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Representing diverse and plausible future trajectories of actors is crucial for motion forecasting in autonomous driving. However, efficiently capturing the true trajectory distribution with a compact set is challenging. In this work, we propose a novel approach for generating scene-specific trajectory sets that better represent the diversity and admissibility of future actor behavior. Our method constructs multiple trajectory sets tailored to different scene contexts, such as intersections and non-intersections, by leveraging map information and actor dynamics. We introduce a deterministic goal sampling algorithm that identifies relevant map regions and generates trajectories conditioned on the scene layout. Furthermore, we empirically investigate various sampling strategies and set sizes to optimize the trade-off between coverage and diversity. Experiments on the Argoverse 2 dataset demonstrate that our scene-specific sets achieve higher plausibility while maintaining diversity compared to traditional single-set approaches. The proposed Recursive In-Distribution Subsampling (RIDS) method effectively condenses the representation space and outperforms metric-driven sampling in terms of trajectory admissibility. Our work highlights the benefits of scene-aware trajectory set generation for capturing the complex and heterogeneous nature of actor behavior in real-world driving scenarios.

Recent advancements in nanotechnology have led to the development of surface-enhanced Raman spectroscopy (SERS) based rapid and low-cost technologies for ultra-sensitive label-free detection and identification of molecular analytes. Herein, we utilized the synergistic plasmonic and chemical enhancement effects of Au-WS2 nanohybrids to attain the high-intensity Raman signals of targeted analytes. To develop these nanohybrids, a series of monodispersed Au nanoparticles (NPs) of varying diameters from 20 to 80 nm was chemically synthesized and successively blended with liquid-phase exfoliated WS2 nano-flakes of average lateral size 90 nm. They provided a maximum enhancement factor (EF) of ~1.80 109 corresponding to the characteristic peaks at 1364 cm-1 and 1512 cm-1 for R6G analyte molecules. Theoretical studies based on the finite-difference time-domain simulations on Au-WS2 nanohybrid systems revealed a huge field-intensity enhancement with an EF of more than 1000 at the plasmonic hotspots, which was induced by the strong coupling of individual plasmon oscillations of the adjacent Au NPs upon light interactions. These electromagnetic effects along with the chemical enhancement effects of WS2 nanoflakes were found to be mainly responsible for such huge enhancement in Raman signals. Furthermore, these hybrids were successfully employed for achieving highly sensitive detection of the E. coli ATCC 35218 bacterial strain with a concentration of 104 CFU/mL in phosphate-buffered saline media, indicating their real capabilities for practical scenarios. The findings of the present study will indeed provide vital information in the development of innovative nanomaterial-based biosensors, that will offer new possibilities for addressing critical public health concerns.

Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric, which can result in predictions that do not adhere to physical laws or violate external constraints. Our objective is to incorporate explicit knowledge priors that allow a network to forecast future trajectories in compliance with both the kinematic constraints of a vehicle and the geometry of the driving environment. To achieve this, we introduce a non-parametric pruning layer and attention layers to integrate the defined knowledge priors. Our proposed method is designed to ensure reachability guarantees for traffic actors in both complex and dynamic situations. By conditioning the network to follow physical laws, we can obtain accurate and safe predictions, essential for maintaining autonomous vehicles' safety and efficiency in real-world settings.In summary, this paper presents concepts that prevent off-road predictions for safe and reliable motion forecasting by incorporating knowledge priors into the training process.

The scheduling of production resources (such as associating jobs to machines) plays a vital role for the manufacturing industry not only for saving energy but also for increasing the overall efficiency. Among the different job scheduling problems, the JSSP is addressed in this work. JSSP falls into the category of NP-hard COP, in which solving the problem through exhaustive search becomes unfeasible. Simple heuristics such as FIFO, LPT and metaheuristics such as Taboo search are often adopted to solve the problem by truncating the search space. The viability of the methods becomes inefficient for large problem sizes as it is either far from the optimum or time consuming. In recent years, the research towards using DRL to solve COP has gained interest and has shown promising results in terms of solution quality and computational efficiency. In this work, we provide an novel approach to solve the JSSP examining the objectives generalization and solution effectiveness using DRL. In particular, we employ the PPO algorithm that adopts the policy-gradient paradigm that is found to perform well in the constrained dispatching of jobs. We incorporated an OSM in the environment to achieve better generalized learning of the problem. The performance of the presented approach is analyzed in depth by using a set of available benchmark instances and comparing our results with the work of other groups.

Environmental perception obtained via object detectors have no predictable safety layer encoded into their model schema, which creates the question of trustworthiness about the system's prediction. As can be seen from recent adversarial attacks, most of the current object detection networks are vulnerable to input tampering, which in the real world could compromise the safety of autonomous vehicles. The problem would be amplified even more when uncertainty errors could not propagate into the submodules, if these are not a part of the end-to-end system design. To address these concerns, a parallel module which verifies the predictions of the object proposals coming out of Deep Neural Networks are required. This work aims to verify 3D object proposals from MonoRUn model by proposing a plausibility framework that leverages cross sensor streams to reduce false positives. The verification metric being proposed uses prior knowledge in the form of four different energy functions, each utilizing a certain prior to output an energy value leading to a plausibility justification for the hypothesis under consideration. We also employ a novel two-step schema to improve the optimization of the composite energy function representing the energy model., Comment: ECCV 2022

Cross-slip is a thermally activated process by which screw dislocation changes its glide plane to another slip plane sharing the same Burgers vector. The rate at which this process happens is determined by a Boltzmann type expression that is a function of the screw segment length and the stress acting on the dislocation. In continuum dislocation dynamics (CDD), the information regarding the length of the screw dislocation segment and local stress state on dislocations are lost due to the coarse-grained representation of the density. In this work, a data driven approach to characterize the lost information by analyzing the discrete dislocation configurations is proposed to enable cross-slip modeling in the CDD framework in terms of the coarse-grained dislocation density and stress fields. The analysis showed that the screw segment length follows an exponential distribution, and the stress fluctuations, defined as the difference between the stress on the dislocations and the mean field stress in CDD, follows a Lorentzian distribution. A novel approach for cross slip implementation in CDD employing the screw segment length and stress fluctuation statistics was proposed and rigorously tested by comparing the CDD cross-slip rates with discrete dislocation dynamics (DDD) rates. This approach has been applied in conjunction with three cross-slip models used in DDD simulations differing mainly in the functional form of cross slip activation energy. It was found that different cross-slip activation energy formulations yielded different cross-slip rates, yet the effect on mechanical stress-strain response and dislocation density evolution was minimal for the [001] type loading.

The availability of representative datasets is an essential prerequisite for many successful artificial intelligence and machine learning models. However, in real life applications these models often encounter scenarios that are inadequately represented in the data used for training. There are various reasons for the absence of sufficient data, ranging from time and cost constraints to ethical considerations. As a consequence, the reliable usage of these models, especially in safety-critical applications, is still a tremendous challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches. Knowledge augmented machine learning approaches offer the possibility of compensating for deficiencies, errors, or ambiguities in the data, thus increasing the generalization capability of the applied models. Even more, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-driven models with existing knowledge. The identified approaches are structured according to the categories knowledge integration, extraction and conformity. In particular, we address the application of the presented methods in the field of autonomous driving., Comment: 111 pages, Added section on Run-time Network Verification

A computational approach has been developed for analyzing the characteristics of 3D dislocation substructures generated by the vector-density based continuum dislocation dynamics (CDD). In this CDD framework, the dislocation density on the individual slip systems is represented by vector fields with a unique dislocation line direction at each point in space. The evolution of these density fields is governed by a set of transport equations coupled with crystal mechanics. Such a detailed picture of the dislocation system enables mesoscale plasticity simulations based on dislocation properties. Here, a computational approach based on streamline construction is proposed to obtain the characteristics of dislocation substructures generated by CDD. Streamlines are obtained by travelling along the tangent of the vector density and velocity fields of the dislocation system, and can be used to construct the dislocation lines and their paths in the deformed crystal in 3D. As explained in the text, the streamlines are computed by solving a set of partial differential equations. Here we use this approach to extract microstructure parameters from the CDD simulations that are relevant to substructure-sensitive crystal plasticity models. These parameters include the average mean free path and mobile dislocation segment length, as well as the dislocation wall volume fraction, and the corresponding distributions. The results show that both the mobile dislocation segment length and dislocation mean free path decrease with the applied strain, which is consistent with the models used in the literature, and that the mobile dislocation segment length follows a log-normal distribution.

This report considers the role that the Global Partnership for Education (GPE) could take in supporting partner countries in embedding 21st-century skills or equivalent within their education systems. The report recommendations consider the different levers that GPE can use as well as the core principles underlying GPE's work, including evidence-based policy dialogue, country ownership, harmonization and aid alignment, and the promotion of mutual accountability. As GPE develops its next strategic plan, this report can serve as a reflection of the current landscape as well as a think piece in considering how best to support partner countries and the wider partnership in aspirations toward ensuring that children and young people are equipped with the broad range of skills that they need to be active, engaged and productive members of their communities, countries and the globalized world more broadly.

During plastic deformation of crystalline materials, point defects such as vacancies and interstitials are generated by jogs on moving dislocations. A detailed model for jog formation and transport during plastic deformation was developed within the vector density-based continuum dislocation dynamics framework (Lin and El-Azab, 2020; Xia and El-Azab, 2015). As a part of this model, point defect generation associated with jog transport was formulated in terms of the volume change due to the non-conservative motion of jogs. Balance equations for the vacancies and interstitials including their rate of generation due to jog transport were also formulated. A two-way coupling between point defects and dislocation dynamics was then completed by including the stress contributed by the eigen-strain of point defects. A jog drag stress was further introduced into the mobility law of dislocations to account for the energy dissipation during point defects generation. A number of test problems and a fully coupled simulation of dislocation dynamics and point defect generation and diffusion were performed. The results show that there is an asymmetry of vacancy and interstitial generation due to the different formation energies of the two types of defects. The results also show that a higher hardening rate and a higher dislocation density are obtained when the point defect generation mechanism is coupled to dislocation dynamics.

Continuum dislocation dynamics models of mesoscale plasticity consist of dislocation transport-reaction equations coupled with crystal mechanics equations. The coupling between these two sets of equations is such that dislocation transport gives rise to the evolution of plastic distortion (strain), while the evolution of the latter fixes the stress from which the dislocation velocity field is found via a mobility law. Earlier solutions of these equations employed a staggered solution scheme for the two sets of equations in which the plastic distortion was updated via time integration of its rate, as found from Orowan's law. In this work, we show that such a direct time integration scheme can suffer from accumulation of numerical errors. We introduce an alternative scheme based on field dislocation mechanics that ensures consistency between the plastic distortion and the dislocation content in the crystal. The new scheme is based on calculating the compatible and incompatible parts of the plastic distortion separately, and the incompatible part is calculated from the current dislocation density field. Stress field and dislocation transport calculations were implemented within a finite element based discretization of the governing equations, with the crystal mechanics part solved by a conventional Galerkin method and the dislocation transport equations by the least squares method. A simple test is first performed to show the accuracy of the two schemes for updating the plastic distortion, which shows that the solution method based on field dislocation mechanics is more accurate. This method then was used to simulate an austenitic steel crystal under uniaxial loading and multiple slip conditions.

The continuum dislocation dynamics framework for mesoscale plasticity is intended to capture the dislocation density evolution and the deformation of crystals when subjected to mechanical loading. It does so by solving a set of transport equations for dislocations concurrently with crystal mechanics equations, with the latter being cast in the form of an eigenstrain problem. Incorporating dislocation reactions in the dislocation transport equations is essential for making such continuum dislocation dynamics predictive. A formulation is proposed to incorporate dislocation reactions in the transport equations of the vector density-based continuum dislocation dynamics. This formulation aims to rigorously enforce dislocation line continuity using the concept of virtual dislocations that close all dislocation loops involved in cross slip, annihilation, and glissile and sessile junction reactions. The addition of virtual dislocations enables us to accurately enforce the divergence free condition upon the numerical solution of the dislocation transport equations for all slip systems individually. A set of tests were performed to illustrate the accuracy of the formulation and the solution of the transport equations within the vector density-based continuum dislocation dynamics. Comparing the results from these tests with an earlier approach in which the divergence free constraint was enforced on the total dislocation density tensor or the sum of two densities when only cross slip is considered shows that the new approach yields highly accurate results. Bulk simulations were performed for a face centered cubic crystal based on the new formulation and the results were compared with discrete dislocation dynamics predictions of the same. The microstructural features obtained from continuum dislocation dynamics were also analyzed with reference to relevant experimental observations., Comment: 36 pages, 15 figures; typos corrected, references added