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.

Evaporation of multi-component liquid mixtures in confined geometries, such as capillaries, is crucial in applications such as microfluidics, two-phase cooling devices and inkjet printing. Predicting the behaviour of such systems becomes challenging because evaporation triggers complex spatio-temporal changes in the composition of the mixture. These changes in composition, in turn, affect evaporation. In the present work, we study the evaporation of aqueous glycerol solutions contained as a liquid column in a capillary tube. Experiments and direct numerical simulations show three evaporation regimes characterised by different temporal evolutions of the normalised mass transfer rate (or Sherwood number $Sh$), namely $Sh (\tilde{t} ) = 1$, $Sh \sim 1/\sqrt {\tilde{t} }$ and $Sh \sim \exp (-\tilde{t} )$, where $\tilde {t}$ is a normalised time. We present a simplistic analytical model that shows that the evaporation dynamics can be expressed by the classical relation $Sh = \exp ( \tilde{t} )\,\mathrm {erfc} ( \sqrt {\tilde{t} })$. For small and medium $\tilde{t}$, this expression results in the first and second of the three observed scaling regimes, respectively. This analytical model is formulated in the limit of pure diffusion and when the penetration depth $\delta (t)$ of the diffusion front is much smaller than the length $L(t)$ of the liquid column. When $\delta \approx L$, finite-length effects lead to $Sh \sim \exp (-\tilde{t} )$, i.e. the third regime. Finally, we extend our analytical model to incorporate the effect of advection and determine the conditions under which this effect is important. Our results provide fundamental insights into the physics of selective evaporation from a multi-component liquid column.

This paper presents a broadband Butler-based slant ±45° dual-polarized omni-directional antenna working at the frequency band of 1.69–2.69 GHz for extending wireless communication network capacity in the limited service size. The proposed antenna realizes a 360° full coverage with wider bandwidth in a compact cylinder and increases the network capacity to 6 × 6 MIMO instead of using three traditional 2 × 2 MIMO omni-directional antennas. Theoretical analysis, simulation, and fabrication are conducted to validate the idea of the proposed omni-directional antenna. The measured results show 46% bandwidth with 15 dB return loss, 2.2 dB azimuth null and 8.9–10.5 dBi gain for port-C with 0° phase increment, and 14.1 dB azimuth null and 9.6–10.6 dBi gain for port-L/R (left/right) with ±120° phase increment, respectively.

To investigate the association between the Metabolic Score for Visceral Fat (METS-VF) and risk of type 2 diabetes mellitus (T2DM) and compare the predictive value of the METS-VF for T2DM incidence with other obesity indices in Chinese people. A total of 12 237 non-T2DM participants aged over 18 years from the Rural Chinese Cohort Study of 2007–2008 were included at baseline and followed up during 2013–2014. The cox proportional hazards regression was used to calculate hazard ratios (HR) and 95 % CI for the association between baseline METS-VF and T2DM risk. Restricted cubic splines were used to model the association between METS-VF and T2DM risk. Area under the receiver operating characteristic curve (AUC) analysis was used to evaluate the ability of METS-VF to predict T2DM incidence. During a median follow-up of 6·01 (95 % CI 5·09, 6·06) years, 837 cases developed T2DM. After adjusting for potential confounding factors, the adjusted HR for the highest v. lowest METS-VF quartile was 5·97 (95 % CI 4·28, 8·32), with a per 1-sd increase in METS-VF positively associated with T2DM risk. Positive associations were also found in the sensitivity and subgroup analyses, respectively. A significant nonlinear dose–response association was observed between METS-VF and T2DM risk for all participants (Pnonlinearity = 0·0347). Finally, the AUC value of METS-VF for predicting T2DM was largest among six indices. The METS-VF may be a reliable and applicable predictor of T2DM incidence in Chinese people regardless of sex, age or BMI.

The origins of metal coinage and the monetisation of ancient economies have long been a research focus in both archaeology and economic history. Recent excavations of an Eastern Zhou period (c. 770–220 BC) bronze foundry at Guanzhuang in Henan Province, China, have yielded clay moulds for casting spade coins. The technical characteristics of the moulds demonstrate that the site functioned as a mint for producing standardised coins. Systematic AMS radiocarbon-dating indicates that well-organised minting developed c. 640–550 BC, making Guanzhuang the world's oldest-known, securely dated minting site. This discovery provides important new data for exploring the origin of monetisation in ancient China.

The effects of supraphysiological estradiol (E2) on neonatal outcomes and the significance of specific E2 concentrations remain unclear. The purpose of this study was to investigate whether supraphysiological E2 levels on the human chorionic gonadotropin (hCG) trigger day are associated with small size for gestational age (SGA) in singletons born from fresh embryo transfer (ET) cycles. Patients with singleton pregnancies who delivered after the transfer of fresh embryos, during the period from July 2012 to December 2017, at our center were included. We excluded cycles involving a vanishing twin, maternal age >35 years, basal follicle-stimulating hormone ≥10 mIU/ml, or anti-Müllerian hormone ≤1 ng/ml. We then divided all cycles into five groups by E2 level on trigger day: group A, <2000 pg/ml (reference group); group B, 2000 pg/ml≤E2<2999 pg/ml; group C, 3000 pg/ml≤E2<3999 pg/ml; group D, 4000 pg/ml≤E2<4999 pg/ml; and group E, ≥5000 pg/ml. The prevalence of SGA among singletons from fresh ET was the primary outcome. The SGA rate significantly increased when the E2 level was ≥4000 pg/ml, as observed by comparing groups D (odds ratio [OR]: 1·79, 95% confidence interval [CI]: 1·16–2·76, P = 0·01) and E (OR: 1·68, 95% CI: 1·10–2·56, P = 0·02) with the reference group. Multivariate logistic regression indicated that a serum E2 level of at least 4000 pg/ml on the hCG trigger day was associated with increased SGA and with significant differences for groups D (adjusted OR [AOR]: 1·65, 95% CI: 1·05–2·59, P = 0·03) and E (AOR: 1·60, 95% CI: 1·03–2·53, P = 0·04) relative to the reference group. In conclusion, in fresh ET cycles, the supraphysiological E2 ≥4000 pg/ml on the hCG trigger day increases the risk of SGA.

Global warming increases the risk of pests and weeds before wintering, and decreases the grain yield of winter wheat. Therefore, the sowing date should be delayed properly. But the variety of winter wheat that can adapt to late sowing remains unclear. Here, we selected two winter wheat cultivars and evaluated four sowing date treatments on 1 October (early sowing), 8 (normal sowing), 15 (late sowing) and 22 (latest sowing) over two wheat-growing seasons at the experimental Station of Shandong Agricultural University (35°96′N, 117°06′E), Daiyue District, Taian, Shandong, China. We examined the effects of sowing date on a few traits, and found that, compared with normal sowing, though spike number decreased, grain yield was maintained above 9300 kg/ha under late and latest sowing. The main reason was that the more accumulated N from jointing to anthesis resulted in a higher grain number per spike. The higher net photosynthetic rate after anthesis, through optimizing N distribution in the canopy and increasing Rubisco content of flag leaves, improved dry matter accumulation rate and contribution ratio of vegetative organs, ultimately, ensured consistent grain weight. The grain yield of high-tillering winter wheat cultivars decreased from 9370 to 8346 kg/ha. The main reason was that spike number, accumulated N from jointing to anthesis and net photosynthetic rate decreased significantly, which reduced the dry matter accumulation rate, and only satisfied less grains to achieve consistent grain weight. Therefore, low-tillering winter wheat cultivars are more adaptable to late sowing, and can reduce the harm of global warming.

This study examined the contribution of long-term use of Lipiodol capsules, as a supplement to iodised salt to the control of iodine deficiency disorders among women in Xinjiang of China. A total of 1220 women across Kashgar, Aksu, Turpan and Yili Prefectures were surveyed in 2017. Lipiodol capsules were administered twice yearly in Kashgar and once yearly in Aksu and Turpan, but not in Yili. Urinary iodine concentration (UIC), free triiodothyronine (FT3), free thyroxine (FT4), thyroid-stimulating hormone (TSH), thyroglobulin antibody, thyroid peroxidase antibody and thyroid volume values were assessed. All the women in the four areas were in a state of non-iodine deficiency by UIC. The UIC were higher than adequate in Kashgar and Aksu (619·4 v. 278·6 μg/l). Thyroid hormone levels differed significantly in Turpan and Yili (FT3: 4·4 v. 4·6 pmol/l, FT4: 13·8 v. 14·2 pmol/l, TSH: 2·0 v. 2·7 mIU/l), but did not differ significantly in Kashgar, Aksu and Yili. The four areas did not differ significantly with regard to thyroid nodules, autoimmune thyroiditis or goitre. However, the detection rates of subclinical hypothyroidism (16·6 %) and total thyroid dysfunction (25·4 %) were higher among women in Yili. The supplementation with Lipiodol capsules had improved the iodine nutrition status of women in iodine-deficient areas of Xinjiang since 2006. To avoid negative effects of excess iodine, we suggest a gradual discontinuation of Lipiodol capsules in women with special needs based on the existing iodine nutrition level of local women.

Rosa x odorata (sect. Chinenses, Rosaceae) is an important species distributed only in Yunnan Province, China. There is an abundance of wild variation within the species. Using 22 germplasm resources collected from the wild, as well as R. chinensis var. spontanea, R. chinensis ‘Old Blush’ and R. lucidissima, this study involved morphological variation analysis, inter-trait correlation analysis, principal component analysis and clustering analysis based on 16 morphological traits. This study identified a high degree of morphological diversity in R. x odorata germplasm resources and the variation coefficients had a distribution range from 18.00 to 184.04%. The flower colour had the highest degree of variation, while leaflet length/width had the lowest degree of variation. Inter-trait correlation analysis revealed that there was an extremely significant positive correlation between leaflet length and leaflet width. There was also a significant positive correlation between the number of petals and duration of blooming, and the L* and a* values of flower colour were significantly negatively correlated. Principal component analysis screened five principal components with the highest cumulative contribution rate (81.679%) to population variance. Among the 16 morphological traits, style length, sepal width, flower diameter, flower colour, leaflet length and leaflet width were important indices that influenced the morphology of R. x odorata. This study offers guidance for the further development and utilization of R. x odorata germplasm resources.

In this paper, the hardness and Young’s moduli along the diffusion paths in fcc Ni–X (X = Rh, Ta, W, Re, Os, and Ir) binary diffusion couples were measured by using the nanoindentation technique. Hardness increases gradually from the pure Ni to the fcc Ni–X alloys, except for the Ni–Os system. While the Young’ moduli in fcc Ni–X alloys scatter much larger and do not show noticeable variation with the addition of element X. After that, the CALPHAD models for description of the composition-dependent hardness and Young’s modulus were proposed, and an in-house code was developed. Based on the present experimental data, the CALPHAD-type descriptions for hardness and Young’s modulus in fcc Ni–X (X = Rh, Ta, W, Re, Os, and Ir) systems were obtained. The model-predicted hardness and Young’s moduli of composition dependence agree with the experimental data in general. It is anticipated that the presently obtained CALPHAD-type hardness and Young’s modulus descriptions, together with the previous thermodynamic and atomic mobility databases, can be used for the future alloy design of novel Ni-based superalloys.

For one-dimensional nanomaterials, the performances are strongly related to the diameters, lengths, morphologies, and structures, implying that it is of great significance to understand the related growth mechanisms and thus to achieve the desired nanostructures. Thermal oxidation of copper has been widely used to fabricate CuO nanowires (NWs), whereas the growth mechanism still remains controversial in spite of the extensive investigations. Therefore, this review aims to offer a critical discussion about the growth mechanisms. First, the effects of different growth conditions on the growth of CuO NWs are introduced for basic understanding. Subsequently, the proposed mechanisms in different literature studies, i.e., the vapor–solid, self-catalyzed growth, stress-induced growth, stress grain boundary (GB) diffusion, and oxygen concentration gradient, are discussed and summarized. It seems that the combination of “stress GB diffusion” and “oxygen concentration gradient” mechanisms could be relevant for the growth of CuO NWs via thermal oxidation of copper.

A hypoeutectic CoCrFeNiNbχ system was synthesized to investigate the effect of Nb content on the thermal stability, mechanical properties, and corrosion behaviors. The hypoeutectic CoCrFeNiNbχ alloy, which contained the Laves phase, possessed two-phase eutectic structures. The elevated temperature may have an impact on the stability of the Laves phase. Nanoindentation measurements showed that the Laves phase is much harder than the FCC phase, which could be confirmed by the shallower maximum penetration depth in the typical P–h curve. Furthermore, the plasticity of the Laves phase was characterized by nanoindentation measurements. Compared with the FCC phase, the activation energy of dislocation nucleation in the Laves phase is much higher due to the large atomic size difference and the phase difference. Corrosion and passivation behaviors of CoCrFeNiNbχ were investigated in 3.5% NaCl solution. All the alloys exhibited spontaneous passivity and low current densities in 3.5% NaCl solution. Furthermore, the corrosion potential increased with the increasing Nb content, which indicated that the corrosion resistance enhanced with a higher Nb content.

In this paper, both the proportional derivative feedback control and variable-structure sliding mode control approaches based on dual numbers are presented to design space flyaround and in-orbit inspection missions. Dual-number-based spacecraft kinematics and dynamics models are formulated. The integrated translational and rotational motions can be described in one compact expression, and the mutual coupling effect can be considered. A space flyaround and in-orbit inspection mission model based on dual numbers is derived. Both proportional derivative feedback control and variable-structure sliding mode control laws are designed using dual numbers. Simulation results indicate that both the proposed control system can provide high-precision control for relative position and attitude. Of the two systems, the variable-structure sliding mode control system performs the best.

To improve the antimicrobial properties of ZnO, ZnO-supported 13X zeolite (X-ZnO) was prepared via the facile chemical method. Antimicrobial activities of X-ZnO and ZnO were tested against Gram-negative (Escherichia coli) and Gram-positive (Staphylococcus aureus) bacteria. X-ZnO showed noticeable antimicrobial activities against E. coli and S. aureus under visible light conditions, especially against E. coli. The minimum inhibitory concentration (MIC) of X-ZnO against E. coli was 0.12–0.24 mg/mL. However, there were still much bacteria alive in the nano-ZnO suspensions at the same concentration. To elucidate the antimicrobial activities of X-ZnO, the average concentration of the total reactive oxygen species (ROS) and Zn2+ ions released from X-ZnO and nano-ZnO were quantitatively analyzed. The obtained results indicated that the average concentration of ROS produced by supported ZnO was much higher than that of nano-ZnO. And the released Zn2+ ions from X-ZnO and nano-ZnO suspensions were much lower than the MIC of Zn2+. Thus, it is believed that the production of ROS in X-ZnO and nano-ZnO suspensions resulted in the difference of antibacterial activities.

Based on 15 diffusion couples located in face centered cubic single-phase region of ternary Ni–Al–Mo system, high-throughput determination of composition-dependent interdiffusivity matrices at 1273, 1373, and 1473 K was performed by using the recently developed numerical inverse method. The determined main interdiffusivities over the investigated composition and temperature ranges are all positive, and $\tilde D_{{\rm{AlAl}}}^{{\rm{Ni}}}$ is generally larger than $\tilde D_{{\rm{MoMo}}}^{{\rm{Ni}}}$ . Moreover, $\tilde D_{{\rm{AlAl}}}^{{\rm{Ni}}}$ generally increases with concentration of Al, while $\tilde D_{{\rm{MoMo}}}^{{\rm{Ni}}}$ increases with concentrations of both Al and Mo. In contrast, the cross interdiffusivities can be either positive or negative. Average relative errors of $\tilde D_{{\rm{AlAl}}}^{{\rm{Ni}}}$ , $\tilde D_{{\rm{AlMo}}}^{{\rm{Ni}}}$ , $\tilde D_{{\rm{MoAl}}}^{{\rm{Ni}}}$ , and $\tilde D_{{\rm{MoMo}}}^{{\rm{Ni}}}$ were evaluated to be 2.4, 5.1, 16.1, and 1.7% using error propagation. Furthermore, our prediction of composition profiles and interdiffusion fluxes based on evaluated interdiffusivity matrices agrees quite well with measured data. Traditional Matano–Kirkaldy method was also applied to further verify the reliability of obtained interdiffusivities. Besides, three-dimensional planes of activation energies of main interdiffusivities were also evaluated using the Arrhenius equation.

By solving the problems in the previous pragmatic method [Scr. Mater.90–91, 53–56 (2014)] and including the interdiffusion flux as the criteria, an augmented numerical inverse method was proposed and realized in a house-made code. The proposed augmented numerical inverse method was successfully applied to high-throughput determination of the composition-dependent interdiffusivities in different solid solution alloys ranging from binary, ternary to multicomponent systems by using a single diffusion couple. Moreover, the advance features of the augmented numerical inverse method were also demonstrated.

Hydroxysteroid (17-beta)dehydrogenase 1(HSD17B1) plays a central role in sex steroid hormone metabolism. HSD17B1 polymorphic variants may contribute to cancer susceptibility. Numerous investigations have been conducted to assess the association between HSD17B1 Ser312Gly polymorphism and cancer risk in multiple ethnicities, yet these have produced inconsistent results. We therefore performed this comprehensive meta-analysis to attempt to provide a quality assessment of the association of interest. Odds ratios (ORs) with 95% confidence intervals (CIs) were used to evaluate the strength of associations. After a systematic literature search of several major public databases, 20 studies involving 29,460 cases and 36,687 controls were included in this meta-analysis. No significant association was found between HSD17B1 Ser312Gly polymorphism and cancer risk. However, Ser312Gly polymorphism showed a significantly decreased risk for Caucasians (there were 44,284 Caucasians for analysis, comprising 19,889 cases and 24,395 controls) in the subgroup analysis by ethnicity (dominant: OR = 0.958, 95% CI = 0.919–0.998; and allele comparing: OR = 0.973, 95% CI = 0.947–0.999). And there was the same trend towards risk in the population-based (PB) controls (homozygous: OR = 0.951, 95% CI = 0.908–0.997 and allele comparing: OR = 0.976, 95% CI = 0.954–0.999), but not among Asians or hospital-based (HB) controls. In addition, no association was observed in the stratified analysis for breast cancer studies by source of control, ethnicity and quality score. These findings suggested that the HSD17B1 Ser312Gly polymorphism might confer genetic cancer susceptibility in an ethnic-dependent manner, especially among Caucasians. Well-designed, large-scale studies are warranted to validate these findings.

A novel relative spacecraft attitude and position estimation approach based on an Unscented Kalman Filter (UKF) is derived. The integrated sensor suite comprises the gyro sensors on each spacecraft and a vision-based navigation system on the slave spacecraft. In the traditional algorithm, an assumption that the master's body frame coincides with its Local Vertical Local Horizontal (LVLH) frame is made to construct the line-of-sight observations for convenience. To solve this problem, two relative quaternions that map the master's LVLH frame to the slave and master body frames are involved. The general relative equations of motion for eccentric orbits are used to describe the positional dynamics. The implementation equations for the UKF are derived. A modified version of the UKF is presented based on the averaging-quaternion algorithm. Simulation results indicate that the proposed filters provide more accurate estimates of relative attitude and position than the Extended Kalman Filter (EKF).