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Continuous advantage learning for minimum-time trajectory planning of autonomous vehicles

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Science China(Information Sciences) 2024年第7期67卷 285-294页

作者： zhuo li Weiran WU Jialin WANG Gang WANG Jian SUN School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center China Academy of Launch Vehicle Technology Intelligent Game and Decision Laboratory

This paper investigates the minimum-time trajectory planning problem of an autonomous vehicle. To deal with unknown and uncertain dynamics of the vehicle, the trajectory planning problem is modeled as a Markov decision process with a continuous action space. To solve it, we propose a continuous advantage learning(CAL) algorithm based on the advantage-value equation, and adopt a stochastic policy in the form of multivariate Gaussian distribution to encourage exploration. A shared actor-critic architecture is designed to simultaneously approximate the stochastic policy and the value function, which greatly reduces the computation burden compared to general actor-critic methods. Moreover, the shared actor-critic is updated with a loss function built as mean square consistency error of the advantage-value equation, and the update step is performed several times at each time step to improve data efficiency. Simulations validate the effectiveness of the proposed CAL algorithm and its better performance than the soft actor-critic algorithm.

关键词： trajectory planning continuous advantage learning stochastic policy shared actor-critic

Deep learning for code generation: a survey

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Science China(Information Sciences) 2024年第9期67卷 5-40页

作者： Huangzhao ZHANG Kechi ZHANG zhuo li Jia li Jia li Yongmin li Yunfei ZHAO Yuqi ZHU Fang liU Ge li Zhi JIN Key Lab of High Confidence Software Technologies (Peking University) Ministry of Education School of Computer Science Peking University School of Computer Science and Engineering Beihang University

In the past decade, thanks to the powerfulness of deep-learning techniques, we have witnessed a whole new era of automated code generation. To sort out developments, we have conducted a comprehensive review of solutions to deep learning-based code generation. In this survey, we generally formalize the pipeline and procedure of code generation and categorize existing solutions according to taxonomy from perspectives of architecture, model-agnostic enhancing strategy, metrics, and tasks. In addition, we outline the challenges faced by current dominant large models and list several plausible directions for future research. We hope that this survey may provide handy guidance to understanding, utilizing, and developing deep learning-based code-generation techniques for researchers and practitioners.

关键词： code generation automated software engineering deep learning large model artificial intelligence

Modularized and Parametric Modeling Technology for Finite Element Simulations of Underground Engineering under Complicated Geological Conditions

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Computer Modeling in Engineering & Sciences 2024年第7期140卷 621-645页

作者： Jiaqi Wu li zhuo Jianliang Pei Yao li Hongqiang Xie Jiaming Wu Huaizhong liu State Key Laboratory of Hydraulics and Mountain River Engineering College of Water Resource and HydropowerSichuan UniversityChengdu610065China Research Institute of Testing and Inspection Sinohydro Bureau 7 Co.Ltd.Chengdu610213China

The surrounding geological conditions and supporting structures of underground engineering are often updated during construction,and these updates require repeated numerical *** improve the numerical modeling efficiency of underground engineering,a modularized and parametric modeling cloud server is developed by using Python *** basic framework of the cloud server is as follows:input the modeling parameters into the web platform,implement Rhino software and FLAC3D software to model and run simulations in the cloud server,and return the simulation results to the web *** modeling program can automatically generate instructions that can run the modeling process in Rhino based on the input modeling *** main modules of the modeling program include modeling the 3D geological structures,the underground engineering structures,and the supporting structures as well as meshing the geometric *** particular,various cross-sections of underground caverns are crafted as parametricmodules in themodeling *** and parametric modeling program is used for a finite element simulation of the underground powerhouse of the Shuangjiangkou Hydropower *** complicatedmodel is rapidly generated for the simulation,and the simulation results are ***,this modularized and parametric modeling program is applicable for three-dimensional finite element simulations and analyses.

关键词： Underground engineering modularized and parametric modeling finite element method complex geological structure cloud modeling

A highly sensitive multiple-mode optical thermometer designed in Eu^(2+/3+)and li^(+)co-doped polymorphism compound LaSc_(3)(BO_(3))_(4)

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Journal of Advanced Ceramics 2024年第6期13卷 821-833页

作者： Nan Yang zhuo li Tingxia Zhou Ziwang Zhang Wen Shi Yexiang Tong Jianxin Shi School of Chemistry IGCMESun Yat-sen UniversityGuangzhou 510006China MOE of the Key Laboratory of Bioinorganic and Synthetic Chemistry IGCMEThe Key Lab of Low-Carbon Chemistry&Energy Conservation of Guangdong ProvinceSun Yat-sen UniversityGuangzhou 510006China

Noncontact optical thermometers have attracted widespread attention,but existing problems such as single-mode and low-sensitivity thermometers still urgently need to be ***,a novel multiple-mode thermometer was designed for the polymorphism LaSc_(3)(BO_(3))_(4):Eu^(2+/3+),li^(+).X-ray diffraction(XRD)patterns revealed a slight transition betweenα-andβ-phases with the concentrations of the dopants,which is further proved by structure refinements and first-principles *** coexistence of Eu^(2+)and Eu^(3+)in the phosphors and their relative percentages were confirmed by X-ray absorption near-edge structure(XANES)*** from appropriate emissions from Eu^(2+)and Eu^(3+)without obvious energy transfer and their opposite changing trends with temperatures under 307 nm excitation,a triple-mode optical thermometer is obtained for this material within the temperature range of 150–450 *** highest sensitivities of 27.65,14.05,and 7.68%·K^(−1)are achieved based on two fluorescence intensity ratio(FIR)modes of Eu^(2+)and Eu^(3+)(5d–4f/^(5)D_(0)–^(7)F_(2,4))and the fluorescence lifetime(FL)mode of Eu^(2+),*** the best of our knowledge,the former is almost the highest in Eu^(2+)and Eu^(3+)co-doped *** results indicate that this material may be used as an excellent multiple-mode optical thermometer.

关键词： phase transition europium(Eu)ions multiple-mode optical thermometer thermal quenching properties fluorescence intensity ratio(FIR) fluorescence lifetime(FL)

Establishing prognostic models for intrahepatic cholangiocarcinoma based on immune cells

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World Journal of Gastrointestinal Oncology 2024年第10期16卷 4092-4103页

作者： zhuo-Ran Wang Cun-Zhen Zhang Zhan Ding Yi-zhuo li Jian-Hua Yin Nan li Department of Hepatic Surgery I(Ward I)Shanghai Eastern Hepatobiliary Surgery Hospital Navy Medical UniversityShanghai 200433China Key Laboratory of Biological Defense Ministry of EducationNavy Medical UniversityShanghai 200433China Shanghai Key Laboratory of Medical Bioprotection Navy Medical UniversityShanghai 200433China Department of Epidemiology Faculty of Navy MedicineNavy Medical UniversityShanghai 200433China Department of Oncology 905 Hospital of People’s Liberation Army NavyShanghai 200050China Department of Hepatobiliary Surgery The Second Affiliated HospitalWenzhou Medical UniversityWenzhou 325000Zhejiang ProvinceChina

BACKGROUND Intrahepatic cholangiocarcinoma(ICC)is a malignant liver tumor that is challenging to treat and manage and current prognostic models for the disease are inefficient or ***-associated immune cells are critical for tumor development and *** main goal of this study was to establish models based on tumor-associated immune cells for predicting the overall survival of patients undergoing surgery for *** To establish 1-year and 3-year prognostic models for ICC after surgical *** Immunohistochemical staining was performed for CD4,CD8,CD20,pan-cytokeratin(CK),and CD68 in tumors and paired adjacent tissues from 141 patients with ICC who underwent curative *** of variables was based on regression diagnostic procedures and goodness-of-fit tests(PH assumption).Clinical parameters and pathological diagnoses,combined with the distribution of immune cells in tumors and paired adjacent tissues,were utilized to establish 1-and 3-year prognostic *** This is an important application of immune cells in the tumor ***4,CD8,CD20,and CK were included in the establishment of our prognostic model by stepwise selection,whereas CD68 was not significantly associated with the prognosis of *** integrating clinical data associated with ICC,distinct prognostic models were derived for 1-and 3-year survival outcomes using variable *** 1-year prediction model yielded a C-index of 0.7695%confidence interval(95%CI):0.65-0.87 and the 3-year prediction model produced a C-index of 0.69(95%CI:0.65-0.73).Internal validation yielded a C-index of 0.761(95%CI:0.669-0.853)for the 1-year model and 0.693(95%CI:0.642-0.744)for the 3-year *** We developed Cox regression models for 1-year and 3-year survival predictions of patients with ICC who underwent resection,which has positive implications for establishing a more comprehensive prognostic model for ICC based on tumor immune microenvironment an

关键词： Intrahepatic cholangiocarcinoma Tumor immune cells Biomarkers Prognosis Prediction models

All-fluorinated electrolyte for non-flammable batteries with ultra-high specific capacity at 4.7 V

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Green Energy & Environment 2024年第10期9卷 1601-1609页

作者： Zhe Wang zhuo li Jialong Fu Sheng Zheng Rui Yu Xiaoyan Zhou Guanjie He Xin Guo State Key Laboratory of Material Processing and Die&Mould Technology Laboratory of Solid State IonicsSchool of Materials Science and EngineeringHuazhong University of Science and Technology Electrochemical Innovation Lab Department of Chemical EngineeringUniversity College London

li metal batteries （LMBs） with li Ni0.8Mn0.1Co0.1O2（NMC811） cathodes could release a specific energy of >500 Wh kg-1by increasing the charge ***,high-nickel cathodes working at high voltages accelerate degradations in bulk and at interfaces,thus significantly degrading the cycling lifespan and decreasing the specific ***,we rationally design an all-fluorinated electrolyte with addictive tri（2,2,2-trifluoroethyl） borate （TFEB）,based on 3,3,3-fluoroethylmethylcarbonate （FEMC） and fluoroethylene carbonate （FEC）,which enables stable cycling of high nickel cathode (li Ni0.8Co0.1Mn0.1O2,NMC811) under a cut-off voltage of 4.7 V in li metal *** electrolyte not only shows the fire-extinguishing properties,but also inhibits the transition metal dissolution,the gas production,side reactions on the cathode ***,the NMC811||li cell demonstrates excellent performance by using limited li and high-loading cathode,delivering a specific capacity>220 m A h g-1,an average Coulombic efficiency >99.6% and capacity retention >99.7% over 100 cycles.

关键词： Fluorinated electrolyte li metal batteries Solid electrolyte interphase Cathode electrolyte interphase Coulombic efficiency

Magnesium-containing pellet regulating blast furnace ferrous burden interaction:softening-melting behavior and mechanism

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Journal of Iron and Steel Research International 2024年第7期31卷 1623-1635页

作者： li-ming Ma Jian-liang Zhang Yao-zu Wang Xiao-yong Ma Gui-lin Wang zhuo li Hui-qing Jiang Zheng-jian liu School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China lingyuan Iron and Steel Group Co. Lingyuan 122500LiaoningChina

MgO participates in all stages of sintering,pelletizing,and blast furnace ironmaking,and synergistically optimizing the distribution of MgO in ferrous burden can effectively enhance the interaction within the ferrous burdens and optimize the softening-melting properties of the mixed ***-containing pellets mixed with low-MgO sinter or mixed with high-MgO sinter in the blast furnace ferrous burden structure have opposite softening-melting performance *** the structure of the ferrous burden is magnesium-containing pellets mixed with low-MgO sinter,the magnesium-containing pellets can enhance the interaction of the ferrous burden in the process of softening-melting,which can optimize the composition of the slag phase and improve the slag *** the structure of the ferrous burden is magnesium-containing pellets mixed with high-MgO sinter,the magnesium-containing pellets weaken the interaction of the ferrous burden in the process of softening-melting,increase the content of the high melting point solid-phase particles in the slag,lead to an increase in the viscosity of the slag and difficult separation of the slag and iron,and decrease the permeability of the charge ***,to ensure good permeability of the mixed burden,the following measures are suggested:optimizing the MgO distribution of the ferrous burden,reducing the MgO content of the sinter to 1.96 wt.%,increasing the MgO content of the pellets to 1.03-1.30 wt.%,controlling the MgO/Al_(2)O_(3) ratio of the mixed burden within 1.15-1.32,narrowing the position of the cohesive zone,and maintaining an S value(permeability index)of approximately 150 kPa℃.

关键词： Ironmaking Ferrous burden Softening-melting property Interaction Permeability Slag

Activatable fluorescent probes for imaging and diagnosis of rheumatoid arthritis

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Military Medical Research 2024年第2期11卷 287-307页

作者： Pan Luo Fu-Qiang Gao Wei Sun Jun-You li Cheng Wang Qing-Yu Zhang Zhi-zhuo li Peng Xu Department of Joint Surgery Honghui HospitalXi'an Jiaotong UniversityXi'an 710054China Department of Orthopedics China-Japan Friendship HospitalBeijing 100029China Department of Orthopaedic Surgery of the Perelman School of Medicine University of PennsylvaniaPhiladelphiaPA 19104USA School of Mechanical Engineering Sungkyunkwan UniversitySuwon 16419South Korea Department of Orthopaedic Surgery Peking University Third HospitalPeking UniversityBeijing 100191China Department of Orthopedics Shandong Provincial Hospital Affiliated to Shandong First Medical UniversityJinan 250021China State Key Laboratory of Pharmaceutical Biotechnology Division of Sports Medicine and Adult Reconstructive SurgeryDepartment of Orthopedic SurgeryNanjing Drum Tower Hospitalthe Affiliated Hospital of Nanjing University Medical SchoolNanjing 210008China

Rheumatoid arthritis(RA)is a systemic autoimmune disease that is primarily manifested as synovitis and polyarticular opacity and typically leads to serious joint damage and irreversible disability,thus adversely affecting locomotion ability and life ***,good prognosis heavily relies on the early diagnosis and effective therapeutic monitoring of *** fluorescent probes play vital roles in the detection and imaging of biomarkers for disease diagnosis and in vivo ***,we review the fluorescent probes developed for the detection and imaging of RA biomarkers,namely reactive oxygen/nitrogen species(hypochlorous acid,peroxynitrite,hydroxyl radical,nitroxyl),pH,and cysteine,and address the related challenges and prospects to inspire the design of novel fluorescent probes and the improvement of their performance in RA studies.

关键词： Rheumatoid arthritis Fluorescent probe Imaging Diagnosis Biomarker

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Safety and efficacy comparison of remimazolam and propofol for intravenous anesthesia during gastroenteroscopic surgery of older patients:A meta-analysis

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World Journal of Clinical Cases 2024年第7期12卷 1272-1283页

作者： Fang-zhuo li Cheng Zhao Yi-Xun Tang Ji-Tong liu Department of Anesthesiology The First Affiliated Hospital of Hunan Normal University(Hunan Provincial People’s Hospital)Changsha 410005Hunan ProvinceChina Department of Anesthesiology Zhangjiajie People's HospitalZhangjiajie 427000Hunan ProvinceChina

BACKGROUND Remimazolam is characterized by rapid action and inactive *** is used as the general anesthetic for many clinical *** this study,we performed a meta-analysis to evaluate whether remimazolam is superior to propofol for gastroenteroscopy in older *** To compare the adverse events and efficacy of remimazolam and propofol during gastroenteroscopy in older *** The PubMed,Web of Science,the Cochrane library databases were queried for the relevant key words"remimazolam,""and propofol,""and gastrointestinal endoscopy or gastroscopy."The search scope was"Title and Abstract,"and the search was limited to human studies and publications in *** studies wherein remimazolam and propofol were compared were included for the *** We selected seven randomized controlled trials involving 1445 cases for the *** reduced the hypotension(relative risk,RR=0.44,95%CI:0.29-0.66,P=0.000),respiratory depression(RR=0.46,95%CI:0.30-0.70,P=0.000),injection pain(RR=0.12,95%CI:0.05-0.25,P=0.000),bradycardia(RR=0.37,95%CI:0.24-0.58,P=0.000),and time to discharge[weighted mean difference(WMD)=-0.58,95%CI:-0.97 to-0.18,P=0.005],compared to those after propofol *** obvious differences were observed for postoperative nausea and vomiting(RR=1.09,95%CI:0.97-1.24,P=0.151),dizziness(RR=0.77,95%CI:0.43-1.36,P=0.361),successful sedation rate(RR=0.96,95%CI:0.93-1.00,P=0.083),or the time to become fully alert(WMD=0.00,95%CI:-1.08-1.08,P=0.998).CONCLUSION Remimazolam appears to be safer than propofol for gastroenteroscopy in older ***,further studies are required to confirm these findings.

关键词： Remimazolam Propofol Gastroenteroscopy Anesthesia Older adults Sedation Adverse events