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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

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)

Small molecules to target tau amyloid aggregation

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Neural Regeneration Research 2024年第3期19卷 509-511页

作者： Zoe Manglano-Artuñedo Samuel Peña-díaz Salvador Ventura Institut de Biotecnologia i Biomedicina Universitat Autònoma de BarcelonaBellaterraSpain

Protein aggregation has been linked with many neurodegenerative diseases,such as Alzheimer’s disease(Ad)or Parkinson’s *** belongs to a group of heterogeneous and incurable neurodegenerative disorders collectively known as *** comprise frontotemporal dementia,Pick’s disease,or corticobasal degeneration,among *** symptomatology varies with the specific tau protein variant involved and the affected brain region or cell ***,they share a common neuropathological hallmark-the formation of proteinaceous deposits named neurofibrillary *** tangles,primarily composed of aggregated tau(Zhang et al.,2022),disrupt normal neuronal functions,leading to cell death and cognitive decline.

关键词： tau degeneration aggregation

Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu d.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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

The effect of Common Cuckoo parasitism on the annual productivity of a host population

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Avian Research 2024年第2期15卷 287-291页

作者： Alfred Trnka department of Biology University of TrnavaPriemyselna 491843TrnavaSlovakia

Avian interspecific brood parasitism is an excellent system for studying coevolutionary processes in nature because brood parasites directly affect host reproductive *** research on avian brood parasitism has,therefore,focused primarily on specific host anti-parasite behaviours and parasite ***,the population-level consequences of brood parasitism for host species are poorly *** study investigated the effect of Common Cuckoo(Cuculus canorus)parasitism on the productivity of a local population of the Great Reed Warbler(Acrocephalus arundinaceus)host in south-western Slovakia.A total of 495 females nesting at the studied site successfully fledged 1321 of their own young and 63 young of the Common Cuckoo over the course of 15 years(2008-2022),and the annual rate of successful parasitism ranged from 18% to 44% over this *** predicted,higher rates of successful cuckoo parasitism significantly reduced the annual productivity of the local Great Reed Warbler population,and its contribution to decreased host reproductive success was at about the same rate as overall nest failure caused by predation and other environmental *** a heavily parasitized population was probably maintained by immigrants from other populations and density-dependent selection,which is also consistent with source-sink ***,further long-term studies monitoring parasitized populations are required to confirm these findings.

关键词： Acrocephalus arundinaceus Cuculus canorus Great Reed Warbler Population growth Reproductive success

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

Environmental determinants of social wasp diversity and assemblage structure in an Amazonian archipelagic landscape

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Zoological Research(diversity and Conservation) 2024年第2期1卷 121-129页

作者： Jose Victor Alves Ferreira Alexandre Somavilla Maíra Benchimol Ana Filipa Palmeirim Carlos APeres danielle Storck-Tonon Laboratório de Ecologia Aplicada àConservação Universidade Estadual de Santa CruzIlhéus 45662-900Brazil Instituto Nacional de Pesquisas da Amazônia Coordenação de BiodiversidadeManaus 69067-001Brazil CIBIO Centro de Investigação em Biodiversidade e Recursos GenéticosInBIO Laboratório AssociadoCampus de VairãoUniversidade do PortoVairão 4485-661Portugal BIOPOLIS Program in Genomics Biodiversity and Land PlanningCIBIOCampus de VairãoVairão 4485-661Portugal School of Environmental Sciences University of East AngliaNorwich NR47TJUK Instituto Juruá Manaus69057-060Brazil Programa de Pós-Graduação em Ambiente e Sistemas de Produção Agrícola(PPGASP) Universidade do Estado de Mato GrossoTangaráda Serra 78300-970Brazil

Hydropower development has become an important driver of habitat loss and fragmentation across lowland tropical *** ample evidence on the detrimental effects of insular habitat fragmentation on biodiversity,invertebrate taxa,that may be critical to ecosystem functioning,have been *** assessed the assemblage-level responses of social wasps to forest insularization induced by the Balbina Hydroelectric dam in Central Brazilian *** Malaise trapping,we captured wasps on 27 forest islands and three continuous *** constructed Generalized Linear Models and employed a model selection approach to examine the impact of local variables(fire severity(FIRE)and basal area of pioneer tree species(PIONEER))and landscape-scale variables(amount of habitat(COVER))on patterns of species richness,composition,and body size of wasps.A total of 374 individuals(29 species)were collected across all sampling *** was the main predictor of species richness,while PIONEER was the only variable that explained variation in community composition,with a negative effect on body *** results add evidence to the pervasive impacts of large hydroelectric dams on tropical forest biodiversity,and suggest that social wasps,among other invertebrates,can be used as bioindicators in infrastructure development projects.

关键词： Habitat amount hypothesis Habitat fragmentation Habitat loss Hydroelectric dams Invertebrates

Polyhydroxyurethanes from Biobased Monomers and CO_(2):A Bridge between Sustainable Chemistry and CO_(2) Utilization

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Chinese Journal of Chemistry 2024年第6期42卷 652-685页

作者： Tharinee Theerathanagorn Tanika Kessaratikoon Hafeez Ur Rehman Valerio d'Elia daniel Crespy VISTEC Advanced Laboratory for Environment-Related Inorganic and Organic Syntheses Department of Materials Science and EngineeringVidyasirimedhi Institute of Science and Technology21210Wang ChanRayongThailand department of Materials Science and Engineering Vidyasirimedhi Institute of Science and Technology21210Wang ChanRayongThailand

Polyhydroxyurethanes(PHUs)have received considerable attention in the last decade as potential alternatives to traditional phosgene-based polyurethanes(PUs).The development of suitable 5CC(five membered-ring cyclic carbonate)precursors bearing multiple carbonate moieties(multi-5CCs)is a key requisite for preparing PHUs by polyaddition reaction with bis-or *** sustainable PHUs from CO_(2)-based five-membered cyclic carbonates(5CCs)obtained from biobased epoxides is a valuable strategy to bridge CO_(2) utilization and the upcycling of renewable *** this context,while many multi-5CC monomers reported in the literature are oil-based,recent efforts have led to the development of a large variety of multifunctional 5CCs that are produced by the combination of CO_(2) and renewable resources such as fatty acids and vegetable oils,lignin,terpenes,and *** this work,recent crucial advances(2019—2023)on PHUs prepared from bis-and multi-5CCs produced from CO_(2) and(partially/potentially)biobased substrates are reviewed with respect to their synthesis,thermal and mechanical properties,and their recent,emerging applications.

关键词： CO_(2) conversion Polyhydroxyurethanes Cyclic carbonates Biobased compounds Fatty acids Functional polymers Monomers Renewable resources