Discrete-time Robust PD Controlled System with DOB/CDOB Compensation for High Speed Autonomous Vehicle Path Following

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB) compensation to enhance autonomous vehicle path following performance. Although always implemented on digital devices, DOB and CDOB structure are usually designed in continuous time in the literature and also in our previous work. However, it requires high sampling rate for continuous-time design block diagram to automatically convert to corresponding discrete-time controller using rapid controller prototyping systems. In this paper, direct discrete time design is carried out. Digital PD feedback controller is designed based on the nominal plant using the proposed parameter space approach. Zero order hold method is applied to discretize the nominal plant, DOB and CDOB structure in continuous domain. Discrete time DOB is embedded into the steering to path following error loop for model regulation in the presence of uncertainty in vehicle parameters such as vehicle mass, vehicle speed and road-tire friction coefficient and rejecting external disturbance like crosswind force. On the other hand, time delay from CAN bus based sensor and actuator command interfaces results in degradation of system performance since large negative phase angles are added to the plant frequency response. Discrete time CDOB compensated control system can be used for time delay compensation where the accurate knowledge of delay time value is not necessary. A validated model of our lab Ford Fusion hybrid automated driving research vehicle is used for the simulation analysis while the vehicle is driving at high speed. Simulation results successfully demonstrate the improvement of autonomous vehicle path following performance with the proposed discrete time DOB and CDOB structure

Real time implementation of socially acceptable collision avoidance of a low speed autonomous shuttle using the elastic band method

This paper presents the real time implementation of socially acceptable collision avoidance using the elastic band method for low speed autonomous shuttles operating in high pedestrian density environments. The modeling and validation of the research autonomous vehicle used in the experimental implementation is presented first, followed by the details of the Hardware-In-the-Loop connected and autonomous vehicle simulator used. The socially acceptable collision avoidance algorithm is formulated using the elastic band method as an online, local path modification algorithm. Parameter space based robust feedback plus feedforward steering controller design is used. Model-in-the-loop, Hardware-In-the-Loop and road testing in a proving ground are used to demonstrate the effectiveness of the real time implementation of the elastic band based socially acceptable collision avoidance method of this paper

AFFIRM: Affinity Fusion-based Framework for Iteratively Random Motion correction of multi-slice fetal brain MRI

Multi-slice magnetic resonance images of the fetal brain are usually contaminated by severe and arbitrary fetal and maternal motion. Hence, stable and robust motion correction is necessary to reconstruct high-resolution 3D fetal brain volume for clinical diagnosis and quantitative analysis. However, the conventional registration-based correction has a limited capture range and is insufficient for detecting relatively large motions. Here, we present a novel Affinity Fusion-based Framework for Iteratively Random Motion (AFFIRM) correction of the multi-slice fetal brain MRI. It learns the sequential motion from multiple stacks of slices and integrates the features between 2D slices and reconstructed 3D volume using affinity fusion, which resembles the iterations between slice-to-volume registration and volumetric reconstruction in the regular pipeline. The method accurately estimates the motion regardless of brain orientations and outperforms other state-of-the-art learning-based methods on the simulated motion-corrupted data, with a 48.4% reduction of mean absolute error for rotation and 61.3% for displacement. We then incorporated AFFIRM into the multi-resolution slice-to-volume registration and tested it on the real-world fetal MRI scans at different gestation stages. The results indicated that adding AFFIRM to the conventional pipeline improved the success rate of fetal brain super-resolution reconstruction from 77.2% to 91.9%

Transcriptomics and metabolomics provide insight into the anti-browning mechanism of selenium in freshly cut apples

Enzymatic browning has a considerable negative impact on the acceptability and marketability of freshly cut apples. However, the molecular mechanism by which selenium (Se) positively affects freshly cut apples in this regard is not yet clear. In this study, 0.75 kg/plant of Se-enriched organic fertilizer was applied to “Fuji” apple trees during the young fruit stage (M5, May 25), the early fruit enlargement stage (M6, June 25), and the fruit enlargement stage (M7, July 25), respectively. The same amount of Se-free organic fertilizer was applied as a control. Herein, the regulatory mechanism by which exogenous Se exerts its anti-browning effect in freshly cut apples was investigated. The results showed that the M7 treatment applied in Se-reinforced apples could remarkably inhibit their browning at 1 h after being freshly cut. Additionally, the expression of polyphenol oxidase (PPO) and peroxidase (POD) genes treated with exogenous Se was significantly reduced compared to controls. Moreover, the lipoxygenase (LOX) and phospholipase D (PLD) genes, which are involved in membrane lipid oxidation, were expressed at higher levels in the control. The gene expression levels of the antioxidant enzymes catalase (CAT), superoxide dismutase (SOD), glutathione S-transferase (GST), and ascorbate peroxidase (APX) were upregulated in the different exogenous Se treatment groups. Similarly, the main metabolites measured during the browning process were phenols and lipids; thus, it could be speculated that the mechanism by which exogenous Se produces its anti-browning effect may be by reducing phenolase activity, improving the antioxidant capacity of the fruits, and alleviating membrane lipid peroxidation. In summary, this study provides evidence regarding and insight into the response mechanism employed by exogenous Se to inhibit browning in freshly cut apples

A Temperature-Independent Methodology for Polymer Bitumen Modification Evaluation Based on DSR Measurement

Owing to the continuous increase of traffic loads, bitumen modification has been manifested as an efficient methodology to enhance asphaltic pavement performance. Currently, the modification index, defined as the ratio of mechanical properties (e.g., complex modulus) before and after bitumen modification, is extensively adopted to evaluate the modification degree. However, bituminous materials behave as temperature-dependent, which indicates that the mechanical property varies with measured temperatures. As a result, the calculated modification index also shows temperature-dependent property, which inhibits the use of modification index. For this reason, this study introduced a method to eliminate the temperature-dependency of the modification index. In specific, a mathematical model considering the properties of modifiers was firstly established to predict the modification index-temperature curve (MI-T curve). In what follows, the temperature-dependency of modification index was analyzed to verify the proposed model on three types of modifiers, which were graphene, Styrene-Butadiene-Styrene (SBS), and Ethyl-Vinyl-Acetate (EVA), respectively. The results indicated that the developed model could efficiently predict the MI-T curves. Besides, the effective modification area (EMA) and optimal modification index (OMI) were two reasonable indicators that evaluate the bitumen modification without considering the temperature-dependency.Pavement Engineerin

Precise Study on Size-Dependent Properties of Magnetic Iron Oxide Nanoparticles for In Vivo Magnetic Resonance Imaging

Developing a biocompatible contrast agent with high stability and favorable magnetism for sensitive detection of malignant tumors using magnetic resonance imaging (MRI) remains a great demand in clinical. Nowadays, the fine control of magnetic iron oxide nanoparticle (MION) sizes from a few nanometers to dozens of nanometers can be realized through a thermal decomposition method of iron precursors. This progress allows us to research accurately on the size dependence of magnetic properties of MION, involving saturation magnetization (Ms), specific absorption rate (SAR), and relaxivity. Here, we synthesized MION in a size range between 14 and 26 nm and modified them with DSPE-PEG2000 for biomedical use. The magnetic properties of PEGylated MION increased monotonically with MION size, while the nonspecific uptake of MION also enhanced with size through cell experiments. The MION with the size of 22 nm as a T2-weighted contrast agent presented the best contrast-enhancing effect comparing with other sizes in vivo MRI of murine tumor. Therefore, the MION of 22 nm may have potential to serve as an ideal MRI contrast agent for tumor detection

Genome-Wide Characterization of the Mitogen-Activated Protein Kinase Gene Family and Their Expression Patterns in Response to Drought and Colletotrichum Gloeosporioides in Walnut (Juglans regia)

Mitogen-activated protein kinases (MAPKs) are a family of Ser/Thr (serine/threonine) protein kinases that play very important roles in plant responses to biotic and abiotic stressors. However, the MAPK gene family in the important crop walnut (Juglans regia L.) has been less well studied compared with other species. We discovered 25 JrMAPK members in the Juglans genome in this study. The JrMAPK gene family was separated into four subfamilies based on phylogenetic analysis, and members of the same subgroup had similar motifs and exons/introns. A variety of cis-acting elements, mainly related to the light response, growth and development, stress response, and hormone responses, were detected in the JrMAPK gene promoters. Collinearity analysis showed that purification selection was the main driving force in JrMAPK gene evolution, and segmental and tandem duplications played key roles in the expansion of the JrMAPK gene family. The RNA-Seq (RNA Sequencing) results indicated that many of the JrMAPK genes were expressed in response to different levels of Colletotrichum gloeosporioides infection. JrMAPK1, JrMAPK3, JrMAPK4, JrMAPK5, JrMAPK6, JrMAPK7, JrMAPK9, JrMAPK11, JrMAPK12, JrMAPK13, JrMAPK17, JrMAPK19, JrMAPK20, and JrMAPK21 were upregulated at the transcriptional level in response to the drought stress treatment. The results of this study will help in further investigations of the evolutionary history and biological functions of the MAPK gene family in walnut