Deep Deterministic Policy Gradient-Based Autonomous Driving for Mobile Robots in Sparse Reward Environments.

In this paper, we propose a deep deterministic policy gradient (DDPG)-based path-planning method for mobile robots by applying the hindsight experience replay (HER) technique to overcome the performance degradation resulting from sparse reward problems occurring in autonomous driving mobile robots. The mobile robot in our analysis was a robot operating system-based TurtleBot3, and the experimental environment was a virtual simulation based on Gazebo. A fully connected neural network was used as the DDPG network based on the actor-critic architecture. Noise was added to the actor network. The robot recognized an unknown environment by measuring distances using a laser sensor and determined the optimized policy to reach its destination. The HER technique improved the learning performance by generating three new episodes with normal experience from a failed episode. The proposed method demonstrated that the HER technique could help mitigate the sparse reward problem; this was further corroborated by the successful autonomous driving results obtained after applying the proposed method to two reward systems, as well as actual experimental results.

Exceptional Lithium Storage in a Co(OH)2 Anode: Hydride Formation.

Current lithium ion battery technology is tied in with conventional reaction mechanisms such as insertion, conversion, and alloying reactions even though most future applications like EVs demand much higher energy densities than current ones. Exploring the exceptional reaction mechanism and related electrode materials can be critical for pushing current battery technology to a next level. Here, we introduce an exceptional reaction with a Co(OH)2 material which exhibits an initial charge capacity of 1112 mAh g-1, about twice its theoretical value based on known conventional conversion reaction, and retains its first cycle capacity after 30 cycles. The combined results of synchrotron X-ray diffraction and X-ray absorption spectroscopy indicate that nanosized Co metal particles and LiOH are generated by conversion reaction at high voltages, and Co xH y, Li2O, and LiH are subsequently formed by hydride reaction between Co metal, LiOH, and other lithium species at low voltages, resulting in a anomalously high capacity beyond the theoretical capacity of Co(OH)2. This is further corroborated by AIMD simulations, localized STEM, and XPS. These findings will provide not only further understanding of exceptional lithium storage of recent nanostructured materials but also valuable guidance to develop advanced electrode materials with high energy density for next-generation batteries.

Pumpless dispensing of a droplet by breaking up a liquid bridge formed by electric induction.

Dispensing uniform pico-to-nanoliter droplets has become one of essential components in various application fields from high-throughput bio-analysis to printing. In this study, a new method is suggested and demonstrated for dispensing a droplet on the top plate with an inverted geometry by using electric field. The process of dispensing droplets consists of two stages: (i) formation of liquid bridge by moving up the charged fluid mass using the electrostatic force between the charges on the fluid mass and the induced charges on the substrate and (ii) its break-up by the motion of the top plate. Different from conventional electrohydrodynamic methods, electric induction enables the droplets to be dispensed on various surfaces including non-conducting substrate. The use of capillarity with an inverted geometry removes the need of external pumps or elaborates control for constant flow feed. The droplet diameter has been characterized as a function of the nozzle-to-plate distance and the plate moving velocity. The robustness of the present method is shown in terms of nozzle length and applied voltage. Finally, its practical applicability is confirmed by rendering a 19 by 24 array of highly uniform droplets with only 1.8% size variation without use of any active feedback control.

Mycosis fungoides as an ichthyosiform eruption.

Ichthyosiform eruption as a specific manifestation of mycosis fungoides is very rare and only a few such cases have currently been reported in the medical literature. A 63-year-old Korean man presented with a 4-year history of a pruritic ichthyotic eruption. There was no personal or family history of ichthyosis or atopy. The ichthyosiform skin changes involved the abdomen, arms, thighs and shins. The face, palms and soles were spared. There was no peripheral lymphadenopathy or organomegaly. The typical lesions of mycosis fungoides were not present. The results of the routine investigations were normal or negative. A skin biopsy specimen revealed the findings of early mycosis fungoides. He was successfully treated with photochemotherapy.