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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

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Engineering 2024年第2期33卷 133-145页

作者： Jian Wu Yang Yan yulong liu Yahui liu School of Mechanical and Automotive Engineering Liaocheng UniversityLiaocheng 252000China 2 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios

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Classification of Sailboat Tell Tail Based on Deep Learning

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Journal of Ocean University of China 2024年第3期23卷 710-720页

作者： CHANG Xiaofeng YU Jintao GAO Ying DING Hongchen liu yulong YU Huaming Department of Physical Education Ocean University of ChinaQingdao 266100China College of Big Data Qingdao University of Science and TechnologyQingdao 266061China College of Oceanic and Atmospheric Sciences Ocean University of ChinaQingdao 266100China

The tell tail is usually placed on the triangular sail to display the running state of the air flow on the sail surface.It is of great significance to make accurate judgement on the drift of the tell tail of the sailboat during sailing for the best sailing effect.Normally it is difficult for sailors to keep an eye for a long time on the tell sail for accurate judging its changes,affected by strong sunlight and visual fatigue.In this case,we adopt computer vision technology in hope of helping the sailors judge the changes of the tell tail in ease with ease.This paper proposes for the first time a method to classify sailboat tell tails based on deep learning and an expert guidance system,supported by a sailboat tell tail classification data set on the expert guidance system of interpreting the tell tails states in different sea wind conditions,including the feature extraction performance.Considering the expression capabilities that vary with the computational features in different visual tasks,the paper focuses on five tell tail computing features,which are recoded by an automatic encoder and classified by a SVM classifier.All experimental samples were randomly divided into five groups,and four groups were selected from each group as the training set to train the classifier.The remaining one group was used as the test set for testing.The highest resolution value of the ResNet network was 80.26%.To achieve better operational results on the basis of deep computing features obtained through the ResNet network in the experiments.The method can be used to assist the sailors in making better judgement about the tell tail changes during sailing.

关键词： tell tail sailboat classification deep learning

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New Record Ocean Temperatures and Related Climate Indicators in 2023

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Advances in Atmospheric Sciences 2024年第6期41卷 1068-1082页

作者： Lijing CHENG John ABRAHAM Kevin E.TRENBERTH Tim BOYER Michael EMANN Jiang ZHU Fan WANG Fujiang YU Ricardo LOCARNINI John FASULLO Fei ZHENG Yuanlong LI Bin ZHANG Liying WAN Xingrong CHEN Dakui WANG Licheng FENG Xiangzhou SONG yulong liu Franco RESEGHETTI Simona SIMONCELLI Viktor GOURETSKI Gengxin CHEN Alexey MISHONOV Jim REAGAN Karina VON SCHUCKMANN Yuying PAN Zhetao TAN Yujing ZHU Wangxu WEI Guancheng LI Qiuping REN Lijuan CAO Yayang LU International Center for Climate and Environment Sciences Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China University of St.Thomas School of EngineeringMinnesota 55105USA NSF National Center for Atmospheric Research BoulderColorado 80307USA University of Auckland Auckland 1010New Zealand National Oceanic and Atmospheric Administration National Centers for Environmental InformationSilver SpringMaryland 20910USA Department of Earth and Environmental Science University of PennsylvaniaPhiladelphiaPennsylvania 19104USA Institute of Oceanology Chinese Academy of SciencesQingdao 266071China National Marine Environmental Forecasting Center Ministry of Natural Resources of ChinaBeijing 100081China Oceanographic Data Center Chinese Academy of SciencesQingdao 266071China College of Oceanography Hohai UniversityNanjing 210098China National Marine Data and Information Service Tianjin 300171China Italian National Agency for New Technologies Energy and Sustainable Economic DevelopmentS.Teresa Research CenterLerici 19032Italy Istituto Nazionale di Geofisica e Vulcanologia Sede di BolognaBologna 40128Italy South China Sea Institute of Oceanology Chinese Academy of SciencesGuangzhou 510301China ESSIC/CISESS-MD University of MarylandCollege ParkMD20740USA Mercator Ocean International Toulouse 31400France Eco-Environmental Monitoring and Research Center Pearl River Valley and South China Sea Ecology and Environment AdministrationMinistry of Ecology and EnvironmentPRCGuangzhou 510611China National Meteorological Information Center China Meteorological AdministrationBeijing 100081China International Research Center of Big Data for Sustainable Development Goals Beijing 100094China

The global physical and biogeochemical environment has been substantially altered in response to increased atmospheric greenhouse gases from human activities.In 2023,the sea surface temperature(SST)and upper 2000 m ocean heat content(OHC)reached record highs.The 0–2000 m OHC in 2023 exceeded that of 2022 by 15±10 ZJ(1 Zetta Joules=1021 Joules)(updated IAP/CAS data);9±5 ZJ(NCEI/NOAA data).The Tropical Atlantic Ocean,the Mediterranean Sea,and southern oceans recorded their highest OHC observed since the 1950s.Associated with the onset of a strong El Niño,the global SST reached its record high in 2023 with an annual mean of~0.23℃ higher than 2022 and an astounding>0.3℃ above 2022 values for the second half of 2023.The density stratification and spatial temperature inhomogeneity indexes reached their highest values in 2023.

关键词： ocean heat content salinity stratification global warming climate

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Effects of fish meal replacement with Chlorella meal on growth performance,pigmentation,and liver health of largemouth bass(Micropterus salmoides)

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Animal Nutrition 2022年第3期10卷 26-40页

作者： Longwei Xi Qisheng Lu yulong liu Jingzhi Su Wen Chen yulong Gong Dong Han Yunxia Yang Zhimin Zhang Junyan Jin Haokun liu Xiaoming Zhu Shouqi Xie State Key Laboratory of Freshwater Ecology and Biotechnology Institute of HydrobiologyChinese Academy of SciencesWuhan 430072China College of Advanced Agricultural Sciences University of Chinese Academy of SciencesBeijing 100049China Hubei Engineering Research Center for Aquatic Animal Nutrition and Feed Wuhan 430072China The Innovative Academy of Seed Design Chinese Academy of SciencesWuhan 430072China

Chlorella meal is a potential protein source for aquafeeds.However,the physiological response of carnivorous fish fed Chlorella meal remains elusive.This study evaluated the effects of replacing dietary fish meal with Chlorella meal on growth performance,pigmentation,and liver health in largemouth bass.Five diets were formulated to replace dietary fish meal of 0%(C0,control),25%(C25),50%(C50),75%(C75),and 100%(C100)with Chlorella meal,respectively.Total 300 fish(17.6±0.03 g)were randomly assigned to 15 tanks(3 tanks/group).Fish were fed the experimental diet twice daily for 8 weeks.The increased dietary Chlorella meal quadratically influenced the final body weight(FBW),weight gain rate(WGR),specific growth rate(SGR),and feed intake(FI),which were significantly lower in the C100 group than in the other groups(P<0.05).The feed conversion ratio(FCR)increased linearly or quadratically with dietary Chlorella meal.Dietary Chlorella meal linearly or quadratically increased the lutein content of plasma,liver,and dorsal muscle of largemouth bass(P<0.05).Compared to the C0 group,all supplemented Chlorella meal groups significantly improved the yellowness(b*)of the dorsal body(1.5 to 2.0 fold),abdominal body(1.5 to 1.8 fold),and dorsal muscle(3.8 to 5.4 fold)of largemouth bass(P<0.05).In addition,compared to the C0 group,the liver vacuolation area of fish was significantly increased in the C75 and C100 groups(P<0.05).Transcriptional levels of apoptosis-related genes of b-cell lymphoma-2(bcl2),caspase-9-like(casp9),and caspase-3a(casp3)were markedly upregulated(0.9 to 1.6 fold)in the C100 group compared to the C0 group(P<0.05).Based on the quadratic regression analysis between FBW,WGR,or SGR and dietary Chlorella meal level,largemouth bass had the best growth when replacing 31.7%to 32.6%of fish meal with 15.03%to 15.43%dietary Chlorella meal.The present results indicated that dietary supplementation with Chlorella meal(11.85%to 47.45%)significantly enhanced the pigmentation;however,total replacement of fish meal(40%)with Chl

关键词： Chlorella meal Growth Liver health Micropterus salmoides Pigmentation

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20μm Li metal modified with phosphate rich polymer-inorganic interphase applied in commercial carbonate electrolyte

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Journal of Energy Chemistry 2023年第1期76卷 233-238,I0006页

作者： Lin Lin Wei Lu Feipeng Zhao Siru Chen Jia liu Haiming Xie yulong liu School of Chemistry Northeast Normal UniversityChangchun 130024JilinChina Key Laboratory of Functional Materials Physics and Chemistry Ministry of Education Jilin Normal UniversityChangchun 130103JilinChina College of Information Technology Jilin Normal UniversitySiping 13600oJilinChina Department of Mechanical and Materials Engineering Western UniversityLondon N6A 3K7Canada

Li metal batteries are supposed to reach real application in order to fulfill the high-energy density requirement of energy storage system.Unfortunately,the commonly used carbonate electrolyte react with pristine Li,which result in short lifetime of lithium metal battery.To alleviate the side reactions of Li metal with liquid electrolyte,here we propose a phosphate rich polymer-inorganic layer as an interphase.Due to the inert properties of lithium phosphate derived from LiPO_(2)F_(2)and poly-ether,the side-reaction of carbonate solvent are prevented.As a result,lithium metal anode sustains for 800 cycles in symmetrical cell test under 1 m A cm^(-2).Even under strict condition(20μm Li,capacity ratio N/P=2.3,electrolyte/active material=3μL mg^(-1)),coin cell test still runs stable for 150 cycles with high Coulombic efficiency.Furthermore,both LiFePO_(4)and LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2)pouch cell under 5μL m A^(-1)h^(-1)condition also exhibit good stability at 0.5 C and 2 C rate.With this approach,high-energy and high-power Li metal batteries are approaching to real application in the near future.

关键词： Lithium metal anode Lithium phosphate Ultra-thin Lithium Solid electrolyte interphase

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Unveiling and Alleviating Chemical“Crosstalk”of Succinonitrile Molecules in Hierarchical Electrolyte for High-Voltage Solid-State Lithium Metal Batteries

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Energy & Environmental Materials 2023年第3期6卷 107-116页

作者： Fang Fu Ying liu Chen Sun Lina Cong yulong liu Liqun Sun Haiming Xie National&Local United Engineering Laboratory for Power Battery Department of ChemistryNortheast Normal UniversityChangchun 130024China

Succinonitrile-based plastic crystal electrolytes have emerged for high-energy-density Li metal batteries in terms of their superior ambient ionic conductivity,low flammability,and benign compatibility with high voltage cathode,but are hampered by inherent instabilities toward Li anodes.Constructing hierarchical solid electrolytes structure is a fundamental approach to protect Li anode from succinonitrile attacks,with succinonitrile-based oxidation-resistance layer facing high voltage cathode and reduction-tolerant layer contacting Li anode.However,free succinonitrile molecules in succinonitrile-based electrolyte layer can diffuse across the electrolyte/electrolyte interface and further reach Li anode surface during the battery cycle.This chemical“crosstalk”cause reduction-tolerant electrolyte layer to fail to protect the Li anode from the attacks of free succinonitrile molecules.Nano Li_(6.4)La_(3)Zr_(1.4)Ta_(0.6)O_(12)is introduced creatively into succinonitrile-based electrolyte layer.By taking advantage of the complexation between La atoms in Li_(6.4)La_(3)Zr_(1.4)Ta_(0.6)O_(12)and N atoms in succinonitrile,the free succinonitrile molecules are successfully immobilized in succinonitrile-based electrolyte layer.The resulting low resistance and highly durable solid electrolyte interphase and cathode electrolyte interphase endow NCM622||Li batteries with remarkable cycle stability.Our research provides a new idea for the real application of plastic crystal electrolytes in high voltage solid-state lithium metal batteries.

关键词： hierarchical solid electrolytes high voltage interface lithium metal plastic crystal

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Parity-dependent unidirectional and chiral photon transfer in reversed-dissipation cavity optomechanics

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Fundamental Research 2023年第1期3卷 21-29页

作者： Zhen Chen Qichun liu Jingwei Zhou Peng Zhao Haifeng Yu Tiefu Li yulong liu Beijing Academy of Quantum Information Sciences Beijing 100193China CAS Key Laboratory of Microscale Magnetic Resonance University of Science and Technology of ChinaHefei 230026China School of Integrated Circuits and Frontier Science Center for Quantum Information Tsinghua UniversityBeijing 100084China

Nonreciprocal elements,such as isolators and circulators,play an important role in classical and quantum information processing.Recently,strong nonreciprocal effects have been experimentally demonstrated in cavity optomechanical systems.In these approaches,the bandwidth of the nonreciprocal photon transmission is limited by the mechanical resonator linewidth,which is arguably much smaller than the linewidths of the cavity modes in most electromechanical or optomechanical devices.In this work,we demonstrate broadband nonreciprocal photon transmission in the reversed-dissipation regime,where the mechanical mode with a large decay rate can be adiabatically eliminated while mediating anti-PT-symmetric dissipative coupling with two kinds of phase factors.Adjusting the relative phases allows the observation of periodic Riemann-sheet structures with distributed exceptional points(Eps).At the Eps,destructive quantum interference breaks both theT-andP-inversion symmetry,resulting in unidirectional and chiral photon transmissions.In the reversed-dissipation regime,the nonreciprocal bandwidth is no longer limited by the mechanical mode linewidth but is improved to the linewidth of the cavity resonance.Furthermore,we find that the direction of the unidirectional and chiral energy transfer could be reversed by changing the parity of the Eps.Extending non-Hermitian couplings to a three-cavity model,the broken anti-PT-symmetry allows us to observe high-order Eps,at which a parity-dependent chiral circulator is demonstrated.The driving-phase controlled periodical Riemann sheets allow observation of the parity-dependent unidirectional and chiral energy transfer and thus provide a useful cell for building up nonreciprocal array and realizing topological,e.g.,isolators,circulators,or amplifiers.

关键词： Dissipation-reversed cavity optomechanics Nonreciprocal photon transfer Odd-even exceptional points Anti-PT symmetry Chiral circulators

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Anchoring polysulfide with artificial solid electrolyte interphase for dendrite-free and low N/P ratio Li-S batteries

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Journal of Energy Chemistry 2023年第5期80卷 32-39,I0002页

作者： Wei Lu Zhao Wang Guiru Sun Shumin Zhang Lina Cong Lin Lin Siru Chen Jia liu Haiming Xie yulong liu Key Laboratory of Functional Materials Physics and Chemistry Ministry of Education Jilin Normal UniversityChangchun 130103jilinChina College of Information Technology Jilin Engineering Research Center of Optoelectronic Materials and DevicesJilin Normal UniversitySiping 136000JilinChina Department of Mechanical and Materials Engineering Western UniversityChangchun 130024JilinChina School of Chemistry Northeast Normal UniversityLondon N6A 3K7Canada

Lithium sulfur batteries are regarded as a promising candidate for high-energy-density energy storage devices.However,the lithium metal anode in lithium-sulfur batteries encounters the problem of lithium dendrites and lithium metal consumption caused by polysulfide corrosion.Herein we design a dualfunction PMMA/PPC/LiNO3composite as an artificial solid electrolyte interphase(PMCN-SEI)to protect Li metal anode.This SEI offers multiple sites of C=O for polysulfide anchoring to constrain corrosion of Li metal anode.The lithiated polymer group and Li3N in PMCN-SEI can homogenize lithium-ion deposition behavior to achieve a dendrite-free anode.As a result,the PMCN-SEI protected Li metal anode enables the Li||Li symmetric batteries to maintain over 300 cycles(1300 h)at a capacity of 5 m Ah cm^(-2),corresponding to a cumulative capacity of 3.25 Ah cm^(-2).Moreover,Li-S batteries assembled with 20μm of Li metal anode(N/P=1.67)still deliver an initial capacity of 1166 m A h g-1at 0.5C.Hence,introducing polycarbonate polymer/inorganic composite SEI on Li provides a new solution for achieving the high energy density of Li-S batteries.

关键词： Thin Limetal anode Solid electrolyte interphase(SEI) Lithium-sulfur(Li-S)batteries Polymer/inorganic composite Polycarbonate

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In-situ polymerized carbonate induced by Li-Ga alloy as novel artificial interphase on Li metal anode

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中国化学快报:英文版 2023年第9期34卷 294-299页

作者： Ziping Wang Shuyuan Xie Xuejie Gao Xinyang Chen Lina Cong Jun liu Haiming Xie Chuang Yu yulong liu School of Chemistry Northeast Normal UniversityChangchun 130024China Center for Lignocellulosic Chemistry and Biomaterials College of Light Industry and Chemical EngineeringDalian Polytechnic UniversityDalian 116034China State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Li metal is considered an ideal anode material because of its high theoretical capacity and low electrode potential.However,the practical usage of Li metal as an anode is severely limited because of inevitable parasitic side reactions with electrolyte and dendrites formation.At present,single-component artificial solid electrolyte interphase cannot simultaneously meet the multiple functions of promoting ion conduction,guiding lithium ion deposition,inhibiting dendrite growth,and reducing interface side reactions.Therefore,multi-component design on Li metal surface is widely investigated to achieve long-term cycling.Herein,we report a Li_(2)Ga-carbonate polymer interphase layer to solve volume changes,Li dendrites formation and side-reactions.As a result,the Li symmetric cell can be stabilized at 3.0 m A/cm^(2)in carbonate electrolyte with limited volume of 20μL.Coupled with 13.6 mg/cm^(2)(loading of 2 mAh/cm^(2))LiFePO_(4)cathode,discharge capacity retains at 90%for over 150 cycles under limited electrolyte conditions.With such an alloy-polymer interphase layer,higher energy density Li metal batteries become prominent in the near future.

关键词： Lithium metal Alloy Polymer film High energy density Self-healing

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唐代画家“于舍人”及其绘事考

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美术 2024年第6期 100-106页

作者：刘玉龙陕西师范大学美术学院

唐代诗人王季友著有《观于舍人壁画山水》诗一首,然诗题中“于舍人”为谁,一直存在争议。清代王原祁等人纂辑《佩文斋书画谱》,误将王季友诗题中“于舍人”和于邵视为两人,彭蕴灿《历代画史汇传》及20世纪以来孙濌公、朱铸禹、齐师白、... 详细信息

唐代诗人王季友著有《观于舍人壁画山水》诗一首,然诗题中“于舍人”为谁,一直存在争议。清代王原祁等人纂辑《佩文斋书画谱》,误将王季友诗题中“于舍人”和于邵视为两人,彭蕴灿《历代画史汇传》及20世纪以来孙濌公、朱铸禹、齐师白、俞剑华等人编著画家人名辞典,皆接踵其说。今考,“于舍人”即于邵,曾以他官知制诰,自言“忝西掖舍人”,后职掌中书而居“文士之极”,因两《唐书》未明确著录,故后世多不察其曾官迁中书舍人,致使《佩文斋书画谱》之误延续至今。

关键词：于舍人王季友绘事壁画山水

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