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Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societal impact. Self-driving vehicles (SDVs) are expected to prevent road accidents and save millions of lives while improving the livelihood and life quality of many more. However, despite large interest and a number of industry players working in the autonomous domain, there still remains more to be done in order to develop a system capable of operating at a level comparable to best human drivers. One reason for this is high uncertainty of traffic behavior and large number of situations that an SDV may encounter on the roads, making it very difficult to create a fully generalizable system. To ensure safe and efficient operations, an autonomous vehicle is required to account for this uncertainty and to anticipate a multitude of possible behaviors of traffic actors in its surrounding. We address this critical problem and present a method to predict multiple possible trajectories of actors while also estimating their probabilities. The method encodes each actor's surrounding context into a raster image, used as input by deep convolutional networks to automatically derive relevant features for the task. Following extensive offline evaluation and comparison to state-of-the-art baselines, the method was successfully tested on SDVs in closed-course tests.

We have developed an improved small-angle X-ray scattering (SAXS) model and analysis methodology to quantitatively evaluate the nanostructures of a blend system. This method has been applied to resolve the various structures of self-organized poly(3-hexylthiophene)/C61-butyric acid methyl ester (P3HT/PCBM) thin active layer in a solar cell from the studies of both grazing-incidence small-angle X-ray scattering (GISAXS) and grazing-incidence X-ray diffraction (GIXRD). Tuning the various length scales of PCBM-related structures by a different annealing process can provide a flexible approach and better understanding to enhance the power conversion of the P3HT/PCBM solar cell. The quantitative structural characterization by this method includes (1) the mean size, volume fraction, and size distribution of aggregated PCBM clusters, (2) the specific interface area between PCBM and P3HT, (3) the local cluster agglomeration, and (4) the correlation length of the PCBM molecular network within the P3HT phase. The above terms are correlated well with the device performance. The various structural evolutions and transformations (growth and dissolution) between PCBM and P3HT with the variation of annealing history are demonstrated here. This work established a useful SAXS approach to present insight into the modeling of the morphology of P3HT/PCBM film. In situ GISAXS measurements were also conducted to provide informative details of thermal behavior and temporal evolution of PCBM-related structures during phase separation. The results of this investigation significantly extend the current knowledge of the relationship of bulk heterojunction morphology to device performance.

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A retrospective study was performed to determine factors associated with the outcome of pulmonary multidrug-resistant tuberculosis (MDR-TB) in Taipei, Taiwan.All patients newly diagnosed with pulmonary MDR-TB in a referral centre from 1992-1996 were enrolled and their outcome over the subsequent 6 yrs was determined.A total of 299 patients were identified, comprising 215 (71.9%) males and 84 (28.1%) females with a mean age of 47.3 yrs. The patients received a mean of 3.7 effective drugs. Out of the 299 patients, 153 (51.2%) were cured, 31 (10.4%) failed, 28 (9.4%) died and 87 (29.1%) defaulted. Of the 125 patients receiving second-line drugs with ofloxacin, 74 (59.2%) were cured. Those who received ofloxacin had a lower risk of relapse than those receiving only first-line drugs (hazard ratio (HR) 0.16, 95% confidence interval (CI) 0.03-0.81) and a lower risk of TB-related death than those receiving second-line drugs but not ofloxacin (adjusted HR 0.50, 95% CI 0.31-0.82).In conclusion, multidrug-resistant tuberculosis patients who received ofloxacin were more likely to be cured, and were less likely to die, fail or relapse. The utility of new-generation fluoroquinolones, such as moxifloxacin, in the treatment of multidrug-resistant tuberculosis needs to be evaluated. Default from treatment is a major challenge in the treatment of multidrugresistant tuberculosis.

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Structural characteristics of optical quality poly(2-methoxy-5-(2‘-ethylhexyloxy)-1,4-phenylenevinylene) (MEH−PPV) films drop-cast from toluene solutions have been examined by use of wide-angle (WAXS) and small-angle X-ray scattering (SAXS) as well as field-emission scanning electron microscopy. For the as-cast film SAXS and WAXS patterns clearly suggest existence of nanodomains of mesomorphic order. Under grazing incidence, both SAXS and WAXS patterns of the as-cast film exhibit impressive uniaxial symmetry with strong scattering along the film normal; however, the corresponding normal-incidence patterns are circularly isotropic, implying in-plane random orientation. A structural model consisting of preferentially uniaxial-oriented nanodomains and disordered matrix is therefore proposed for the as-cast film. Annealing at 210 °C results in disorientation of nanodomains:  this decrease in structural asymmetry upon heat treatment correlates well with concomitant changes in charge transport behavior determined from time-of-flight measurements, manifesting dramatically decreased charge mobility as well as transition from nondispersive to dispersive modes.