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Autonomous Vehicle Platoons In Urban Road Networks:A Joint Distributed Reinforcement Learning and Model Predictive Control Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 141-156页

作者： Luigi D’Alfonso Francesco Giannini giuseppe Franzè giuseppe Fedele Francesco Pupo Giancarlo Fortino IEEE the Department of Computer Engineering ModelingElectronics and SystemsUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy the Department of Mechanical Engineering Energy Engineering and ManagementUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the aim to put in light the main f eatures of the pro

关键词： Distributed model predictive control distributed reinforcement learning routing decisions urban road networks

NK2 homeobox gene cluster: Functions and roles in human diseases

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Genes & Diseases 2023年第5期10卷 2038-2048页

作者： Catia Mio Federica Baldan giuseppe Damante Dipartimento di Area Medica Universitàdegli Studi di UdineUdine 33100Italy Istituto di Genetica Medica Azienda Sanitaria Universitaria Friuli CentraleUdine 33100Italy

NK2 genes (NKX2 gene cluster in humans) encode for homeodomain-containing transcription factors that are conserved along the phylogeny. According to the most detailed classifications, vertebrate NKX2 genes are classified into two distinct families, NK2.1 and NK2.2 . The former is constituted by NKX2-1 and NKX2-4 genes, which are homologous to the Drosophila scro gene;the latter includes NKX2-2 and NKX2-8 genes, which are homologous to the Drosophila vnd gene. Conservation of these genes is not only related to molecular structure and expression, but also to biological functions. In Drosophila and vertebrates, NK2 genes share roles in the development of ventral regions of the central nervous system. In vertebrates, NKX2 genes have a relevant role in the development of several other organs such as the thyroid, lung, and pancreas. Loss-of-function mutations in NKX2-1 and NKX2-2 are the monogenic cause of the brain-lung-thyroid syndrome and neonatal diabetes, respectively. Alterations in NKX2-4 and NKX2-8 genes may play a role in multifactorial diseases, autism spectrum disorder, and neural tube defects, respectively. NKX2-1 , NKX2-2 , and NKX2-8 are expressed in various cancer types as either oncogenes or tumor suppressor genes. Several data indicate that evaluation of their expression in tumors has diagnostic and/or prognostic value.

关键词： Drosophila melanogaster Evolutionary conservation Homeobox Homeotic genes NK2 genes

A new definition of soil to promote soil awareness,sustainability,security and governance

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International Soil and Water Conservation Research 2022年第1期10卷 99-108页

作者： Carmelo Dazzi giuseppe Lo Papa Department of Agricultural Food and Forest SciencesUniversity of PalermoItaly

In these last decades,the awareness that soil is a very important resource for humans has noticeably increased.Many actions and initiatives to promote soil governance,aiming at sustainable soil manage-ment and soil security have been undertaken by several national and international institutions and in many countries.Analysis of the changes of soil perception over the centuries allows highlighting a perfect harmony between the evolution of soil awareness and the level of knowledge and technology achieved by humans during their history and evolution.Notwithstanding these many achievements,soils continue to be scarcely considered in politics and society.We suggest some thoughts and reflections that could lead to an up-to-date and effective definition of soil that directly focuses the public attention on its economic value.In our opinion,soil economic value could be the only aspect that truly attracts the attention of politicians and administrators,which could increase soil awareness and encourage soil sustainability,security and Sustainable Development Goals and finally promote soil governance.

关键词： Definition of soil Soil perception Soil governance Soil awareness Ecosystem services Soil security

External anal sphincter electromyography in multiple system atrophy:implications for diagnosis,clinical correlations,and novel insights into prognosis

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Neural Regeneration Research 2023年第9期18卷 1903-1907页

作者： Massimiliano Todisco giuseppe Cosentino Enrico Alfonsi Translational Neurophysiology Research Unit IRCCS Mondino FoundationPaviaItaly Movement Disorders Research Center IRCCS Mondino FoundationPaviaItaly Department of Brain and Behavioral Sciences University of PaviaPaviaItaly

Multiple system atrophy is a sporadic,progressive,adult-onset,neurodegenerative disorder characte rized by autonomic dysfunction symptoms,parkinsonian features,and cerebellar signs in va rious combinations.An early diagnosis of multiple system atrophy is of utmost impo rtance for the proper prevention and management of its potentially fatal complications leading to the poor prognosis of these patients.The current diagnostic criteria incorporate several clinical red flags and magnetic resonance imaging marke rs supporting diagnosis of multiple system atrophy.Nonetheless,especially in the early disease stage,it can be challenging to differentiate multiple system atrophy from mimic disorders,in particular Parkinson’s disease.Electromyography of the external anal sphincter represents a useful neurophysiological tool for diffe rential diagnosis since it can provide indirect evidence of Onuf’s nucleus degeneration,which is a pathological hallmark of multiple system atrophy.However,the diagnostic value of external anal sphincter electromyography has been a matter of debate for three decades due to controve rsial reports in the literature.In this review,after a brief ove rview of the electrophysiological methodology,we first aimed to critically analyze the available knowledge on the diagnostic role of external anal sphincter electromyography.We discussed the conflicting evidence on the clinical correlations of neurogenic abnormalities found at external anal sphincter electro myography.Finally,we repo rted recent prognostic findings of a novel classification of electromyography patterns of the external anal sphincter that could pave the way toward the implementation of this neurophysiological technique for survival prediction in patients with multiple system atrophy.

关键词： bowel dysfunction differential diagnosis dysautonomia electrophysiology multiple system atrophy Onuf’s nucleus degeneration parkinsonism Parkinson’s disease prognostic prediction urogenital symptoms

OxInflammation in Alzheimer's disease

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Neural Regeneration Research 2023年第12期18卷 2709-2710页

作者： Carlo Cervellati Giovanni Zuliani giuseppe Valacchi Department of Translational Medicine and for Romagna University of FerraraFerraraItaly Department of Environmental Sciences and Prevention University of FerraraFerraraItaly Plants for Human Health Institute Animal Science DepartmentNC State UniversityKannapolisNCUSA Department of Food and Nutrition Kyung Hee UniversitySeoulSouth Korea

Oxlnflammation:definition and role in disease:Oxlnflammation has been introduced as a new term in the biomedical field to highlight the deep and mutual relationship between the dysregulation of redox and immune homeostasis(Valacchi et al.,2018).Regardless of which is the initial spark,inflammation cannot take place without a concomitant oxidative stress response and vice-versa.In other words,they are sides of the same coin.

关键词： al. homeostasis inflammation

A Double Assessment of Privacy Risks Aboard Top‑Selling Cars

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Automotive Innovation 2023年第2期6卷 146-163页

作者： Giampaolo Bella Pietro Biondi giuseppe Tudisco Dipartimento di Matematica e Informatica Universitàdegli Studi di CataniaCataniaItaly Osservatorio Astrofisico di Catania Istituto Nazionale di AstrofisicaCataniaItaly

The advanced and personalised experience that modern cars offer makes them more and more data-hungry.For example,the cabin preferences of the possible drivers must be recorded and associated to some identity,while such data could be exploited to deduce sensitive information about the driver’s health.Therefore,drivers’privacy must be taken seriously,requiring a dedicated risk assessment framework,as presented in this paper through a double assessment combining the asset-oriented ISO approach with the threat-oriented STRIDE approach.The framework is tailored to the level of specific car brand and demonstrated on the ten top-selling brands as well as,due to its innovative character,Tesla.The two approaches yield different,but complementary findings,demonstrating the additional insights gained through their parallel adoption.

关键词： Automotive Cyber physical systems Risk management ISO 27005 STRIDE

Zero Sequence Voltage and Current Control in Four-wire Grids-fed by Grid-forming Inverters

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CSEE Journal of Power and Energy Systems 2023年第6期9卷 2272-2279页

作者： Zixian Zhu Wei Chen Vito giuseppe Monopoli the College of Electrical And Information Engineering Hunan UniversityChangshaChina the College of Electrical and Information Engineering Lanzhou University of TechnologyLanzhouChina the Department of Electrical and Information Engineering Bari PolytechnicBariItaly

Low voltage three-phase four-wire AC distribution grids may experience high neutral current,mainly caused by asymmetrical distribution of single-phase loads in three phases.High neutral current will not only increase line losses but also result in neutral potential variations.For the LV AC distribution grid established by a grid-forming inverter(e.g.,uninterruptible power supply and solid-state-transformer),it also suffers from the same neutral current issues.Therefore,this paper comparatively studies several neutral current control approaches and their impacts on grid voltage balance,which is required by grid code.Then,this paper proposes an optimal neutral current control approach,which can obtain maximum neutral current suppression with less impact on grid voltage balance.The correctness of the theoretical analysis is validated through both simulation and experimental results.

关键词： LV AC grid neutral current reduction grid-forming inverter three-phase four-wire system

带区间参数的外部分数阶黏弹性阻尼器控制结构的可靠性分析

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Acta Mechanica Sinica 2023年第4期39卷 97-108页

作者： Alba Sofi giuseppe Muscolino Mario Di Paola Department of Architecture and Territory and Inter-University Centre of Theoretical and Experimental Dynamics University“Mediterranea”of Reggio CalabriaReggio Calabria89124Italy Department of Engineering and Inter-University Centre of Theoretical and Experimental Dynamics University of MessinaMessina89166Italy Department of Engineering University of PalermoPalermo90128Italy

本文研究了性质不确定的外黏弹性阻尼器控制结构的抗震性能.耗能器件的行为由分数阶本构律描述,其中分数阶导数阶和阻尼系数都被建模为具有指定下界和上界的区间变量.地震动加速度是一个零均值平稳高斯随机过程.在这些假设下,被控结构... 详细信息

本文研究了性质不确定的外黏弹性阻尼器控制结构的抗震性能.耗能器件的行为由分数阶本构律描述,其中分数阶导数阶和阻尼系数都被建模为具有指定下界和上界的区间变量.地震动加速度是一个零均值平稳高斯随机过程.在这些假设下,被控结构的运动由一组区间分数阶微分方程控制.所有响应量均由区间零均值平稳高斯随机过程描述,其功率谱密度函数依赖于黏弹性器件的区间参数,在频域上完全表征.通过将经典的首通道问题扩展到区间框架进行可靠性分析.用一种有效的近似方法计算了区间值可靠度函数的边界.本文给出了基于文献中实验结果定义的间隔特性的黏弹性器件的实例研究.

关键词：功率谱密度函数随机过程区间参数分数阶导数零均值黏弹性阻尼器区间变量分数阶微分方程

COVID-19:why not learn from the past?

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Frontiers of Medicine 2021年第5期15卷 776-781页

作者： Elena Zocchi giuseppe Terrazzano Department of Experimental Medicine(DIMES) University of GenovaItaly Department of Sciences University of BasilicataPotenzaItaly

The numbers of the COVID-19 pandemic With 194 million cases worldwide and 4.16 million deaths(as of July 2021),the ongoing global pandemic of coronavirus disease 2019(COVID-19)is second only to the 1918–1920 flu pandemic in the number of(estimated)cases and deaths.However,while scientific knowledge on the H1N1 virus was non-existent in 1918,the same cannot be stated regarding the dramatic potential of novel coronaviruses,like the severe acute respiratory syndrome coronavirus 2(SARS-CoV-2),to cause harm to human health.

关键词： acute cases respiratory