A heuristic explicit model predictive control framework for Eco-trajectory planning: Theoretical analysis and case study

The trajectory planning problem (TPP) has become increasingly crucial in the research of next-generation transportation systems, but it presents challenges due to the non-linearity of its constraints. One specific case within TPP, namely the Eco-trajectory Planning Problem (EPP), poses even greater computational difficulties due to its nonlinear, high-order, and non-convex objective function. This paper proposes a heuristic explicit predictive model control (heMPC) framework to address the eco-trajectory planning problem in scenarios without lane-changing behavior. The heMPC framework consists of an offline module and an online module. In the offline module, we build an optimal eco-trajectory batch by optimizing a series of simplified EPPs considering different system initial states and terminal states, which is equivalent to the lookup table in the general eMPC framework. The core idea of the offline module is to finish all potential optimization and computing in advance to avoid any form of online optimization in the online module. In the online module, we provide static and dynamic trajectory planning algorithms. Both algorithms greatly improve the computational efficiency of planning and only suffer from a limited extent of optimality losses through a batch-based selection process because any optimization and calculation are pre-computed in the offline module. The latter algorithm is also able to face possible emergencies and prediction errors. Both theoretical analysis and numerical are shown and discussed to test the computational quality and efficiency of the heMPC framework under a mixed-traffic flow environment that incorporates human-driving vehicles (HDV) and connected and automated vehicles (CAV) with different market penetration rates (MPR)

I-V characteristics of Au∕Ni Schottky diodes on GaN with SiNx nanonetwork

Room temperature and temperature dependent current-voltage characteristics of Ni∕AuSchottky diodes fabricated on undoped GaN prepared with and without in situ SiNxnanonetwork by metal organic chemical vapor deposition have been studied. The features of the Schottky diodes depend strongly on the SiNx deposition conditions, namely, its thickness. Reduction in the point and line defect densities caused the Schottky barrier height to increase to1.13eV for 5min SiNx deposition time as compared to 0.78eV without SiNx nanonetwork. Similarly, the breakdown voltage also improved from 76V for the reference to 250V when SiNx nanonetwork was used. With optimized SiNx nanonetwork, full width at half maximum values of (0002) and (101¯2) x-ray rocking curves improved to 217 and 211arcsec, respectively, for a 5.5μm thick layer, as compared to 252 and 405arcsec for a reference sample of the same thickness, which are comparable to literature values. The photoluminescence linewidth also reduced to 2.5meV at 15K with free excitons A and B clearly resolvable

Development of novel AMP-based absorbents for efficient CO2 capture with low energy consumption through modifying the electrostatic potential

The global deployment of aqueous amine absorbents for carbon dioxide (CO2) capture is hindered by their high energy consumption. A potential solution to this challenge lies in the utilization of non-aqueous amine systems, which offer energy-efficient alternatives. However, they are prone to form precipitation during CO2 absorption process, which limits their application. Combining experimental and theoretical studies, we found that the electrostatic potential of carbamate, instead of van der Waals force, is a major factor controlling the precipitation, and hydrogen bonds can effectively reduce the electrostatic potential of carbamate and prevent precipitation. Single solvent screening experiments have also demonstrated that the absorption rate is closely related to the viscosity of the organic solvent and the affinity of the functional group for CO2. The polar solvents (Dimethylformamide (DMF), Dimethyl sulfoxide (DMSO), and N-Methylformamide (NMF)) exhibit higher absorption rates, but suffer from issues of precipitation. Hydroxyl group riched solvents (Ethylene glycol (EG) and Glycerol) exhibit lower absorption rate, but they don’t have the issue of precipitation. Based on these findings, several novel 2-Amino-2-methyl-1-propanol (AMP)-based non-aqueous absorbents have been developed aiming at reducing the energy penalty, and improving CO2 absorption and desorption performance. Among these absorbents, AMP-EG-DMF (4–3) exhibits maximum CO2 absorption rate and absorption capacity of 9.91 g-CO2/(kg-soln.·min.) and 122 g-CO2/(kg-soln.), respectively, which are 64.1% and 28.4% higher than those of 30 wt% AMP aqueous solution, respectively. Additionally, compared to 30 wt% MEA, the energy consumption of AMP-EG-DMF (4–3) shows 46.30% reduction. The addition of EG effectively improves the electrostatic solubility of AMP-carbamate by increasing the number and strength of hydrogen bonds, thus avoiding the generation of precipitation. The final product species and reaction mechanism were analysed by using 13C and 1H NMR, In-situ ATR-FTIR, and quantum chemical calculation. The combination of theoretical and experimental results indicates that bi-solvent AMP-based absorbents can serve as a promising alternative for low-energy CO2 capture

Myeloid sarcomas: a histologic, immunohistochemical, and cytogenetic study

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Charge-separation driven mechanism via acylium ion intermediate migration during catalytic carbonylation in mordenite zeolite

By employing ab initio molecular dynamic simulations, solid-state NMR spectroscopy, and two-dimensional correlation analysis of rapid scan Fourier transform infrared spectroscopy data, a new pathway is proposed for the formation of methyl acetate (MA) via the acylium ion (i.e.,CH(3) − C ≡ O(+)) in 12-membered ring (MR) channel of mordenite by an integrated reaction/diffusion kinetics model, and this route is kinetically and thermodynamically more favorable than the traditional viewpoint in 8MR channel. From perspective of the complete catalytic cycle, the separation of these two reaction zones, i.e., the C-C bond coupling in 8MR channel and MA formation in 12MR channel, effectively avoids aggregation of highly active acetyl species or ketene, thereby reducing undesired carbon deposit production. The synergistic effect of different channels appears to account for the high carbonylation activity in mordenite that has thus far not been fully explained, and this paradigm may rationalize the observed catalytic activity of other reactions

Phylogeny more than plant height and leaf area explains variance in seed mass

Although variation in seed mass can be attributed to other plant functional traits such as plant height, leaf size, genome size, growth form, leaf N and phylogeny, until now, there has been little information on the relative contributions of these factors to variation in seed mass. We compiled data consisting of 1071 vascular plant species from the literature to quantify the relationships between seed mass, explanatory variables and phylogeny. Strong phylogenetic signals of these explanatory variables reflected inherited ancestral traits of the plant species. Without controlling phylogeny, growth form and leaf N are associated with seed mass. However, this association disappeared when accounting for phylogeny. Plant height, leaf area, and genome size showed consistent positive relationship with seed mass irrespective of phylogeny. Using phylogenetic partial R2s model, phylogeny explained 50.89% of the variance in seed mass, much more than plant height, leaf area, genome size, leaf N, and growth form explaining only 7.39%, 0.58%, 1.85%, 0.06% and 0.09%, respectively. Therefore, future ecological work investigating the evolution of seed size should be cautious given that phylogeny is the best overall predictor for seed mass. Our study provides a novel avenue for clarifying variation in functional traits across plant species, improving our better understanding of global patterns in plant traits

C-MYC rearrangements are frequent in aggressive mature B-cell lymphoma with atypical morphology

Diagnosis and classification of aggressive mature B-cell lymphoma with atypical morphology remains a challenge. To identify factors that may contribute to the atypical morphology, we selected eight such cases and evaluated their morphologic, immunophenotypic and cytogenetic features and clinical outcomes. The neoplastic cells showed a diffuse monotonous infiltrating pattern with a spectrum of morphology including: 1) L1 lymphoblastic; 2) centroblastic; 3) immunoblastic; and 4) mixed centroblastic and immunoblastic. The lymphoma cells in most cases were positive for CD10 and/or BCL6, and showed BCL2 expression. 6 of 8 cases showed C-MYC rearrangements, and interestingly, all 6 cases demonstrated a proliferation index of ≤90%. 3 of the 6 cases also demonstrated t(14;18). Clinical follow-up indicated that aggressive mature B-cell lymphoma may benefit from more intensified chemotherapeutic regimens used for BL. Our study suggests that aggressive mature B-cell lymphoma with atypical morphology may be another “grey zone lymphoma” lying in the spectrum between Burkitt lymphoma and diffuse large B-cell lymphoma

Rodent-Mediated Seed Dispersal Shapes Species Composition and Recruitment Dynamics in Ecotones

Ecotones are considered unique environments, and the concepts of edge effects and ecotonal species have been applied widely. Our understanding of the mechanisms that underlie population and community responses to edge effects has been advanced by recent studies. However, little evidence exists to support an increased density and species richness in ecotones regarding rodent-mediated seed dispersal in response to edge plots between communities. Pinus armandii and Quercus variabilis communities are typical of the Qinling Mountains, China. To elucidate what shapes tree species composition and recruitment dynamics in ecotones, we compared the differences in secondary and tertiary seed dispersal as well as predation in pine and oak by scatter-hoarding rodents as well as the regeneration characteristics of both species in their ecotones with different plots (i.e., 5–8, 15–18, and 27–30 m widths) in the eastern Qinling Mountains. We found that the seeds of pine and oak were removed rapidly, with no differences in the seed removal rates in their ecotones with different plots. Moreover, 13.0 and 36.0% of the scatter hoards of pine and oak, respectively, were established by small rodents in ecotones with a width of 5–8 m, and 3.67 and 7.33% in ecotones with a width of 27–30 m. The seedling densities of pine and oak were significantly higher in ecotones at widths of 5–8 m compared with widths of 15–18 and 27–30 m. According to the seed dispersal and seedling recruitment patterns of pine and oak, the disproportionate abundance of seedlings in ecotones may be due at least partly to patterns of seed caching by rodents