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Deep Imitation Learning for Autonomous Vehicles Based on Convolutional Neural Networks

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 82-95页

作者： Parham m.Kebria Abbas khosravi Syed moshfeq Salaken Saeid Nahavandi Intelligent Systems Research and Innovation(IISRI) Deakin UniversityWaurn PondsVIC 3216Australia

Providing autonomous systems with an effective quantity and quality of information from a desired task is challenging. In particular, autonomous vehicles, must have a reliable vision of their workspace to robustly accomplish driving functions. Speaking of machine vision, deep learning techniques, and specifically convolutional neural networks, have been proven to be the state of the art technology in the field. As these networks typically involve millions of parameters and elements, designing an optimal architecture for deep learning structures is a difficult task which is globally under investigation by researchers. This study experimentally evaluates the impact of three major architectural properties of convolutional networks, including the number of layers, filters, and filter size on their performance. In this study, several models with different properties are developed,equally trained, and then applied to an autonomous car in a realistic simulation environment. A new ensemble approach is also proposed to calculate and update weights for the models regarding their mean squared error values. Based on design properties,performance results are reported and compared for further investigations. Surprisingly, the number of filters itself does not largely affect the performance efficiency. As a result, proper allocation of filters with different kernel sizes through the layers introduces a considerable improvement in the *** of this study will provide the researchers with a clear clue and direction in designing optimal network architectures for deep learning purposes.

关键词： Autonomous vehicles convolutional neural networks deep learning imitation learning

Plant community dynamics in arid lands: the role of desert ants

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Journal of Arid Land 2021年第3期13卷 303-316页

作者： mohsen SHARAFATmANDRAD Azam.khosravi mASHIZI Department of Ecological Engineering Faculty of Natural ResourcesUniversity of JiroftJiroft ***Iran

Ants (Formicidae, Hymenoptera) play an important role in seed bank, seedling establishment andplant composition of arid ecosystems. Thus, knowing plant-ant interaction provides useful information formanagers to design restoration and conservation plans. In this study, the roles of desert harvester ants (messorintermedius and messor melancholicus) and scavenger ants (Cataglyphis nodus and Lepisiota semenovi) on plantcommunities were investigated in arid ecosystems of southeastern Iran. Two vegetation types weredistinguished in the study area and the nest density of ant species was determined. Furthermore, plantcomposition and soil seed bank were estimated at different distances from the ant nests. Results showed thatthe density of m. intermedius and m. melancholicus nests was higher in dwarf shrub-shrub vegetation type and thedensity of C. nodus and L. semenovi nests was higher in dwarf shrub vegetation type. The harvester and scavengerants had enhanced the seed bank to 55% and 70%, respectively. Therefore, the role of scavenger ants on theplant communities' seed bank was greater than that of harvester ants. Although the scavenger ants were moreinfluential on the annuals and the invasive plant species, the radius impact of the harvester ants on theperennials was greater, i.e., a positive interaction existed between the perennial plants and the harvester ants. *** and L. semenovi played an important role in enhancing the ecosystem's potential for restoration throughestablishment of pioneer species in early stage of succession. The activity of m. intermedius is crucial for thedevelopment and maintenance of climax plant communities in arid ecosystems through assisting the plantspecies' establishment in late stage of succession. It is essential to preserve the diversity of these key ant speciesfor the maintenance and sustainability of shrubs in arid ecosystems.

关键词： ants ecological succession ecosystem rangelands shrubs vegetation

Synthesis,characterization and application of ZnO-Ag as a nanophotocatalyst for organic compounds degradation,mechanism and economic study

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Journal of Environmental Sciences 2015年第9期27卷 194-207页

作者： S.mohammadzadeh m.E.Olya A.m.Arabi A.Shariati m.R.khosravi Nikou Gas Engineering Department Petroleum University of Technology Department of Environmental Research Institute for Color Science and Technology Department of Nanomaterials and Nanocoatings Institute for Color Science and Technology

The current work deals with ZnO-Ag nanocomposites（in the wide range of x in the Zn1-x O-Ag x chemical composition） synthesized using microwave assisted solution combustion *** structural, morphological and optical properties of the samples were characterized by XRD（X-ray diffraction）, FTIR（Fourier transform infrared spectrometry）, SEm（scanning electron microscopy technique）, EDX（energy dispersive X-ray spectrum）, ICP（inductively coupled plasma technique）, TEm（transmission electron microscopy）, BET（Brunauer–Emmett–Teller method）, UV–Vis（ultraviolet–visible spectrophotometer） and photoluminescence spectrophotometer. The photocatalytic activity of the ZnO-Ag was investigated by photo-degradation of Acid Blue 113（AB 113） under UV illumination in a semi-batch reactor. This experiment showed that ZnO-Ag has much more excellent photocatalytic properties than ZnO synthesized by the same method. The enhanced photocatalytic activity was due to the decrease in recombination of photogenerated electron-holes. The results showed the improvement of ZnO photocatalytic activity and there is an optimum amount of Ag（3.5 mol%） that needs to be doped with *** effect of operating parameters such as p H, catalyst dose and dye concentration were investigated. The reaction byproducts were identified by LC/mS（liquid chromatography/mass spectrometry） analysis and a pathway was proposed as well. Kinetic studies indicated that the decolorization process follows the first order kinetics. Also, the degradation percentage of AB113 was determined using a total organic carbon（TOC） analyzer. Additionally, cost analysis of the process, the mechanism and the role of Ag were discussed.

关键词： ZnO-Ag nanocomposite Photocatalyst Degradation Advanced oxidation processes Wastewater treatment

Effect of graphene oxide and reduced graphene oxide nanosheets on the microstructure and mechanical properties of mild steel jointing by flux-cored arc welding

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International Journal of minerals,metallurgy and materials 2020年第4期27卷 505-514页

作者： mohammad khosravi mohammad mansouri Ali Gholami Yadollah Yaghoubinezhad Department of mechanical Engineering Birjand University of Technology BirjandP.O.Box 97175-569235Iran Department of materials Engineering Birjand University of Technology BirjandP.O.Box 97175-569315Iran

The effect of graphene oxide(GO)and reduced graphene oxide(RGO)nanosheets on the microstructure and mechanical properties of welded joints of mild steel was evaluated by flux-cored arc *** was synthesized by the Hummer’s method and was reduced under hydrothermal conditions at a pressure of 1.1 mPa at 180°C for 12 h.1,3,and 10 mg/mL paste fillers were used in GO and RGO,and applied to the weld *** results clearly showed that by increasing the concentration of RGO up to 10 mg/mL,the tensile strength and hardness of the weld metal were improved by approximately 20.5%and 38.4%,respectively,because the coarse grains were changed into fine *** domain of the nanosheets cluster was 19.85×10^?9 ***,the RGO nanosheets contributed to modifying the mechanical properties of the welded steel,likely due to dislocation pinning.

关键词： graphene oxide reduced graphene oxide flux-cored arc welding steel mechanical properties

The relative frequency of mycobacterium tuberculosis and mycobacterium avium infections in HIV positive patients,Ahvaz,Iran

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Asian Pacific Journal of Tropical medicine 2012年第1期5卷 71-74页

作者： khosravi AD Seyed mohammad Alavi Hashemzade m Abasi E Seghatoleslami S Department of microbiology School of MedicineAhvaz Jundishapur University of Medical Sciences(AJUMS)AhvazIran Infectious and Tropical Diseases Research Center AJUMSAhvazIran Infectious Diseases Ward Razi Teaching HospitalAJUMSAhvazIran

Objective:To estimate the prevalence of mycobacterium tuberculosis(***) and mycobacterium avium(***) infections in HIV -positive patients suspected to have puimonar) and extrapulmonary mycobacterial co-infection using PCR ***: Totally 50 samples comprising sputum,pleural fluid and CSF taken from HIV positive patients suspected to have mycobacterial infection,were *** demographic information and results of acid fast staining and culture were recorded for each *** PCR for detecting of *** comprised of specific primers targeting IS6110 gene *** detecting of ***,PCR with primers that amplifies the mig gene were ***:From 50 samples processed,45 were sputum(90%),3 pleural fluid(6%) and 2 CSK(4%).In total.8(16%) were culture positive,7 had positive acid fast staining 114%) and 13 samples(26%)were positive using PCR *** the positive samples were sputum and belonged to patients with pulmonary infection.01 these.9 were positive for ***(69.2%) and 4 were identified as 1/.avium (30.8%).which 2 out of 13 positive samples showed mixed infections by both mycobacteria. Conclusions:The PCR shows the highest detection rate(26%) of mycobacteria compared with culture and acid last *** majority of infections were with ***(18%) and this shows the importance of this mycobacterial co-infection in HIV positive patients in the region of study.

关键词： mycobacterium tuberculosis mycobacterium avium HIV positive PCR

A Characterization of PSL(3. q) for q=2~m

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Acta mathematica Sinica,English Series 2002年第3期18卷 463-472页

作者： A.IRANmANESH S.H.ALAVI B.khosravi Department of mathematics Tarbiat modarres University P. O. Bax: 14115-137 Tehran. Iran Institute of Studies in Theoretical Physics and Mathematics Tehran Iran

The order components of a finite group are introduced in [12]. In [9], it is proved that the group PSL(3, q), where q is an odd prime power, is uniquely determined by its order components. In this paper, we show that ... 详细信息

关键词： Finite group Simple group Prime graph Order component

Shear stress distribution prediction in symmetric compound channels using data mining and machine learning models

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Frontiers of Structural and Civil Engineering 2020年第5期14卷 1097-1109页

作者： Zohreh SHEIKH KHOZANI Khabat khosravi mohammadamin TORABI Amir mOSAVI Bahram REZAEI Timon RABCZUK Institute of Structural mechanics Bauhaus Universität-WeimarWeimar D-99423Germany Department of Watershed management Engineering Faculty of Natural ResourcesSari Agricultural Science and Natural Resources UniversitySari 48181Iran Department of Civil and Environmental Engineering Idaho State UniversityPocatelloID 83209USA School of the Built Environment Oxford Brookes UniversityOxford OX30BPUK Kando Kalman Faculty of Electrical Engineering Obuda UniversityBudapest 1034Hungary Department of Civil Engineering Bu-Ali Sina UniversityHamedan 65178Iran

Shear stress distribution prediction in open channels is of utmost importance in hydraulic structural engineering as it directly affects the design of stable *** this study,at first,a series of experimental tests were conducted to assess the shear stress distribution in prismatic compound *** shear stress values around the whole wetted perimeter were measured in the compound channel with different floodplain widths also in different flow depths in subcritical and supercritical conditions.A set of,data mining and machine learning algorithms including Random Forest(RF),m5P,Random Committee,KStar and Additive Regression implemented on attained data to predict the shear stress distribution in the compound *** indicated among these five models;RF method indicated the most precise results with the highest R2 value of ***,the most powerful data mining method which studied in this research compared with two well-known analytical models of Shiono and Knight method(SKm)and Shannon method to acquire the proposed model functioning in predicting the shear stress *** results showed that the RF model has the best prediction performance compared to SKm and Shannon models.

关键词： compound channel machine learning SKm model shear stress distribution data mining models

Diversity of woody plant species and their relationship to physiographic factors in central Zagros forests (Case study： Perc forest, Khorramabad, Iran)

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Journal of Forestry Research 2016年第5期27卷 1137-1141页

作者： Ramin Hosseinzadeh Javad Soosani Vahid Aiijani Sheyda khosravi Hamdieh Karimikia Department of Forestry Agriculture Faculty Lorestan University Lorestan Iran Natural Resources Faculty Tehran University Tehran Iran Kurdistan University Sanandaj Iran

Topography is the most factor that has the greatest impact of all factor that affect the distribution. To study the diversity of trees and shrub species in the Perc forest situated in Khorramabad, Lorestan, 140 circular plots of 1200 m2 in a grid of 300 m × 250 m were surveyed, using a systematic random sampling method. In each plot, the margalef richness index, Shannon-Wiener diversity index, Hill＇s N1 and Simpson indices and the evenness index of Simpson and Smith-Wilson were calculated and ordered on the basis of different classes of elevation, exposition and slope. The results indicated that slope did not have any significant effect on the indices. Exposition and elevation classes significant impacted the richness and diversity indices, but did not influence evenness. In general, the highest plant diversity was observed for slopes less than 15 %, northern aspects, without geographical direction, and elevations of 2100-2200 m. This information can be very useful in achieving the goals for sustainable management of forests. In addition to greater protection for regions with high diversity and reforestation （compatible species） in degraded area, we can help increase diversity in forests.

关键词： Plant diversity Richness Evenness Physiography Zagros

Differences and similarities between mesenchymal stem cell and endothelial progenitor cell immunoregulatory properties against T cells

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World Journal of Stem Cells 2021年第8期13卷 971-984页

作者： mehdi Razazian maryam.khosravi Sheyda Bahiraii Georges Uzan Sara Shamdani Sina Naserian Institut national de la santéet de la recherche médicale(Inserm)Unitémixte de Recherche-Inserm-ministère de la Défense 1197 Hôpital Paul BrousseVillejuif 94800France microenvironment&Immunity Unit Institut PasteurParis 75724France Institut national de la santéet de la recherche médicale(Inserm)Unit 1224 Paris 75724France Department of Pharmacognosy University of ViennaVienna 1090Austria Paris-Saclay University Villejuif 94800France CellmedEx Saint Maur Des Fossés 94100France

Bone-marrow-derived mesenchymal stem cells and endothelial progenitor cells have some interesting biological properties that make them unique for cell therapy of degenerative and cardiovascular *** both cell populations have been already studied and used for their regenerative potentials,recently their special immunoregulatory features have brought much more *** stem cells and endothelial progenitor cells have both proangiogenic functions and have been shown to suppress the immune response,particularly T cell proliferation,activation,and cytokine *** makes them suitable choices for allogeneic stem cell ***,these two cells do not have equal immunoregulatory *** elements including their extraction sources,age/passage,expression of different markers,secretion of bioactive mediators,and some others could change the efficiency of their immunosuppressive ***,to our knowledge,no publication has yet compared mesenchymal stem cells and endothelial progenitor cells for their immunological interaction with T *** review aims to specifically compare the immunoregulatory effect of these two populations including their T cell suppression,deactivation,cytokine production,and regulatory T cells induction ***,it evaluates the implications of the tumor necrosis factor alpha-tumor necrosis factor receptor 2 axis as an emerging immune checkpoint signaling pathway controlling most of their immunological properties.

关键词： Endothelial Progenitor Cells mesenchymal Stem Cells T cells Immunosuppression Immunoregulation TNFα-TNFR2 signaling pathway