Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning frame...Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,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 agent.Experiments 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.展开更多
The onset of amyotrophic lateral sclerosis is usually characterized by focal death of both upper and/or lower motor neurons occurring in the motor cortex,basal ganglia,brainstem,and spinal cord,and commonly involves t...The onset of amyotrophic lateral sclerosis is usually characterized by focal death of both upper and/or lower motor neurons occurring in the motor cortex,basal ganglia,brainstem,and spinal cord,and commonly involves the muscles of the upper and/or lower extremities,and the muscles of the bulbar and/or respiratory regions.However,as the disease progresses,it affects the adjacent body regions,leading to generalized muscle weakness,occasionally along with memory,cognitive,behavioral,and language impairments;respiratory dysfunction occurs at the final stage of the disease.The disease has a complicated pathophysiology and currently,only riluzole,edaravone,and phenylbutyrate/taurursodiol are licensed to treat amyotrophic lateral sclerosis in many industrialized countries.The TAR DNA-binding protein 43 inclusions are observed in 97%of those diagnosed with amyotrophic lateral sclerosis.This review provides a preliminary overview of the potential effects of TAR DNAbinding protein 43 in the pathogenesis of amyotrophic lateral sclerosis,including the abnormalities in nucleoplasmic transport,RNA function,post-translational modification,liquid-liquid phase separation,stress granules,mitochondrial dysfunction,oxidative stress,axonal transport,protein quality control system,and non-cellular autonomous functions(e.g.,glial cell functions and prion-like propagation).展开更多
The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the ne...The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.展开更多
With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater envir...With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater environments.However,nowadays AUVs generally have drawbacks such as weak endurance,low intelligence,and poor detection ability.The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks.To improve the underwater operation ability of the AUV,this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm.In response to the limitations of a single algorithm,an optimization scheme is proposed to improve the artificial potential field ant colony(APF-AC)algorithm.Compared with traditional ant colony and comparative algorithms,the APF-AC reduced the path length by 1.57%and 0.63%(in the simple environment),8.92%and 3.46%(in the complex environment).The iteration time has been reduced by approximately 28.48%and 18.05%(in the simple environment),18.53%and 9.24%(in the complex environment).Finally,the improved APF-AC algorithm has been validated on the AUV platform,and the experiment is consistent with the simulation.Improved APF-AC algorithm can effectively reduce the underwater operation time and overall power consumption of the AUV,and shows a higher safety.展开更多
This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles in...This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.展开更多
α-Synuclein is a protein that mainly exists in the presynaptic terminals.Abnormal folding and accumulation of α-synuclein are found in several neurodegenerative diseases,including Parkinson’s disease.Aggregated and...α-Synuclein is a protein that mainly exists in the presynaptic terminals.Abnormal folding and accumulation of α-synuclein are found in several neurodegenerative diseases,including Parkinson’s disease.Aggregated and highly phospho rylated a-synuclein constitutes the main component of Lewy bodies in the brain,the pathological hallmark of Parkinson s disease.For decades,much attention has been focused on the accumulation of α-synuclein in the brain parenchyma rather than considering Parkinson s disease as a systemic disease.Recent evidence demonstrates that,at least in some patients,the initial α-synuclein pathology originates in the peripheral organs and spreads to the brain.Injection of α-synuclein preformed fibrils into the gastrointestinal tra ct trigge rs the gutto-brain propagation of α-synuclein pathology.However,whether α-synuclein pathology can occur spontaneously in peripheral organs independent of exogenous α-synuclein preformed fibrils or pathological α-synuclein leakage from the central nervous system remains under investigation.In this review,we aimed to summarize the role of peripheral α-synuclein pathology in the pathogenesis of Parkinson’s disease.We also discuss the pathways by which α-synuclein pathology spreads from the body to the brain.展开更多
Introduction: Ultrafast latest developments in artificial intelligence (ΑΙ) have recently multiplied concerns regarding the future of robotic autonomy in surgery. However, the literature on the topic is still scarce...Introduction: Ultrafast latest developments in artificial intelligence (ΑΙ) have recently multiplied concerns regarding the future of robotic autonomy in surgery. However, the literature on the topic is still scarce. Aim: To test a novel AI commercially available tool for image analysis on a series of laparoscopic scenes. Methods: The research tools included OPENAI CHATGPT 4.0 with its corresponding image recognition plugin which was fed with a list of 100 laparoscopic selected snapshots from common surgical procedures. In order to score reliability of received responses from image-recognition bot, two corresponding scales were developed ranging from 0 - 5. The set of images was divided into two groups: unlabeled (Group A) and labeled (Group B), and according to the type of surgical procedure or image resolution. Results: AI was able to recognize correctly the context of surgical-related images in 97% of its reports. For the labeled surgical pictures, the image-processing bot scored 3.95/5 (79%), whilst for the unlabeled, it scored 2.905/5 (58.1%). Phases of the procedure were commented in detail, after all successful interpretations. With rates 4 - 5/5, the chatbot was able to talk in detail about the indications, contraindications, stages, instrumentation, complications and outcome rates of the operation discussed. Conclusion: Interaction between surgeon and chatbot appears to be an interesting frontend for further research by clinicians in parallel with evolution of its complex underlying infrastructure. In this early phase of using artificial intelligence for image recognition in surgery, no safe conclusions can be drawn by small cohorts with commercially available software. Further development of medically-oriented AI software and clinical world awareness are expected to bring fruitful information on the topic in the years to come.展开更多
The consensus of the automotive industry and traffic management authorities is that autonomous vehicles must follow the same traffic laws as human drivers.Using formal or digital methods,natural language traffic rules...The consensus of the automotive industry and traffic management authorities is that autonomous vehicles must follow the same traffic laws as human drivers.Using formal or digital methods,natural language traffic rules can be translated into machine language and used by autonomous vehicles.In this paper,a translation flow is designed.Beyond the translation,a deeper examination is required,because the semantics of natural languages are rich and complex,and frequently contain hidden assumptions.The issue of how to ensure that digital rules are accurate and consistent with the original intent of the traffic rules they represent is both significant and unresolved.In response,we propose a method of formal verification that combines equivalence verification with model checking.Reasonable and reassuring digital traffic rules can be obtained by utilizing the proposed traffic rule digitization flow and verification method.In addition,we offer a number of simulation applications that employ digital traffic rules to assess vehicle violations.The experimental findings indicate that our digital rules utilizing metric temporal logic(MTL)can be easily incorporated into simulation platforms and autonomous driving systems(ADS).展开更多
While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present...While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.展开更多
Dear Editor,This letter studies the communication-aware mobile relaying via an autonomous underwater vehicle(AUV)for minimal wait time.Compared with the analysis-based channel prediction solution,the proposed discrete...Dear Editor,This letter studies the communication-aware mobile relaying via an autonomous underwater vehicle(AUV)for minimal wait time.Compared with the analysis-based channel prediction solution,the proposed discrete Kirchhoff approximation solution has a higher estimation accuracy.展开更多
The advancement of autonomous driving heavily relies on the ability to accurate lane lines detection.As deep learning and computer vision technologies evolve,a variety of deep learning-based methods for lane line dete...The advancement of autonomous driving heavily relies on the ability to accurate lane lines detection.As deep learning and computer vision technologies evolve,a variety of deep learning-based methods for lane line detection have been proposed by researchers in the field.However,owing to the simple appearance of lane lines and the lack of distinctive features,it is easy for other objects with similar local appearances to interfere with the process of detecting lane lines.The precision of lane line detection is limited by the unpredictable quantity and diversity of lane lines.To address the aforementioned challenges,we propose a novel deep learning approach for lane line detection.This method leverages the Swin Transformer in conjunction with LaneNet(called ST-LaneNet).The experience results showed that the true positive detection rate can reach 97.53%for easy lanes and 96.83%for difficult lanes(such as scenes with severe occlusion and extreme lighting conditions),which can better accomplish the objective of detecting lane lines.In 1000 detection samples,the average detection accuracy can reach 97.83%,the average inference time per image can reach 17.8 ms,and the average number of frames per second can reach 64.8 Hz.The programming scripts and associated models for this project can be accessed openly at the following GitHub repository:https://github.com/Duane 711/Lane-line-detec tion-ST-LaneNet.展开更多
This paper studies the privacy-preserving distributed economic dispatch(DED)problem of smart grids.An autonomous consensus-based algorithm is developed via local data exchange with neighboring nodes,which covers both ...This paper studies the privacy-preserving distributed economic dispatch(DED)problem of smart grids.An autonomous consensus-based algorithm is developed via local data exchange with neighboring nodes,which covers both the islanded mode and the grid-connected mode of smart grids.To prevent power-sensitive information from being disclosed,a privacy-preserving mechanism is integrated into the proposed DED algorithm by randomly decomposing the state into two parts,where only partial data is transmitted.Our objective is to develop a privacy-preserving DED algorithm to achieve optimal power dispatch with the lowest generation cost under physical constraints while preventing sensitive information from being eavesdropped.To this end,a comprehensive analysis framework is established to ensure that the proposed algorithm can converge to the optimal solution of the concerned optimization problem by means of the consensus theory and the eigenvalue perturbation approach.In particular,the proposed autonomous algorithm can achieve a smooth transition between the islanded mode and the grid-connected mode.Furthermore,rigorous analysis is given to show privacy-preserving performance against internal and external eavesdroppers.Finally,case studies illustrate the feasibility and validity of the developed algorithm.展开更多
There are three distinct genetic systems in higher plants,the dominant nuclear genome and the semi-autonomous organelle genomes(plastids and mitochondria).In contrast to the conserved plastid genome(plastome),the plan...There are three distinct genetic systems in higher plants,the dominant nuclear genome and the semi-autonomous organelle genomes(plastids and mitochondria).In contrast to the conserved plastid genome(plastome),the plant mitochondrial genome(mitogenome)is characterized by an intriguing“evolutionary paradox”distinguished by a remarkably low mutation rate but with a significantly high rearrangement rate(Palmer and Herbon,1988;Lai et al.,2022).展开更多
Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning.This task is very complex,as the behaviour of road agents depends on many factors and the number of po...Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning.This task is very complex,as the behaviour of road agents depends on many factors and the number of possible future trajectories can be consid-erable(multi-modal).Most prior approaches proposed to address multi-modal motion prediction are based on complex machine learning systems that have limited interpret-ability.Moreover,the metrics used in current benchmarks do not evaluate all aspects of the problem,such as the diversity and admissibility of the output.The authors aim to advance towards the design of trustworthy motion prediction systems,based on some of the re-quirements for the design of Trustworthy Artificial Intelligence.The focus is on evaluation criteria,robustness,and interpretability of outputs.First,the evaluation metrics are comprehensively analysed,the main gaps of current benchmarks are identified,and a new holistic evaluation framework is proposed.Then,a method for the assessment of spatial and temporal robustness is introduced by simulating noise in the perception system.To enhance the interpretability of the outputs and generate more balanced results in the proposed evaluation framework,an intent prediction layer that can be attached to multi-modal motion prediction models is proposed.The effectiveness of this approach is assessed through a survey that explores different elements in the visualisation of the multi-modal trajectories and intentions.The proposed approach and findings make a significant contribution to the development of trustworthy motion prediction systems for autono-mous vehicles,advancing the field towards greater safety and reliability.展开更多
As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(S...As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.展开更多
Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to naviga...Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and efficiently.The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections.The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem.The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency.Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions.The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.展开更多
The 6th generation mobile networks(6G)network is a kind of multi-network interconnection and multi-scenario coexistence network,where multiple network domains break the original fixed boundaries to form connections an...The 6th generation mobile networks(6G)network is a kind of multi-network interconnection and multi-scenario coexistence network,where multiple network domains break the original fixed boundaries to form connections and convergence.In this paper,with the optimization objective of maximizing network utility while ensuring flows performance-centric weighted fairness,this paper designs a reinforcement learning-based cloud-edge autonomous multi-domain data center network architecture that achieves single-domain autonomy and multi-domain collaboration.Due to the conflict between the utility of different flows,the bandwidth fairness allocation problem for various types of flows is formulated by considering different defined reward functions.Regarding the tradeoff between fairness and utility,this paper deals with the corresponding reward functions for the cases where the flows undergo abrupt changes and smooth changes in the flows.In addition,to accommodate the Quality of Service(QoS)requirements for multiple types of flows,this paper proposes a multi-domain autonomous routing algorithm called LSTM+MADDPG.Introducing a Long Short-Term Memory(LSTM)layer in the actor and critic networks,more information about temporal continuity is added,further enhancing the adaptive ability changes in the dynamic network environment.The LSTM+MADDPG algorithm is compared with the latest reinforcement learning algorithm by conducting experiments on real network topology and traffic traces,and the experimental results show that LSTM+MADDPG improves the delay convergence speed by 14.6%and delays the start moment of packet loss by 18.2%compared with other algorithms.展开更多
This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we emplo...This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.展开更多
A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of...A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.展开更多
This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm...This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.展开更多
基金the financial support of the National Key Research and Development Program of China(2020AAA0108100)the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Shanghai Gaofeng and Gaoyuan Project for University Academic Program Development for funding。
文摘Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,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 agent.Experiments 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.
基金in part supported by the National Natural Science Foundation of China,Nos.30560042,81160161,81360198,and 82160255Education Department of Jiangxi Province,Nos.GJJ13198 and GJJ170021+1 种基金Jiangxi Provincial Department of Science and Technology,No.20192BAB205043Health and Family Planning Commission of Jiangxi Province,Nos.20181019 and 202210002(all to RX)。
文摘The onset of amyotrophic lateral sclerosis is usually characterized by focal death of both upper and/or lower motor neurons occurring in the motor cortex,basal ganglia,brainstem,and spinal cord,and commonly involves the muscles of the upper and/or lower extremities,and the muscles of the bulbar and/or respiratory regions.However,as the disease progresses,it affects the adjacent body regions,leading to generalized muscle weakness,occasionally along with memory,cognitive,behavioral,and language impairments;respiratory dysfunction occurs at the final stage of the disease.The disease has a complicated pathophysiology and currently,only riluzole,edaravone,and phenylbutyrate/taurursodiol are licensed to treat amyotrophic lateral sclerosis in many industrialized countries.The TAR DNA-binding protein 43 inclusions are observed in 97%of those diagnosed with amyotrophic lateral sclerosis.This review provides a preliminary overview of the potential effects of TAR DNAbinding protein 43 in the pathogenesis of amyotrophic lateral sclerosis,including the abnormalities in nucleoplasmic transport,RNA function,post-translational modification,liquid-liquid phase separation,stress granules,mitochondrial dysfunction,oxidative stress,axonal transport,protein quality control system,and non-cellular autonomous functions(e.g.,glial cell functions and prion-like propagation).
基金supported by the National Natural Science Foundation of China(62103411)the Science and Technology Development Fund of Macao SAR(0093/2023/RIA2,0050/2020/A1)。
文摘The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.
基金supported by Research Program supported by the National Natural Science Foundation of China(No.62201249)the Jiangsu Agricultural Science and Technology Innovation Fund(No.CX(21)1007)+2 种基金the Open Project of the Zhejiang Provincial Key Laboratory of Crop Harvesting Equipment and Technology(Nos.2021KY03,2021KY04)University-Industry Collaborative Education Program(No.201801166003)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCX22_1042).
文摘With the increase in ocean exploration activities and underwater development,the autonomous underwater vehicle(AUV)has been widely used as a type of underwater automation equipment in the detection of underwater environments.However,nowadays AUVs generally have drawbacks such as weak endurance,low intelligence,and poor detection ability.The research and implementation of path-planning methods are the premise of AUVs to achieve actual tasks.To improve the underwater operation ability of the AUV,this paper studies the typical problems of path-planning for the ant colony algorithm and the artificial potential field algorithm.In response to the limitations of a single algorithm,an optimization scheme is proposed to improve the artificial potential field ant colony(APF-AC)algorithm.Compared with traditional ant colony and comparative algorithms,the APF-AC reduced the path length by 1.57%and 0.63%(in the simple environment),8.92%and 3.46%(in the complex environment).The iteration time has been reduced by approximately 28.48%and 18.05%(in the simple environment),18.53%and 9.24%(in the complex environment).Finally,the improved APF-AC algorithm has been validated on the AUV platform,and the experiment is consistent with the simulation.Improved APF-AC algorithm can effectively reduce the underwater operation time and overall power consumption of the AUV,and shows a higher safety.
基金the National Natural Science Foundation of China(51939001,52171292,51979020,61976033)Dalian Outstanding Young Talents Program(2022RJ05)+1 种基金the Topnotch Young Talents Program of China(36261402)the Liaoning Revitalization Talents Program(XLYC20-07188)。
文摘This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China,Nos.82271447,81771382the National Key Research and Development Program of China,No.2019 YFE0115900the"New 20 Terms of Universities in Jinan,No.202228022 (all to ZZ)。
文摘α-Synuclein is a protein that mainly exists in the presynaptic terminals.Abnormal folding and accumulation of α-synuclein are found in several neurodegenerative diseases,including Parkinson’s disease.Aggregated and highly phospho rylated a-synuclein constitutes the main component of Lewy bodies in the brain,the pathological hallmark of Parkinson s disease.For decades,much attention has been focused on the accumulation of α-synuclein in the brain parenchyma rather than considering Parkinson s disease as a systemic disease.Recent evidence demonstrates that,at least in some patients,the initial α-synuclein pathology originates in the peripheral organs and spreads to the brain.Injection of α-synuclein preformed fibrils into the gastrointestinal tra ct trigge rs the gutto-brain propagation of α-synuclein pathology.However,whether α-synuclein pathology can occur spontaneously in peripheral organs independent of exogenous α-synuclein preformed fibrils or pathological α-synuclein leakage from the central nervous system remains under investigation.In this review,we aimed to summarize the role of peripheral α-synuclein pathology in the pathogenesis of Parkinson’s disease.We also discuss the pathways by which α-synuclein pathology spreads from the body to the brain.
文摘Introduction: Ultrafast latest developments in artificial intelligence (ΑΙ) have recently multiplied concerns regarding the future of robotic autonomy in surgery. However, the literature on the topic is still scarce. Aim: To test a novel AI commercially available tool for image analysis on a series of laparoscopic scenes. Methods: The research tools included OPENAI CHATGPT 4.0 with its corresponding image recognition plugin which was fed with a list of 100 laparoscopic selected snapshots from common surgical procedures. In order to score reliability of received responses from image-recognition bot, two corresponding scales were developed ranging from 0 - 5. The set of images was divided into two groups: unlabeled (Group A) and labeled (Group B), and according to the type of surgical procedure or image resolution. Results: AI was able to recognize correctly the context of surgical-related images in 97% of its reports. For the labeled surgical pictures, the image-processing bot scored 3.95/5 (79%), whilst for the unlabeled, it scored 2.905/5 (58.1%). Phases of the procedure were commented in detail, after all successful interpretations. With rates 4 - 5/5, the chatbot was able to talk in detail about the indications, contraindications, stages, instrumentation, complications and outcome rates of the operation discussed. Conclusion: Interaction between surgeon and chatbot appears to be an interesting frontend for further research by clinicians in parallel with evolution of its complex underlying infrastructure. In this early phase of using artificial intelligence for image recognition in surgery, no safe conclusions can be drawn by small cohorts with commercially available software. Further development of medically-oriented AI software and clinical world awareness are expected to bring fruitful information on the topic in the years to come.
文摘The consensus of the automotive industry and traffic management authorities is that autonomous vehicles must follow the same traffic laws as human drivers.Using formal or digital methods,natural language traffic rules can be translated into machine language and used by autonomous vehicles.In this paper,a translation flow is designed.Beyond the translation,a deeper examination is required,because the semantics of natural languages are rich and complex,and frequently contain hidden assumptions.The issue of how to ensure that digital rules are accurate and consistent with the original intent of the traffic rules they represent is both significant and unresolved.In response,we propose a method of formal verification that combines equivalence verification with model checking.Reasonable and reassuring digital traffic rules can be obtained by utilizing the proposed traffic rule digitization flow and verification method.In addition,we offer a number of simulation applications that employ digital traffic rules to assess vehicle violations.The experimental findings indicate that our digital rules utilizing metric temporal logic(MTL)can be easily incorporated into simulation platforms and autonomous driving systems(ADS).
基金supported in part by the Start-Up Grant-Nanyang Assistant Professorship Grant of Nanyang Technological Universitythe Agency for Science,Technology and Research(A*STAR)under Advanced Manufacturing and Engineering(AME)Young Individual Research under Grant(A2084c0156)+2 种基金the MTC Individual Research Grant(M22K2c0079)the ANR-NRF Joint Grant(NRF2021-NRF-ANR003 HM Science)the Ministry of Education(MOE)under the Tier 2 Grant(MOE-T2EP50222-0002)。
文摘While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.
基金supported in part by the Natural Science Foundation of China(62222314,61973263,62033011)the Youth Talent Program of Hebei(BJ2020031)+1 种基金the Distinguished Young Foundation of Hebei Province(F2022203001)the Central Guidance Local Foundation of Hebei Province(226Z3201G)。
文摘Dear Editor,This letter studies the communication-aware mobile relaying via an autonomous underwater vehicle(AUV)for minimal wait time.Compared with the analysis-based channel prediction solution,the proposed discrete Kirchhoff approximation solution has a higher estimation accuracy.
基金Supported by National Natural Science Foundation of China(Grant Nos.51605003,51575001)Natural Science Foundation of Anhui Higher Education Institutions of China(Grant No.KJ2020A0358)Young and Middle-Aged Top Talents Training Program of Anhui Polytechnic University of China.
文摘The advancement of autonomous driving heavily relies on the ability to accurate lane lines detection.As deep learning and computer vision technologies evolve,a variety of deep learning-based methods for lane line detection have been proposed by researchers in the field.However,owing to the simple appearance of lane lines and the lack of distinctive features,it is easy for other objects with similar local appearances to interfere with the process of detecting lane lines.The precision of lane line detection is limited by the unpredictable quantity and diversity of lane lines.To address the aforementioned challenges,we propose a novel deep learning approach for lane line detection.This method leverages the Swin Transformer in conjunction with LaneNet(called ST-LaneNet).The experience results showed that the true positive detection rate can reach 97.53%for easy lanes and 96.83%for difficult lanes(such as scenes with severe occlusion and extreme lighting conditions),which can better accomplish the objective of detecting lane lines.In 1000 detection samples,the average detection accuracy can reach 97.83%,the average inference time per image can reach 17.8 ms,and the average number of frames per second can reach 64.8 Hz.The programming scripts and associated models for this project can be accessed openly at the following GitHub repository:https://github.com/Duane 711/Lane-line-detec tion-ST-LaneNet.
基金supported in part by Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)the National Natural Science Foundation of China(62303210,62173255,62188101)+1 种基金the Guangdong Basic and Applied Basic Research Foundation of China(2022A1515110459)the Shenzhen Science and Technology Program of China(RCBS20221008093348109)。
文摘This paper studies the privacy-preserving distributed economic dispatch(DED)problem of smart grids.An autonomous consensus-based algorithm is developed via local data exchange with neighboring nodes,which covers both the islanded mode and the grid-connected mode of smart grids.To prevent power-sensitive information from being disclosed,a privacy-preserving mechanism is integrated into the proposed DED algorithm by randomly decomposing the state into two parts,where only partial data is transmitted.Our objective is to develop a privacy-preserving DED algorithm to achieve optimal power dispatch with the lowest generation cost under physical constraints while preventing sensitive information from being eavesdropped.To this end,a comprehensive analysis framework is established to ensure that the proposed algorithm can converge to the optimal solution of the concerned optimization problem by means of the consensus theory and the eigenvalue perturbation approach.In particular,the proposed autonomous algorithm can achieve a smooth transition between the islanded mode and the grid-connected mode.Furthermore,rigorous analysis is given to show privacy-preserving performance against internal and external eavesdroppers.Finally,case studies illustrate the feasibility and validity of the developed algorithm.
基金The work is supported by the Natural Science Foundation of Jiangsu Province(BK20220414)the Natural Science Foundation of the Higher Education Institutions of Jiangsu Province(22KJB220003).
文摘There are three distinct genetic systems in higher plants,the dominant nuclear genome and the semi-autonomous organelle genomes(plastids and mitochondria).In contrast to the conserved plastid genome(plastome),the plant mitochondrial genome(mitogenome)is characterized by an intriguing“evolutionary paradox”distinguished by a remarkably low mutation rate but with a significantly high rearrangement rate(Palmer and Herbon,1988;Lai et al.,2022).
基金European Commission,Joint Research Center,Grant/Award Number:HUMAINTMinisterio de Ciencia e Innovación,Grant/Award Number:PID2020‐114924RB‐I00Comunidad de Madrid,Grant/Award Number:S2018/EMT‐4362 SEGVAUTO 4.0‐CM。
文摘Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning.This task is very complex,as the behaviour of road agents depends on many factors and the number of possible future trajectories can be consid-erable(multi-modal).Most prior approaches proposed to address multi-modal motion prediction are based on complex machine learning systems that have limited interpret-ability.Moreover,the metrics used in current benchmarks do not evaluate all aspects of the problem,such as the diversity and admissibility of the output.The authors aim to advance towards the design of trustworthy motion prediction systems,based on some of the re-quirements for the design of Trustworthy Artificial Intelligence.The focus is on evaluation criteria,robustness,and interpretability of outputs.First,the evaluation metrics are comprehensively analysed,the main gaps of current benchmarks are identified,and a new holistic evaluation framework is proposed.Then,a method for the assessment of spatial and temporal robustness is introduced by simulating noise in the perception system.To enhance the interpretability of the outputs and generate more balanced results in the proposed evaluation framework,an intent prediction layer that can be attached to multi-modal motion prediction models is proposed.The effectiveness of this approach is assessed through a survey that explores different elements in the visualisation of the multi-modal trajectories and intentions.The proposed approach and findings make a significant contribution to the development of trustworthy motion prediction systems for autono-mous vehicles,advancing the field towards greater safety and reliability.
基金supported by the National Science Foundation of China Project(52072215,U1964203,52242213,and 52221005)National Key Research and Development(R&D)Program of China(2022YFB2503003)State Key Laboratory of Intelligent Green Vehicle and Mobility。
文摘As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.
基金supported by the National Natural Science Foundation of China (52102394,52172384)Hunan Provincial Natural Science Foundation of China (2023JJ10008)Young Elite Scientists Sponsorship Program by CAST (2022QNRC001)。
文摘Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and efficiently.The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections.The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem.The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency.Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions.The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.
文摘The 6th generation mobile networks(6G)network is a kind of multi-network interconnection and multi-scenario coexistence network,where multiple network domains break the original fixed boundaries to form connections and convergence.In this paper,with the optimization objective of maximizing network utility while ensuring flows performance-centric weighted fairness,this paper designs a reinforcement learning-based cloud-edge autonomous multi-domain data center network architecture that achieves single-domain autonomy and multi-domain collaboration.Due to the conflict between the utility of different flows,the bandwidth fairness allocation problem for various types of flows is formulated by considering different defined reward functions.Regarding the tradeoff between fairness and utility,this paper deals with the corresponding reward functions for the cases where the flows undergo abrupt changes and smooth changes in the flows.In addition,to accommodate the Quality of Service(QoS)requirements for multiple types of flows,this paper proposes a multi-domain autonomous routing algorithm called LSTM+MADDPG.Introducing a Long Short-Term Memory(LSTM)layer in the actor and critic networks,more information about temporal continuity is added,further enhancing the adaptive ability changes in the dynamic network environment.The LSTM+MADDPG algorithm is compared with the latest reinforcement learning algorithm by conducting experiments on real network topology and traffic traces,and the experimental results show that LSTM+MADDPG improves the delay convergence speed by 14.6%and delays the start moment of packet loss by 18.2%compared with other algorithms.
基金supported by the National Natural Science Foundation of China(the Key Project,52131201Science Fund for Creative Research Groups,52221005)+1 种基金the China Scholarship Councilthe Joint Laboratory for Internet of Vehicles,Ministry of Education–China MOBILE Communications Corporation。
文摘This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.
基金This research was funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+2 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Guangxi Key Laboratory of Spatial Information and Geomatics(Guilin University of Technology)(No.21-238-21-16)Innovation Project of Guangxi Graduate Education(No.YCSW2023352).
文摘A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.
基金Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263)National Key R&D Plan of China(Grant No.2023YFD2000301).
文摘This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.
