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A novel stochastic model predictive control (SMPC) scheme is proposed for automotive scenes based on high-performance and practical motion state prediction method. The significant properties of the proposed scheme are that: 1) it can accurately predict disturbances within the prediction horizon, and 2) the prediction results can be considered into the optimizing process to obtain a more efficient and accurate controller. As a result, the proposed adaptive cruise control (ACC) system can ensure driving safety and improve tracking accuracy and comfort performance while satisfying different driving styles. In detail, a large amount of naturalistic driving data is collected based on a real vehicle test platform at first. Then an adaptive optimization Gaussian process regression (AOGPR) is developed and trained with real measurements to predict the motion states of the preceding vehicle. The prediction module is embedded in SMPC to bind the collision conditions, tighten the states and finally construct a novel controller, i.e., AOGPR-SMPC controller. A bidirectional LSTM (BiLSTM) network is trained and tested for online recognizing driving styles to satisfy personalized car-following needs. The simulation and field tests verify and evaluate the proposed controller. The results demonstrate that the ACC system could realize personalized car-following according to the driver's driving style, and the proposed controller can obtain better tracking accuracy and comfort performance compared with the GPR-SMPC controller and MPC controller. [ABSTRACT FROM AUTHOR]

Photochemical responses in the thylakoid membrane of Nymphoides peltatum to increasing lead (Pb) concentrations were investigated after 5 days of exposure. Pb accumulation increased in a concentration-dependent manner, with a maximum of 118.44 μg g at 100 μM. Nutrients (Zn, Mg, Mo, Ca, Fe and Mn), ATPase activity and pigment generally increased progressively at Pb concentrations of 12.5 and 25 μM, but then declined at concentrations of 50 and 100 μM. Moreover, Pb stress induced an increase in chlorophyll (Chl) a/ b ratio in a different extent. No outstanding changes were observed in several Chl a fluorescence parameters at low Pb concentrations (12.5 and 25 μM), while significant changes ( p < 0.05) were observed in these parameters at higher concentrations. The alterations of nutrients, ATPase activity and pigment content were associated with disturbances in the thylakoid membrane, indicated by the quenching of Chl a fluorescence. These results were indicative of a disarray in photochemical activities exerted by Pb phytotoxicity. [ABSTRACT FROM AUTHOR]

In order to study potential antioxidant defense mechanisms, the effects of increasing concentrations of lead (Pb) on polyamines (PAs), various thiols, vitamins C and E, and proline contents in sterilized seedlings of Nymphoides peltata (S.G. mel.) Kuntze were investigated after 5 days of exposure. The levels of total putrescine (Put), spermidine (Spd), and spermine (Spm) decreased significantly, while the ratio of (Spd + Spm)/Put first increased but then declined as the concentration of Pb increased. The trends for free, perchloric acid soluble-conjugated (PS-conjugated), and perchloric acid insoluble-bound (PIS-bound) PAs were similar to the trend seen for total PAs. Moreover, reduced glutathione (GSH), nonprotein thiols (NP-SH), phytochelatins (PCs), and vitamin C were induced at high Pb concentrations. No significant change was observed in vitamin E. An initial decline in proline content was followed by an increase as the Pb concentration rose. The reduced level of Put and elevated contents of GSH, NP-SH, PCs, vitamin C, and proline were found to be associated with antioxidant efficiency, which supports the hypothesis that they could play a significant role in the adaptation mechanisms of N. peltatum under Pb stress. [ABSTRACT FROM AUTHOR]

The effects of increasing concentrations of lead (Pb) on Pb accumulation and its influence on nutrient elements, malondialdehyde (MDA) content, generation of superoxide anion (O), hydrogen peroxide (HO) content, antioxidant enzymes activities, soluble protein, and photosynthetic pigment, as well as chloroplast ultrastructure in steriled seedlings of Nymphoides peltata (S. G. Gmel.) Kuntze were investigated in order to understand Pb-induced toxicity. The accumulation of Pb was found to increase in a concentration-dependent manner. Nutrient elements (Ca, K, Fe, Mn, and Mo) were also affected. MDA content and O generation rate increased progressively, while HO content first boosted up at a low Pb concentration of 12.5 μM but then declined. Guaiacol peroxidase and catalase activities increased alternately, while superoxide dismutase activity gradually fell. Negative correlations were found between Pb and soluble protein and photosynthetic pigment. Moreover, Pb exposure resulted in a significant damage of chloroplasts. Taken together, these findings supported the hypothesis that Nymphoides peltatum underwent oxidative stress induced by Pb. In addition, both the disorder of nutrient elements and the damage to the ultrastructure of chloroplasts were indicative of general disarray in the cellular functions exerted by Pb. [ABSTRACT FROM AUTHOR]

The effects of increasing lead concentration on the activities of superoxide dismutase (SOD), peroxides (POD) and catalase (CAT), levels of ascorbate (AsA), reduced glutathione (GSH), Pb accumulation and its influence on nutrient elements, polyamines (PAs) content, as well as activities of polyamine oxidase (PAO) and ornithine decarboxylase (ODC), were investigated in Spirodela polyrhiza. POD and CAT activities increased progressively followed by a decline, while SOD activity gradually fell. The effect of Pb application on AsA content was similar to that seen for POD and CAT activities. GSH content initially rose but then declined. A significant enhancement in Pb accumulation was observed, except in the 25 μM Pb treatments. Nutrient elements were also affected. Moreover, Pb stress induced a considerable decrease in total spermidine (Spd), while the levels of total putrescine (Put) and spermine (Spm) initially increased at 25 μM Pb but then declined. Free and perchloric acid soluble conjugated (PS-conjugated) PAs contents changed in a similar way to total PAs. In addition, Pb stress induced a continuous accumulation of perchloric acid insoluble bound (PIS-bound) Spm and an initial accumulation of PIS-bound Put and Spd. The ratio of free (Spd + Spm)/Put significantly declined whereas the ratio of total (Spd + Spm)/Put rose at low Pb concentrations (25 and 50 μM). PAO activity rose gradually with an increase in Pb concentration, reaching peak values at 100 μM, while ODC activity first increased at 25 μM Pb and then declined. The results indicated that the tolerance of S. polyrhiza to Pb stress was enhanced by activating the antioxidant system, preventing the entry of the Pb ion and altering the content of polyamines. [ABSTRACT FROM AUTHOR]