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When driving in urban environments, an autonomous vehicle must account for the interaction with other traffic participants. It must reason about their future behavior, how its actions affect their future behavior, and potentially consider multiple motion hypothesis. In this paper we introduce a method for joint behavior estimation and trajectory planning that models interaction and multi-policy decisionmaking. The method leverages Partially Observable Markov Decision Processes to estimate the behavior of other traffic participants given the planned trajectory for the ego-vehicle, and Receding-Horizon Control for generating safe trajectories for the ego-vehicle. To achieve safe navigation we introduce chance constraints over multiple motion policies in the recedinghorizon planner. These constraints account for uncertainty over the behavior of other traffic participants. The method is capable of running in real-time and we show its performance and good scalability in simulated multi-vehicle intersection scenarios.

This paper establishes a novel online fault detection and identification strategy for a class of continuous piecewise affine (PWA) systems, namely, bimodal and trimodal PWA systems. The main contributions with respect to the state-of-the-art are the recursive nature of the proposed scheme and the consideration of parametric uncertainties in both partitions and in subsystems parameters. In order to handle this situation, we recast the continuous PWA into its max-form representation and we exploit the recursive Newton-Gauss algorithm on a suitable cost function to derive the adaptive laws to estimate online the unknown subsystem parameters, the partitions, and the loss in control authority for the PWA model. The effectiveness of the proposed methodology is verified via simulations applied to the benchmark example of a wheeled mobile robot.

Heating, ventilation and air-conditioning (HVAC) units in buildings form a system-of-subsystems entity that must be accurately integrated and controlled by the building automation system to ensure the occupants’ comfort with reduced energy consumption. As control of HVACs involves a standardized hierarchy of high-level set-point control and low-level Proportional-Integral-Derivative (PID) controls, there is a need for overcoming current control fragmentation without disrupting the standard hierarchy. In this work, we propose a model-based approach to achieve these goals. In particular: the set-point control is based on a predictive HVAC thermal model, and aims at optimizing thermal comfort with reduced energy consumption; the standard low-level PID controllers are auto-tuned based on simulations of the HVAC thermal model, and aims at good tracking of the set points. One benefit of such control structure is that the PID dynamics are included in the predictive optimization: in this way, we are able to account for tracking transients, which are particularly useful if the HVAC is switched on and off depending on occupancy patterns. Experimental and simulation validation via a three-room test case at the Delft University of Technology shows the potential for a high degree of comfort while also reducing energy consumption.

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Abstract. Cucumber, a common economic crop, occupies a large proportion of vegetable cultivation in China. Plant diseases and insect pests, especially the cucumber downy mildew, are important causes for the decrease in the yield of cucumbers. In order to reduce the losses caused by pests and diseases and achieve rapid automatic identification of plant diseases and insect pests, this paper studies machine vision system and disease image detection with support vector machine (SVM) classification algorithm, taking cucumber downy mildew for example. This paper carries out a method study in image acquisition, image preprocessing, feature parameter extraction, and pattern recognition, which obtains satisfactory results. The accuracy of cucumber downy mildew detection reaches 90%, significantly higher than that of artificial recognition.

Background: Non-obstructive azoospermia (NOA) is the most severe form of male infertility. Currently, the molecular mechanisms underlying NOA pathology have not yet been elucidated. Hence, elucidation of the mechanisms of NOA and exploration of potential biomarkers are essential for accurate diagnosis and treatment of this disease. In the present study, we aimed to screen for biomarkers and pathways involved in NOA and reveal their potential molecular mechanisms using integrated bioinformatics.Methods: We downloaded two gene expression datasets from the Gene Expression Omnibus (GEO) database. Differentially expressed genes (DEGs) in NOA and matched the control group tissues were identified using the limma package in R software. Subsequently, Gene ontology (GO), Kyoto Encyclopedia of Genes and Genomes (KEGG), gene set enrichment analysis (GSEA), protein-protein interaction (PPI) network, gene-microRNAs network, and transcription factor (TF)-hub genes regulatory network analyses were performed to identify hub genes and associated pathways. Finally, we conducted immune infiltration analysis using CIBERSORT to evaluate the relationship between the hub genes and the NOA immune infiltration levels.Results: We identified 698 common DEGs, including 87 commonly upregulated and 611 commonly downregulated genes in the two datasets. GO analysis indicated that the most significantly enriched gene was protein polyglycylation, and KEGG pathway analysis revealed that the DEGs were most significantly enriched in taste transduction and pancreatic secretion signaling pathways. GSEA showed that DEGs affected the biological functions of the ribosome, focaladhesion, and protein_expor. We further identified the top 31 hub genes from the PPI network, and friends analysis of hub genes in the PPI network showed that NR4A2 had the highest score. In addition, immune infiltration analysis found that CD8+ T cells and plasma cells were significantly correlated with ODF3 expression, whereas naive B cells, plasma cells, monocytes, M2 macrophages, and resting mast cells showed significant variation in the NR4A2 gene expression group, and there were differences in T cell regulatory immune cell infiltration in the FOS gene expression groups.Conclusion: The present study successfully constructed a regulatory network of DEGs between NOA and normal controls and screened three hub genes using integrative bioinformatics analysis. In addition, our results suggest that functional changes in several immune cells in the immune microenvironment may play an important role in spermatogenesis. Our results provide a novel understanding of the molecular mechanisms of NOA and offer potential biomarkers for its diagnosis and treatment.