Generating Evidential BEV Maps in Continuous Driving Space

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic results, e.g., probabilistic object detection, that only provide partial information for the perception scenario, we propose a complete probabilistic model named GevBEV. It interprets the 2D driving space as a probabilistic Bird's Eye View (BEV) map with point-based spatial Gaussian distributions, from which one can draw evidence as the parameters for the categorical Dirichlet distribution of any new sample point in the continuous driving space. The experimental results show that GevBEV not only provides more reliable uncertainty quantification but also outperforms the previous works on the benchmarks OPV2V and V2V4Real of BEV map interpretation for cooperative perception in simulated and real-world driving scenarios, respectively. A critical factor in cooperative perception is the data transmission size through the communication channels. GevBEV helps reduce communication overhead by selecting only the most important information to share from the learned uncertainty, reducing the average information communicated by 87% with only a slight performance drop. Our code is published at https://github.com/YuanYunshuang/GevBEV

Generating evidential BEV maps in continuous driving space

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic results, e.g., probabilistic object detection, that only provide partial information for the perception scenario, we propose a complete probabilistic model named GevBEV. It interprets the 2D driving space as a probabilistic Bird's Eye View (BEV) map with point-based spatial Gaussian distributions, from which one can draw evidence as the parameters for the categorical Dirichlet distribution of any new sample point in the continuous driving space. The experimental results show that GevBEV not only provides more reliable uncertainty quantification but also outperforms the previous works on the benchmarks OPV2V and V2V4Real of BEV map interpretation for cooperative perception in simulated and real-world driving scenarios, respectively. A critical factor in cooperative perception is the data transmission size through the communication channels. GevBEV helps reduce communication overhead by selecting only the most important information to share from the learned uncertainty, reducing the average information communicated by 87% with only a slight performance drop. Our code is published at https://github.com/YuanYunshuang/GevBEV

Determinant representations for scalar products of the XXZ Gaudin model with general boundary terms

We obtain the determinant representations of the scalar products for the XXZ Gaudin model with generic non-diagonal boundary terms.Comment: Latex file, 17 page

Dry sliding wear behavior of an extruded Mg–Dy–Zn alloy with long period stacking ordered phase

AbstractThe dry sliding wear behavior of extruded Mg-2Dy-0.5Zn alloy (at.%) was investigated using a pin-on-disk configuration. The friction coefficient and wear rate were measured within a load range 20–760 N at a sliding velocity of 0.785 m/s. Microstructure and wear surface of alloy were examined using scanning electron microscopy. The mechanical properties of alloy were tested at room and elevated temperatures. Five wear mechanisms, namely abrasion, oxidation, delamination, thermal softening and melting dominated the whole wear behavior with increasing applied load. The extruded Mg-2Dy-0.5Zn alloy exhibited the better wear resistance as compared with as-cast Mg97Zn1Y2 alloy under the given conditions through contact surface temperature analysis. The improved wear resistance was mainly related to fine grain size, good thermal stability of long period stacking order (LPSO) phase and excellent higher-temperature mechanical properties

Arctigenin alleviates ER stress via activating AMPK

Aim: To investigate the protective effects of arctigenin (ATG), a phenylpropanoid dibenzylbutyrolactone lignan from Arctium lappa L (Compositae), against ER stress in vitro and the underlying mechanisms. Methods: A cell-based screening assay for ER stress regulators was established. Cell viability was measured using MTT assay. PCR and Western blotting were used to analyze gene and protein expression. Silencing of the CaMKKβ, LKB1, and AMPKα1 genes was achieved by RNA interference (RNAi). An ATP bioluminescent assay kit was employed to measure the intracellular ATP levels. Results: ATG (2.5, 5 and 10 μmol/L) inhibited cell death and unfolded protein response (UPR) in a concentration-dependent manner in cells treated with the ER stress inducer brefeldin A (100 nmol/L). ATG (1, 5 and 10 μmol/L) significantly attenuated protein synthesis in cells through inhibiting mTOR-p70S6K signaling and eEF2 activity, which were partially reversed by silencing AMPKα1 with RNAi. ATG (1-50 μmol/L) reduced intracellular ATP level and activated AMPK through inhibiting complex I-mediated respiration. Pretreatment of cells with the AMPK inhibitor compound C (25 μmol/L) rescued the inhibitory effects of ATG on ER stress. Furthermore, ATG (2.5 and 5 μmol/L) efficiently activated AMPK and reduced the ER stress and cell death induced by palmitate (2 mmol/L) in INS-1 β cells. Conclusion: ATG is an effective ER stress alleviator, which protects cells against ER stress through activating AMPK, thus attenuating protein translation and reducing ER load

Observation of short-range Yu-Shiba-Rusinov states with threefold symmetry in layered superconductor 2H-NbSe₂

Yu-Shiba-Rusinov (YSR) states arise when magnetic impurities interact with superconductivity. The intricacy of coupling and the nature of the superconductivity determine the behavior of the YSR state, whose detailed correlations are not yet fully understood. Here, we study the YSR state of a single Fe adatom on the surface of 2H-NbSe₂ with combined low temperature scanning tunneling microscopy/spectroscopy, density functional theory calculations and tight-binding modeling. It is found that the Fe adatom occupies the hollow site of the Se surface layer. A prominent YSR state close to the Fermi level is observed. The YSR state exhibits a threefold symmetry along the diagonal direction of the Se lattice. The spatial decay of the YSR state follows a behavior in three-dimensional superconductivity. This behavior contrasts with a previous study of imbedded Fe impurities, whose YSR state shows a six-fold symmetry and a two-dimensional long-range decay. According to our theoretical modeling, the coupling configurations affect the adatom-substrate hopping and the interlayer coupling of the substrate. Both factors are crucial for the consequent behavior of the YSR state

Observation of short-range Yu-Shiba-Rusinov states with threefold symmetry in layered superconductor 2H-NbSe₂

Yu-Shiba-Rusinov (YSR) states arise when magnetic impurities interact with superconductivity. The intricacy of coupling and the nature of the superconductivity determine the behavior of the YSR state, whose detailed correlations are not yet fully understood. Here, we study the YSR state of a single Fe adatom on the surface of 2H-NbSe₂ with combined low temperature scanning tunneling microscopy/spectroscopy, density functional theory calculations and tight-binding modeling. It is found that the Fe adatom occupies the hollow site of the Se surface layer. A prominent YSR state close to the Fermi level is observed. The YSR state exhibits a threefold symmetry along the diagonal direction of the Se lattice. The spatial decay of the YSR state follows a behavior in three-dimensional superconductivity. This behavior contrasts with a previous study of imbedded Fe impurities, whose YSR state shows a six-fold symmetry and a two-dimensional long-range decay. According to our theoretical modeling, the coupling configurations affect the adatom-substrate hopping and the interlayer coupling of the substrate. Both factors are crucial for the consequent behavior of the YSR state

Value of reduced glomerular filtration rate assessment with cardiometabolic index: insights from a population-based Chinese cohort

Abstract Background Recent studies have suggested that cardiometabolic index (CMI), a novel estimate of visceral adipose tissue, could be of use in the evaluation of cardiovascular risk factors. However, the potential utility and clinical significance of CMI in the detection of reduced estimated glomerular filtration rate (eGFR) remains uncertain. The purpose of this study was to investigate the usefulness of CMI in assessing reduced eGFR in the general Chinese population. Methods This cross-sectional analysis included 11,578 participants (mean age: 53.8 years, 53.7% females) from Northeast China Rural Cardiovascular Health Study (NCRCHS) of general Chinese population (data collected from January 2013 to August 2013). CMI was calculated by triglyceride to high density lipoprotein cholesterol ratio multiply waist-to-height ratio. Reduced eGFR was defined as eGFR< 60 ml/min per 1.73m2. Multivariate regressions were performed to determine CMI’s association with eGFR value and eGFR reduction, ROC analyses were employed to investigate CMI’s discriminating ability for decreased eGFR. Results The prevalence of reduced eGFR was 1.7% in males and 2.5% in females. CMI was notably more adverse in reduced eGFR groups, regardless of genders. In fully adjusted multivariate linear models, each 1 SD increment of CMI caused 3.150 ml/min per 1.73m2 and 2.411 ml/min per 1.73m2 loss of eGFR before CMI reached 1.210 and 1.520 in males and females, respectively. In logistic regression analyses, per 1 SD increase of CMI brought 51.6% additional risk of reduced eGFR in males while caused 1.347 times of risk in females. After divided into quartiles, people in the top quartile of CMI had higher adjusted ORs of having reduced eGFR, with ORs of 4.227 (1.681, 10.627) and 3.442 (1.685–7.031) for males and females respectively. AUC of CMI was revealed to be 0.633 (0.620–0.646) in males and 0.684 (0.672–0.695) in females. Conclusions Higher CMI was independently associated with greater burden of reduced eGFR, highlighting VAT distribution and dysfunction as a potential mechanism underlying the association of obesity with kidney damage and adverse cardiovascular outcomes. The findings from this study provided important insights regarding the potential usefulness and clinical relevance of CMI in the detection of reduced eGFR among general Chinese population.https://deepblue.lib.umich.edu/bitstream/2027.42/146138/1/12882_2018_Article_1098.pd