多目标多约束的集成电路统计优化策略

对于集成电路设计、生产过程中的多目标、多约束统计优化问题,本文提出了“合格率足够高”的优化宗旨,并从概率论的基本原理出发,结合集成电路的特点,导出了一种合格率的近似表述方法,提出的变权重Monte Carlo法编程简便,效率高。采用这些优化策略设计的集成电路合格率优化系统取得了比较好的结果。     

基于C-V2X的车路协同自动驾驶关键技术与应用

随着车联网技术的演进,自动驾驶在单车智能的基础上,又有了新的发展形态——车路协同自动驾驶。通过“人-车-路-云”深度融合形成的一体化复杂信息物理系统（cyber physical system,CPS）,可以与自动驾驶车辆实现协同感知、协同决策规划甚至协同控制,提升自动驾驶安全性,帮助克服各类复杂交通环境。首先介绍了车路协同的复杂信息物理系统的概念内涵和总体架构,并提出了车路协同自动驾驶的一系列典型应用场景、技术原理、C-V2X(cellular vehicle-to-everything)性能要求、车路协同系统功能与性能要求,可以为下一阶段智能网联汽车与智能交通的深度融合发展提供参考和解决思路。     

Development of vehicle maneuvering system for autonomous driving

Recently, autonomous driving technology has received significant interest, and consequently, various autonomous driving algorithms have been developed by researchers. An experimental (conventional) vehicle verifies the strategy for autonomous driving by testing the performance and feasibility of the corresponding algorithms. Implementation of the autonomous driving strategy in the conventional vehicle system requires modification of the electronic control unit (ECU); however, this is limited by security issues and the high cost of development.In this paper, a maneuvering system that can control the steering angle, braking force, and accelerating signal so that autonomous driving does not operate via the ECU is proposed. Because the steering angle is an important factor in terms of the vehicle motion behavior, a robust angle controller based on the disturbance observer is adopted. Moreover, to ensure safety and user convenience, a user intention recognition algorithm is proposed. Based on this algorithm, the maneuvering system can be disabled during control without using any perception sensor. Finally, several experiments are conducted to evaluate the functions of the maneuvering system. A scenario-based driving test is also performed to verify the feasibility of the maneuvering system.     

基于曲线拟合的毫米波雷达安装角度校准方法

毫米波雷达的安装角度校准是雷达正常使用并与摄像头进行数据融合的重要前提,雷达安装角度偏 转过大会导致雷达数据与摄像头数据融合失败,影响高级驾驶辅助系统(Advanced Driving Assistance System,ADAS) 的正常使用。文中提出一种基于曲线拟合的毫米波雷达安装角度校准方法,当车辆在道路上行驶时辅以车辆输入 的车速和偏航角信息,通过2000 个静止点进行曲线拟合得到雷达需要补偿的角度。相较于选择有护栏的道路进行 绕行和在标定场地部署角反射器进行安装角度校准的方法,这种方法适用的场景种类更多并且校准时间从15 分钟 以上缩短为5 分钟以下。经过实验验证,在花费更短时间完成校准后,校准精度与其它自校准方法相同为±5°。     

Efficient graph attentional network for 3D object detection from Frustum-based LiDAR point clouds

LiDAR-based 3D object detection is important for autonomous driving scene perception, but point clouds produced by LiDAR are irregular and unstructured in nature, and cannot be adopted by the conventional Convolutional Neural Networks (CNN). Recently, Graph Convolutional Networks (GCN) has been proved as an ideal way to handle non-Euclidean structure data, as well as for point cloud processing. However, GCN involves massive computation for searching adjacent nodes, and the heavy computational cost limits its applications in processing large-scale LiDAR point cloud in autonomous driving. In this work, we adopt a frustum-based point cloud-image fusion scheme to reduce the amount of LiDAR point clouds, thus making the GCN-based large-scale LiDAR point clouds feature learning feasible. On this basis, we propose an efficient graph attentional network to accomplish the goal of 3D object detection in autonomous driving, which can learn features from raw LiDAR point cloud directly without any conversions. We evaluate the model on the public KITTI benchmark dataset, the 3D detection mAP is 63.72% on KITTI Cars, Pedestrian and Cyclists, and the inference speed achieves 7.9 fps on a single GPU, which is faster than other methods of the same type.     

Determining PPARγ-ligand binding affinity using fluorescent assay with cis-parinaric acid as a probe

Upon the study of small-molecules binding to proteins, the traditional methods for calculating dissociation constants (Kd and Ki) have shortcomings in dealing with the single binding site models. In this paper, two equations have been derived to solve this problem. These two equations are independent of the total concentration or initial degree of saturation of receptor and the activity of the competitive molecule. Through nonlinear fitting against these two equations, Kd value of a probe can be obtained by binding assay, and Ki value of a ligand can be obtained by competitive assay. Moreover, only the total concentrations of receptor([R]t), ligand([L]t) and probe([P]t) are required for the data fitting. In this work, Ki values of some typical ligands of PPARγ were successfully determined by use of our equations, among which the Ki value of PPARγ-LY171883 was reported for the first time.     

Evaluation of behaviour of linear monoamines CH3-(CH2)n−1-NH2 (n=1-6) in ion chromatography

This paper reports the results on a study of ion chromatography (IC) behaviour on strong cationic exchange column of CH₃-(CH₂)_n−1-NH₂ (n=1-6) type linear monoamines. The eluents were mixtures of HCl-NaCl, HNO₃-NaNO₃, HClO₄-NaClO₄, H₂SO₄-Na₂SO₄, HClO₄-NaClO₄-CH₃CN. Amines were revealed with an amperometric detector. The influence of different counter-ions on retention factors, k′, is discussed. Relationships between k′ and pE (E=sum of Na⁺ and H⁺ concentrations), and length of alkylic chain, and sensitivity coefficient S, are reported and discussed. The addition of acetonitrile (ACN) in the eluent was also taken into account. Suitable considerations are derived from these data. An example of monoamines separation is given.     

N-苄叉基-1-氨基-萘及其类似物的构象与分子扭曲的共轭 驱动力

确定了N-[(4-二甲基氨基)-苄叉基]-2-氨基苯并咪唑(1)，N-[(4-二甲基氨基)-苄叉基]-2-氨基苯并噻唑(2)和N-苄叉基-1-氨基-萘(3)的晶体结构。利用AM1，RHF，DFT方法和STO-3G,4-31G,6-311G及6-311G基组，优化每个分子的23个扭曲构象(θ=0°～-89°)。尽管不同方法得到的最优构象的扭角不同，分子扭曲的驱动力总是起因于电子作用，在任一分子、任何电子态中，离域的π体系总是失稳定的，全平面构象不是π体系最稳定的构象。π电子的离域是分子扭曲的驱动力之一，与经典观点相反，非键原子间的核排斥作用是分子扭曲的阻力，而不是动力。