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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 *** study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven ***,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as ***,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning *** constraints are defined according to the vehicle’s physical limit to meet the driving task ***,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 *** 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

Environmental characteristics of trace metals in seawater from the Ninety East Ridge in the Indian Ocean

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Journal of Oceanology and Limnology 2024年第4期42卷 1119-1129页

作者： Jingxi LI Di ZHANG Fenghua JIANG hong CHEN Wei cao Chengjun SUN Key Laboratory of Marine Eco-Environmental Science and Technology First Institute of OceanographyMinistry of Natural ResourcesQingdao 266061China College of Safety and Environmental Engineering Shandong University of Science and TechnologyQingdao 266590China Laoshan Laboratory of Marine Science and Technology Laboratory of Marine Drugs and Biological ProductsQingdao 266071China

The Ninety East Ridge in the Indian Ocean has complex and unique *** concentrations and distribution characteristics of 10 trace metals(V,Cr,Mn,Fe,Co,Ni,Cu,Cd,Pb,and U)in seawater from the Ninety East Ridge in the Indian Ocean were *** show that the average concentrations of different trace metals in all the collected seawater samples were 1.134μg/L for V,0.158μg/L for Cr,0.489μg/L for Mn,0.427μg/L for Fe,0.011μg/L for Co,0.395μg/L for Ni,0.403μg/L for Cu,0.097μg/L for Cd,0.139μg/L for Pb,and 3.470μg/L for *** in the horizontal and vertical distributions of all measured trace metals were revealed,and the occurrence of high concentrations was *** addition,the significant differences in the concentration distribution of different trace metals in seawater on both sides of the Ninety East Ridge present regional segmentation in the area for various trace metals in deep sea *** study provided basic data for future investigations on the environmental and ecological impact of trace metals in the Indian Ocean and the potential water mass transport mechanism.

关键词： trace metal environmental characteristic Ninety East Ridge seawater Indian Ocean

Surface-induced Microstructure and Performance Changes in P3HT Ultrathin Films

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Chinese Journal of Polymer Science 2024年第6期42卷 805-814页

作者： hong-Tao Shan Jia-Xin He Bing-Yan Zhu Xue-Ting cao Ying-Ying Yan Jian-Jun Zhou hong Huo Beijing Key Laboratory of Energy Conversion and Storage Materials College of ChemistryBeijing Normal UniversityBeijing100875China

In this work,poly(3-hexylthiophene)(P3HT)ultrathin films(P3HT-T)were prepared by spin-coating a dilute P3HT solution(in a toluene:o-dichlorobenzene(Tol:ODCB)blend with a volume ratio of 80:20)with ultrasonication and the addition of the nucleating agent bicycle[2.2.1]heptane-2,3-dicarboxylic acid disodium salt(HPN-68L)on glass,Si wafers and indium tin oxide(ITO)*** electrical and mechanical properties of the P3HT-T ultrathin films were investigated,and it was found that the conductivity and crack onset strain(COS)were simultaneously improved in comparison with those of the corresponding pristine P3HT film(P3HT-0,without ultrasonication and nucleating agent)on the same substrate,regardless of what substrate was ***,the conductivity of P3HT-T ultrathin films on different substrates was similar(varying from 3.7 S·cm^(-1)to 4.4 S·cm^(-1)),yet the COS increased from 97%to 138%by varying the substrate from a Si wafer to *** grazing-incidence wide-angle X-ray diffraction(GIXRD),UV-visible(UV-Vis)spectroscopy and atomic force microscopy(AFM),we found that the solid order and crystallinity of the P3HT-T ultrathin film on the Si wafer are highest,followed by those on glass,and much lower on ***,the surface energy and roughness of three substrates were investigated,and it was found that the polar component of the surface energyγp plays a critical role in determining the crystalline microstructures of P3HT ultrathin films on different *** work indicates that the P3HT ultrathin film can obviously improve the stretchability and simultaneously retain similar electrical performance when a suitable substrate is *** findings offer a new direction for research on stretchable CP ultrathin films to facilitate future practical applications.

关键词： P3HT ultrathin film Substrate Crystalline microstructures Polar component of the surface energy Electrical and stretchable performances

Enhanced hydrogen evolution reaction in FePt film with remanence due to decrease in domain walls

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Rare Metals 2024年第3期43卷 1108-1115页

作者： hong hong Dong-Xue Liu Jun Li Jun-Ming Li Li-Qian Wu Bo Yang Qing-Qi cao Dun-Hui Wang National Laboratory of Solid State Microstructures Collaborative Innovation Center of Advanced MicrostructuresJiangsu Provincial Key Laboratory for NanotechnologySchool of PhysicsNanjing UniversityNanjing210093China Hangzhou Dianzi University Hangzhou310018China Key Laboratory for Anisotropy and Texture of Materials(Ministry of Education) School of Material Science and EngineeringNortheastern UniversityShenyang110819China

As an effective strategy to improve the properties of electrocatalysts,magnetic field-assisted electrocatalytic water splitting has attracted increasing attention ***,the corresponding enhancements mostly depend on the exertion of an external magnetic field during electrochemical reactions,which results in a high cost of industrial production,and makes the magnetic field manipulation of electrocatalysis become a challenging *** this work,instead of the external magnetic field,a bias magnetic field is self-supplied by the remanence state of a ferromagnetic electrocatalyst of *** to the assistance of this bias magnetic field,the FePt film in the remanence state shows the overpotential of 229 mV during hydrogen evolution reaction,which is much lower than that in its demagnetization state(283 mV).Our findings demonstrate that the remanence in ferromagnetic electrocatalysts can improve the catalytic performance,which is attributed to the decrease in domain walls.

关键词： Remanence Magnetic domains Electrocatalysis Hydrogen evolution reaction(HER)

Prediction of bedload transport inside vegetation canopies with natural morphology

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Journal of Hydrodynamics 2024年第3期36卷 556-569页

作者： Li He Yu-qi Shan Chao Liu Hui cao Xing-nian Liu Yakun guo State Key Laboratory of Hydraulics and Mountain River Engineering Sichuan UniversityChengdu610065China Institute for Disaster Management and Reconstruction Sichuan UniversityChengdu610065China China Yangtze Power Co. Ltd.Yichang443002China Hubei Key Laboratory of Intelligent Yangtze and Hydroelectric Science Yichang443002China Faculty of Engineering and Informatics University of BradfordBradfordUK

Due to vegetation drag and vegetation-generated turbulence,bedload transport in vegetated channels is more complicated than that in nonvegetated *** is challenging to obtain accurate predictions of bedload transport in vegetated *** studies generally used rigid circular cylinders to simulate vegetation,and the impact of plant morphology on bedload transport was typically ignored;these methods deviate from natural scenarios,resulting in prediction errors in transport rates of more than an order of *** study measured bedload transport rates inside ***,*** and *** canopies and in arrays of rigid cylinders for *** impact of plant morphology on bedload transport in vegetated channels was *** the canopies of natural morphology,the primary factor driving bedload transport is the near-bed turbulent kinetic energy(TKE),which consists of both bed-generated and vegetation-generated turbulence.A method was proposed to predict the near-bed TKE inside canopies with natural *** the same solid volume fraction of plants,the transport rate inside canopies with a natural morphology is greater than or equal to that within an array of rigid cylinders,depending on the plant *** finding indicates that plant morphology has a significant impact on transport rates in vegetated regions and cannot be ignored,which is typical in *** classic bedload transport equations(the Meyer-Peter-Müller,Einstein,Engelund and Dou equations),which are suitable for bare channels(no vegetation),were modified in terms of the near-bed *** predicted near-bed TKE was inserted into these four equations to predict the transport rate in canopies with natural morphology.A comparison of the predictions indicated that the Meyer-Peter-Müller equation had the highest accuracy in predicting the transport rate in vegetated landscapes.

关键词： Vegetated landscapes turbulent kinetic energy(TKE) bedload transport plant morphology predictive methods

Review of Electrical and Electronic Architectures for Autonomous Vehicles:Topologies,Networking and Simulators

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Automotive Innovation 2024年第1期7卷 82-101页

作者： Wenwei Wang Kaidi guo Wanke cao Hailong Zhu Jinrui Nan Lei Yu National Engineering Research Center of Electric Vehicles Beijing Institute of Technology(BIT)Beijing 100081China Shenzhen Automotive Research Institute Beijing Institute of Technology(BIT)Shenzhen 518000China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and TelecommunicationBeijing 100876China Purple Mountain Laboratories Nanjing 211111China Beijing Kawen New Energy Vehicle Co. LTDBeijing 102209China

With the rapid development of autonomous vehicles,more and more functions and computing requirements have led to the continuous centralization in the topology of electrical and electronic(E/E)*** certain Tier1 suppliers,such as BOSCH,have previously proposed a serial roadmap for E/E architecture development,implemented since 2015 with significant contributions to the automotive industry,lingering misconceptions and queries persist in actual engineering ***,there are concerns regarding the perspective of zone-oriented E/E architectures,characterized by zonal concentration,as successors to domain-oriented E/E architectures,known for functional *** these misconceptions and queries,this study introduces a novel parallel roadmap for E/E architecture development,concurrently evaluating domain-oriented and zone-oriented ***,the study explores hybrid E/E architectures,amalgamating features from both *** align with the evolution of E/E architectures,networking technologies must adapt *** networking mechanisms pivotal in E/E architecture design are comprehensively ***,the study delves into modeling and verification tools pertinent to E/E architecture *** conclusion,the paper outlines existing challenges and unresolved queries in this domain.

关键词： Autonomous vehicles Electrical and electronic architectures Topology Networking Domain-oriented Zone-oriented

From 0D to 3D:Hierarchical structured high-performance free-standing silicon anodes based on binder-induced topological network architecture

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Journal of Energy Chemistry 2024年第6期93卷 16-23,I0002页

作者： Yihong Tong Ruicheng cao Guanghui Xu Yifeng Xia hongyuan Xu hong Jin Hui Xu Xi’an Jiaotong University Suzhou Academy Suzhou 215123JiangsuChina Nano Science and Technology Institute University of Science and Technology of ChinaSuzhou 215123JiangsuChina

Free-standing silicon anodes with high proportion of active materials have aroused great attention;however,the mechanical stability and electrochemical performance are severely ***,to resolve the appeal issues,a free-standing anode with a"corrugated paper"shape on micro-scale and a topological crosslinking network on the submicron and nano-scale is ***,an integrated three-dimensional electrode structure is constructed based on robust carbon nanotubes network with firmly anchored SiNPs via forming interlocking *** which,the hierarchical interlocking structure is achieved by directional induction of the binder,which ensures well integration during cycling so that significantly enhances mechanical stability as well as electronic and ionic conductivity of *** from it,this anode exhibits outsta nding performance under harsh service conditions including high Si loading,ultrahigh areal capacity(33.2 mA h cm^(-2)),and high/low temperatures(-15-60℃),which significantly extends its practical ***,the optimization mechanism of this electrode is explored to verify the crack-healing and structure-integration maintaining along cycling via a unique self-stabilization ***,from both the fundamental and engineering views,this strategy offers a promising path to produce high-performance free-standing electrodes for flexible device applications especially facing volume effect challenges.

关键词： Topological network Self-stabilization Flexibility Free-standing Silicon anode

GLI1 and PTTG1 expression in colorectal carcinoma patients undergoing radical surgery and their correlation with lymph node metastasis

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World Journal of Gastrointestinal Surgery 2024年第5期16卷 1328-1335页

作者： Feng cao Yang-Yan Chen hong-Cheng Wang Department of Care Section Beijing Geriatric HospitalBeijing 100095China Research Department Shanghai Zhangjiang Institute of Medical InnovationShanghai 200000China Care Department Beijing Geriatric HospitalBeijing 100095China

BACKGROUND Few studies have investigated the expression of GLI1 and PTTG1 in patients undergoing radical surgery for colorectal carcinoma(CRC)and their association with lymph node metastasis(LNM).Therefore,more relevant studies and analyses need to be *** To explore GLI1 and PTTG1 expression in patients undergoing radical surgery for CRC and their correlation with *** This study selected 103 patients with CRC admitted to our hospital between April 2020 and April *** specimens of CRC and adjacent tissues were collected to determine the positive rates and expression levels of GLI1 and *** correlation of the two genes with patients’clinicopathological data(e.g.,LNM)was explored,and differences in GLI1 and PTTG1 expression between patients with LNM and those without were *** operating characteristic(ROC)curves were plotted to evaluate the predictive potential of the two genes for LNM in patients with *** Significantly higher positive rates and expression levels of GLI1 and PTTG1 wereobserved in CRC tissue samples compared with adjacent ***1 and PTTG1 were strongly linked to LNM in patients undergoing radical surgery for CRC,with higher GLI1 and PTTG1 levels found in patients with LNM than in those *** areas under the ROC curve of GLI1 and PTTG1 in assessing LNM in patients with CRC were 0.824 and 0.811,*** GLI1 and PTTG1 expression was upregulated in patients undergoing radical surgery for CRC and are significantly related to LNM in these ***,high GLI1 and PTTG1 expression can indicate LNM in patients with CRC undergoing radical *** expression of both genes has certain diagnostic and therapeutic significance.

关键词： Colorectal carcinoma GLI1 PTTG1 Radical resection Lymph node metastasis

Strategies and prospects for melatonin to alleviate abiotic stress in horticultural plants

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Horticultural Plant Journal 2024年第3期10卷 601-614页

作者： Xiaoyun Wang Meng cao hongxin Li Ying Liu Shuangxi Fan Na Zhang Yangdong guo College of Horticulture China Agricultural UniversityBeijing100193China College of Plant Science and Technology Beijing University of AgricultureBeijing102206China Beijing Bei Nong Enterprise Management Co. Ltd.Beijing102206China Sanya Institute of China Agricultural University SanyaHainan572000China

Melatonin is a conserved pleiotropic molecule in animals and *** is involved in many development processes and stress responses;thus,exploring its function in plants,particularly in horticultural plants,has become a rapidly developing *** studies have revealed that phytomelatonin acts as a plant biostimulant and increase its tolerance to various abiotic stressors,including extreme temperature,drought,osmotic disturbance,heavy metals,and ultraviolet(UV).Melatonin appears to have roles in the scavenging of reactive oxygen species(ROS)and other free radicals,affecting the primary and secondary metabolism of plants,regulating the transcripts of stress-related enzymes and transcription factors,and crosstalk with other hormones under different environmental *** pleiotropy makes phytomelatonin an attractive regulator to improve resistance to abiotic stress in *** recent discovery of the potential phytomelatonin receptor CAND2/PMTR1 and the proposition of putative models related to the phytomelatonin signaling pathways makes phytomelatonin a new plant *** on relevant studies from our laboratory,this review summarizes the phytomelatonin biosynthetic and metabolic pathways in plants and the latest research progress on phytomelatonin in abiotic stress of horticultural *** study will provide a reference for elucidating the regulatory mechanism of phytomelatonin affecting the resistance to abiotic stress in plants.

关键词： Abiotic stress Biostimulant Horticultural plants Phytomelatonin