and 5%increase,4%and 27%increase,and 13%and 45%increase,*** is concluded as a consequence that setting setpoint temperatures based on the Brazilian local adaptive comfort model is a very efficient energy-saving method.

关键词： adaptive thermal comfort building energy simulation energy efficiency climate change adaptive setpoint temperatures local comfort mode

Loss to specialized Cardiology Follow-Up in Adults Living with Congenital Heart Disease

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Congenital Heart Disease 2024年第1期19卷 49-63页

作者： Cheryl Dickson Danielle Osborn david Baker Judith Fethney david s.Celermajer Rachael Cordina Department of Cardiology Royal Prince Alfred HospitalSydneyAustralia Department of Cardiothoracic surgery Westmead HospitalSydneyAustralia susan Wakil school of Nursing and Midwifery The University of SydneySydneyAustralia sydney Medical school The University of SydneySydneyAustralia

Background:Much has been written about the loss to follow-up in the transition between pediatric and adult Congenital Heart Disease(CHD)care *** less is understood about the loss to follow-up(LTF)after a successful *** is critical too,as patients lost to specialised care are more likely to experience mor-bidity and premature ***:To understand the prevalence and reasons for loss to follow-up(LTF)at a large Australian Adult Congenital Heart Disease(ACHD)***:Patients with moderate or highly complex CHD and gaps in care of>3 years(deﬁned as LTF)were identiﬁed from a comprehensive ACHD *** telephone interviews examined current care and barriers to clinic ***:Overall,407(22%)of ACHD patients(n=1842)were *** mean age at LTF was 31(sD 11.5)years and 54%were male;311(76%)were *** to adults seen regularly,lost patients were younger,with a greater socio-economic disadvantage,and had less complex CHD(ps(14%).The top 3 responses for care absences were“feeling well”(61%),losing track of time(36%),and not needing fol-low-up care(25%).Conclusions:A large proportion of the ACHD population becomes lost to specialised cardiac care,even after a successful *** Australian study reports younger age,moderate complexity defects,and socio-economic disadvantage as predictive of loss to *** study highlights the need for novel approaches to patient-centered service delivery even beyond the age of transition and resources to maintain patient engagement within the ACHD service.

关键词： Loss to follow-up follow-up adult congenital heart disease lapse in care gaps in care care gaps care continuity ACHD predictors

Bed inventory balance and stability of dual circulating fluidized bed systems

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Particuology 2024年第1期84卷 98-106页

作者： Yangjun Wei Leming Cheng david Pallares Bo Leckner Institute for Thermal Power Engineering State Key Laboratory of Clean Energy UtilizationZhejiang UniversityHangzhou310027China Department of space Earth and EnvironmentChalmers University of TechnologyS-41296GöteborgSweden

Experiments and modelling are conducted for general understanding on the imbalance phenomenon and for discussion on the strategies to improve the bed inventory balance and stability of a dual circulating fluidized bed(DCFB)*** experiments are carried out in a 15.5 m high pilot-scale DCFB cold test system.A fluid-dynamic DCFB model is developed based on a 1.5-dimensional semi-empirical model of an industrial CFB boiler,validated by experimental *** effects of control methods and operation conditions on the bed inventory balance and on the stability of the pilot-and large-scale DCFB systems are discussed.A"stable-unbalanced"state,where the system reaches a steady state,consisting of un-balanced bed inventories,is observed in both experiments and model *** maintain a balanced state and similar bed inventory in the DCFB systems with similar cross-sectional areas,it is recom-mended to keep similar total pressure drops or gas velocities in both reactors.

关键词： Bed inventory balance stability Dual circulating fluidized bed(DCFB) Experiment Modelling

single-atom Pt on carbon nanotubes for selective electrocatalysis

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Carbon Energy 2024年第1期6卷 63-71页

作者： samuel s.Hardisty Xiaoqian Lin Anthony R.J.Kucernak david Zitoun Department of Chemistry Bar Ilan Institute of Nanotechnology and Advanced Materials(BINA)Bar Ilan UniversityRamat GanIsrael Department of Chemistry Molecular Science Research HubImperial College LondonLondonUK

Utilizing supported single atoms as catalysts presents an opportunity to reduce the usage of critical raw materials such as platinum,which are essential for electrochemical reactions such as hydrogen oxidation reaction(HOR).Herein,we describe the synthesis of a Pt single electrocatalyst inside single-walled carbon nanotubes(sWCNTs)via a redox *** via electron microscopy,X-ray photoelectron microscopy,and X-ray absorption spectroscopy show the single-atom nature of the *** electrochemical behavior of the sample to hydrogen and oxygen was investigated using the advanced floating electrode technique,which minimizes mass transport limitations and gives a thorough insight into the activity of the *** single-atom samples showed higher HOR activity than state-of-the-art 30%Pt/C while almost no oxygen reduction reaction activity in the proton exchange membrane fuel cell operating *** selective activity toward HOR arose as the main fingerprint of the catalyst confinement in the sWCNTs.

关键词： confinement electrocatalysis hydrogen platinum single atom catalysts

Cost burden following esophagectomy:A single centre observational study

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World Journal of Gastrointestinal surgery 2024年第7期16卷 2255-2269页

作者： Vered Buchholz Dong Kyu Lee david s.liu Ahmad Aly stephen A Barnett Riley Hazard Peter Le Benjamin Kioussis Vijayaragavan Muralidharan Laurence Weinberg Department of surgery Austin HealthMelbourne 3084VictoriaAustralia Department of Anesthesiology and Pain Medicine Dongguk University Ilsan HospitalSeoul 14566GoyangSouth Korea Department of surgery Austin HealthThe University of MelbourneMelbourne 3084VictoriaAustralia Department of Anesthesia Austin HealthMelbourne 3084VictoriaAustralia Department of Anesthesia Austin HospitalHeidelberg 3084VictoriaAustralia Department of Critical Care The University of MelbourneMelbourne 3084VictoriaAustralia

BACKGROUND Cost analyses of patients undergoing esophagectomy is valuable for identifying modifiable expenditure drivers to target and curtail costs while improving the quality of *** aimed to define the cost-complication relationship after esophagectomy and delineate the incremental contributions to *** To assess the relationship between the hospital costs and potential cost drivers post esophagectomy and investigate the relationship between the cost-driving variables(predicting variables)and hospital costs(dependent variable).METHODs In this retrospective single center study,the severity of complications was graded using the Clavien-Dindo(CD)classification *** esophagectomy complications were categorized and defined according to consensus *** costing data included the in-hospital costs of the index admission and any unplanned admission within 30 postoperative *** used correlation analysis to assess the relationship between key clinical variables and hospital costs(in United states dollars)to identify cost drivers.A mediation model was used to investigate the relationship between these variables and hospital *** A total of 110 patients underwent primary esophageal *** median admission cost was $47822.7(interquartile range:35670.2-68214.0).The total effects on costs were $13593.9(95%CI:10187.1-17000.8,Pse in CD severity grade,$4781(95%CI:3772.7-5789.3,Pse in the number of complications,and $42552.2(95%CI:8309-76795.4,P=0.015)if a key esophagectomy complication *** esophagectomy complications drove the costs directly by $11415.7(95%CI:992.5-21838.9,P=0.032).CONCLUsION The severity and number of complications,and the development of key esophagectomy complications significantly contributed to total hospital *** institutional initiatives and strategies are needed to enhance patient outcomes and minimize costs.

关键词： Anesthesia Esophagectomy Complications Cancer surgery

Post-layout simulation driven analog circuit sizing

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science China(Information sciences) 2024年第4期67卷 289-300页

作者： Xiaohan GAO Haoyi ZHANG siyuan YE Mingjie liu david Z.PAN Linxiao sHEN Runsheng WANG Yibo LIN Ru HUANG school of Integrated Circuits Peking University school of Computer science Peking University Department of Electrical and Computer Engineering University of Texas at Austin Institute of Electronic Design Automation Peking University

Post-layout simulation provides accurate guidance for analog circuit design, but post-layout performance is hard to be directly optimized at early design stages. Prior work on analog circuit sizing often utilizes pre-layout simulation results as the optimization objective. In this work, we propose a post-layoutsimulation-driven(post-simulation-driven for short) analog circuit sizing framework that directly optimizes the post-layout simulation performance. The framework integrates automated layout generation into the optimization loop of transistor sizing and leverages a coupled Bayesian optimization algorithm to search for the best post-simulation performance. Experimental results demonstrate that our framework can achieve over 20% better post-layout performance in competitive time than manual design and the method that only considers pre-layout optimization.

关键词： analog EDA transistor sizing Bayesian optimization post-layout simulation