Physical properties of CO-dark molecular gas traced by C+^+

Neither HI nor CO emission can reveal a significant quantity of so-called dark gas in the interstellar medium (ISM). It is considered that CO-dark molecular gas (DMG), the molecular gas with no or weak CO emission, dominates dark gas. We identified 36 DMG clouds with C$^+$ emission (data from Galactic Observations of Terahertz C+ (GOT C+) project) and HINSA features. Based on uncertainty analysis, optical depth of HI $\tau\rm_{HI}$ of 1 is a reasonable value for most clouds. With the assumption of $\tau\rm_{HI}=1$, these clouds were characterized by excitation temperatures in a range of 20 K to 92 K with a median value of 55 K and volume densities in the range of $6.2\times10^1$ cm$^{-3}$ to $1.2\times 10^3$ cm$^{-3}$ with a median value of $2.3\times 10^2$ cm$^{-3}$. The fraction of DMG column density in the cloud ($f\rm_{DMG}$) decreases with increasing excitation temperature following an empirical relation $f\rm_{DMG}=-2.1\times 10^{-3}T_(ex,\tau_{HI}=1)$+1.0. The relation between $f\rm_{DMG}$ and total hydrogen column density $N_H$ is given by $f\rm_{DMG}$=$1.0-3.7\times 10^{20}/N_H$. The values of $f\rm_{DMG}$ in the clouds of low extinction group ($A\rm_V \le 2.7$ mag) are consistent with the results of the time-dependent, chemical evolutionary model at the age of ~ 10 Myr. Our empirical relation cannot be explained by the chemical evolutionary model for clouds in the high extinction group ($A\rm_V > 2.7$ mag). Compared to clouds in the low extinction group ($A\rm_V \le 2.7$ mag), clouds in the high extinction group ($A\rm_V > 2.7$ mag) have comparable volume densities but excitation temperatures that are 1.5 times lower. Moreover, CO abundances in clouds of the high extinction group ($A\rm_V > 2.7$ mag) are $6.6\times 10^2$ times smaller than the canonical value in the Milky Way. #[Full version of abstract is shown in the text.]#Comment: Accepted for publishing in Astronomy & Astrophysics. 13 pages, 8 figure

Micromechanical Prediction Model of Viscoelastic Properties for Asphalt Mastic Based on Morphologically Representative Pattern Approach

This paper is devoted to the introduction of physicochemical, filler size, and distribution effect in micromechanical predictions of the overall viscoelastic properties of asphalt mastic. In order to account for the three effects, the morphologically representative pattern (MRP) approach was employed. The MRP model was improved due to the arduous practical use of equivalent modulus formula solution. Then, a homogeneous morphologically representative model (H-MRP) with the explicit solution was established based on the homogenization theory. Asphalt mastic is regarded as a composite material consisting of filler particles coated structural asphalt and free asphalt considering the physicochemical effect. An additional interphase surrounding particles was introduced in the H-MRP model. Thus, a modified H-MRP model was established. Using the proposed model, a viscoelastic equation was derived to predict the complex modulus and subsequently the dynamic modulus of asphalt mastic based on the elastic-viscoelastic correspondence principle. The dynamic shear rheological tests were conducted to verify the prediction model. The results show that the predicted modulus presents an acceptable precision for asphalt mastic mixed with 10% and 20% fillers volume fraction, as compared to the measured ones. The predicted modulus agrees reasonably well with the measured ones at high frequencies for asphalt mastic mixed with 30% and 40% fillers volume fraction. However, it exhibits underestimated modulus at low frequencies. The reasons for the discrepancy between predicted and measured dynamic shear modulus and the factors affecting the dynamic shear modulus were also explored in the paper

A Regularized Opponent Model with Maximum Entropy Objective

In a single-agent setting, reinforcement learning (RL) tasks can be cast into an inference problem by introducing a binary random variable o, which stands for the "optimality". In this paper, we redefine the binary random variable o in multi-agent setting and formalize multi-agent reinforcement learning (MARL) as probabilistic inference. We derive a variational lower bound of the likelihood of achieving the optimality and name it as Regularized Opponent Model with Maximum Entropy Objective (ROMMEO). From ROMMEO, we present a novel perspective on opponent modeling and show how it can improve the performance of training agents theoretically and empirically in cooperative games. To optimize ROMMEO, we first introduce a tabular Q-iteration method ROMMEO-Q with proof of convergence. We extend the exact algorithm to complex environments by proposing an approximate version, ROMMEO-AC. We evaluate these two algorithms on the challenging iterated matrix game and differential game respectively and show that they can outperform strong MARL baselines.Comment: Accepted to International Joint Conference on Artificial Intelligence (IJCA2019

Large-Scale Spectroscopic Mapping of the ρ\rho Ophiuchi Molecular Cloud Complex I. The C2_{2}H to N2_2H+^+ Ratio as a Signpost of Cloud Characteristics

We present 2.5-square-degree C$_{2}$H N=1-0 and N$_2$H$^+$ J=1-0 maps of the $\rho$ Ophiuchi molecular cloud complex. These are the first large-scale maps of the $\rho$ Ophiuchi molecular cloud complex with these two tracers. The C$_{2}$H emission is spatially more extended than the N$_2$H$^+$ emission. One faint N$_2$H$^+$ clump Oph-M and one C$_{2}$H ring Oph-RingSW are identified for the first time. The observed C$_{2}$H to N$_{2}$H$^{+}$ abundance ratio ([C$_{2}$H]/[N$_{2}$H$^{+}$]) varies between 5 and 110. We modeled the C$_{2}$H and N$_2$H$^+$ abundances with 1-D chemical models which show a clear decline of [C$_2$H]/[N$_2$H$^+$] with chemical age. Such an evolutionary trend is little affected by temperatures when they are below 40 K. At high density (n$_H$ $>$ 10$^5$ cm$^{-3}$), however, the time it takes for the abundance ratio to drop at least one order of magnitude becomes less than the dynamical time (e.g., turbulence crossing time $\rm \sim$10$^5$ years). The observed [C$_2$H]/[N$_2$H$^+$] difference between L1688 and L1689 can be explained by L1688 having chemically younger gas in relatively less dense regions. The observed [C$_{2}$H]/[N$_{2}$H$^{+}$] values are the results of time evolution, accelerated at higher densities. For the relative low density regions in L1688 where only C$_2$H emission was detected, the gas should be chemically younger.Comment: Accepted by ApJ, 45 pages, 10 figure

Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learning

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior can be encoded as a model to benefit the autonomous driving system. Besides, an increasing number of data-driven works have been studied in the decision-making and motion planning module. However, the reliability and the stability of the neural network is still full of uncertainty. In this paper, we introduce a hierarchical planning architecture including a high-level grid-based behavior planner and a low-level trajectory planner, which is highly interpretable and controllable. As the high-level planner is responsible for finding a consistent route, the low-level planner generates a feasible trajectory. We evaluate our method both in closed-loop simulation and real world driving, and demonstrate the neural network planner has outstanding performance in complex urban autonomous driving scenarios.Comment: 6 pages, 8 figures, accepted by IROS202

Evidence of Dark Contents in the Center of NGC 6517

Millisecond pulsars can serve as effective probes to investigate the presence of Intermediate-mass Black Holes (IMBHs) within Galactic globular clusters (GCs). Based on the standard structure models for GCs, we conduct simulations to analyze the distributions of pulsar accelerations within the central region of NGC 6517. By comparing the measured accelerations of pulsars obtained from their period derivatives $\dot P$ to the simulated distribution profiles, we demonstrate that a central excess of dark mass is required to account for the measured accelerations. Our analysis, which relies on existing pulsar timing observations, is currently unable to differentiate between two possible scenarios: an IMBH precisely situated at the core of the cluster with mass $\gtrsim 9000^{+4000}_{-3000}~M_{\odot}$, or a central concentration of stellar mass dark remnants with a comparable total mass. However, with additional acceleration measurements from a few more pulsars in the cluster, it will be possible to differentiate the source of the nonluminous matter.Comment: 6 pages, 3 figures, 1 table. Accepted for publication in MNRA

A novel actuator-internal micro/nano positioning stage with an arch-shape bridge type amplifier

This paper presents a novel actuator-internal two degree-of-freedom (2-DOF) micro/nano positioning stage actuated by piezoelectric (PZT) actuators, which can be used as a fine actuation part in dual-stage system. To compensate the positioning error of coarse stage and achieve a large motion stroke, a symmetrical structure with an arch-shape bridge type amplifier based on single notch circular flexure hinges is proposed and utilized in the positioning stage. Due to the compound bridge arm configuration and compact flexure hinge structure, the amplification mechanism can realize high lateral stiffness and compact structure simultaneously, which is of great importance to protect PZT actuators. The amplification mechanism is integrated into the decoupling mechanism to improve compactness, and to produce decoupled motion in X- and Y- axes. An analytical model is established to explore the static and dynamic characteristics, and the geometric parameters are optimized. The performance of the positioning stage is evaluated through finite element analysis (FEA) and experimental test. The results indicate that the stage can implement 2-DOF decoupled motion with a travel range of 55.4×53.2 μm2, and the motion resolution is 8 nm. The stage can be used in probe tip-based micro/nano scratching