Decentralized Cooperative Planning for Automated Vehicles with Continuous Monte Carlo Tree Search

Urban traffic scenarios often require a high degree of cooperation between traffic participants to ensure safety and efficiency. Observing the behavior of others, humans infer whether or not others are cooperating. This work aims to extend the capabilities of automated vehicles, enabling them to cooperate implicitly in heterogeneous environments. Continuous actions allow for arbitrary trajectories and hence are applicable to a much wider class of problems than existing cooperative approaches with discrete action spaces. Based on cooperative modeling of other agents, Monte Carlo Tree Search (MCTS) in conjunction with Decoupled-UCT evaluates the action-values of each agent in a cooperative and decentralized way, respecting the interdependence of actions among traffic participants. The extension to continuous action spaces is addressed by incorporating novel MCTS-specific enhancements for efficient search space exploration. The proposed algorithm is evaluated under different scenarios, showing that the algorithm is able to achieve effective cooperative planning and generate solutions egocentric planning fails to identify

What Fertilizers for Crop Rotation?

No one can predict the exact response of a single crop in a given year or at a specific location. Price relationships change, too. What should you do in a cropping sequence? Here are some clues from our long-term research

A Cold Nearby Cloud Inside the Local Bubble

The high-latitude Galactic H I cloud toward the extragalactic radio source 3C 225 is characterized by very narrow 21 cm emission and absorption indicative of a very low H I spin temperature of about 20 K. Through high-resolution optical spectroscopy, we report the detection of strong, very narrow Na I absorption corresponding to this cloud toward a number of nearby stars. Assuming that the turbulent H I and Na I motions are similar, we derive a cloud temperature of 20 (+6, -8) K (in complete agreement with the 21 cm results) and a line-of-sight turbulent velocity of 0.37+/-0.08 km/s from a comparison of the H I and Na I absorption linewidths. We also place a firm upper limit of 45 pc on the distance of the cloud, which situates it well inside the Local Bubble in this direction and makes it the nearest-known cold diffuse cloud discovered to date.Comment: 11 pages, 3 figures, accepted for publication in ApJ Letter

Electronic structure of warm dense copper studied by ultrafast x-ray absorption spectroscopy

We use time-resolved x-ray absorption spectroscopy to investigate the unoccupied electronic density of states of warm dense copper that is produced isochorically through the absorption of an ultrafast optical pulse. The temperature of the superheated electron-hole plasma, which ranges from 4000 to 10 000 K, was determined by comparing the measured x-ray absorption spectrum with a simulation. The electronic structure of warm dense copper is adequately described with the high temperature electronic density of state calculated by the density functional theory. The dynamics of the electron temperature is consistent with a two-temperature model, while a temperature-dependent electron-phonon coupling parameter is necessary

A grazing incidence x-ray streak camera for ultrafast, single-shot measurements

An ultrafast x-ray streak camera has been realized using a grazing incidence reflection photocathode. X-rays are incident on a gold photocathode at a grazing angle of 20° and photoemitted electrons are focused by a large aperture magnetic solenoid lens. The streak camera has high quantum efficiency, 600 fs temporal resolution, and 6 mm imaging length in the spectral direction. Its single shot capability eliminates temporal smearing due to sweep jitter, and allows recording of the ultrafast dynamics of samples that undergo nonreversible changes

European Multicenter Study for the Evaluation of a Dual-Layer Flow-Diverting Stent for Treatment of Wide-Neck Intracranial Aneurysms: The European Flow-Redirection Intraluminal Device Study

BACKGROUND AND PURPOSE: Endoluminal reconstruction with flow-diverting stents represents a widely accepted technique for the treatment of complex intracranial aneurysms. This European registry study analyzed the initial experience of 15 neurovascular centers with the Flow-Redirection Intraluminal Device (FRED) system. MATERIALS AND METHODS: Consecutive patients with intracranial aneurysms treated with the FRED between February 2012 and March 2015 were retrospectively reviewed. Complications and adverse events, transient and permanent morbidity, mortality, and occlusion rates were evaluated. RESULTS: During the defined study period, 579 aneurysms in 531 patients (median age, 54 years;range, 13-86 years) were treated with the FRED. Seven percent of patients were treated in the acute phase (3 days) of aneurysm rupture. The median aneurysm size was 7.6 mm (range, 1-36.6 mm), and the median neck size 4.5 mm (range, 1-30 mm). Angiographic follow-up of >3 months was available for 516 (89.1%) aneurysms. There was progressive occlusion witnessed with time, with complete occlusion in 18 (20%) aneurysms followed for up to 90 14 days, 141 (82.5%) for 180 +/- 20 days, 116 (91.3%) for 1 year +/- 24 days, and 122 (95.3%) aneurysms followed for >1 year. Transient and permanent morbidity occurred in 3.2% and 0.8% of procedures, respectively. The overall mortality rate was 1.5%. CONCLUSIONS: This retrospective study in real-world patients demonstrated the safety and efficacy of the FRED for the treatment of intracranial aneurysms. In most cases, treatment with a single FRED resulted in complete angiographic occlusion at 1 year

Human cerebrovascular contractile receptors are upregulated via a B-Raf/MEK/ERK-sensitive signaling pathway

<p>Abstract</p> <p>Background</p> <p>Cerebral ischemia results in a rapid increase in contractile cerebrovascular receptors, such as the 5-hydroxytryptamine type 1B (5-HT_1B), angiotensin II type 1 (AT₁), and endothelin type B (ET_B) receptors, in the vessel walls within the ischemic region, which further impairs local blood flow and aggravates tissue damage. This receptor upregulation occurs via activation of the mitogen-activated protein kinase pathway. We therefore hypothesized an important role for B-Raf, the first signaling molecule in the pathway. To test our hypothesis, human cerebral arteries were incubated at 37°C for 48 h in the absence or presence of a B-Raf inhibitor: SB-386023 or SB-590885. Contractile properties were evaluated in a myograph and protein expression of the individual receptors and activated phosphorylated B-Raf (p-B-Raf) was evaluated immunohistochemically.</p> <p>Results</p> <p>5-HT_1B, AT₁, and ET_Breceptor-mediated contractions were significantly reduced by application of SB-590885, and to a smaller extent by SB-386023. A marked reduction in AT₁receptor immunoreactivity was observed after treatment with SB-590885. Treatment with SB-590885 and SB-386023 diminished the culture-induced increase of p-B-Raf immunoreactivity.</p> <p>Conclusions</p> <p>B-Raf signaling has a key function in the altered expression of vascular contractile receptors observed after organ culture. Therefore, specific targeting of B-Raf might be a novel approach to reduce tissue damage after cerebral ischemia by preventing the previously observed upregulation of contractile receptors in smooth muscle cells.</p

Protein kinase C inhibition attenuates vascular ET(B )receptor upregulation and decreases brain damage after cerebral ischemia in rat

BACKGROUND: Protein kinase C (PKC) is known to be involved in the pathophysiology of experimental cerebral ischemia. We have previously shown that after transient middle cerebral artery occlusion, there is an upregulation of endothelin receptors in the ipsilateral middle cerebral artery. The present study aimed to examine the effect of the PKC inhibitor Ro-32-0432 on endothelin receptor upregulation, infarct volume and neurology outcome after middle cerebral artery occlusion in rat. RESULTS: At 24 hours after transient middle cerebral artery occlusion (MCAO), the contractile endothelin B receptor mediated response and the endothelin B receptor protein expression were upregulated in the ipsilateral but not the contralateral middle cerebral artery. In Ro-32-0432 treated rats, the upregulated endothelin receptor response was attenuated. Furthermore, Ro-32-0432 treatment decreased the ischemic brain damage significantly and improved neurological scores. Immunohistochemistry showed fainter staining of endothelin B receptor protein in the smooth muscle cells of the ipsilateral middle cerebral artery of Ro-32-0432 treated rats compared to control. CONCLUSION: The results suggest that treatment with Ro-32-0432 in ischemic stroke decreases the ischemic infarction area, neurological symptoms and associated endothelin B receptor upregulation. This provides a new perspective on possible mechanisms of actions of PKC inhibition in cerebral ischemia