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Additional file 1: Table 1. The contrast media injection protocol.

Additional file 2: AK software radiomics parameter description.

Recently, autonomous driving development ignited competition among car makers and technical corporations. Low-level automation cars are already commercially available. But high automated vehicles where the vehicle drives by itself without human monitoring is still at infancy. Such autonomous vehicles (AVs) rely on the computing system in the car to to interpret the environment and make driving decisions. Therefore, computing system design is essential particularly in enhancing the attainment of driving safety. However, to our knowledge, no clear guideline exists so far regarding safety-aware AV computing system and architecture design. To understand the safety requirement of AV computing system, we performed a field study by running industrial Level-4 autonomous driving fleets in various locations, road conditions, and traffic patterns. The field study indicates that traditional computing system performance metrics, such as tail latency, average latency, maximum latency, and timeout, cannot fully satisfy the safety requirement for AV computing system design. To address this issue, we propose a `safety score' as a primary metric for measuring the level of safety in AV computing system design. Furthermore, we propose a perception latency model, which helps architects estimate the safety score of given architecture and system design without physically testing them in an AV. We demonstrate the use of our safety score and latency model, by developing and evaluating a safety-aware AV computing system computation hardware resource management scheme.

As the main body of the natural productivity, the urban greenbelt, an irreplaceable comprehensive ecological service system, plays a leading role in beautifying the urban appearance, improving the quality of the urban ecological environment, adjusting the urban ecological balance. The research of ecological service function assessment is a hot research of many domains in recent times, such as ecology, environmental science, sociology, science of culture, economics, etc. Technological innovation is not only the urgent need and significant support system of technological development, but also the urgent need of solving the existing problems of the ecological service function assessment of urban greenbelt. This paper analyzes the main barriers and corresponding countermeasures of the technological innovation, such as unsound innovation mechanism, dated technological means, fault information transform, unsound assessment system, etc., which provides enlightenment and reference for the assessment, planning, construction, management and sustainable development of the ecological service function of urban greenbelt.

Comfortableness of outdoor thermal environment has played an important role in people's lives. During the hot summers, the urban green space system has played a significant role in adjusting air temperature and remitting heat island effect. With the aggravating heat island effect and the developments of science and technology, people have continuously deepened their cognition of that urban green space improves urban ecology. From the multidisciplinar angles of ecology and environmental economics, it can be more deeply to realize and evaluate the significance of urban green space to the urban environment, which has become the hot research area and temperature dropping effect of urban green space in summer is one of it. The research investigates quality of ecological service functions of temperature dropping effects of the different types of urban green space in summer in Hangzhou in the classification way, which will provide inspiration and reference for understanding part of ecological results of reducing air temperature by urban green space in summer in Hangzhou and elaborately classifying and evaluating service function values of urban green space.

The research of passenger's behavior and interior space of railway coach would do much help to the interior design, and it is an important aspect to make the services of railway transportation better. Space is not only associate with its own layout, component parts and materials, but also related to people's cognitive abilities and habits. At the same time, people's behavior is also impact by space. Sense of personal space; psychological distance; crowded feeling; boundary effects are some basic rules of behavior and spatial interaction. The analysis relationship of space and behavior can promote rail passenger interior design effectively, and improve the quality of rail transport services.