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A Continuous Autonomous Train Positioning Method Using Stereo Vision and Object Tracking

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE 2025年第2期17卷 6-22页

作者： Lian, Lirong Qin, Yong Cao, Zhiwei Gao, Yang Bai, Jie Ge, Xuanyu Guo, Baoqing Beijing Jiaotong Univ Sch Traff & Transportat State Key Lab Adv Rail Autonomous Operat Beijing 100044 Peoples R China Beijing Jiaotong Univ State Key Lab Adv Rail Autonomous Operat Key Lab Railway Ind Proact Safety & Risk Control Beijing 100044 Peoples R China Beijing Jiaotong Univ State Key Lab Adv Rail Autonomous Operat Beijing 100044 Peoples R China Beijing Jiaotong Univ Sch Mech Elect & Control Engn Beijing 100044 Peoples R China

Accurate and reliable train positioning is essential for safe railway operations. However, traditional infrastructure-based methods lack the ability for autonomy and continuous positioning. To solve the problem, we propose a novel modular visual processing framework for continuous train positioning. Environmental information captured by stereo vision sensors is processed using a feature extraction algorithm to detect landmarks along the railway. The detection results are input into a dual-stream parallel processing architecture, where an anchor-based stereo matching module calculates the depth values of detected landmarks, providing essential spatial information. Simultaneously, a dynamic region of interest-based multiobject tracking module assigns unique identification codes to each landmark, facilitating the integration of landmark detection results with their corresponding depth values. This correlation allows for the tracking of changes in landmark positions and the calculation of displacement caused by train motion, leading to a more accurate estimation of the train's location. Subsequently, the train mileage is matched against a database track map to obtain the final precise position. Field tests on Beijing Metro Line 9 and the Capital Airport Line demonstrate an average mean relative error of 0.19% and positioning accuracy within 1 m over a range of 100 m.

关键词： Accuracy Heuristic algorithms Sensors Visualization Radar tracking Real-time systems Feature extraction Stereo vision Sensor systems rail transportation

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Advanced sustainable triboelectric nanogenerators for biomedical and clinical applications: In vivo treatments, in vitro therapeutics, and assisted rehabilitations

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CHEMICAL ENGINEERING JOURNAL 2025年 509卷

作者： Hao, Yijun Zhu, Xiaopeng Hong, Keke Lu, Xiangqian Su, Jiayu Guo, Zhao Wang, Zhipeng Qin, Yong Zhang, Hongke Zhang, Chuguo Li, Xiuhan Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing 100044 Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China

Triboelectric nanogenerators (TENGs) offer innovative solutions for biomedical applications, enabling self- powered systems for implantable devices, in vitro treatments, and rehabilitation aids. By harvesting biomechanical energy through triboelectric and electrostatic induction, TENGs eliminate the need for conventional batteries, providing sustainable, efficient, and adaptable self-powered systems for healthcare. Moreover, sustainable materials are degradable, biocompatible, renewable, environmentally friendly, and functionally adjustable. As they degrade in the natural environment, they remain non-toxic and harmless to biological tissues, making them suitable for biomedical applications. These materials come from a wide range of sources, such as natural polymers, plant-based materials and degradable synthetic polymers, with good processability and stability. Therefore, the TENG based on sustainable materials not only provides a green energy solution, but also meets the needs for safety, flexibility and durability in the biomedical field, making it ideal for future medical technology development. This review systematically categorizes sustainable materials into three key sources: terrestrial, marine, and synthetic polymers, emphasizing their versatility and eco-friendly properties. We explore their role in vivo treatments, in vitro therapeutics, and assisted rehabilitations, highlighting their critical role in addressing key medical challenges. Finally, this review has provided the challenges and future directions for integrating sustainable TENGs into the healthcare system, which is expected to have a transformative impact on environmentally conscious medical ecosystem and promote next-generation healthcare solutions.

关键词： Triboelectric nanogenerators Sustainable materials In vivo treatments In vitro therapeutics Assisted rehabilitations

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PEO/cysteine composite nanofiber-based triboelectric nanogenerators for harvesting tiny mechanical energy

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JOURNAL OF MATERIALS CHEMISTRY A 2025年第3期13卷 1853-1862页

作者： Hao, Yijun Yang, Jiayi Zhu, Xiaopeng Hong, Keke Su, Jiayu Qin, Yong Su, Wei Zhang, Hongke Zhang, Chuguo Li, Xiuhan Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing 100044 Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China

Triboelectric nanogenerators (TENGs) are promising devices for capturing mechanical energy. However, traditional polymer triboelectric materials result in a burden to the environment, and the natural/biodegradable tribo-materials have the disadvantage of poor output performance. For this purpose, we proposed a polyethylene oxide (PEO)/cysteine composite nanofiber film (PCF) which is prepared from biodegradable polymer PEO and natural cysteine. Thanks to the superior tribo-positive properties of PEO and cysteine, the electrical performance of a PCF-based TENG (PC-TENG) with 4 wt% cysteine is several times greater than that of a pure PEO nanofiber film. In addition, the PC-TENG exhibits better power density (6.6 W m-2), which is 3-110 times more than that in studies using related eco-friendly materials as the tribo-layer. Importantly, we designed a multi-layer funnel-shaped TENG (MF-TENG) constructed from 4 layers of PC-TENG, which can effectively harvest tiny mechanical energy to build self-powered electronic devices by integrating a power management circuit. This research offers an efficient approach for the practical application of natural and environmental-friendly material-based TENGs in energy harvesting and power supply in the Internet of Things.

关键词： Nanofibers

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An Evaluation Method for Transportation Equipment Testing Indicators Based on Information Sensitivity

An Evaluation Method for Transportation Equipment Testing In...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Mao, Junyan Wu, Jianfan Xie, Zhengyu School of Traffic and Transportation Beijing Jiaotong University Beijing100044 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China State Key Laboratory of Advanced Rail Autonomous Operation Beijing100044 China Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing100044 China

ISBN: (纸本)9789819639687

In order to evaluate the testing indicators of transportation equipment better, this paper proposes an evaluation method for transportation equipment testing indicators addressing advancement, economy, technical maturity, and foresight, which incorporates 20 primary and 74 secondary indicators, providing a comprehensive framework for assessing testing methods. To achieve scientific and reasonable optimization, an improved information sensitivity analysis model was proposed to optimize the indicators, ensuring the retention of the most representative 32 indicators while reducing informational redundancy. This approach enhances the accuracy and reliability of the evaluation, surpassing traditional methods like principal component analysis. The findings emphasize the critical factors influencing testing methods, including test point representativeness, environmental stability, cost-effectiveness, and adaptability. The proposed method not only supports current testing improvements but also offers significant scalability and practical guidance, contributing to the technological advancement and standardization in railway equipment testing. This research provides valuable insights into optimizing evaluation frameworks for complex testing requirements in the railway industry. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Sensitivity analysis

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Preface to special issue on system dynamics and control of virtually coupled trainsets

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VEHICLE SYSTEM DYNAMICS 2025年第1期63卷 1-2页

作者： Wu, Qing Ge, Xiaohua Zhu, Shengyang Su, Shuai Cent Queensland Univ Ctr Railway Engn Rockhampton Australia Swinburne Univ Technol Sch Sci Comp & Engn Technol Melbourne Australia Southwest Jiaotong Univ State Key Lab Rail Transit Vehicle Syst Chengdu Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing Peoples R China

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Adaptive Frequency Coupling Suppression Strategy for VSCs and Its Stability Region Analysis

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2025年第1期40卷 2442-2456页

作者： Wang, Zhen Pan, Hao Cheng, Peng Jia, Limin North China Elect Power Univ China Inst Energy & Transportat Integrated Dev Beijing 102206 Peoples R China BeijingJiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China

The conventional frequency coupling suppression strategy of voltage source converters (VSCs) relies on the configuration of operating point parameters, limiting its applicability in grid-connected systems with variable operating points. In this article, a novel adaptive frequency coupling suppression strategy is proposed. The strategy employs adaptive q-axis compensation to reshape the asymmetry of dc-link voltage control dynamics. Unlike conventional methods, it allows for automatic adjustment of operating point parameters in the controller, enabling dynamic suppression of coupled harmonics under varying operating points. Moreover, the symmetric reshaping eliminates the negative resistance effect of the qq-axis admittance for VSC at low frequency and enhances the system steady-state performance. Based on the decoupled system, the single-input single-output operating-condition admittance of VSC is derived to determine the stability region and assess the impact of the proposed strategy on system stability within the full operating range. The analysis indicate that the proposed strategy not only suppresses the coupled harmonics under varying operating points but also extends the active power boundary of VSC in the weak grid. Experimental results validate the effectiveness of the proposed control strategy.

关键词： Couplings Power system stability Power conversion Frequency control Stability criteria Steady-state Phase locked loops Adaptive q-axis compensation frequency coupling stability region voltage source converter weak grid

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Security Offloading Scheduling and Caching Optimization Algorithm in UAV Edge Computing

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IEEE Systems Journal 2025年第1期19卷 96-106页

作者： Qiu, Jianli Kuang, Zhufang Huang, Zhenqi Lin, Siyu Central South University of Forestry and Technology College of Computer and Mathematics Changsha410004 China Beijing Jiaotong University School of Electronic and Information Engineering Beijing100044 China Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing100044 China

Mobile edge computing, a prospective wireless communication framework, can contribute to offload a large number of tasks to unmanned aerial vehicle (UAV) mobile edge servers. Besides, the demand for server computational resources increasingly ascends as the volume of processing tasks grows. However, in reality, many devices have similar computing tasks and require the same computing data. Therefore, servers can effectively reduce server computing latency and bandwidth costs by caching task data. This investigation explores task security offloading and data caching optimization strategies in scenarios with multiple interfering devices. With the goal of minimizing the total energy consumption, the UAV trajectories, transmission power, task offloading scheduling strategies, and caching decisions is jointly optimized. The corresponding optimization problem, which consists of mixed integer nonlinear programming problem, is formulated. To make this problem solved, the original problem is decomposed into three tiers, and an iterative algorithm named CDSFS which is based on the coordinate descent, successive convex approximation, and flow shop scheduling is proposed. Simulation results demonstrate the stability and superiority of the proposed algorithm. © 2007-2012 IEEE.

关键词： Nonlinear programming

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Impedance Circuit Model of Voltage Source Converter With DC-Link Voltage control Dynamics

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2025年

作者： Wang, Zhen Cheng, Peng Pan, Hao Jia, Limin North China Elect Power Univ China Inst Energy & Transportat Integrated Dev Beijing 102206 Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China

The impedance circuit model maps the control algorithms into the circuit topology of voltage source converters (VSCs). By analyzing discrete circuit elements, the model provides clear physical insight for the oscillation mechanisms triggered by the control dynamics. However, previous studies do not consider the outer-loop control and reactive power. To enhance the generality, this paper integrates the DC-link voltage control (DVC) loop into the impedance circuit model and thoroughly considers the non-unity power factor operating conditions. In this model, DVC dynamics is mapped as two equivalent impedances in the AC circuit, and interaction between the inner and outer loops is visualized by the interconnection of impedances. The analysis indicates that the perturbation of DVC dynamics on grid-connected current introduces the negative resistance effect at low-power levels. Moreover, the effect of reactive power on impedance circuit is mapped as a coupled current source linking the d-axis and q-axis circuits. As the inductive-reactive power increases, self-excited oscillations occur in the coupled source. According to the stability constraints of the coupled sources, a strict design method for the control parameters is proposed. Experimental results verify the effectiveness of the proposed model.

关键词： Impedance Circuits Integrated circuit modeling Power system stability Circuit stability Power conversion Voltage control Mathematical models Analytical models Transfer functions Impedance circuit model DC-link voltage control voltage source converter non-unity power factor control parameters design

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Segmented-Aggregated Framework With Internal-External Constraint Mechanism for Unsupervised Track Anomaly Detection

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Gao, Yang Cao, Zhiwei Qin, Yong Lian, Lirong Kou, Linlin Wang, Yaguan Beijing Jiaotong Univ Sch Traff & Transportat State Key Lab Adv Rail Autonomous Operat Beijing 100044 Peoples R China Beijing Jiaotong Univ Key Lab Railway Ind Proact Safety & Risk Control Beijing 100044 Peoples R China Beijing Subway Operat Co Ltd Beijing 100026 Peoples R China

The track is the basis of railway, and track defect detection is very important for train safety. Currently, the supervised track defect detection methods focus on detecting known category defects, but these methods cannot cover all categories of defects. Furthermore, the serious interference of complex environments also poses a significant challenge to the unknown category track defect detection. To address the deficiencies, this article proposes an unsupervised track anomaly detection algorithm using segmented-aggregated framework with internal-external constraint mechanism, comprising three fundamental modules. First, the regional segmentation module is proposed to facilitate the precise regionalization of key track components at the pixel level, minimizing the complex background interference. Second, a novel self-generating feature parameterization module is proposed, which employs a self-generating feature aggregation network and fitting function to obtain the optimal fitting parameters. Finally, this article presents an internal-external constraint metric anomaly score calculation module to detect anomalies complementally. The external constraint considers the difference between the test image and normal images, while the internal constraint complements measurement of internal difference in the test image. The efficacy of the algorithm is verified on the track anomaly dataset and publicly available dataset. The results indicate that the image AUROC and pixel AUROC of the proposed algorithm can reach 97.82% and 99.85%, respectively. And the image F1 can reach 88.34% and is markedly superior to other state-of-the-art anomaly detection algorithms.

关键词： Deep learning railway safety semantic segmentation track anomaly detection unsupervised learning Deep learning railway safety semantic segmentation track anomaly detection unsupervised learning

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Analysis and Comparison of Indicators for Evaluating the Dynamics of Transport Equipment

Analysis and Comparison of Indicators for Evaluating the Dyn...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Jiang, Yiling Xie, Zhengyu Wang, Zengqing School of Traffic and Transportation Beijing Jiaotong University Beijing100044 China State Key Laboratory of Advanced Rail Autonomous Operation State Beijing Jiaotong University Beijing100044 China Key Lab of Proactive Safety and Risk Control in Railway Operation Beijing100044 China Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing100044 China

ISBN: (纸本)9789819639762

With the extensive application of transport equipment, the importance of its performance evaluation indicators is increasingly highlighted. In order to ensure the safe operation of transport equipment and improve its overall performance, this paper thoroughly investigates the dynamic performance indicators of transport equipment. The article provides a detailed introduction to the main dynamic performance evaluation standards both at home and abroad, such as Specification for dynamic performance assessment and testing verification of rolling stock (GB/T 5599–2019), Testing and approval of railway vehicles from the point of view of their dynamic behaviour - safety - Track fatigue - Running behaviour(UIC 518—2009), covering tests for operational stability, operational quality, and operational smoothness, and explaining indicators such as derailment coefficient, wheel load reduction rate, car body lateral acceleration, smoothness, and comfort. By elaborating on the specific content of these indicators, this paper compares and analyzes the differences and complementarities between various standards from multiple dimensions, including data processing methods and the setting of data limits for the indicators. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Fatigue testing

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