We present a practical verification method for safety analysis of the autonomous driving system (ADS). The main idea is to build a surrogate model that quantitatively depicts the behavior of an ADS in the specified traffic scenario. The safety properties proved in the resulting surrogate model apply to the original ADS with a probabilistic guarantee. Given the complexity of a traffic scenario in autonomous driving, our approach further partitions the parameter space of a traffic scenario for the ADS into safe sub-spaces with varying levels of guarantees and unsafe sub-spaces with confirmed counter-examples. Innovatively, the partitioning is based on a branching algorithm that features explainable AI methods. We demonstrate the utility of the proposed approach by evaluating safety properties on the state-of-the-art ADS Interfuser, with a variety of simulated traffic scenarios, and we show that our approach and existing ADS testing work complement each other. We certify five safe scenarios from the verification results and find out three sneaky behavior discrepancies in Interfuser which can hardly be detected by safety testing approaches.

To evaluate the variations in COVID-19 case fatality rates (CFRs) across different regions and waves, and the impact of public health interventions, social and economic characteristics, and demographic factors on COVID-19 CFRs, we collected data from 30 countries with the highest incidence rate in three waves. We summarized the CFRs of different countries and continents in each wave through meta-analysis. Spearman’s correlation and multiple linear regression were employed to estimate the correlation between influencing factors and reduction rates of CFRs. Significant differences in CFRs were observed among different regions during the three waves (P < 0.001). An association was found between the changes in fully vaccinated rates (rs = 0.41), population density (rs = 0.43), the proportion of individuals over 65 years old (rs = 0.43), and the reduction rates of case fatality rate. Compared to Wave 1, the reduction rates in Wave 2 were associated with population density (β = 0.19, 95%CI: 0.05–0.33) and smoking rates (β = −4.66, 95%CI: −8.98 – −0.33), while in Wave 3 it was associated with booster vaccine rates (β = 0.60, 95%CI: 0.11–1.09) and hospital beds per thousand people (β = 4.15, 95%CI: 1.41–6.89). These findings suggest that the COVID-19 CFRs varied across different countries and waves, and promoting booster vaccinations, increasing hospital bed capacity, and implementing tobacco control measures can help reduce CFRs.

We report a numerical investigation of a previously noticed but less explored flow state transition in two-dimensional turbulent Rayleigh–Bénard convection. The simulations are performed in a square domain over a Rayleigh number range of $10^7 \leq Ra \leq 2 \times 10^{11}$ and a Prandtl number range of $0.25 \leq Pr \leq 20$. The transition is characterized by the emergence of multiple satellite eddies with increasing $Ra$, which orbit around and interact with the main vortex roll in the system. Consequently, the main roll is squeezed to a smaller size compared with the domain and wanders around in the bulk region irregularly and extensively. This is in sharp contrast to the flow state before the transition, which is featured by a domain-sized circulatory roll with its vortex centre ‘condensed’ near the domain's centre. Detailed velocity field analysis reveals that there exists an abrupt increase in the energy fluctuations of the Fourier modes during the transition. Based on this phase-transition-like signal, the critical condition for the transition is found to follow a scaling relation as $Ra_t \sim Pr^{1.41}$ where $Ra_t$ is the critical Rayleigh number for the transition. This scaling relation is quantitatively explained by a phenomenological model grounded on the bistability behaviour (i.e. spontaneous and stochastic switching between the two flow states) observed at the edge of the transition. The model can also account for the effects of aspect ratio on the transition reported in the literature (van der Poel et al., Phys. Fluids, vol. 24, 2012).

We report the unified constitutive law of vibroconvective turbulence in microgravity, i.e. $Nu \sim a^{-1} Re_{os}^\beta$ where the Nusselt number $Nu$ measures the global heat transport, $a$ is the dimensionless vibration amplitude, $Re_{os}$ is the oscillational Reynolds number and $\beta$ is the universal exponent. We find that the dynamics of boundary layers plays an essential role in vibroconvective heat transport and the $Nu$-scaling exponent $\beta$ is determined by the competition between the thermal boundary layer (TBL) and vibration-induced oscillating boundary layer (OBL). Then a physical model is proposed to explain the change of scaling exponent from $\beta =2$ in the TBL-dominant regime to $\beta = 4/3$ in the OBL-dominant regime. Our finding elucidates the emergence of universal constitutive laws in vibroconvective turbulence, and opens up a new avenue for generating a controllable effective heat transport under microgravity or even microfluidic environment in which the gravity effect is nearly absent.

Flexible electronics researchers have been conducting studies to explore the response of flexible stretchable electrodes to strain. The regulation of strain response in current flexible stretchable electrodes relies primarily on altering the material system, interfacial adhesion, or electrode structure. However, modifying the material system or interfacial adhesion can negatively disrupt the stretchable electrode preparation process, making commercialization a significant challenge. Additionally, the material system may be inadequate in extreme environments such as high temperatures. Hence a systematic structural design approach is crucial for effective response modulation of stretchable electrodes. One potential solution is the design of fibre structures from the micro to macro scale. This article focuses on discussing how the response of stretchable electrodes can be modulated by fibres in different states. The discussion includes fibres on elastic films, fibres directly constituting fibrous membranes at the microscopic level, and fibres constituting metamaterials at the fine level. The modulation can be achieved by altering the orientation of the fibres, the geometrical structure of the fibres themselves, and the geometrical structure formed between the fibres. Additionally, the article analyses the current situation of stretchable electrodes in extreme environments such as high temperatures. It also reviews the development of ceramic fibre membranes that can be stretched in high-temperature environments. The authors further discuss how the stretchability of ceramic fibre membranes can be improved through the structuring of ceramic fibre membranes with metamaterials. Ultimately, the goal is to realize stretchable electrodes that can be used in extreme environments such as high temperatures.

An enhanced wideband tracking method for characteristic modes (CMs) is investigated in this paper. The method consists of three stages, and its core tracking stage (CTS) is based on a classical eigenvector correlation-based algorithm. To decrease the tracking time and eliminate the crossing avoidance (CRA), we append a commonly used eigenvalue filter (EF) as the preprocessing stage and a novel postprocessing stage to the CTS. The proposed postprocessing stage can identify all CRA mode pairs by analyzing their trajectory and correlation characteristics. Subsequently, it can predict corresponding CRA frequencies and correct problematic qualities rapidly. Considering potential variations in eigenvector numbers at consecutive frequency samples caused by the EF, a new execution condition for the adaptive frequency adjustment in the CTS is introduced. Finally, CMs of a conductor plate and a fractal structure are investigated to demonstrate the performance of the proposed method, and the obtained results are discussed.

Montmorillonite (Mnt)-based solid acids have a wide range of applications in catalysis and adsorption of pollutants. For such solid acids, the acidic characteristic often plays a significant role in these applications. The objective of the current study was to examine the effects of H3PO4-activation and supporting WO3 on the textural structure and surface acidic properties of Mnt. The Mnt-based solid acid materials were prepared by H3PO4 treatment and an impregnation method with a solution of ammonium metatungstate (AMT) and were examined as catalysts in the dehydration of glycerol to acrolein. The catalysts were characterized by nitrogen adsorption-desorption, powder X-ray diffraction (XRD), Fourier-transform infrared (FTIR) spectroscopy, scanning electronic microscopy (SEM), X-ray photoelectron spectroscopy (XPS), diffuse reflectance ultraviolet-visible (DR UV-Vis) spectroscopy, temperature programmed desorption of NH3 (NH3-TPD), diffuse reflectance Fourier-transform infrared (DR FTIR) spectroscopy of adsorbed pyridine, and thermogravimetric (TG) analyses. The phosphoric acid treatment of Mnt created Brönsted and Lewis acid sites and led to increases in specific surface areas, porosity, and acidity. WO3 species influenced total acidity, acid strength, the numbers of Brönsted and Lewis acid sites, and catalytic performances. A high turnover frequency (TOF) value (31.2 h−1) based on a maximal 60.7% yield of acrolein was reached. The correlation of acrolein yield with acidic properties indicated that the cooperative role of Brönsted and Lewis acid sites was beneficial to the formation of acrolein and a little coke deposition (<3.3 wt.%). This work provides a new idea for the design of solid acid catalysts with cooperative Brönsted and Lewis acidity for the dehydration of glycerol.

Lower limb exoskeletons (LLEs) have demonstrated their potential in delivering quantified repetitive gait training for individuals afflicted with gait impairments. A critical concern in robotic gait training pertains to fostering active patient engagement, and a viable solution entails harnessing the patient’s intrinsic effort to govern the control of LLEs. To address these challenges, this study presents an innovative online gait learning approach with an appropriate control strategy for rehabilitation exoskeletons based on dynamic movement primitives (DMP) and an Assist-As-Needed (AAN) control strategy, denoted as DMP-AAN. Specifically tailored for post-stroke patients, this approach aims to acquire the gait trajectory from the unaffected leg and subsequently generate the reference gait trajectory for the affected leg, leveraging the acquired model and the patient’s personal exertion. Compared to conventional AAN methodologies, the proposed DMP-AAN approach exhibits adaptability to diverse scenarios encompassing varying gait patterns. Experimental validation has been performed using the lower limb rehabilitation exoskeleton HemiGo. The findings highlight the ability to generate suitable control efforts for LLEs with reduced human-robot interactive force, thereby enabling highly patient-controlled gait training sessions to be achieved.

All-fiber coherent beam combiners based on the self-imaging effect can achieve a near-perfect single laser beam, which can provide a promising way to overcome the power limitation of a single-fiber laser. One of the key points is combining efficiency, which is determined by various mismatches during fabrication. A theoretical model has been built, and the mismatch error is analyzed numerically for the first time. The mismatch errors have been numerically studied with the beam quality and combining efficiency being chosen as the evaluation criteria. The tolerance of each mismatch error for causing 1% loss is calculated to guide the design of the beam combiners. The simulation results are consistent with the experimental results, which show that the mismatch error of the square-core fiber is the main cause of the efficiency loss. The results can provide useful guidance for the fabrication of all-fiber coherent beam combiners.

Previous literature attempted to gain insight into financial abuse involving people with dementia by analysing court cases, but these studies were limited in sample size or scope. This study collected 214 court rulings directly related to the financial decisions of people with dementia to identify characteristics of the financial abuse victim, perpetrators and the types of assets. The models of bystander intervention and routine activity theory were used as conceptual models to guide analysis regarding the role of bank staff as well as the court's decision in cases of financial abuse. The majority of financial abuse perpetrators were family members (73.8%), as opposed to outsiders (19.2%). Transfer of real estate was the most common legal issue, and land was the most common financial asset involved. Difficult intra-family relationships seem to pose a great risk of financial abuse involving people with dementia since adult children were found to be the most likely perpetrators (52.7%) but also plaintiffs accusing financial abuse (57.6%). In accordance with the bystander intervention model, bank staff were more likely to be suspicious of financial abuse when an outsider was regarded as the perpetrator. In accordance with the routine activity theory model, the court was more likely to acknowledge the case as an invalid financial decision when an outsider was regarded as the perpetrator in financial abuse cases. Since people with dementia suffer from greater losses due to their family members, future policies should establish guidelines for front-line bank staff to identify warning signs to reduce the risk of financial abuse involving people with dementia, not only to prevent fraud by outsiders but also exploitation by family members.

Let p be a prime with $p\equiv 1\pmod {4}$ . Gauss first proved that $2$ is a quartic residue modulo p if and only if $p=x^2+64y^2$ for some $x,y\in \Bbb Z$ and various expressions for the quartic residue symbol $(\frac {2}{p})_4$ are known. We give a new characterisation via a permutation, the sign of which is determined by $(\frac {2}{p})_4$ . The permutation is induced by the rule $x \mapsto y-x$ on the $(p-1)/4$ solutions $(x,y)$ to $x^2+y^2\equiv 0 \pmod {p}$ satisfying $1\leq x < y \leq (p-1)/2$ .

Understanding how birds select breeding sites plays an important role in habitat protection, especially for the conservation of endangered species. With the increase in population size of the endangered Crested Ibis Nipponia nippon, its distribution range has expanded from mountain areas to plains located outside protected areas, representing a new challenge for conservation of the species. Identifying the current nesting habitat requirements is thus needed and can provide valuable information for the planning of new nature reserves. In this research, we surveyed a total of 117 nests across the whole distribution range from 2015 to 2019. We used generalized linear mixed-effects models to assess nesting preferences of the Crested Ibis in the wild. Results showed that in mountain areas, Masson pines Pinus massoniana were preferred (64.6%), whereas elms Ulmus pumila (44.9%) and aspens Populus davidiana (40.6%) were used more frequently lower down, probably because of their higher availability. In both mountain areas and plains the ibises selected tall nesting trees with larger diameter at breast height and preferred nesting rather high above ground, especially in plains where taller trees provided higher suitable nesting positions. The ibises also preferred nesting close to tree trunks, especially in mountain areas, probably for more safety from collapsing. Furthermore, in mountain areas, slope and distance to path had positive effects on nesting occurrence, and understorey coverage was avoided by nesting ibises, while these variables had little impact in plains. Our results indicate that, despite their range expansion, Crested Ibises rely on very specific habitat characteristics for nesting. We suggest relatively tall trees like elms and aspens should be preserved in plains. In addition, we highlight how selection patterns of Crested Ibises may vary, and that such variation should be addressed in conservation planning, especially in future reintroduction.