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Parallel Distance: A New Paradigm of Measurement for Parallel Driving

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1169-1178页

作者： Teng Liu Hong Wang Bin Tian Yunfeng Ai Long Chen the Vehicle Intelligence Pioneers Inc. Qingdao 266109 the Department of Automotive Engineering Chongqing UniversityChongqing 400044China the Mechanical and Mechatronics Engineering Department Waterloo UniversityN2L 3G1Canada the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510006China

In this paper, a new paradigm named parallel distance is presented to measure the data information in parallel driving system. As an example, the core variables in the parallel driving system are measured and evaluated in the parallel distance framework. First, the parallel driving 3.0 system included control and management platform, intelligent vehicle platform and remote-control platform is introduced. Then,Markov chain(MC) is utilized to model the transition probability matrix of control commands in these systems. Furthermore, to distinguish the control variables in artificial and physical driving conditions, different distance calculation methods are enumerated to specify the differences between the virtual and real signals. By doing this, the real system can be guided and the virtual system can be im-proved. Finally, simulation results exhibit the merits and multiple applications of the proposed parallel distance framework.

关键词： Artificial and physical system parallel distance parallel driving 3.0 parallel system rotational and accelerator signal

Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

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arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Li, Bai Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Na, Xiaoxiang Li, Zixuan Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd United Kingdom BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The College of Mechanical and Vehicle Engineering Hunan University China The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The Centre for Sustainable Road Freight University of Cambridge United Kingdom The School of Mechanical Engineering Tsinghua University China The College of Artificial Intelligence Xi’an Jiaotong University China

关键词： Autonomous vehicles

Milestones in Autonomous Driving and Intelligent Vehicles Part I: control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

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arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd. China BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The College of Artificial Intelligence Xi'an Jiaotong University China The School of Mechanical Engineering Tsinghua University China

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part I for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part II for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part II, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

Electrochemomechanical coupled behaviors of deformation and failure in electrode materials for lithium-ion batteries

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Science China(Technological Sciences) 2019年第8期62卷 1277-1296页

作者： LIANG HuanZi ZHANG XingYu YANG Le WU YiKun CHEN HaoSen SONG WeiLi FANG DaiNing State Key Laboratory of Explosion Science and Technology Institute of Advanced Structure Technology Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Mechanics and Control of Mechanical Structures Interdisciplinary Research Institute of Aeronautics and Astronautics College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

The growing demands of lithium-ion batteries with high energy density motivate the development of high-capacity electrode materials. The critical issue in the commercial application of these electrodes is electrochemomechanical degradation accompanied with the large volume change, built-in stress, and fracture during lithiation and delithiation. The strong and complex couplings between mechanics and electrochemistry have been extensively studied in recent years. The multi-directional couplings, e.g.,(de)lithiation-induced effects and stress-regulated effects, require cooperation in the interdisciplinary fields and advance the theoretical and computational models. In this review, we focus on the recent work with topics in the electrochemomechanical couplings of deformation and fracture of conventional and alloying electrodes through experimental characterization, theoretical and computational models. Based on the point of view from mechanics, the strategies for alleviating the degradation are also discussed, with particular perspectives for component-interaction patterns in the composite electrodes. With interdisciplinary principles, comprehensive understanding of the electrochemomechanical coupled mechanism is expected to provide feasible solutions for low-cost, high-capacity, high-safety and durable electrodes for lithium-ion batteries.

关键词： electrochemomechanical coupling deformation theory fracture electrode materials lithium-ion battery

ABCP: Automatic block-wise and channel-wise network pruning via joint search

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arXiv 2021年

作者： Li, Jiaqi Li, Haoran Chen, Yaran Ding, Zixiang Li, Nannan Ma, Mingjun Duan, Zicheng Zhao, Dongbing The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China The University of Chinese Academy of Sciences Beijing China The College of Engineering and Computer Science Australian National University ACT2601 Australia

Currently, an increasing number of model pruning methods are proposed to resolve the contradictions between the computer powers required by the deep learning models and the resource-constrained devices. However, most of the traditional rule-based network pruning methods can not reach a sufficient compression ratio with low accuracy loss and are time-consuming as well as laborious. In this paper, we propose Automatic Block-wise and Channel-wise Network Pruning (ABCP1) to jointly search the block-wise and channel-wise pruning action with deep reinforcement learning. A joint sample algorithm is proposed to simultaneously generate the pruning choice of each residual block and the channel pruning ratio of each convolutional layer from the discrete and continuous search space respectively. The best pruning action taking both the accuracy and the complexity of the model into account is obtained finally. Compared with the traditional rule-based pruning method, this pipeline saves human labor and achieves a higher compression ratio with lower accuracy loss. Tested on the mobile robot detection dataset, the pruned YOLOv3 model saves 99.5% FLOPs, reduces 99.5% parameters, and achieves 37.3× speed up with only 2.8% mAP loss. The results of the transfer task on the sim2real detection dataset also show that our pruned model has much better robustness performance. Copyright © 2021, The Authors. All rights reserved.

关键词： Reinforcement learning

MVM3Det: A novel method for multi-view monocular 3D detection

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arXiv 2021年

作者： Li, Haoran Duan, Zicheng Ma, Mingjun Chen, Yaran Li, Jiaqi Zhao, Dongbin The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The University of Chinese Academy of Sciences Beijing China The College of Engineering and Computer Science Australian National University ACT2601 Australia The School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negatives. Multi-view object detection effectively solves this problem by combining data from different perspectives. However, due to label confusion and feature confusion, the orientation estimation of multi-view 3D object detection is intractable, which is important for object tracking and intention prediction. In this paper, we propose a novel multi-view 3D object detection method named MVM3Det which simultaneously estimates the 3D position and orientation of the object according to the multi-view monocular information. The method consists of two parts: 1) Position proposal network, which integrates the features from different perspectives into consistent global features through feature orthogonal transformation to estimate the position. 2) Multi-branch orientation estimation network, which introduces feature perspective pooling to overcome the two confusion problems during the orientation estimation. In addition, we present the first dataset for multi-view 3D object detection named MVM3D. Comparing with State-Of-The-Art (SOTA) methods on our dataset and public dataset WildTrack, our method achieves very competitive results. © 2021, CC BY.

关键词： Object recognition

State Observation of Affine-in-the-States Time-Varying systems with Unknown Parameters and Delayed Measurements

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IFAC-PapersOnLine 2021年第14期54卷 108-113页

作者： Alexey Bobtsov Nikolay Nikolaev Romeo Ortega Denis Efimov Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México México INRIA Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The case with known parameters has been studied by many researchers—see [Sanz et al. 2019, Bobtsov et al. 2021] and references therein—where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2020] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions.

关键词： Nonlinear time-varying systems state observer delay systems parameter estimation

Lithium Extraction from High Magnesium Salt Lake Brine with an Integrated Membrane Technology

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SSRN

SSRN 2022年

作者： Ashraf, Muhammad Awais Usman, Muhammad Hussain, Iftikhar Ahmad, Faraz Guo, Shiwei Zhang, Lu State Key Laboratory of Multiphase Complex Systems CAS Key Laboratory of Green Process and Engineering Institute of Process Engineering Chinese Academy of Sciences Beijing100190 PR China University of Chinese Academy of Sciences Beijing100049 China Washington State University United States Department of Mechanical Engineering City University of Hong Kong 83 Tat Chee Avenue Kowloon Hong Kong Key Laboratory of Coal Science and Technology Taiyuan University of Technology Taiyuan030024 China North China Electric Power University Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering Baoding071000 China Faculty of Economics and Business

Lithium extraction is a great challenge from the high magnesium content salt solution. In this work, an integrated polyamide tight ultrafiltration (UF) and nanofiltration (NF) membranes are systematically investigated to separate Li+ from a high magnesium salt solution. Tight ultrafiltration UA001 and nanofiltration NF270 membranes in the integrated-cascade system not only increased Li+ permeation to 82.5% but also enhanced the high Mg2+ retention to 94.6% from the ternary salt solution of LiCl and MgCl2. The transport model was also developed to calculate the real retention of Li+ and Mg2+, under constant pressure mode. The separation efficiency SFLi/Mg for the ternary salt solution of LiCl+MgCl2+H2O was more than 15 at a constant pressure of 25 bars with an integrated membrane process, which was higher as compared to single-stage UF and NF270 membranes. Moreover, the high Mg2+/Li+ ratio was also reduced from 30 to 1.9 in the integrated-cascade membrane process. © 2022, The Authors. All rights reserved.

关键词： Magnesium compounds

An Almost Globally Stable Adaptive Phase-Locked Loop for Synchronization of a Grid-Connected Voltage Source Converter

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arXiv 2022年

作者： Zonetti, Daniele Bobtsov, Alexey Ortega, Romeo Nikolaev, Nikolay Gomis-Bellmunt, Oriol The Centre d'Innovació Tecnològica en Convertidors Estàtics i Accionaments Departament d'Enginyeria Elèctrica Universitat Politècnica de Catalunya Barcelona08028 Spain The Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia The Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia The Departamento Académico de Sistemas Digitales ITAM Rio Hondo 1 Col. Progreso Tizapan Ciudad de México01080 Mexico

In this paper we are interested in the problem of adaptive synchronization of a voltage source converter with a possibly weak grid with unknown angle and frequency, but knowledge of its parameters. To guarantee a suitable synchronization with the angle of the three-phase grid voltage we design an adaptive observer for such a signal requiring measurements only at the point of common coupling. Then we propose two alternative certainty-equivalent, adaptive phase-locked loops that ensure the angle estimation error goes to zero for almost all initial conditions. Although well-known, for the sake of completeness, we also present a PI controller with feedforward action that ensures the converter currents converge to an arbitrary desired value. Relevance of the theoretical results and their robustness to variation of the grid parameters are thoroughly discussed and validated in the challenging scenario of a converter connected to a grid with low short-circuit-ratio. © 2022, CC BY.

关键词： Synchronization