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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 roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,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 scenarios.The 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

Neuronal conversion from glia to replenish the lost neurons

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Neural Regeneration Research 2024年第7期19卷 1446-1453页

作者： Shiyu Liang Jing Zhou xiaolin Yu Shuai Lu Ruitian Liu National Key Laboratory of Biochemical Engineering Institute of Process EngineeringChinese Academy of SciencesBeijingChina School of Chemical Engineering University of Chinese Academy of SciencesBeijingChina Department of Geriatric Rehabilitation Beijing Rehabilitation HospitalCapital Medical UniversityBeijingChina

Neuronal injury,aging,and cerebrovascular and neurodegenerative diseases such as cerebral infarction,Alzheimer’s disease,Parkinson’s disease,frontotemporal dementia,amyotrophic lateral sclerosis,and Huntington’s disease are characte rized by significant neuronal loss.Unfo rtunately,the neurons of most mammals including humans do not possess the ability to self-regenerate.Replenishment of lost neurons becomes an appealing therapeutic strategy to reve rse the disease phenotype.Transplantation of pluripotent neural stem cells can supplement the missing neurons in the brain,but it carries the risk of causing gene mutation,tumorigenesis,severe inflammation,and obstructive hydrocephalus induced by brain edema.Conversion of neural or non-neural lineage cells into functional neurons is a promising strategy for the diseases involving neuron loss,which may overcome the above-mentioned disadvantages of neural stem cell therapy.Thus far,many strategies to transfo rm astrocytes,fibroblasts,microglia,Muller glia,NG2 cells,and other glial cells to mature and functional neurons,or for the conversion between neuronal subtypes have been developed thro ugh the regulation of transcription factors,polypyrimidine tra ct binding protein 1(PTBP1),and small chemical molecules or are based on a combination of several factors and the location in the central nervous system.However,some recent papers did not obtain expected results,and discrepancies exist.Therefore,in this review,we discuss the history of neuronal transdifferentiation,summarize the strategies for neuronal replenishment and conversion from glia,especially astrocytes,and point out that biosafety,new strategies,and the accurate origin of the truly co nverted neurons in vivo should be focused upon in future studies.It also arises the attention of replenishing the lost neurons from glia by gene therapies such as up-regulation of some transc ription factors or downregulation of PTBP1 or drug interfe rence therapies.

关键词： astrocytes neural stem cells neurodegenerative diseases neuron polypyrimidine tract binding protein 1 repair reprogramming small molecule transcription factor transdifferentiation

Experimental Study of Temperature Control Based on Composite Phase Change Materials during Charging and Discharging of Battery

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Journal of Thermal Science 2024年第2期33卷 578-590页

作者： LI xiaolin WANG Jun CAO Wenxiang ZHANG Xuesong School of Automotive and Traffic Engineering Jiangsu UniversityZhenjiang212013China

This study is to utilize the heat-absorbing and releasing capabilities of phase change materials(PCM)to regulate the surface temperature fluctuations of batteries during charging and discharging.The goal is to keep the battery within the optimal operating temperature range.The impact of PCM thickness and phase change temperature on battery temperature is investigated by encircling a cylindrical battery with a PCM ring.To improve the thermal conductivity of PCM,expanded graphite(EG) is added to make a composite phase change material(CPCM),and the effects of various EG mass ratios on battery surface temperature and CPCM utilization level are investigated.The findings indicate that increasing PCM thickness effectively extends temperature control time,but its impact is limited.The difference in phase change temperature of PCM controls the battery temperature in different temperature ranges.Lower phase change temperatures are unsuitable for controlling battery temperature in high temperature environments.The addition of EG enhances the thermal conductivity of PCM,leading to further control of battery temperature.The results show that the addition of 6%(mass ratio) EG to CPCM extends the effective temperature control time by 11 min and improves by 28% compared to a single PCM.The CPCM utilization is also more satisfactory and achieved a balance between heat storage and thermal conductivity in a battery thermal management system(BTMS) based on PCM.

关键词： phase change material expanded graphite thermal management system effective control time

Modified enzymatic collagen digestion-mediated isolation of osteocytes

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BIOCELL 2022年第4期46卷 1097-1104页

作者： WENJUAN XU GUANGMING DAI YIFEI LYU YINING ZHANG xiaolin tu Institute of Life and Science Research Chongqing Medical UniversityChongqing400016China Department of Bioengineering University of WashingtonSeattle98195USA

This study established a method for isolating large numbers of high-purity osteocytes from high-density bone.Bone fragments derived from mice tibia and femurs were alternately digested with type I collagenase and EDTA nine times,and the digested cells and bone chips(BC)were cultured,digested,and passaged when cells were fully grown.The types of cells obtained were identified by morphology,viable cell counts,alkaline phosphatase staining,and biochemical activity analyses,and specific osteocyte and osteoblast markers were evaluated by quantitative real-time polymerase chain reaction.Our results showed that among the cells obtained from the third digestion(fractions 7–9)of wild mice tibias and femurs and the remaining BCs,85%–90%of the cells were osteocytes.Moreover,their morphology was approximately one-tenth to one-fifth the size of osteoblasts,star-shaped or polygonal,with a dendritic structure,negative for alkaline phosphatase staining,and showed a high expression of dmp1 and sclerostin.Ninety percent of the cells in fractions 1–3 were osteoblasts,and were fusiform or polygonal shape.The activity of osteoblast-specific alkaline phosphatase and mRNA expression were high in this fraction,while the expression of osteocyte-specific dmp1 and sclerostin was not detected.In the second portion(fractions 4–6),a large number were osteoblasts,mixed with a small number of osteocytes,and had high alkaline phosphatase activity and osteocyte mRNA levels,a specific level of the osteocyte marker dmp1,and no sclerostin was detected.Osteocytes in daβcatot mice were also successfully isolated by this method,and we found that Wnt signaling increased the proliferation of these osteocytes.The proposed method can be used to culture osteocytes and osteoblasts of high purity and can be used for isolation and culture of these two kinds of cells from high-density bone,which provides an avenue for the study of osteocyte function in vitro.

关键词： Osteocytes Cell culture Collagen protease Sclerostin Alkaline phosphatase

GNSS gyroscopes:determination of angular velocity and acceleration with very high-rate GNSS

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Satellite Navigation 2024年第1期5卷 74-90页

作者： Yun Shi Peiliang Xu Yuanming Shu xiaolin Meng School of Geomatics Xi’an University of Science and TechnologyXi’an710054People’s Republic of China Disaster Prevention Research Institute Kyoto UniversityUjiKyoto611-0011Japan College of Marine Geosciences Ocean University of ChinaQingdaoPeople’s Republic of China School of Instrument Science and Engineering Southeast UniversityNanjing210096People’s Republic of China

Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared errors.The major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically incorrect.The same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS gyroscopes.By comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the former is of better accuracy than the latter.As

关键词： Angular velocity Angular acceleration High-rate GNSS GNSS attitudes GNSS gyroscopes Regularization

3D printing of osteocytic Dll4 integrated with PCL for cell fate determination towards osteoblasts in vitro

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Bio-Design and Manufacturing 2022年第3期5卷 497-511页

作者： Pengtao Wang Xiaofang Wang Bo Wang Xian Li Zhengsong Xie Jie Chen Tasuku Honjo xiaolin tu Laboratory of Skeletal Development and Regeneration Institute of Life SciencesChongqing Medical UniversityChongqing 400016China Medical Data Science Academy Chongqing Medical UniversityChongqing 400016China Department of Immunology and Genomic Medicine Graduate School of MedicineKyoto UniversityYoshida Konoe-choSakyo-kuKyoto 606-8501Japan

Since 3D printed hard materials could match the shape of bone,cell survival and fate determination towards osteoblasts in such materials have become a popular research target.In this study,a scaffold of hardmaterial for 3D fabrication was designed to regulate developmental signal(Notch)transduction guiding osteoblast differentiation.We established a polycaprolactone(PCL)and cell-integrated 3D printing system(PCI3D)to reciprocally print the beams of PCL and cell-laden hydrogel for a module.This PCI3D module holds good cell viability of over 87%,whereas cells show about sixfold proliferation in a 7-day culture.The osteocytic MLO-Y4 was engineered to overexpress Notch ligand Dll4,making up 25%after mixing with 75%stromal cells in the PCI3D module.Osteocytic Dll4,unlike other delta-like family members such as Dll1 or Dll3,promotes osteoblast differentiation and themineralization of primary mouse and a cell line of bone marrow stromal cells when cultured in a PCI3D module for up to 28 days.Mechanistically,osteocytic Dll4 could not promote osteogenic differentiation of the primary bone marrow stromal cells(BMSCs)after conditional deletion of the Notch transcription factor RBPjκby Cre recombinase.These data indicate that osteocytic Dll4 activates RBPjκ-dependent canonical Notch signaling in BMSCs for their oriented differentiation towards osteoblasts.Additionally,osteocytic Dll4 holds a great potential for angiogenesis in human umbilical vein endothelial cells within modules.Our study reveals that osteocytic Dll4 could be the osteogenic niche determining cell fate towards osteoblasts.This will open a new avenue to overcome the current limitation of poor cell viability and low bioactivity of traditional orthopedic implants.

关键词： Integrated 3D printing PCL scaffold Cell-laden hydrogel Osteocytic Dll4 Bone marrow stromal cell Osteoblast differentiation Cell viability in hard material RBPjκ Notch signaling

Upcycling plastic wastes into value-added products via electrocatalysis and photoelectrocatalysis

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Journal of Energy Chemistry 2024年第4期91卷 522-541页

作者： Sungsoon Kim Dongjae Kong xiaolin Zheng Jong Hyeok Park Department of Chemical&Biomolecular Engineering Yonsei UniversitySeoul 03722Republic of Korea Department of Mechanical Engineering Stanford UniversityStanfordCA 94305USA

Plastic,renowned for its versatility,durability,and cost-effectiveness,is indispensable in modern society.Nevertheless,the annual production of nearly 400 million tons of plastic,coupled with a recycling rate of only 9%,has led to a monumental environmental crisis.Plastic recycling has emerged as a vital response to this crisis,offering sustainable solutions to mitigate its environmental impact.Among these recycling efforts,plastic upcycling has garnered attention,which elevates discarded plastics into higher-value products.Here,electrocatalytic and photoelectrocatalytic treatments stand at the forefront of advanced plastic upcycling.Electrocatalytic or photoelectrocatalytic treatments involve chemical reactions that facilitate electron transfer through the electrode/electrolyte interface,driven by electrical or solar energy,respectively.These methods enable precise control of chemical reactions,harnessing potential,current density,or light to yield valuable chemical products.This review explores recent progress in plastic upcycling through electrocatalytic and photoelectrocatalytic pathways,offering promising solutions to the plastic waste crisis and advancing sustainability in the plastics industry.

关键词： Plastic upcycling Electrocatalytic reaction Photoelectrocatalytic reaction Value-added product

Wnt3a-induced ST2 decellularized matrix ornamented PCL scaffold for bone tissue engineering

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BIOCELL 2022年第9期46卷 2089-2099页

作者： XIAOFANG WANG xiaolin tu YUFEI MA JIE CHEN YANG SONG GUANGLIANG LIU Laboratory of Skeletal Development and Regeneration The Institute of Life ScienceChongqing Medical UniversityChongqing400016China Department of Anatomy and Cell Biology Indiana University School of MedicineIndianapolisIN46202USA Bioengineering Collage Chongqing UniversityChongqing400044China

The limited bioactivity of scaffold materials is an important factor that restricts the development of bone tissue engineering.Wnt3a activates the classicWnt/β-catenin signaling pathway which effects bone growth and development by the accumulation ofβ-catenin in the nucleus.In this study,we fabricated 3D printed PCL scaffold with Wnt3a-induced murine bone marrow-derived stromal cell line ST2 decellularized matrix(Wnt3a-ST2-dCM-PCL)and ST2 decellularized matrix(ST2-dCM-PCL)by freeze-thaw cycle and DNase decellularization treatment which efficiently decellularized>90%DNA while preserved most protein.Compared to ST2-dCM-PCL,Wnt3a-ST2-dCM-PCL significantly enhanced newly-seeded ST2 proliferation,osteogenic differentiation and upregulated osteogenic marker genes alkaline phosphatase(Alp),Runx2,type I collagen(Col 1)and osteocalcin(Ocn)mRNA expression.After 14 days of osteogenic induction,Wnt3a-ST2-dCM-PCL promoted ST2 mineralization.These results demonstrated that Wnt3a-induced ST2 decellularized matrix improve scaffold materials’osteoinductivity and osteoconductivity.

关键词： Wnt3a Decellularized matrix Bone marrow stromal cells Osteogenic differentiation Bone tissue engineering

Monophase-homointerface electrodes intrinsically stabilize high-voltage all-solid-state batteries

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Science China Chemistry 2024年第5期67卷 1729-1739页

作者： xiaolin Xiong Xianguo Ma Tianshi Lv Liquan Chen Liumin Suo Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of ScienceBeijing 100190China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China

The electrochemical stability and contact reliability of heterointerfaces between the solid electrolyte(SE) and electrode are critical for all-solid-state batteries(ASSBs), particularly much more challenging for high-voltage ASSBs, owing to the limited thermodynamically electrochemical window and mechanical inflexibility of SE, aggravating interfacial side reactions and contact failure. Considering all those issues originating from intrinsic heterogeneity in physicochemical features between the cathode material and SE, we are thinking about simplifying the heterointerfaces into a homointerface as a permanent cure to solve all electrochemical-mechanical interfacial failure. Herein, we propose monophase cathodes to construct thermodynamically stable all-in-one homointerfaces in ASS electrodes, removing unstable heterointerfaces by excluding SEs and intrinsically eliminating the Li chemical potential gap to avoid the formation of lithium-depleted space-charge layer and highly resistive mixed ion–electron conductor interphase. Our conception is successfully validated in the layered transition-metal oxide cathodes, which display outstanding stability no matter the MH-LiCoO_(2) cathode charging to 4.7 V or MH-Li_(1.2)Mn_(0.54)Ni_(0.13)-Co_(0.13)O_(2) cathode charging to 5.3 V. It is undeniable that our current version of above-illustrated MH-cathodes would bring out some new challenges for the practical application due to abandoning the SE. However, we believe our work also offers a brandnew direction to ultimately address the electrochemical–mechanical interfacial issues that would be promising for high-energy ASSBs with more discoveries of advanced monophase cathodes in the future.

关键词： monophase-homointerface electrode high-voltage all-solid-state batteries electrochemical-mechanical interfacial issue