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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 *** 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 ***,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is ***,numerous expert-demonstrated trajectories are extracted from the HighD natural driving ***,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 ***,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 ***,the proposed strategy is verified based on real driving *** 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 ***,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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Multicolored Bipartite Ramsey Numbers of Large Cycles

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 347-357页

作者： Shao-qiang liu Yue-jian PENG College of Mathematics and Statistics Hanshan Normal UniversityChaozhou 521041China School of Mathematics Hunan UniversityChangsha 410082China

For an integer r≥2 and bipartite graphs Hi,where 1≤i≤r,the bipartite Ramsey number br(H1,H2,…,Hr)is the minimum integer N such that any r-edge coloring of the complete bipartite graph KN;N contains a monochromatic subgraph isomorphic to Hi in color i for some 1≤i≤*** show that if r≥3;α1,α2>0,αj+2≥[(j+2)!-1]Σi=1^(j+1)α1 for j=1,2…r-2,then br(C2[α1n],C2[α2n],…,C2[αrn]=(Σ=j=1^(r)a j+o(1))n.

关键词： ramsey number bipartite ramsey number regularity lemma

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Changes of China’s Status in the Global System and Its Influencing Factors:A Multiple Contact Networks Perspective

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Chinese Geographical Science 2024年第2期34卷 265-279页

作者： liu jian liu Jibin YANG Qingshan CAI Sikai liu Jie School of Geographical Sciences Northeast Normal UniversityChangchun 130024China Key Laboratory of Geographical Processes and Ecological Security of Changbai Mountains Ministry of EducationChangchun 130024China School of Architecture and Planning Jilin Jianzhu UniversityChangchun 130118China School of Geographical Sciences Liaoning Normal UniversityDalian 116029China

Clarifying China’s position in the global system is an important logical basis for developing national *** much research has been done on China’s development status,most studies have been based on country comparisons or institutional *** today’s networked era in which the global economy,trade,personnel,and information are closely connected,studies on China’s global position and its status changes and influencing factors in multiple contact networks are still *** this study,from the perspective of diverse global contact networks,we constructed economic,cultural,and political influence indices to explore the changes and influencing factors on China’s status in the global system from 2005 to *** results show that during the study period,China’s global influence in the fields of economic ties,cultural exchanges,and political contacts increased significantly,but its influ-ence in the fields of cultural exchanges and political contacts lagged far economic *** pattern of China’s economic influence on various economies around the world has shown a transformation from an‘upright pyramid’to an‘inverted pyramid’*** proportion of these economies in low-influence zones has decreased from more than 60%in 2005 to less than 20%in ***’s cultural and political influence on various economies around the world has increased significantly;however,for the former,the percentage of high-influence areas is still less than 20%,whereas for the latter the percentage of these economies in medium-and high-influence areas is still less than 50%.Analyses such as a scatter plot matrix show that geographical proximity,economic globalization,close cooperation with developing countries,and a proactive and peaceful foreign policy are important factors in improving China’s status in the diverse global network system.

关键词： global system economic ties cultural exchanges political contacts multiple contact networks China’s status

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Diffractive neural networks with improved expressive power for gray-scale image classification

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Photonics Research 2024年第6期12卷 1159-1166页

作者： MINJIA ZHENG WENZHE liu LEI SHI jian ZI State Key Laboratory of Surface Physics Key Laboratory of Micro-and Nano-Photonic Structures(Ministry of Education)and Department of PhysicsFudan UniversityShanghai 200433China Institute for Nanoelectronic Devices and Quantum Computing Fudan UniversityShanghai 200433China Collaborative Innovation Center of Advanced Microstructures Nanjing UniversityNanjing 210093China Shanghai Research Center for Quantum Sciences Shanghai 210315China

In order to harness diffractive neural networks(DNNs)for tasks that better align with real-world computer vision requirements,the incorporation of gray scale is ***,DNNs are not powerful enough to accomplish gray-scale image processing tasks due to limitations in their expressive *** our work,we elucidate the relationship between the improvement in the expressive power of DNNs and the increase in the number of phase modulation layers,as well as the optimization of the Fresnel number,which can describe the diffraction *** demonstrate this point,we numerically trained a double-layer DNN,addressing the prerequisites for intensitybased gray-scale image ***,we experimentally constructed this double-layer DNN based on digital micromirror devices and spatial light modulators,achieving eight-level intensity-based gray-scale image classification for the MNIST and Fashion-MNIST data *** optical system achieved the maximum accuracies of 95.10%and 80.61%,respectively.

关键词： process. mirror limitations

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Automatic modulation recognition of radio fuzes using a DR2D-based adaptive denoising method and textural feature extraction

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Defence Technology（防务技术） 2024年第4期34卷 328-338页

作者： Yangtian liu Xiaopeng Yan Qiang liu Tai An jian Dai Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China China Research and Development Academy of Machinery Equipment Beijing 100089China

The identification of intercepted radio fuze modulation types is a prerequisite for decision-making in interference ***,the electromagnetic environment of modern battlefields is complex,and the signal-to-noise ratio(SNR)of such environments is usually low,which makes it difficult to implement accurate recognition of radio *** solve the above problem,a radio fuze automatic modulation recognition(AMR)method for low-SNR environments is ***,an adaptive denoising algorithm based on data rearrangement and the two-dimensional(2D)fast Fourier transform(FFT)(DR2D)is used to reduce the noise of the intercepted radio fuze intermediate frequency(IF)***,the textural features of the denoised IF signal rearranged data matrix are extracted from the statistical indicator vectors of gray-level cooccurrence matrices(GLCMs),and support vector machines(SVMs)are used for *** DR2D-based adaptive denoising algorithm achieves an average correlation coefficient of more than 0.76 for ten fuze types under SNRs of-10 d B and above,which is higher than that of other typical *** trained SVM classification model achieves an average recognition accuracy of more than 96%on seven modulation types and recognition accuracies of more than 94%on each modulation type under SNRs of-12 d B and above,which represents a good AMR performance of radio fuzes under low SNRs.

关键词： Automatic modulation recognition Adaptive denoising Data rearrangement and the 2D FFT(DR2D) Radio fuze

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Creep constitutive model considering nonlinear creep degradation of fractured rock

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International Journal of Mining Science and Technology 2024年第1期34卷 105-116页

作者： Wang Chunping liu jianfeng Chen Liang liu jian Wang Lu Liao Yilin Beijing Research Institute of Uranium Geology Beijing 100029China CAEA Innovation Center for Geological Disposal of High-Level Radioactive Waste Beijing 100029China State Key Laboratory of Hydraulics and Mountain River Engineering Sichuan UniversityChengdu 610065China School of Architecture and Civil Engineering Xihua UniversityChengdu 610039China

Stability analysis of underground constructions requires a model study of rock masses’ long-term performance. Creep tests under different stress conditions was conducted on intact granite and granite samples fractured at 30° and 45° angles. The experimental results indicate that the steady creep strain rates of intact and fractured rock present an exponential increase trend with the increase of stress level. A nonlinear creep model is developed based on the experimental results, in which the initial damage caused by fracture together with the damage caused by constant load have been taken into consideration. The fitting analysis results indicated that the model proposed is more accurate at identifying the full creep regions in fractured granite, especially the accelerated stage of creep deformation. The least-square fit error of the proposed creep model is significantly lower than that of Nishihara model by almost an order of magnitude. An analysis of the effects of elastic modulus, viscosity coefficient, and damage factors on fractured rock strain rate and creep strain is conducted. If no consideration is given to the effects of the damage, the proposed nonlinear creep model can degenerate into to the classical Nishihara model.

关键词： Fractured rock Damage Creep Beishan granite Geological disposal

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From molecule to cell:the expanding frontiers of plant immunity

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Journal of Genetics and Genomics 2024年第7期51卷 680-690页

作者： Lei Li Jing liu jian-Min Zhou Key Laboratory of Seed Innovation Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China Hainan Yazhou Bay Seed Laboratory SanyaHainan 572025China

In recent years,the field of plant immunity has witnessed remarkable *** the co-evolution between plants and pathogens,plants have developed a wealth of intricate defense mechanisms to safeguard their *** identified immune receptors have added unexpected complexity to the surface and intracellular sensor networks,enriching our understanding of the ongoing plant–pathogen *** the molecular mechanisms of resistosome shapes our understanding of these mysterious molecules in plant ***,technological innovations are expanding the horizon of the plant–pathogen battlefield into spatial and temporal *** the development provides new opportunities for untangling the complex realm of plant immunity,challenges remain in uncovering plant immunity across spatiotemporal dimensions from both molecular and cellular levels.

关键词： Plant immunity Calcium Spatiotemporal Biomolecular condensate Immune receptor Resistosome

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NAD(P)H inspired CO_(2) reduction and beyond

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Science China Chemistry 2024年第4期67卷 1044-1046页

作者： Wenjin Dong jian liu Qingdao Institute of Bioenergy and Bioprocess Technology Chinese Academy of SciencesShandong Energy InstituteQingdao 266101China

The catalytic reduction of carbon dioxide to fuels and valueadded chemicals under mild conditions is recognized as a promising strategy to alleviate the energy *** the Calvin cycle of natural photosynthesis,CO_(2)reduction is achieved using cofactor nicotinamide adenine dinucleotide phosphate(NADPH)as a practical catalyst,shedding light on the biomimetic metal-free reduction of CO_(2).

关键词： dioxide dinucleotide catalyst

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The reaction mechanism and interfacial crystallization of Al nanoparticle-embedded Ni under shock loading

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Defence Technology（防务技术） 2024年第3期33卷 114-124页

作者： Yifan Xie jian-Li Shao Rui liu Pengwan Chen State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081China Explosion Protection and Emergency Disposal Technology Engineering Research Center of the Ministry of Education Beijing100039China

The shock-induced reaction mechanism and characteristics of Ni/Al system,considering an Al nanoparticle-embedded Ni single crystal,are investigated through molecular dynamics *** the shock melting of Al nanoparticle,interfacial crystallization and dissolution are the main *** reaction degree of Al particle first increases linearly and then logarithmically with time driven by rapid mechanical mixing and following *** reaction rate increases with the decrease of particle diameter,however,the reaction is seriously hindered by interfacial crystallization when the diameter is lower than 9 nm in our ***,we found a negative exponential growth in the fraction of crystallized Al atoms,and the crystallinity of B2-NiAl(up to 20%)is positively correlated with the specific surface area of Al *** can be attributed to the formation mechanism of B2-NiAl by structural evolution of finite mixing layer near the collapsed *** shock melting of both Al particle and Ni matrix,the liquid-liquid phase inter-diffusion is the main reaction mechanism that can be enhanced by the formation of internal *** addition,the enhanced diffusion is manifested in the logarithmic growth law of mean square displacement,which results in an almost constant reaction rate similar to the mechanical mixing process.

关键词： Shock-induced reaction Molecular dynamics simulations Interfacial crystallization Reaction mechanism

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Intrapancreatic accessory spleen:A case report and review of the literature

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World Journal of Gastroenterology 2009年第9期15卷 1141-1143页

作者： Wei Guo Wei Han Jun liu Lan Jin jian-she Li Zhong-Tao Zhang Yu Wang Department of General Surgery Beijing Friendship Hospital Capital Medical University Beijing 100050 China

Here,we report a case of intrapancreatic accessory spleen confirmed by pathologic diagnosis and discuss its differential diagnosis and surgical management with a review of the literature.

关键词：文献复习病例报告副脾病理诊断手术治疗鉴别诊断

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