A Hierarchical Hybrid Learning Framework for Multi-agent Trajectory Prediction

Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex interactions. However, unplausible predictions are often generated since they rely heavily on past observations and cannot effectively capture the transient and contingency interactions from sparse samples. In this paper, we propose a hierarchical hybrid framework of deep learning (DL) and reinforcement learning (RL) for multi-agent trajectory prediction, to cope with the challenge of predicting motions shaped by multi-scale interactions. In the DL stage, the traffic scene is divided into multiple intermediate-scale heterogenous graphs based on which Transformer-style GNNs are adopted to encode heterogenous interactions at intermediate and global levels. In the RL stage, we divide the traffic scene into local sub-scenes utilizing the key future points predicted in the DL stage. To emulate the motion planning procedure so as to produce trajectory predictions, a Transformer-based Proximal Policy Optimization (PPO) incorporated with a vehicle kinematics model is devised to plan motions under the dominant influence of microscopic interactions. A multi-objective reward is designed to balance between agent-centric accuracy and scene-wise compatibility. Experimental results show that our proposal matches the state-of-the-arts on the Argoverse forecasting benchmark. It's also revealed by the visualized results that the hierarchical learning framework captures the multi-scale interactions and improves the feasibility and compliance of the predicted trajectories

Effects of Pulsed Magneto-Oscillation on the Homogeneity of Low Carbon Alloy Steel Continuous Casting Round Billet

Pulsed Magneto-Oscillation (PMO) is a newly developed and effective homogenization technique, and has been successfully applied in rectangular continuous casting, but its processing parameters and effective stability in round billet continuous casting have not been investigated. In this paper, the effects of PMO on the solidification structure and the macrosegregation of Φ 178 mm continuous casting round billets for low carbon alloy steel were studied by industrial experiments. The results show that PMO can stably increase the equiaxed grain area, and reduce the macrosegregation of billets. Moreover, it has strong adaptability to steel grade and continuous casting process parameters. Compared with the billets without PMO treatment, for 93.8% of billets (15 billets) solidified with PMO, the equiaxed grain area ratio increased by an average of 5.8%, while for 87.5% of billets (14 billets), the carbon segregation index range decreased by an average of 0.06, though different steel grades, superheat and casting speed were used in the experiment. It is believed that convection caused by Lorentz force can accelerate the heat dissipation of steel liquid, and reduce the temperature of a liquid at the solidification front, while the magnetic oscillation effect is conducive to dendrite fragmentation. Both effects lead to refinement of the solidification structure and reduction of macrosegregation

The Vibration Isolation Design of a Re-Entrant Negative Poisson’s Ratio Metamaterial

An improved re-entrant negative Poisson’s ratio metamaterial based on a combination of 3D printing and machining is proposed. The improved metamaterial exhibits a superior load-carrying and vibration isolation capacity compared to its traditional counterpart. The bandgap of the proposed metamaterial can be easily tailored through various assemblies. Additionally, particle damping is introduced to enhance the diversity of bandgap design, improve structural damping performance, and achieve better vibration isolation at low and medium frequencies. An experiment and simulation were conducted to assess the static and vibration performances of the metamaterial, and consistent results were obtained. The results indicate a 300% increase in the bearing capacity of the novel structure compared to traditional structural metamaterials. Furthermore, by increasing the density of metal assemblies, a vibration-suppressing bandgap with a lower frequency and wider bandwidth can be achieved. The introduction of particle damping significantly enhanced the vibration suppression capability of the metamaterial in the middle- and low-frequency range, effectively suppressing resonance peaks. This paper establishes a vibration design method for re-entrant metamaterials, which is experimentally validated and provides a foundation for the vibration suppression design of metamaterials

Effects of Pulsed Magneto-Oscillation on the Homogeneity of Low Carbon Alloy Steel Continuous Casting Round Billet

Pulsed Magneto-Oscillation (PMO) is a newly developed and effective homogenization technique, and has been successfully applied in rectangular continuous casting, but its processing parameters and effective stability in round billet continuous casting have not been investigated. In this paper, the effects of PMO on the solidification structure and the macrosegregation of Φ 178 mm continuous casting round billets for low carbon alloy steel were studied by industrial experiments. The results show that PMO can stably increase the equiaxed grain area, and reduce the macrosegregation of billets. Moreover, it has strong adaptability to steel grade and continuous casting process parameters. Compared with the billets without PMO treatment, for 93.8% of billets (15 billets) solidified with PMO, the equiaxed grain area ratio increased by an average of 5.8%, while for 87.5% of billets (14 billets), the carbon segregation index range decreased by an average of 0.06, though different steel grades, superheat and casting speed were used in the experiment. It is believed that convection caused by Lorentz force can accelerate the heat dissipation of steel liquid, and reduce the temperature of a liquid at the solidification front, while the magnetic oscillation effect is conducive to dendrite fragmentation. Both effects lead to refinement of the solidification structure and reduction of macrosegregation

Effects of different feeding rations on the CO2 fluxes at water-air interface and energy budget of sea cucumber Apostichopus japonicus (Selenka)

Feeding ration is one of the most important factors that directly affect growth and physiology progress of sea cucumber Apostichopus japonicus. In present study, a 32-day experiment was carried out to investigate the effects of feeding ration (1%, 3%, and 7% of total body weight, named F1, F3 and F7, respectively) on growth performance, carbon allocation, energy budget and CO2 fluxes at water-air interface. Results showed the maximum specific growth rate was observed at F3, while F7 showed negative growth. And F3 exhibited the highest enzyme activities associated with respiration in respiratory tree and body wall. Carbon intake, nitrogen intake and energy intake were significantly affected by feeding ration, while energy allocation between F1 and F3 on growth and excretion were no significant difference, suggesting that increased feeding ration slightly increased the digestive burden. Compared to F1, food conversion efficiency and fecal energy of F3 were reduced, while respiration metabolizable energy was increased. Mean CO2 flux at water-air interface of F3 was significantly higher than that of F1 at noon and dusk, and mean CO2 flux of F7 was significantly lowest than other groups at all sample times. Our results revealed that feeding rations influence CO2 fluxes at water-air interface by altering physiological status, carbon content, and energy allocation for respiration metabolizable of sea cucumber. Our study provides a theoretical basis for promoting the development of efficient low-carbon aquaculture technology for sea cucumber and sustainable development of the industry

Enhancement of Fatigue Endurance by Al-Si Coating in Hot-Stamping Boron Steel Sheet

Most structural components undertake cyclic loads in engineering and failures always cause catastrophic economic losses and casualties. In the present work, the phase evolution of Al-Si coating of high-strength boron steel during hot stamping was investigated. Two types of 1500 MPa grade boron steel sheets, one with Al-Si coating and the other without, were studied to reveal the effect on the high-cycle fatigue behavior. The as-received continuously hot-dip Al-Si coating was composed of α(Al), eutectic Al-Si and τ5. After hot stamping at 1193 K, three phases formed in this coating: β2, Fe(Al,Si)2 and α(Fe). The experimental results showed that the endurance limit of the coated steel sheet was 370 MPa under 107 fully reversed tension-compression loading cycles as opposed to 305 MPa in the uncoated sheet. Both the coated and the uncoated specimens showed surface-induced transgranular fatigue fractures. In the uncoated sheet, the fatigue cracks were generated from the decarburization surface, but the Al-Si coating effectively prevented the occurrence of near-surface decarburization during high-temperature hot stamping, and the only cracks in the coated steel sheet were initiated at wire-cutting surfaces

Impaired face recognition is associated with abnormal gray matter volume in the posterior cingulate cortex in congenital amusia

Congenital amusia is as a neurodevelopment disorder primarily defined by impairment in pitch discrimination and pitch memory. Interestingly, it has been reported that individuals with congenital amusia also exhibit deficits in face recognition (prosopagnosia). One explanation of such comorbidity is that the neural substrates of pitch recognition and face recognition may be similar. To test this hypothesis, face recognition ability was assessed using the Cambridge Face Memory Test (CFMT) and gray matter volume was determined through voxelbased morphometry (VBM) among participants with and without congenital amusia. As expected, participants with amusia performed worse on the CFMT test and showed reduced gray matter volume (GMV) in the middle temporal gyrus (MTG), the superior temporal gyrus (STG), and the posterior cingulate cortex (PCC) in the right hemisphere, when compared with matched controls. Furthermore, correlation analyses demonstrated that the CFMT score was positively related to MTG, STG, and PCC GMV in all participants, while separate analyses of each group found a positive correlation of CFMT score and PCC GMV in amusics. These findings suggest that face recognition is associated with a widely distributed microstructural network in the human brain and the PCC plays an important role in both pitch recognition and face recognition in amusics. In addition, neurodevelopmental disorders such as congenital amusia and prosopagnosia may share a common neural substrate

Comparative Study on the Grain Refinement of Al-Si Alloy Solidified under the Impact of Pulsed Electric Current and Travelling Magnetic Field

It is high of commercial importance to generate the grain refinement in alloys during solidification by means of electromagnetic fields. Two typical patterns of electromagnetic fields, pulsed electric currents (ECP) and traveling magnetic field (TMF), are frequently employed to produce the finer equiaxed grains in solidifying alloys. Various mechanisms were proposed to understand the grain refinement in alloys caused by ECP and TMF. In this paper, a comparative study is carried out in the same solidification regime to investigate the grain refinement of Al-7 wt. %Si alloy driven by ECP and TMF. Experimental results show that the application of ECP or TMF can cause the same grain refinement occurrence period, during which the refinement of primary Al continuously occurs. In addition, the related grain refinement mechanisms are reviewed and discussed, which shows the most likely one caused by ECP and TMF is the promoted dendrite fragmentation as the result of the ECP-induced or TMF-induced forced flow. It suggests that the same grain refinement process in alloys is provoked when ECP and TMF are applied in the same solidification regime, respectively

Zn and P Alloying Effect in Sub-Rapidly Solidified LaFe_11.6Si_1.4 Magnetocaloric Plates

The occupation mechanism and magnetic transition behavior of trace Zn and P alloying in the sub-rapidly solidified LaFe11.6Si1.4 magnetocaloric plates were investigated. The LaFe11.6Si1.4, LaFe11.6Si1.4Zn0.03, and LaFe11.6Si1.4P0.03 plates were fabricated using the centrifugal casting method in the present work. Experimental results showed that both Zn and P elements were distributed in the La5Si3 and LaFeSi phases during sub-rapid solidification. After annealed at 1373 K for 72 h, the LaFe11.6Si1.4 plate underwent a second-order magnetic transition, while both the LaFe11.6Si1.4Zn0.03 and LaFe11.6Si1.4P0.03 plates underwent a first-order transition. In combination with X-ray diffraction results, it was proposed that both Zn and P atoms prefer to enter the 96i site substituting for FeII/Si atoms according to the density-functional reconstruction of crystallographic structure. The Zn addition led to a slight decrease in magnetic entropy change from 7.0 to 5.9 J/(kg⋅K), while the P addition strikingly enhanced this property to 31.4 J/(kg⋅K) under a magnetic field change of 3 T. The effective refrigeration capacity of the annealed LaFe11.6Si1.4P0.03 plate reached 189.9 J/kg