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Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 181-195页

作者： Xiaolin Tang Yuyou yang Teng Liu Xianke lin Kai yang Shen Li IEEE the College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China the Clinical Research Center and Medical Pathology Center Chongqing University Three Gorges HospitalChongqing UniversityWanzhou 404000 the Department of Automotive and Mechatronics Engineering Ontario Tech UniversityOshawa ON LIG OC5Canada the School of Civil Engineering Tsinghua UniversityBeijing 100084China

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

关键词： Automatic parking control strategy parking deviation(APS) soft actor-critic(SAC)

Low-temperature NH_(3) abatement via selective oxidation over a supported copper catalyst with high Cu^(+) abundance

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Journal of Environmental Sciences 2024年第9期143卷 12-22页

作者： Zhiming yang lin Peng Leneng yang Mingli Fu Daiqi Ye Peirong Chen Guangdong Provincial Key Laboratory of Atmospheric Environment and Pollution Control National Engineering Laboratory for VOCs Pollution Control Technology and EquipmentSchool of Environment and EnergySouth China University of TechnologyGuangzhou 510006China Guangdong Chengyi Environmental Technology Corp. Shaoguan 512158China

Selective catalytic NH_(3)-to-N_(2) oxidation(NH_(3)-SCO)is highly promising for abating NH_(3) emissions slipped from stationary flue gas after-treatment *** practical application,however,is limited by the non-availability of low-cost catalysts with high activity and N_(2) ***,using defect-rich nitrogen-doped carbon nanotubes(NCNT-AW)as the support,we developed a highly active and durable copper-based NH_(3)-SCO catalyst with a high abundance of cuprous(Cu^(+))*** obtained Cu/NCNT-AW catalyst demonstrated outstanding activity with a T_(50)(*** temperature to reach 50% NH_(3) conversion)of 174℃ in the NH_(3)-SCO reaction,which outperformed not only the Cu catalyst supported on N-free O-functionalized CNTs(OCNTs)or NCNT with less surface defects,but also those most active Cu catalysts in open *** kinetics measurements and temperature-programmed surface reactions using NH_(3)as a probe molecule revealed that the NH_(3)-SCO reaction on Cu/NCNT-AW follows an internal selective catalytic reaction(i-SCR)route involving nitric oxide(NO)as a key *** to mechanistic investigations by X-ray photoelectron spectroscopy,Raman spectroscopy,and X-ray absorption spectroscopy,the superior NH_(3)-SCO performance of Cu/NCNT-AW originated from a synergy of surface defects and ***,surface defects promoted the anchoring of Cu O nanoparticles on N-containing sites and,thereby,enabled efficient electron transfer from N to Cu O,increasing significantly the fraction of SCR-active Cu^(+)sites in the *** study puts forward a new idea for manipulating and utilizing the interplay of defects and N-dopants on carbon surfaces to fabricate Cu^(+)-rich Cu catalysts for efficient abatement of slip NH_(3)emissions via selective oxidation.

关键词： NH_(3)-SCO XANES Localized etching N-doping N_(2) selectivity i-SCR

A New Species of the Genus Boulenophrys(Anura,Megophryidae)from Eastern Guangdong,China

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Asian Herpetological Research 2024年第1期15卷 12-21页

作者： Zhaochi ZENG Jian WANG Honghui CHEN Weiwen XIAO Binbin zhan Yuanhang LI Shishi lin Guangdong Polytechnic of Environmental Protection Engineering Foshan 528216GuangdongChina

A new horned toad species,Boulenophrys elongata ***.,is described from ***,Huidong County,eastern Guangdong,*** new species is phylogenetically closest to ***,which is restricted to the east of the Pearl River Estuary(i.e.,Shenzhen City and Hong Kong SAR).The new species can be distinguished from all recognized congeners by a combination of morphological characters and genetic divergences in the combined mitochondrial 16S,12S and CO1 *** recommend the new species be listed as Data Deficient(DD)in the IUCN categorization,pending further investigation.

关键词： Boulenophrys elongata sp.nov. Lianhua Mountains molecular phylogeny morphology taxonomy

Optimizing near-carbon-free nuclear energy systems:advances in reactor operation digital twin through hybrid machine learning algorithms for parameter identification and state estimation

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Nuclear Science and Techniques 2024年第8期35卷 177-203页

作者： Li‑zhan Hong He‑lin Gong Hong‑Jun Ji Jia‑Liang Lu Han Li Qing Li Paris Elite Institute of Technology Shanghai Jiao Tong UniversityShanghai 200240China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu 610041China

Accurate and efficient online parameter identification and state estimation are crucial for leveraging digital twin simulations to optimize the operation of near-carbon-free nuclear energy *** previous studies,we developed a reactor operation digital twin(RODT).However,non-differentiabilities and discontinuities arise when employing machine learning-based surrogate forward models,challenging traditional gradient-based inverse methods and their *** study investigated deterministic and metaheuristic algorithms and developed hybrid algorithms to address these *** efficient modular RODT software framework that incorporates these methods into its post-evaluation module is presented for comprehensive *** methods were rigorously assessed based on convergence profiles,stability with respect to noise,and computational *** numerical results show that the hybrid KNNLHS algorithm excels in real-time online applications,balancing accuracy and efficiency with a prediction error rate of only 1%and processing times of less than 0.1 ***,algorithms such as FSA,DE,and ADE,although slightly slower(approximately 1 s),demonstrated higher accuracy with a 0.3%relative L_2 error,which advances RODT methodologies to harness machine learning and system modeling for improved reactor monitoring,systematic diagnosis of off-normal events,and lifetime management *** developed modular software and novel optimization methods presented offer pathways to realize the full potential of RODT for transforming energy engineering practices.

关键词： Parameter identification State estimation Reactor operation digital twin Reduced order model Inverse problem

Pricing Binary Variables of System-wide Constraints for Power System Optimization

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CSEE Journal of Power and Energy Systems 2024年第3期10卷 1131-1144页

作者： Jiaxun Li Wei lin Zhifang yang Mikhail Davidson State Key Laboratory of Power Transmission Equipment and System Security and New Technology College of Electrical EngineeringChongqing UniversityChongqing 400030China Department of Electrical Engineering The Hong Kong Polytechnic UniversityHong Kong SAR 999077China Faculty of Computational Mathematics and Cybernetics Moscow State UniversityMoscow 119991Russia IEEE

With the trend of multiple energies or flexible demand in power systems,binary variables appear in systemwide constraints,which are the foundation of marginal pricing currently in *** appropriate pricing method incentivizes compliance of market participants;otherwise,compliance can be incentivized by paying discriminatory uplift payments which jeopardize transparency of *** paper proposes two theorems to examine whether the binary variables brought by multiple energies and flexible demand will impact compliance under marginal *** first theorem shows sufficient conditions with which marginal pricing with fixed binary variables incentivizes compliance,while the second theorem shows sufficient conditions to require uplift *** improve transparency by reducing uplift payments under cases which fall into the second theorem,this paper further proposes a pricing method by combining 1)designed constraints to price binary variables in system-wide constraints,and 2)convex hull pricing to price binary variables in private *** of the proposed theorems and pricing method is verified in an electricity-gas case(consisting of the IEEE 30-bus system and the NGS 10-node system)and the IEEE 118-bus test system.

关键词： Binary variables impact analysis pricing under non-convexities

Facile access to C-N bonds via unexpected side reactions of Knoevenagel condensation and their application in high-efficiency organic solar cells

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Science China Chemistry 2024年第1期67卷 323-329页

作者： Daobin yang Shuncheng yang Hongqian Wang lin Xie Pengyu Yan Ziyi Ge Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingbo 315201China School of Materials Science and Chemical Engineering Ningbo UniversityNingbo 315211China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China

The construction of C-N bonds is of great importance in the fields of biology,medicine,chemistry and materials ***,the replacement of organic base from pyridine to piperidine in the Knoevenagel condensation process unexpectedly yields a series of novel organic molecules containing C-N ***,the synthesis method does not require any external transition-metals catalysis,and photo-/***,when the new compound 1b is added as a third component to a well-known binary system of PM6:Y6,the efficiency of the organic solar cell is significantly improved,resulting in an outstanding efficiency of 18.0%,which is one of the highest values reported to date for PM6:Y6-based ternary organic solar cells.

关键词： C-N bonds Knoevenagel condensation cross-coupling reaction third component organic solar cells

Mechanism investigation of A-site doping on modulating electronic band structure and photocatalytic performance towards CO_(2) reduction of LaFeO_(3) perovskite

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Nano Research 2024年第5期17卷 3733-3744页

作者： Chi Cao Jinshuo Li yang Hu lin zhang Wensheng yang State Key Laboratory of Inorganic Synthesis and Preparative Chemistry College of ChemistryJilin UniversityChangchun 130012China Engineering Research Center for Nanomaterials Henan UniversityKaifeng 475004China

Three kinds of metal atoms with different valence electronic configurations,Bi(6s^(2)6p^(3)),Y(4d^(1)5s^(2)),and Ce(4f^(1)5d^(1)6s^(2)),were selected to investigate the effect of A-site(La^(3+))doping on electronic band structure,photoelectric properties,and photocatalytic performance of LaFeO_(3) *** was identified that the Bi doped LaFeO_(3) presented significantly improved photocatalytic activity towards the reduction of CO_(2),while the Y or Ce doped LaFeO_(3) displayed decreased photocatalytic activity compared to the pristine LaFeO_(3).It was revealed that doping of all the three metal atoms resulted in narrowed band gap and thus extended light absorption of LaFeO_(3) by lowering its conduction band minimum(CBM).The recombination rate and mobility of the charge carriers were represented by the relative effective mass(D)between holes and electrons for pristine and A-site doped LaFeO_(3).The doping of Bi resulted in increased D value,attributed to the Bi 6s electron states at the valence band maximum(VBM),and thus promoted separation and transfer of the charge carriers and improved photocatalytic activity of LaFeO_(3).In contrast,the doping of Ce resulted in significantly decreased D value,induced by the highly localized Ce 4f hole states at the CBM,and thus higher recombination rate of the charge carriers and decreased photocatalytic activity of LaFeO_(3).Furthermore,the Y doped LaFeO_(3) with a slightly decreased D value presented slightly increased recombination rate of the charge carriers and thus decreased photocatalytic *** a work provides new insights into the A-site doping in LaFeO_(3) perovskite,which should be helpful for optimizing the electronic band structure and activity of perovskite-type photocatalysts at atomic level.

关键词： A-site doping electronic band structure charge carrier behavior photocatalytic CO_(2)reduction perovskite-type photocatalytsts

Stem Cell Transplantation Represents a New Strategy for the Treatment of Epilepsy

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Neuroscience Bulletin 2024年第5期40卷 673-676页

作者： Yuan Zhou Yi Wang lin yang Key Laboratory of Neuropharmacology and Translational Medicine of Zhejiang Province School of Pharmaceutical Sciences and First Affiliated HospitalZhejiang Chinese Medical UniversityHangzhou310053China Zhejiang Rehabilitation Medical Center Department The Third Affiliated HospitalZhejiang Chinese Medical UniversityHangzhou310013China

Epilepsy is a neurological disorder characterized by faulty neuronal synchronization and repeated *** balance between glutamatergic excitatory neurons and gammaaminobutyric acid inhibitory neurons is critical for opti... 详细信息

关键词： epilepsy Transplantation Strategy

Experimental investigation of vibration pretreatment-microwave curing process for carbon fiber reinforced resin matrix composites

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Journal of Central South University 2024年第6期31卷 1838-1855页

作者： zhanG De-chao zhan Li-hua MA Bo-lin YAO Shun-ming GUO Jin-zhan GUAN Cheng-long LIU Shu Light Alloys Research Institute Central South UniversityChangsha 410083China College of Mechanical and Electrical Engineering Central South UniversityChangsha 410083China School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China

The vibration pretreatment-microwave curing process is an efficient,low energy consumption,and high-quality out-of-autoclave curing process for carbon fiber resin matrix *** study aims to investigate the impact of vibration pretreatment temperature on the fiber weight content,microscopic morphology and mechanical properties of the composite laminates by using optical digital microscopy,universal tensile testing machine and thermo-gravimetric ***,the combined mode of Bragg fiber grating sensor and temperature measurement fiber was employed to explore the effect of vibration pretreatment on the strain process during microwave *** study results revealed that the change in vibration pretreatment temperature had a slight impact on the fiber weight content when the vibration acceleration remained *** metallographic and interlaminar strength of the specimen formed at a vibration pretreatment temperature of 80℃ demonstrated a porosity of 0.414% and a 10.69% decrease in interlaminar shear strength compared to autoclave ***,the introduction of the vibration energy field during the microwave curing process led to a significant reduction in residual strain in both the 0°and 90°fiber directions,when the laminate was cooled to 60℃.

关键词： vibration microwave curing porosity interlaminar shear strength thermo-gravimetric analysis curing strain