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arXiv 2025年

作者： Xu, Long Chai, Kaixin An, Boyuan Gan, Jiaxiang Wang, Qianhao Zhou, Yuan Li, Xiaoying Lin, Junxiao Han, Zhichao Xu, Chao Cao, Yanjun Gao, Fei State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

The tractor-trailer vehicle (robot) consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this also complicates motion planning due to the robot’s complex kinematics, high-dimensional state space, and deformable structure. To efficiently plan safe, time-optimal trajectories that adhere to the kinematic constraints of the robot and address the challenges posed by its unique features, this paper introduces a lightweight, compact, and high-order smooth trajectory representation for tractor-trailer robots. Based on it, we design an efficiently solvable spatio-temporal trajectory optimization problem. To deal with deformable structures, which leads to difficulties in collision avoidance, we fully leverage the collision-free regions of the environment, directly applying deformations to trajectories in continuous space. This approach not requires constructing safe regions from the environment using convex approximations through collision-free seed points before each optimization, avoiding the loss of the solution space, thus reducing the dependency of the optimization on initial values. Moreover, a multi-terminal fast path search algorithm is proposed to generate the initial values for optimization. Extensive simulation experiments demonstrate that our approach achieves several-fold improvements in efficiency compared to existing algorithms, while also ensuring lower curvature and trajectory duration. Real-world experiments involving the transportation, loading and unloading of goods in both indoor and outdoor scenarios further validate the effectiveness of our method. The source code is accessible at https://***/ZJU-FAST-lab/tracailer/. Copyright © 2025, The Authors. All rights reserved.

关键词： Tractors (truck)

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FIXDRIVE: Automatically Repairing Autonomous Vehicle Driving Behaviour for $0.08 per Violation

arXiv

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arXiv 2025年

作者： Sun, Yang Poskitt, Christopher M. Wang, Kun Sun, Jun School of Computing and Information Systems Singapore Management University Singapore State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

Autonomous Vehicles (AVs) are advancing rapidly, with Level-4 AVs already operating in real-world conditions. Current AVs, however, still lag behind human drivers in adaptability and performance, often exhibiting overly conservative behaviours and occasionally violating traffic laws. Existing solutions, such as runtime enforcement, mitigate this by automatically repairing the AV’s planned trajectory at runtime, but such approaches lack transparency and should be a measure of last resort. It would be preferable for AV repairs to generalise beyond specific incidents and to be interpretable for users. In this work, we propose FIXDRIVE, a framework that analyses driving records from near-misses or law violations to generate AV driving strategy repairs that reduce the chance of such incidents occurring again. These repairs are captured in µDrive, a high-level domain-specific language for specifying driving behaviours in response to event-based triggers. Implemented for the state-of-the-art autonomous driving system Apollo, FIXDRIVE identifies and visualises critical moments from driving records, then uses a Multimodal Large Language Model (MLLM) with zero-shot learning to generate µDrive programs. We tested FIXDRIVE on various benchmark scenarios, and found that the generated repairs improved the AV’s performance with respect to following traffic laws, avoiding collisions, and successfully reaching destinations. Furthermore, the direct costs of repairing an AV—15 minutes of offline analysis and $0.08 per violation—are reasonable in practice. Copyright © 2025, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Application of Fructo-oligosaccharides Quality control Chart in Milk Powder

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Asian Agricultural Research 2025年第1期17卷 35-37页

作者： Guoxia DUAN Lijun LIU Ruilong XIE Xue HU Lunwei WU Jing CHEN Huili GONG Chunxia LIU Inner Mongolia Yili Industrial Group Co. Ltd.(Key Laboratory of Cattle and Sheep Milk and Meat Products Risk Control and Key TechnologyState Administration for Market Regulation)Hohhot 010110China

The quality control chart of fructo-oligosaccharides in milk powder was established to determine whether the detection process and results are in control *** content of fructo-oligosaccharides in milk powder control samples was determined by ion chromatography,and the quality control chart of fructo-oligosaccharides was established to analyze the controlled *** results indicate that the median of the quality control chart is 1613.14 mg/100 g,and the standard deviation is 85.57 mg/100 *** new quality control points were evaluated and analyzed,and the precision changed,but the mean value did not *** F test was conducted to determine that the precision did not change significantly,indicating that the test was in a statistical control state,and the detection process,method and results were controlled.

关键词： Quality control chart fructo-oligosaccharides Milk powder

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An Engineering Evaluation Methodology of Heterogeneous Network for Highway Infrastructure Monitoring Data Transmission Based on Graph Theory

An Engineering Evaluation Methodology of Heterogeneous Netwo...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Li, Zhenhua Zhang, Yipeng Chen, Yi School of Electrical and Control Engineering North China University of Technology Beijing100144 China Research Institute of Highway Ministry of Transport Ministry of Transport Beijing100081 China State Key Lab of Intelligent Transportation System Ministry of Transport Beijing100081 China

ISBN: (纸本)9789819639564

A large-scale highway infrastructure monitoring system requires a complex and heterogeneous data transmission network to transmit different types and large amounts of sensor data. In order to meet the requirement of rapid modeling and performance evaluation of highway infrastructure monitoring data transmission networks in engineering construction projects, this paper proposes a graph modeling method for heterogeneous transmission networks of highway infrastructure monitoring data using relevant concepts and methods of graph theory. By combining network models with engineering implementation experience, an exploratory engineering evaluation method for evaluating network carrying capacity, end-to-end latency, and end-to-end reliability has been proposed. The above methods can be used to achieve rapid modeling of networks and rapid evaluation of key performance parameters. The evaluation conclusions can serve as the basis for optimizing and implementing the engineering design of highway infrastructure monitoring systems. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Network theory (graphs)

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Comprehensive metabolic profiling of dioxin-like compounds exposure in laying hens:Implications for toxicity assessment

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Journal of Environmental Sciences 2025年第2期148卷 107-115页

作者： Xiaoxu Hu Tong Xu Yangsheng Chen Qian Zhang Lijuan Tang Liping Zheng Chu Wang Pu Wang Shujun Dong Ruiguo Wang Su Zhang Qinghua Zhang Heidi Qunhui Xie Li Xu Bin Zhao State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China Department of Cardiology Beijing HospitalNational Center of GerontologyBeijing 100730China School of Environment Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024China Hubei Key Laboratory of Industrial Fume and Dust Pollution Control School of Environment and HealthJianghan UniversityWuhan 430056China Institute of Quality Standards and Testing Technology for Agro-Products Chinese Academy of Agricultural SciencesBeijing 100081China

The evaluation of toxicity related to polychlorinated dibenzo-p-dioxins and furans(PCDD/Fs)and dioxin-like polychlorinated biphenyls(DL-PCBs)is crucial for a comprehensive risk assessment in real-world exposure *** study employed a controlled feeding experiment to investigate the metabolic effects of dioxin-like compounds(DLCs)on laying hens via feed *** enriched with two concentrations(1.17 and 5.13 pg toxic equivalents(TEQ)/g dry weight(dw))were administered over 14 days,followed by 28 days of clean *** analyses of blood samples revealed significant metabolic variations between PCDD/Fs and DL-PCBs exposed groups and controls,reflecting the induced metabolic *** changes were observed in sphingosine,palmitoleic acid,linoleate,linolenic acid,taurocholic acid,indole acrylic acid,and dibutyl phthalate levels,implying possible connections between PCDD/Fs and DL-PCBs toxic effects and energy-neuronal imbalances,along with lipid accumulation and anomalous amino acid metabolism,impacting taurine ***,we identified three differential endogenous metabolites—L-tryptophan,indole-3-acetaldehyde,and indole acrylic acid—as potential ligands for the aryl hydrocarbon receptor(AhR),suggesting their role inmediating PCDD/Fs and DL-PCBs *** comprehensive investigation provides novel insights into the metabolic alterations induced by PCDD/Fs and DL-PCBs in laying hens,thereby enhancing our ability to assess risks associated with their exposure in human populations.

关键词： Polychlorinated dibenzo-p-dioxins and furans Dioxin-like polychlorinated biphenyls Laying hens Metabolomic

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Global-state-Free Obstacle Avoidance for Quadrotor control in Air-Ground Cooperation

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IEEE Robotics and Automation Letters 2025年第7期10卷 6688-6695页

作者： Zhang, Baozhe Chen, Xinwei Chen, Qingcheng Xu, Chao Gao, Fei Cao, Yanjun Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber- Systems and Control Hangzhou310027 China Zhejiang University Huzhou Institute Huzhou313000 China Shanghai Institute of Special Equipment Inspection & Technical Research Shanghai200062 China

CoNi-MPC [1] provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation. However, its lack of environmental information poses significant challenges for obstacle avoidance. To address this issue, we propose a novel obstacle avoidance algorithm, Cooperative Non-inertial frame-based Obstacle Avoidance (CoNi-OA), designed explicitly for UAV-UGV cooperative scenarios without reliance on global state estimation or obstacle prediction. CoNi-OA uniquely utilizes a single frame of raw LiDAR data from the UAV to generate a modulation matrix, which directly adjusts the quadrotor's velocity to achieve obstacle avoidance. This modulation-based method enables real-time generation of collision-free trajectories within the UGV's non-inertial frame, significantly reducing computational demands (less than 5 ms per iteration) while maintaining safety in dynamic and unpredictable environments. The key contributions of this work include: (1) a modulation-based obstacle avoidance algorithm specifically tailored for UAV-UGV cooperation in non-inertial frames without global states;(2) rapid, real-time trajectory generation based solely on single-frame LiDAR data, removing the need for obstacle modeling or prediction;and (3) adaptability to both static and dynamic environments, thus extending applicability to featureless or unknown scenarios. © 2016 IEEE.

关键词： Quadrotors Collision avoidance Dynamics Autonomous aerial vehicles Trajectory Laser radar Air to ground communication Real-time systems Modulation Dynamical systems

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A novel porous shock absorption layer for tunnels: Shock absorption performance and parameter analysis

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Earthquake Engineering and Engineering Vibration 2025年第2期24卷 437-450页

作者： Zhou Tonglai Dong Changsong Li Shuang Sun Qiangqiang Key Lab of Structures Dynamic Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbin 150090China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbin 150090China State Key Laboratory of Green and Long-Life Road Engineering in Extreme Environment CCCC First Highway Consultants Co.Ltd.Xi’an 710075China Institute of Geotechnical Engineering College of Civil Engineering and ArchitectureHebei UniversityBaoding 017002China

A novel porous shock absorption layer is put forward in this study, and the shock absorption performance of the porous shock absorption layer is evaluated based on three-dimensional pseudo-static analysis. The modified reaction acceleration method is adopted and validated in the three-dimensional model. Seven ground motions are selected and the peak ground acceleration is adjusted to 0.2 g, 0.4 g and 0.6 g. The impact of the void ratio and thickness of the porous shock absorption layer is studied, while the surrounding rock grade and tunnel depth are also investigated. The numerical results show that the porous shock absorption layer has good shock absorption performance and can effectively reduce the maximum internal force of the secondary lining, but it cannot reduce the maximum horizontal relative displacement of the secondary lining. The circumferential rubber strip in the porous shock absorption layer will reduce shock absorption performance. The results of parameter analysis indicate that the shock absorption performance of the porous shock absorption layer increases with the increase of the void ratio and thickness, and it has good shock absorption performance under different surrounding rock grades and tunnel depths.

关键词： tunnel porous shock absorption layer shock absorption performance reaction acceleration method parameter analysis

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MIQ-TRA: A Novel Modeling and Anomaly Detection Framework in Ironmaking Cyber-Physical System Integrating Stationarity and Nonstationarity

IEEE Transactions on Industrial Cyber-Physical Systems

引用

IEEE Transactions on industrial Cyber-Physical Systems 2025年 3卷 372-385页

作者： Siwei Lou Chunjie Yang Chao Liu Hanwen Zhang State Key Laboratory of Industrial Control Technology (SKLICT) Zhejiang University Hangzhou China Guangxi Liuzhou Iron and Steel Group Company Ltd. Liuzhou China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

In the contemporary era of big-data-driven steel industry, artificial intelligence technologies have emerged as powerful enablers, providing substantial support to field engineers and alleviating their workloads. Nevertheless, the pronounced uncertainty and nonstationarity inherent in the highly intricate modern ironmaking cyber-physical system (ICPS) pose formidable challenges to accurate process modeling and safety assessment. To surmount these obstacles, this research presents a novel framework for molten iron quality-related total regression analysis, namely MIQ-TRA. Initially, a time-constrained interval type-2 (TC-IT2) fuzzy representation is devised to handle data uncertainty and nonlinearity across diverse time windows. This approach not only extracts interpretable nonlinear features but also effectively captures the complex interrelationships within the data. Following this, concerning the stationary features associated with MIQ, a stationary regularized regression objective function is formulated by ingeniously integrating stationarity and regressivity. Subsequently, a decoupled model solver is derived in a closed-form solution, which process effectively partitions the data into the MIQ-related stationary subspace and nonstationary residual. For the nonstationary residuals, a nonstationary clustering partial least squares (PLS) method is introduced. It enhances the nonstationary features, performs pattern clustering, and models the nonstationary information related to MIQ with PLS. In the integration stage, three components-TC-IT2 fuzzy representation, stationary feature separation, and nonstationary residual modeling-are comprehensively integrated into MIQ-TRA framework. When applied to numerical simulations and real-world ICPS, our MIQ-TRA demonstrates superiority over existing methods. For anomaly detection, it exhibits lower false alarms and higher accuracy levels, while MIQ prediction attains lower prediction errors. These outcomes empower field engin

关键词： Uncertainty Cyber-physical systems Data models Iron Feature extraction Anomaly detection Accuracy Kernel Vectors Steel industry

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GP-enhanced Autonomous Drifting Framework using ADMM-based iLQR

arXiv

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arXiv 2025年

作者： Xie, Yangyang Hu, Cheng Baumann, Nicolas Ghignone, Edoardo Magno, Michele Xie, Lei State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou310027 China Center for Project-Based Learning D-ITET ETH Zurich Switzerland

Autonomous drifting is a complex challenge due to the highly nonlinear dynamics and the need for precise real-time control, especially in uncertain environments. To address these limitations, this paper presents a hierarchical control framework for autonomous vehicles drifting along general paths, primarily focusing on addressing model inaccuracies and mitigating computational challenges in real-time control. The framework integrates Gaussian Process (GP) regression with an Alternating Direction Method of Multipliers (ADMM)-based iterative Linear Quadratic Regulator (iLQR). GP regression effectively compensates for model residuals, improving accuracy in dynamic conditions. ADMM-based iLQR not only combines the rapid trajectory optimization of iLQR but also utilizes ADMM’s strength in decomposing the problem into simpler sub-problems. Simulation results demonstrate the effectiveness of the proposed framework, with significant improvements in both drift trajectory tracking and computational efficiency. Our approach resulted in a 38% reduction in RMSE lateral error and achieved an average computation time that is 75% lower than that of the Interior Point OPTimizer (IPOPT). © 2025, CC BY.

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A production planning benchmark for real-world refinery-petrochemical complexes

arXiv

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arXiv 2025年

作者： Du, Wenli Wang, Chuan Fan, Chen Li, Zhi Zhong, Yeke Kang, Tianao Liang, Ziting Yang, Minglei Qian, Feng Dai, Xin State Key Laboratory of Industrial Control Technology East China University of Science and Technology Shanghai200237 China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China

To achieve digital intelligence transformation and carbon neutrality, effective production planning is crucial for integrated refinery-petrochemical complexes. Modern refinery planning relies on advanced optimization techniques, whose development requires reproducible benchmark problems. However, existing benchmarks lack practical context or impose oversimplified assumptions, limiting their applicability to enterprise-wide optimization. To bridge the substantial gap between theoretical research and industrial applications, this paper introduces the first open-source, demand-driven benchmark for industrial-scale refinery-petrochemical complexes with transparent model formulations and comprehensive input parameters. The benchmark incorporates a novel port-stream hybrid superstructure for modular modeling and broad generalizability. key secondary processing units are represented using the delta-base approach grounded in historical data. Three real-world cases have been constructed to encompass distinct scenario characteristics, respectively addressing (1) a stand-alone refinery without integer variables, (2) chemical site integration with inventory-related integer variables, and (3) multi-period planning. All model parameters are fully accessible. Additionally, this paper provides an analysis of computational performance, ablation experiments on delta-base modeling, and application scenarios for the proposed benchmark. © 2025, CC BY-NC-SA.

关键词： Refining

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