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Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

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Engineering 2024年第2期33卷 108-120页

作者： Kang Yuan Yanjun Huang Shuo Yang Zewei Zhou yulei wang Dongpu Cao Hong Chen College of Electronic and Information Engineering Tongji UniversityShanghai 201804China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201210China School of Automotive Studies Tongji UniversityShanghai 201804China School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

关键词： Autonomous driving Decision-making Motion planning Deep reinforcement learning Model predictive control

Outage Probability Analysis for D2D-Enabled Heterogeneous Cellular Networks with Exclusion Zone:A Stochastic Geometry Approach

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工程与科学中的计算机建模(英文) 2024年第1期138卷 639-661页

作者： yulei wang Li Feng Shumin Yao Hong Liang Haoxu Shi Yuqiang Chen School of Computer Science and Engineering Macao University of Science and TechnologyTaipaMacaoChina Department of Broadband Communication Peng Cheng LaboratoryShenzhenChina School of Artificial Intelligence Dongguan PolytechnicDongguanChina

Interference management is one of the most important issues in the device-to-device(D2D)-enabled heterogeneous cellular networks(HetCNets)due to the coexistence of massive cellular and D2D devices in which D2D devices reuse the cellular spectrum.To alleviate the interference,an efficient interference management way is to set exclusion zones around the cellular receivers.In this paper,we adopt a stochastic geometry approach to analyze the outage probabilities of cellular and D2D users in the D2D-enabled HetCNets.The main difficulties contain three aspects:1)how to model the location randomness of base stations,cellular and D2D users in practical networks;2)how to capture the randomness and interrelation of cellular and D2D transmissions due to the existence of random exclusion zones;3)how to characterize the different types of interference and their impacts on the outage probabilities of cellular and D2D users.We then run extensive Monte-Carlo simulations which manifest that our theoretical model is very accurate.

关键词： Device-to-device(D2D)-enabled heterogeneous cellular networks(HetCNets) exclusion zone stochastic geometry(SG) Matérn hard-core process(MHCP)

Reinforced concrete-like Na_(3.5)V_(1.5)Mn_(0.5)(PO_(4))_(3)@graphene hybrids with hierarchical porosity as durable and high-rate sodium-ion battery cathode

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Chinese Chemical Letters 2024年第4期35卷 214-219页

作者： Tao Long Peng Chen Bin Feng Caili Yang Kairong wang yulei wang Can Chen Yaping wang Ruotong Li Meng Wu Minhuan Lan Wei Kong Pang Jian-Fang Wu Yuan-Li Ding College of Materials Science and Engineering Hunan UniversityChangsha 410082China Department of Physics Xiamen UniversityXiamen 361005China College of Chemistry and Chemical Engineering Central South UniversityChangsha 410083China Institute for Superconducting&Electronic Materials Faculty of EngineeringUniversity of WollongongWollongongNSW 2522Australia

Realizing high-rate capability and high-efficiency utilization of polyanionic cathode materials is of great importance for practical sodium-ion batteries(SIBs) since they usually suffer from extremely low electronic conductivity and limited ionic diffusion kinetics. Herein, taking Na_(3.5)V_(1.5)Mn_(0.5)(PO_(4))_(3)(NVMP) as an example, a reinforced concrete-like hierarchical and porous hybrid(NVMP@C@3DPG) built from 3D graphene(“rebar”) frameworks and in situ generated carbon coated NVMP(“concrete”) has been developed by a facile polymer assisted self-assembly and subsequent solid-state method. Such hybrids deliver superior rate capability(73.9 m Ah/g up to 20 C) and excellent cycling stability in a wide temperature range with a high specific capacity of 88.4 m Ah/g after 5000 cycles at 15 C at room temperature, and a high capacity retention of 97.1% after 500 cycles at 1 C(-20 ℃), and maintaining a high reversible capacity of 110.3 m Ah/g in full cell. This work offers a facile and efficient strategy to develop advanced polyanionic cathodes with high-efficiency utilization and 3D electron/ion transport systems.

关键词： Sodium-ion battery Polyanionic cathode Hybrid structure Interconnected structure Energy storage

Risk of interstitial lung disease with the use of programmed cell death 1 (PD-1) inhibitor compared with programmed cell death ligand 1 (PD-L1) inhibitor in patients with breast cancer: A systematic review and meta-analysis

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Cancer Pathogenesis and Therapy 2024年第2期2卷 91-102页

作者： Lijuan Guo Xiaoyi Lin Xin Lin yulei wang Jiali Lin Yi Zhang Xiangqing Chen Miao Chen Guochun Zhang Yifang Zhang Department of Breast Surgery Guangdong Provincial People's Hospital(Guangdong Academy of Medical Sciences)Southern Medical UniversityGuangzhouGuangdong 510000China Schol of Medicine South China University of TechnologyGuangzhouGuangdong 510000China Medical College Shantou UniversityShantouGuangdong 515000China The Second School of Clinical Medicine Southerm Medical UniversityGuangzhouGuangdong 510000China Department of Breast Cancer Guangdong Provincial People's Hospital's Nanhai HospitalFoshanGuangdong 528000China Department of Emergency Medicine Guangdong Provincial People's Hospitals Nanhai HospitalFoshanGuangdong 528000China

Background:Programmed cell death 1(PD-1)and programmed cell death ligand 1(PD-L1)inhibitors have become integral elements within the current landscape of breast cancer treatment modalities;however,they are associ-ated with interstitial lung disease(ILD),which is rare but potentially fatal.Notably,only a few studies have compared the difference in ILD incidence between PD-1 and PD-L1 inhibitors.Therefore,this study aimed to assess the discrepancies regarding ILD risk between the two immune checkpoint inhibitors.We also reported three cases of ILD after PD-1 inhibitor treatment.Methods:We comprehensively searched PubMed,EMBASE,and the Cochrane Library to identify clinical trials that investigated PD-1/PD-L1 inhibitor treatment for patients with breast cancer.Pooled overall estimates of incidence and risk ratio(RR)were calculated with a 95%confidence interval(CI),and a mirror group analysis was per-formed using eligible studies.Results:This meta-analysis included 29 studies with 4639 patients who received PD-1/PD-L1 inhibitor treatment.A higher ILD incidence was observed among 2508 patients treated with PD-1 inhibitors than among 2131 patients treated with PD-L1 inhibitors(0.05 vs.0.02).The mirror group analysis further revealed a higher ILD event risk in patients treated with PD-1 inhibitors than in those treated with PD-L1 inhibitors(RR=2.34,95%CI,1.13-4.82,P=0.02).Conclusion:Our findings suggest a greater risk of ILD with PD-1 inhibitors than with PD-L1 inhibitors.These findings are instrumental for clinicians in treatment deliberations,and the adoption of more structured diagnostic approaches and management protocols is necessary to mitigate the risk of ILD.

关键词： Programmed cell death 1 inhibitor Programmed cell death ligand 1 inhibitor Interstitial lung disease Breast cancer Immune-related adverse events

Femtosecond laser-induced periodic surface structures on hard and brittle materials

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Science China(Technological Sciences) 2024年第1期67卷 19-36页

作者： ZHAO GuoXu wang Gong LI YunFei wang Lei LIAN YuDong YU Yu ZHAO Hui wang yulei LU ZhiWei Center for Advanced Laser Technology Hebei University of TechnologyTianjin 300401China Hebei Key Laboratory of Advanced Laser Technology and Equipment Tianjin 300401China State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012China School of Information and Electrical Engineering Hebei University of EngineeringHandan 056038China

Hard and brittle materials have high hardness,excellent optical stability,chemical stability,and high thermal stability.Hence,they have huge application potential in various fields,such as optical components,substrate materials,and quantum information,especially under harsh conditions,such as high temperatures and high pressures.Femtosecond laser direct writing technology has greatly promoted the development of femtosecond laser-induced periodic surface structure(Fs-LIPSS or LIPSS by a femtosecond laser)applications of hard and brittle materials due to its high precision,controllability,and three-dimensional processing ability.Thus far,LIPSSs have been widely used in material surface treatment,optoelectronic devices,and micromechanics.However,a consensus has not been reached regarding the formation mechanism of LIPSSs on hard and brittle materials.In this paper,three widely accepted LIPSS formation mechanisms are introduced,and the characteristics and applications of LIPSSs on diamonds,silicon,silicon carbide,and fused silica surfaces in recent years are summarized.In addition,the application prospects and challenges of LIPSSs on hard and brittle materials by a femtosecond laser are discussed.

关键词： laser-induced periodic surface structures hard and brittle materials femtosecond laser

How Emotion Nurtures Mentality:The Influencing Mechanism of Social-Emotional Competency on the Mental Health of University Students

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International Journal of Mental Health Promotion 2024年第4期26卷 303-315页

作者： yulei Chen Zhaojun Chen Shichao wang Yang Hang Jianpeng Guo Institute of Education Xiamen UniversityXiamen361005China Shandong Social Science Education Base Yantai Nanshan UniversityLongkou265706China

Social-Emotional Competency(SEC),regarded as a critical psychological resource for individuals to adapt to social environments,is an effective protective factor for students’mental health,impacting their future success and well-being.Analyzing the impact of SEC on university students’mental health can offer valuable insights for nurturing talents with healthy psychological and physical development.Based on data from two large-scale surveys of Chinese university students,this study designed two comprehensive Multiple Mediation Models involving SEC,stress,coping strategies,and stress reaction to explore the pathway of emotion nurturing mentality.Study 1 utilized a parallel mediation model to examine the relationships between SEC,academic stress,interpersonal stress,and stress reactions.The results indicated that SEC negatively predicted academic stress,interpersonal stress,and stress reactions.Additionally,academic and interpersonal stress mediated the relationships between SEC and stress reactions in parallel.Extending these findings,Study 2 further investigated the role of coping strategies.By constructing a multiple-chain mediation model,it examined the predictive relationships among SEC,academic stress,interpersonal stress,three types of coping strategies,and stress reactions.The findings indicated that SEC negatively predicted stress,problemavoiding strategy,and stress reactions,while positively predicting problem-solving and assistant-seeking strategies.Furthermore,the two stress types and three coping strategies significantly mediated the relationship between SEC and stress reactions.This indicated that higher SEC was associated with reduced stress and more adaptive coping strategies and subsequently contributed to more favorable stress reactions.This research explored the impact of university students’SEC on mental health and its relational mechanisms,aiming to provide theoretical reference and practical insights for future efforts in cultivating SEC among university students to adjust academic and interper

关键词： Social-Emotional Competency academic stress interpersonal stress stress reaction coping strategies Multiple Mediation Model

Role of temperature in tribolayers in fretting wear ofγ-TiAl alloy

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Friction 2024年第5期12卷 939-953页

作者： yulei YANG Hongfei SHANG Huiping PEI Jimin XU Yi LIANG Minghui PAN School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing100084China Institute of Tribology Hefei University of TechnologyHefei230009China

The formation of tribolayers may play significant influences on fretting wear.At elevated temperature,the adhesion among wear debris and the increased diffusion rate facilitate the formation of tribolayers.However,the intensification of oxidation at elevated temperature and the low diffusion rate in oxides may play an adverse role.The present study aims to investigate the role of temperature in tribolayers in fretting wear using aγ-TiAl alloy.Scanning electron microscope,energy dispersive spectrometer,Raman spectrometer,transmission electron microscope and nanoindentation were utilized to investigate the wear debris,tribolayers,and wear scars.The fretting tests showed that,compared with that at room temperature(RT)and 350℃,significant reduction in wear rate and decrease in the fluctuation of friction coefficient occurred at 550 and 750℃.It was further revealed that when temperature raised from room temperature(RT)to 750℃,the oxidation of the wear debris increased slightly and the diffusion coefficients increased prominently,which facilities the formation of well tribo-sintered tribolayers.The well tribo-sintered tribolayers presented homogenous structure,nanocrystalline grains with excellent mechanical properties,and resulted in the improvement in the fretting wear resistance of theγ-TiAl alloy at 550 and 750℃.

关键词： tribolayer temperature fretting wear γ-TiAl alloy

Asymmetric Transfer Hydrogenation of Diaryl Ketones with Ethanol Catalyzed by Chiral NCP Pincer Iridium Complexes

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Chinese Journal of Chemistry 2022年第10期40卷 1131-1136页

作者： Lu Qian Xixia Tang yulei wang Guixia Liu Zheng Huang School of Chemistry and Material Sciences Hangzhou Institute of Advanced StudyUniversity of Chinese Academy of Sciences1 Sub-lane XiangshanHangzhouZhejiang 310024China The State Key Laboratory of Organometllic Chemistry Shanghai Institute of Organic ChemistryUniversity of Chinese Academy of SciencesChinese Academy of Sciences345 Lingling RoadShanghai 200032China School of Physical Science and Technology Shanghai Tech University100 Haike RoadShanghai 201210China Chang-Kung Chuang Institute East China Normal UniversityShanghai 200062China

The use of a chiral(NCP)Ir complex as the precatalyst allowed for the discovery of asymmetric transfer hydrogenation of diaryl ketones with ethanol as the hydrogen source and solvent.This reaction was applicable to various ortho-substituted diaryl keontes,affording benzhydrols in good yields and enantioselectivities.This protocol could be carried out in a gram scale under mild reaction conditions.The utility of the catalytic system was highlighted by the synthesis of the key precursor of(S)-neobenodine.

关键词： Asymmetric transfer hydrogenation Benzhydrols Diaryl ketones Ethanol Iridium

Output characteristics of high-power stimulated Brillouin scattering pulse compression enhanced by thermal effects based on HT270

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High Power Laser Science and Engineering 2022年第4期10卷 14-25页

作者： Hongli wang Seongwoo Cha Hong Jin Kong yulei wang Zhiwei Lv School of Information and Communication Engineering North University of ChinaTaiyuan 030051China Department of Physics Korea Advanced Institute of Science and TechnologyDaejeon 34141Republic of Korea School of Electronics and Information Engineering Hebei University of TechnologyTianjin 30040lChina

Thermal effects are typically considered as obstacles to high-repetition-rate stimulated Brillouin scattering(SBS)pulse compression.In this paper,a novel method is proposed for improving the SBS output characteristics by exploiting thermal effects on the liquid medium.Using HT270,the SBS output parameters with the medium purification and rotating off-centered lens methods are studied at different repetition rates.The results indicate that these two methods can alleviate thermal effects and improve the energy efficiency,but the rotating method reduces the energy stability because of the aggravated optical breakdown at the kilohertz-level repetition rate.For a 35-mJ pump energy,the energy efficiency at 2 kHz without the rotating method is 30%higher than that at 100 Hz and 70%higher than that at 500 Hz.The enhancement of the SBS output characteristics by thermal effects is demonstrated theoretically and experimentally,and 2-kHz high-power SBS pulsecompression is achieved with HT270.

关键词： high-repetition-rate laser stimulated Brillouin scattering pulse compression thermal effects