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Motion Planning for Autonomous Driving with Real Traffic Data Validation

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 74-86页

作者： Wenbo Chu Kai Yang shen Li Xiaolin tang Western China Science City Innovation Center of Intelligent and Connected Vehicle Chongqing 400044China College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China School of Civil Engineering Tsinghua UniversityBeijing 100084China

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public *** this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction *** begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION ***,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and *** addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control ***,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout *** results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

关键词： Trajectory prediction Graph neural network Motion planning INTERACTION dataset

Familial gastrointestinal stromal tumors with KIT germline mutation in a Chinese family:A case report

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World Journal of Clinical Cases 2022年第15期10卷 4878-4885页

作者： Wei Yuan Wen Huang Lei Ren Chen Xu Li-Juan Luan Jie Huang An-Wei Xue Yong Fang Xiao-Dong Gao kun-tang shen Jing-Huan Lv Ying-Yong Hou Department of Pathology Zhongshan HospitalFudan UniversityShanghai 200032China Department of General Surgery Zhongshan HospitalFudan UniversityShanghai 200032China Department of Pathology the Affiliated Suzhou Hospital of Nanjing Medical UniversitySuzhou 215002Jiangsu ProvinceChina

BACKGROUND Familial gastrointestinal stromal tumors(GISTs)is a rare autosomal dominant disorder characterized by an array of clinical *** 35 kindreds with germline KIT mutations and six with germline PDGFRA mutations have been reported so *** is often characterized by a series of manifestations,such as multiple lesions and ***,the effect of imatinib treatment in these patients is still *** SUMMARY Here,we report two patients(father and daughter)in a Chinese family(for the first time)with germline KIT mutation,and described their pathology,genetics and clinical manifestations.A 25-year-old Chinese woman went to hospital because of abdominal pain,and computed tomography showed multiple tumors in the small *** pigmented spots appeared on the skin within a few months after *** father also had multiple pigmented spots and a history of multifocal *** GISTs associated with diffuse interstitial Cajal cells(ICCs)hyperplasia were positive for CD117 and *** sequencing revealed a germline mutation at codon 560 of exon 11(p.V560G)of KIT gene in these two *** therapy showed the long-lasting disease stability after ***,the hypopigmentation of the skin could also be *** germline KIT mutation has not been identified yet in the 3-year-old daughter of the female *** Diagnosis of familial GISTs depends on combination of diffuse ICCs hyperplasia,germline KIT/PDGFRA mutation,hyperpigmentation and family history.

关键词： Familial gastrointestinal stromal tumor Germline KIT mutation Cutaneous hyperpigmentation Imatinib therapy Case report

Weight Analysis of Impact Factors of Interbedded Anti-Inclined Slopes Block-Flexure Toppling Based on Support Vector Regression

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Journal of Earth Science 2024年第2期35卷 568-582页

作者： Bocheng Zhang Huiming tang Yibing Ning kun Fang Ding Xia Department of Engineering Geology and Geotechnical Engineering Faculty of EngineeringChina University of GeosciencesWuhan430074China Badong National Observation and Research Station of Geohazards China University of GeosciencesWuhan430074China College of Geological Engineering and Geomatics Chang’an UniversityXi’an710054China

Block-flexure toppling failure is frequently encountered in interbedded anti-inclined rock(IAR)slopes,and seriously threatens the construction of hydropower *** this study,we first investigated the Lean Reservoir area’s geological setting and the Linda landslide’s ***,uniform design and random design were used to design 110 training datasets and 31 testing datasets,***,the toppling response was obtained by using the discrete element ***,support vector regression was used to obtain the influence weights of 21 impact *** results show that the influence weight of the slope angle and rock formation dip angle on the toppling deformation among tertiary impact factors is 25.96%and 17.28%,respectively,which are much greater than the other 19 impact factors within the research *** the primary impact factors,the influence weight is sorted from large to small as slope geometry parameters,joints parameters,and rock mechanics *** parameters,especially the geometric parameters,cannot be ignored when evaluating the stability of IAR *** numerical simulation,it was qualitatively determined that failure surfaces of slopes were controlled by cross joints and that the rocks in the slope toe play a role in preventing slope deformation.

关键词： interbedded anti-inclined slopes block-flexure toppling impact factors numerical simulation support vector regression engineering geology

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General synthesis of transition metal nitride arrays by ultrafast flash Joule heating within 500 ms

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Science China Chemistry 2024年第6期67卷 1976-1982页

作者： Peiqi shen Jiahui Zhao Yanan Gao Yunxiang Lin Yuchen Han kun Xu School of Chemistry and Chemical Engineering Key Laboratory of Functional Inorganic Material Chemistry of Anhui ProvinceAnhui Province Key Laboratory of Chemistry for Inorganic/Organic Hybrid Functionalized MaterialsKey Laboratory of Structure and Functional Regulation of Hybrid Materials of Ministry of EducationAnhui UniversityHefei230601China Institutes of Physical Science and Information Technology Center of Free Electron Laser&High Magnetic FieldLeibniz International Joint Research Center of Materials Sciences of Anhui ProvinceAnhui UniversityHefei230601China

Transition metal nitrides(TMNs)are considered as viable alternatives to noble metal catalysts owing to their versatile electronic structure and favorable catalytic ***,the conventional synthetic processes for TMNs suffer from high energy consumption and low production *** this study,a range of TMNs and their hetero-composite arrays were successfully synthesized via an ultrafast flash Joule heating technology within 0.5 *** a proof concept,the nitrides and hetero-composites were applied for the electrocatalytic hydrazine oxidation reaction(HzOR),in which the Co_(4)N/Mo_(16)N_(7)arrays shows the best performance with a geometric current density of 100 mA cm^(-2)at 23 mV(*** hydrogen electrode(RHE)).This work paves a new way for the ultrafast synthesis of TMNs which could meet the ever-increased energy crisis.

关键词： flash Joule heating rapid synthesis transition metal nitrides hydrazine oxidation reaction electrocatalysts

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Resilience indices from a family of recovery functions

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Fundamental Research 2024年第1期4卷 13-20页

作者： Loon Ching tang Lijuan shen Department of Industrial Systems Engineering and Management National University of Singapore117576 Singapore ETH Zurich Future Resilient SystemsSingapore-ETH Centre138602 Singapore

Defining and measuring resilience using a unified framework has been a topic of intense *** article presents a perspective on how resilience could be quantitatively assessed through a set of *** starts with a brief explanation of resilience in the context of supply chain and a quick summary of existing quantitative measures of *** then discusses how resilience could be quantified in a constructive manner so that the resulting metrics are representative of the performance throughout the system's life *** particular,it is proposed that resilience should be evaluated according to different time periods,***,during and after a disruption has *** dimensions of resilience,namely reliability,robustness,recovery and reconfigurability,can then be used to make up a set of indices for *** numerical illustration,these indices are computed based on recovery data arising from Hurricane Sandy in October ***,it is postulated that resilience will be the performance metric that complements productivity and sustainability as the third pillar for measuring success of organizations,and in turn,that of sovereign countries in their quests for developing smart cities.

关键词： Systems resilience Recovery function Recovery index Robustness index Reconfigurability

Study of Turing patterns in a SI reaction-diffusion propagation system based on network and non-network environments

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International Journal of Biomathematics 2024年第1期17卷 199-225页

作者： Yuxuan tang Shuling shen Linhe Zhu School of Mathematical Sciences Jiangsu University Zhenjiang212013P.R.China Department of Stomatology Afiliated Hospital of Jiangsu University Zhenjiang 210008P.R.China

The study of rumor propagation dynamics is of great significance to *** news and ensure the authenticity of news *** this paper,a SI reaction-diffusion rumor propagation model with nonlinear saturation incidence is ***,through stability analysis,we obtain the conditions for the existence and local stability of the positive equilibrium *** selecting suitable variable as the control parameter,the critical value of Turing bifurcation and the existence theorem of Turing bifurcation are ***,using the above theorem and multi-scale standard analysis,the expression of amplitude equation around Turing bifurcation point is *** analyzing the amplitude equation,different types of Turing pattern are divided such as uniform steady-state mode,hexagonal mode,stripe mode and mixed structure ***,in the numerical simulation part,by observing different patterns corresponding to different values of control variable,the correctness of the theory is ***,the effects of different network structures on patterns are *** results show that there are significant differences in the distribution of users on different network structures.

关键词： Reaction-diffusion system rumor propagation amplitude equation Turing pattern

Enhancing single-cell encapsulation in droplet microfluidics with fine-tunable on-chip sample enrichment

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Microsystems & Nanoengineering 2024年第1期10卷 149-160页

作者： Tao tang Hao Zhao Shaofei shen Like Yang Chwee Teck Lim Department of Biomedical Engineering National University of Singapore117583 SingaporeSingapore Integrative Sciences and Engineering Programme NUS Graduate SchoolNational University of Singapore119077 SingaporeSingapore Shanxi Key Lab for Modernization of TCVM College of Life ScienceShanxi Agricultural UniversityTaiguShanxi 030801China Institute for Health Innovation&Technology National University of Singapore117599 SingaporeSingapore Mechanobiology Institute National University of Singapore117411 SingaporeSingapore Institute for Digital Molecular Analytics and Science Nanyang Technological University636921 SingaporeSingapore

Single-cell encapsulation in droplet microfluidics is commonly hindered by the tradeoff between cell suspension density and on-chip focusing *** this study,we introduce a novel droplet microfluidic chip to overcome this *** chip comprises a double spiral focusing unit,a flow resistance-based sample enrichment module with fine-tunable outlets,and a crossflow droplet generation *** a low-density cell/bead suspension(2×10^(6) objects/mL),cells/beads are focused into a near-equidistant linear arrangement within the double spiral *** excess water phase is diverted while cells/beads remain focused and sequentially encapsulated in individual *** performance was assessed through numerical simulations and experiments at three flow rates(40,60,80μL/min),demonstrating successful focusing at 40 and 80μL/min for beads and cells,*** addition,both simulation and experimental results revealed that the flow resistance at the sample enrichment module is adjustable by punching different outlets,allowing over 50%of the aqueous phase to be ***8n-based droplet detection algorithms realized the counting of cells/beads in droplets,statistically demonstrating single-cell and bead encapsulation rates of 72.2%and 79.2%,*** the results indicate that this on-chip sample enrichment approach can be further developed and employed as a critical component in single-cell encapsulation in water-in-oil droplets.

关键词： beads outlet sample

Consecutive narrow and broad quasi-periodic fast-propagating wave trains associated with a flare

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Science China(Physics,Mechanics & Astronomy) 2024年第5期67卷 200-211页

作者： Xinping Zhou Yuandeng shen Chengrui Zhou Zehao tang Ahmed Ahmed Ibrahim College of Physics and Electronic Engineering Sichuan Normal UniversityChengdu 610068China State Key Laboratory of Space Weather Chinese Academy of SciencesBeijing 100190China Yunnan Observatories Chinese Academy of SciencesKunming 650216China Department of Physics and Astronomy College of ScienceKing Saud UniversityP.O.Box 2455Riyadh 11451Saudi Arabia

The excitation mechanism of coronal quasi-period fast-propagating(QFP)wave trains remains *** Atmospheric Imaging Assembly onboard the Solar Dynamics Observatory observations,we study a narrow and a broad QFP wave trains excited one after another during the successive eruptions of filaments hosted within a fan-spine magnetic system on October 20,*** consecutive occurrence of these two types of QFP wave trains in the same event provides an excellent opportunity to explore their excitation mechanisms and compare their physical *** observational results reveal that narrow and broad QFP wave trains exhibit distinct speeds,periods,energy fluxes,and relative intensity amplitudes,although originating from the same active region and being associated with the same GOES C2.9 *** wavelet analysis,we find that the narrow QFP wave train shares a similar period with the flare itself,suggesting its possible excitation through the pulsed energy release in the magnetic reconnection process that generated the accompanying *** the other hand,the broad QFP wave train appears to be associated with the energy pulses released by the successive expansion and unwinding of filament ***,it is plausible that the broad QFP wave train was also excited by the sequential stretching of closed magnetic field lines driven by the erupting *** findings shed light on the different excitation mechanisms and origins of the QFP wave trains.

关键词： narrow wave excitation

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Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 181-195页

作者： Xiaolin tang Yuyou Yang Teng Liu Xianke Lin Kai Yang shen Li IEEE the College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China the Clinical Research Center and Medical Pathology Center Chongqing University Three Gorges HospitalChongqing UniversityWanzhou 404000 the Department of Automotive and Mechatronics Engineering Ontario Tech UniversityOshawa ON LIG OC5Canada the School of Civil Engineering Tsinghua UniversityBeijing 100084China

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

关键词： Automatic parking control strategy parking deviation(APS) soft actor-critic(SAC)