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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 a

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

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differentiating rhythmic high-amplitude delta with superimposed(poly)spikes from extreme delta brushes:limitations of standardized nomenclature and implications for patient management

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World Journal of Pediatrics 2024年第8期20卷 764-773页

作者： Rene Andrade-Machado Elham Abushanab Namrata d.Patel Avantika Singh Children’s Hospital of Wisconsin Wauwatosa:Milwaukee 8915 W Connell CtMilwaukeeWI53226USA

Background Following the standardized nomenclature proposed by the American Clinical Neurophysiology Society(ACNS),rhythmic high-amplitude delta activity with superimposed spikes(RHAdS)can be reported as an extreme delta brush(EdB).The clinical implications of similar electrographic patterns being reported as RHAdS versus EdB are important to *** aim to review the electrographic characteristics of RHAdS,evaluate whether RHAdS is seen in other neurological disorders,and identify the similar and unique characteristics between RHAdS and EdB to ultimately determine the most accurate way to differentiate and report these *** believe that the differentiation of RHAdS and EdB is important as there is a vast difference in the diagnostic approach and the medical management of associated underlying *** source We conducted an extensive search on MEdLINE and Pubmed utilizing various combinations of *** for“gamma polymerase and EEG”,or“RHAdS”or“Alpers syndrome and EEG”or“EEG”ANd“Alpers–Huttenlocher syndrome”.Results Three articles were found to be focused on the description of“RHAdS”pattern in Alpers *** publication to date were found when searching for the terms“EdB”ANd“children”,ANd“infant”ANd“adolescent”excluding“encephalitis”and“neonate”.Although RHAdS and EdB appear as similar EEG patterns,meticulous analysis can differentiate *** is not exclusive to patients with Alpers–Huttenlocher syndrome and may manifest in regions beyond the posterior head *** to eye-opening and response to anesthesia can be two other elements that help in the differentiation of these *** RHAdS is not exclusive to patients with AHS and may manifest in regions beyond the posterior head *** to eye-opening and response to anesthesia are features that help in the differentiation of these patterns.

关键词： Alpers-Huttenlocher syndrome Autoimmune encephalitis Extreme delta brush Neurological disorder Polyspike Rhythmic delta activity Rhythmic high-amplitude delta activity Seizure

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A Review of State-of-the-art Flexible Power Point Tracking Algorithms in Photovoltaic Systems for Grid Support:Classification and Application

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Journal of Modern Power Systems and Clean Energy 2024年第1期12卷 1-21页

作者： Mina Haghighat Mehdi Niroomand Hossein dehghani Tafti Christopher d.Townsend Tyrone Fernando the department of Electrical Engineering University of IsfahanIsfahanIran the department of Electrical Electronic and Computer EngineeringUniversity of Western AustraliaCrawley WA 6009Australia

To maximize conversion efficiency,photovoltaic(PV)systems generally operate in the maximum power point tracking(MPPT)***,due to the increasing penetra tion level of PV systems,there is a need for more developed control functions in terms of frequency support services and voltage control to maintain the reliability and stability of the power ***,flexible active power control is a manda tory task for grid-connected PV systems to meet part of the grid ***,a significant number of flexible pow er point tracking(FPPT)algorithms have been introduced in the existing *** purpose of such algorithms is to real ize a cost-effective method to provide grid support functional ities while minimizing the reliance on energy storage *** paper provides a comprehensive overview of grid support functionalities that can be obtained with the FPPT control of PV systems such as frequency support and volt-var *** of these grid support functionalities necessitates PV sys tems to operate under one of the three control strategies,which can be provided with FPPT *** three control strate gies are classified as:①constant power generation control(CP GC),②power reserve control(PRC),and③power ramp rate control(PRRC).A detailed discussion on available FPPT algo rithms for each control strategy is also *** paper can serve as a comprehensive review of the state-of-the-art FPPT algorithms that can equip PV systems with various grid support functionalities.

关键词： Maximum power point tracking(MPPT) flexi ble power point tracking(FPPT) power reserve control(PRC) power ramp rate control(PRRC) low voltage ride-through(LVRT) constant power generation(CPG)

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Refractive outcomes after V4c Toric collamer lens implantation over 1y of follow-up

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International Journal of Ophthalmology(English edition) 2024年第7期17卷 1322-1330页

作者： Humberto Carreras-díaz Josefina Reñones de Abajo María del Rosario Carreras-díaz Amalia Lorente-Velázquez Vithas Eurocanarias Las Palmas de Gran Canaria 35004Spain University Hospital of Girona doctor Josep Trueta Gerona 17007Spain departament of Optometry and Vision Faculty of Optics and OptometryComplutense University of MadridMadrid 28040Spain

AIM:To evaluate refractive outcomes and corneal astigmatism changes after Toric implantable collamer lens with a central port(V4c T-ICL)implantation over 1y of ***:A retrospective study was performed including 50 eyes of 50 patients that underwent V4c T-ICL ***(UdVA)and corrected(CdVA)distance visual acuities,refraction,refractive and corneal astigmatism changes and corneal coupling correction were evaluated preoperatively,1 and 12mo *** analysis was used for astigmatism *** of adjustment(CAdj)was calculated for corneal coupling ***:The mean UdVA achieved was 0.03 logMAR at 1mo and remained unchanged throughout the whole follow-up(P=0.193).At the last visit,84%of the eyes achieved a CdVA of 0.00 logMAR or *** spherical equivalent refraction(SEQ),96%of eyes were ranges of±1.00 d and 84%of them within±0.50 ***,94%of eyes had a remaining refractive cylinder within±1.00 d and 78%of them within±0.50 ***,SEQ and refractive cylinder,remain stable over the postoperative follow-up(P=1.000 and P=0.660,respectively).In terms of surgically induced astigmatism(SIA),no statistically significant differences were found over the follow-up(P=0.102)and under correction was found with a correction index lower than the unit at each visit.A keratometric astigmatism induced of 0.59±0.53(vector mean:0.26×73º)d was reached at the last *** significant changes in terms of corneal astigmatism orientation were reported over post-surgery visits(P=0.129 and P=0.097 at 1 and 12mo respectively).No clinical significance was found for CAdj on with-the-rule *** postoperative complications resulting from the surgery were ***:Refractive outcomes suggest that the V4c T-ICL implantation for correction of myopic astigmatism was satisfactory in terms of effectiveness,safety,and stability during 1y of *** astigmatism induced by the incision around 0.5 d is achieved

关键词： V4c Toric collamer lens corneal astigmatism surgically induced astigmatism corneal coupling

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Association between Helicobacter pylori infection,mismatch repair,HER2 and tumor-infiltrating lymphocytes in gastric cancer

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2487-2503页

作者： Carlos A Castaneda Miluska Castillo Luis A Bernabe Joselyn Sanchez Matteo Fassan Katherine Tello Ignacio Ivan Wistuba Ivan Chavez Passiuri Eloy Ruiz Juvenal Sanchez Fernando Barreda daniel Valdivia Yaqueline Bazan Milagros Abad-Licham Claudio Mengoa Hugo Fuentes paola Montenegro Ebert Poquioma Raul Alatrista Claudio J Flores Luis Taxa Faculty of Health Sciences Universidad Cientifica del SurLima 15038Peru GECO PERU Grupo de Estudios Clinicos Oncologicos del PeruLima 15038Peru department of Research Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru Faculty of Human Medicine Universidad Ricardo PalmaLima 15039Peru department of Medicine Surgical Pathology&Cytopathology UnitUniversity of PaduaPadua 35121Italy department of Translational Molecular Pathology The University of Texas MD Anderson Cancer CenterHoustonTX 77030United States department of Abdominal Surgery Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru department of Pathology Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru department of Medical Specialties Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru department of Pathology Instituto Regional de Enfermedades Neoplasicas del NorteTrujillo 13001Peru Faculty of Human Medicine Universidad Privada Antenor OrregoTrujillo 13008Peru department of Surgery Instituto Regional de Enfermedades Neoplasicas del SurArequipa 04002Peru department of Medical Oncology Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru department of Epidemiology Instituto Nacional de Enfermedades NeoplasicasLima 15038Peru Unidad de Investigación Básica y Traslacional Oncosalud-AUNALima 15038Peru Faculty of Medicine Universidad San Martin de PorresLima 15008Peru

BACKGROUNd The influence of Helicobacter-pylori(***)infection and the characteristics of gastric cancer(GC)on tumor-infiltrating lymphocyte(TIL)levels has not been extensively *** of infiltrating-immune-cell subtypes as well as survival is necessary to obtain comprehensive *** To determine the rates of deficient mismatch-repair(dMMR),HER2-status and *** infection and their association with TIL levels in *** Samples from 503 resected GC tumors were included and TIL levels were evaluated following the international-TILs-working-group recommendations with assessment of the intratumoral(IT),stromal(ST)and invasive-border(IB)*** density of Cd3,Cd8 and Cd163 immune cells,and dMMR and HER2-status were determined by immunohistochemistry(IHC).*** infection was evaluated by routine histology and quantitative PCR(qPCR)in a subset of *** dMMR was found in 34.4%,HER2+in 5%and ***-positive in 55.7%of *** IT-TIL was associated with grade-3(P=0.038),while ST-TIL with grade-1(Pd no-recurrence(P=0.003).dMMR was associated with high TIL levels in the ST(P=0.019)and IB(P=0.01)compartments,and STCd3(P=0.049)and ST-Cd8(P=0.05)***2-was associated with high IT-Cd8(P=0.009).*** was associated with high IT-TIL levels(P=0.009)when assessed by routine-histology,and with high TIL levels in the 3 compartments(P=0.002-0.047)and Cd8 density in the IT and ST compartments(P=0.001)when assessed by qPCR.A longer overall survival was associated with low IT-Cd163(P=0.003)and Cd8/Cd3(P=0.001 in IT and P=0.002 in ST)and high IT-Cd3(P=0.021),ST-Cd3(P=0.003)and Cd3/Cd163(P=0.002).CONCLUSION TIL levels were related to dMMR and *** Cd8/Cd3 and high Cd163/Cd3 were associated with lower recurrence and longer survival.

关键词： Lymphocytes Macrophages Gastric cancer Helicobacter pylori HER2 Mismatch repair

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Evidence of associative blocking during foraging in the social wasp Vespula germanica

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Insect Science 2021年第4期28卷 1103-1108页

作者： Sabrina Moreyra paola d'Adamo Mariana Lozada Laboratorio Ecotono Instituto de Investigaciones en Biodiversidad y Medio Ambiente(INIBIOMA)-CONICET-Universidad Nacional del Comahue(CRUB)BarilocheArgentina

While foraging,Vespula germanica usually return to abundant food *** this relocation behavior,these wasps learn to identify contextual cues associated with food *** analyzed associative blocking in this species,that is,how an association with a conditioned stimulus(CS1)blocks subsequent learning when a novel stimulus(CS2)is added on a second foraging *** groups of wasps(A,B,and C;total 74 individual wasps)were observed while collecting meat during one or two consecutive *** group A,an environmental cue(CS1)was paired with food placed at a specific site,and on the second visit,a second cue(CS2)was added while food remained in the same *** a subsequent testing phase,CS1 was removed and the food source displaced *** then recorded the number of hovers performed over the empty dish(previously baited).Group A wasps appeared to ignore the addition of CS2 on their second visit because they performed fewer hovers over the learned *** group A,the duration of the decision-making process to finally fly toward the baited dish was shorter than when CS1 and CS2 were presented together on their first visit(group B).This is the first study to demonstrate the occurrence of associative blocking in vespids,confirming that a prior foraging experience influences subsequent food relocation in *** findings reveal that first learning episodes block further associations with novel contextual cues,contributing to understanding of complex cognitive processes involved in ***´s foraging behavior.

关键词： associative blocking foraging behavior learning prior experience social wasps

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Insm1:orchestrating cellular mimicry in the thymus medulla

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Cellular & Molecular Immunology 2024年第4期21卷 414-416页

作者： K.d.James J.E.Cowan UCL Institute of Immunity and Transplantation The Pears BuildingRowland Hill StreetLondonNW32PPUK

The thymus is the primary production site for a functional and self-tolerant T-cell *** establishment of immune tolerance is mediated by the generation and presentation of tissue-restricted self-antigens(TRAs)by medullary thymic epithelial cells(mTECs),which screen T-cell receptors for self-reactivity to eliminate autoreactive T *** studies have extended our understanding of mTEC heterogeneity by examining the mechanisms by which mTECs mimic the peripheral self[1].

关键词： medullary eliminate restricted

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Enantioselective iridium-catalyzed allylic substitution with a Reformatsky reagent: direct construction of β-stereogenic homoallylic esters

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Science China Chemistry 2024年第11期67卷 3791-3797页

作者： debasis Pal Kirana d.Veeranna Yuk Fai Wong P.Andrew Evans department of Chemistry Queen's University Xiangya School of Pharmaceutical Sciences Central South University

The Reformatsky reagent derived from ethyl bromoacetate circumvents the challenge associated with the direct regio-and enantioselective iridium-catalyzed allylic alkylation with an unstabilized aliphatic ester enolate. Notably, this work represents the first example of using a Reformatsky reagent in a metal-allyl reaction, which permits the direct construction of enantioenriched β-stereogenic homoallylic esters without preactivation of the pronucleophile or post-reaction modification of the product(e.g., thermal decarboxylation of a 1,3-dicarbonyl). Moreover, the process allows the coupling of a broad range of sterically and electronically diverse electrophiles bearing aryl, heteroaryl and alkenyl derivatives, including the significantly more challenging alkyl-substituted allylic carbonates. The versatility of the ester product is exemplified by a series of functional group manipulations and the development of a concise and efficient enantioselective total synthesis of the natural product,(+)-descurainolide A. Finally, mechanistic studies indicate that the zinc enolate behaves as a soft nucleophile that undergoes outer-sphere alkylation.

关键词： allylic substitution asymmetric catalysis mechanistic studies natural product synthesis Reformatsky reagent

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Long-term spatial memory in Vespula germanica social wasps： the influence of past experience on foraging behavior

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Insect Science 2017年第5期24卷 853-858页

作者： Sabrina Moreyra paola d'Adamo Mariana Lozada Laboratory Ecotono INIBIOMA CONICET Universidad Nacional de/Comahue Quintral 1250 (8400) Bariloche Argentina

Social insects exhibit complex learning and memory mechanisms while for- aging. Vespula germanica （Fab.）（Hymenoptera： Vespidae） is an invasive social wasp that frequently forages on undepleted food sources, making several flights between the resource and the nest. Previous studies have shown that during this relocating behavior, wasps learn to associate food with a certain site, and can recall this association 1 h later. In this work, we evaluated whether this wasp species is capable of retrieving an established association after 24 h. For this purpose, we trained free flying individuals to collect proteinaceous food from an experimental plate （feeder） located in an experimental array. A total of 150 individuals were allowed 2, 4, or 8 visits. After the training phase, the array was re- moved and set up again 24 h later, but this time a second baited plate was placed opposite to the first. After 24 h we recorded the rate of wasps that returned to the experimental area and those which collected food from the previously learned feeding station or the nonlearned one. during the testing phase, we observed that a low rate of wasps trained with 2 collecting visits returned to the experimental area （22%）, whereas the rate of returning wasps trained with 4 or 8 collecting visits was higher （51% and 41%, respectively）. Moreover, wasps trained with 8 feeding visits collected food from the previously learned feeding station at a higher rate than those that did from the nonlearned one. In contrast, wasps trained 2 or 4 times chose both feeding stations at a similar rate. Thus, significantly more wasps returned to the previously learned feeding station after 8 repeated foraging flights but not after only 2 or 4 visits. This is the first report that demonstrates the existence of long-term spatial memory in V. germanica wasps.

关键词： foraging behavior learning long-term memory relocating behavior social wasps

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The influence of past experience on wasp choice related to foraging behavior

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Insect Science 2014年第6期21卷 759-764页

作者： Moreyra Sabrina paola d'Adamo Mariana Lozada Laboratory Ecotono INIBIOMA Quintral 1250 (8400) Bariloche Argentina

Memory has been little studied in social wasps. Vespula germanica （Fab.）（Hymenoptera： Vespidae） frequently revisits nondepleted food sources, making several trips between the resource and the nest. In this study, we analyzed this relocating behavior in order to evaluate whether this species is capable of remembering an established association after 1 h. To this end, we trained wasps to feed from a certain array. Then it was removed, setting it up again 1 h later, but this time 2 baited feeders were put in place, one at the original feeding site and the other opposite the first. We recorded the proportion of returning foragers, and their choice of feeder, after either 1 or 4 feeding trials. After 1 h, 78% of wasps trained with 4 feeding trials and 65% trained with 1, returned to the experimental area. Furthermore, during the testing phase, wasps trained with 4 feeding trials collected food from the previously learned feeder significantly more frequently than from the nonlearned one （P 〈 0.05）. In contrast, wasps that had been trained only once chose both feeders equally. Thus, memory retrieval could be observed 1 h after wasps had collected food on 4 consecutive occasions, but not after only 1. To our knowledge, this is the first study showing that V. germanica is capable of remembering an association 1 h after the last associative event, demonstrating that 1 h does not impair memory retention if4 feeding experiences have occurred.

关键词： cognition foraging behavior learning memory social wasps Vespula germanica

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