Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on one or more sensors. While predictive uncertainty has been applied to characterize single-modal object detection performance at run time, incorporating uncertainties into the multi-modal fusion still lacks effective solutions due primarily to the uncertainty's cross-modal incomparability and distinct sensitivities to various adverse conditions. To fill this gap, this paper proposes Uncertainty-Encoded Mixture-of-Experts (UMoE) that explicitly incorporates single-modal uncertainties into LiDAR-camera fusion. UMoE uses individual expert network to process each sensor's detection result together with encoded uncertainty. Then, the expert networks' outputs are analyzed by a gating network to determine the fusion weights. The proposed UMoE module can be integrated into any proposal fusion pipeline. Evaluation shows that UMoE achieves a maximum of 10.67%, 3.17%, and 5.40% performance gain compared with the state-of-the-art proposal-level multi-modal object detectors under extreme weather, adversarial, and blinding attack scenarios.

The electrochemical behaviors of Li+ and Nd3+ were investigated on W, liquid Sn pool and Sn film electrodes in LiCl-KCl-NdCl3 melt at 673 K. Various electrochemical techniques, such as cyclic voltammogram, square wave voltammogram, and open circuit chronopotentiometry, were conducted to evaluate the electrochemical behaviors of Li+ and Nd3+. The reduction of Nd3+ was found to be a two-step process in the W electrode and a one-step process in the liquid Sn electrode. During the formation of the Nd-Sn intermetallic compounds, only the NdSn3 would be formed without the reduction of the Li+ in the liquid Sn electrode. When the reduction potential moves over -2.77 V vs Cl2/Cl-, the Li+ in the electrolyte would inevitable be reduced into the liquid Sn electrode. The Nd-Sn intermetallic compounds were deposited on the liquid Sn pool electrode at -2.74 V vs Cl2/Cl- in the LiCl-KCl-NdCl3 melts for 5 h. The products were characterized by SEM-EDS and XRD. The loose product on the surface of the deposition displayed the existence of NdSn3 in Nd-Sn intermetallic compounds. The high content of Nd inclusion formed by segregation was detected in the solidified Sn electrode.

Electrorefining effectively separates metals from their corresponding alloys. To obtain Nd from Cu₆Nd alloy, cyclic voltammetry and square wave voltammetry were used to investigate the reduction behavior of Nd³⁺ and the anode dissolution behavior of Cu₆Nd in the NaCl–KCl–0.5mol%NdCl₃ melt at 1023 K. According to the analysis of the electrochemical behavior, the cell voltage was determined to be between 0.3 and 1.2 V for separating Nd from Cu₆Nd. After electrolysis at 0.6 V for 4 h, the Nd was found at the surface of the Mo cathode without any Cu. For the Fe cathode, a deposition with an atom ratio of Nd: Fe = 1:1 was formed on the surface. However, the low current density of separation remains a great experimental challenge that must be solved.

In the present paper, a detailed study of the redox behavior of zirconium in the eutectic LiF-NaF system was carried out on an inert molybdenum electrode at 750 °C. Several transient electrochemical methods were used such as cyclic voltammetry, square wave voltammetry, chronopotentiometry, and open circuit voltammetry. The reduction of Zr (IV) was found to follow a two-step mechanism of Zr (IV)/Zr (II) and Zr (II)/Zr at the potentials of about −1.10 and −1.50 V versus Pt, respectively. The theoretical evaluations of the number of transferred electrons according to both cyclic voltammetry and square wave voltammetry further confirmed the Zr reduction mechanism. The estimations of Zr (IV) diffusion coefficient in the LiF-NaF eutectic melt at 750 °C through cyclic voltammetry and chronopotentiometry are in fair agreement, as to be approximately 1.13E-5 and 2.42E-5 cm²/s, respectively.

In this paper, a detailed study of the electrochemical behavior of zirconium in the molten LiF-KF-ZrF₄ system on an inert molybdenum electrode was carried out at 600 °C. Several electrochemical techniques were employed such as cyclic voltammetry, chronoamperometry and square wave voltammetry. The reduction of zirconium was found to be a multi-step process that at the potentials of 1.15, 1.50 and 1.62 V versus Pt, the corresponding cathodic reactions of Zr⁴⁺/Zr²⁺, Zr²⁺/Zr⁺ and Zr⁺/Zr occurred. The result was further confirmed by the theoretical calculation of the number of transferred electrons according to the cyclic voltammetry and square wave voltammetry analysis. Moreover, based on the cyclic voltammograms, the diffusion coefficient of Zr⁴⁺ ions in the eutectic LiF-KF containing 1 wt% ZrF₄ at 600 °C was estimated to be about 8.31 × 10^-6 cm² s^-1. The present electrochemical study on zirconium in the molten fluoride system will be a theoretical reference for future zirconium electrorefining from Zr alloy or scraps.