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Hierarchical Parking Path Planning Based on Optimal Parking Positions

Automotive Innovation 2023年第2期6卷 220-230页

作者： Yaogang Zhang Guoying Chen Hongyu Hu Zhenhai Gao State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchunJilinChina

Automated valet parking(AVP)has attracted the attention of industry and academia in recent ***,there are still many challenges to be solved,including shortest path search,optimal time efficiency,and applicability of algorithm in complex *** this paper,a hierarchical AVP path planner is proposed,which divides a complete AVP path planning into the guided layer and the planning layer from the perspective of global *** guided layer is mainly used to divide a complex AVP path planning into several simple path plannings,which makes the hybrid A*algorithm more applicable in a complex parking *** planning layer mainly adopts different optimization methods for driving and parking path *** proposed method is verified by a large number of simulations which include the verification of the optimal parking position,the performance of the planner for perpendicular parking,and the scalability of the planner for parallel parking and inclined *** simulation results reveal that the efficiency of the algorithm is increased by more than 20 times,and the average path length is also shortened by more than 20%.Furthermore,the planner overcomes the problem that the hybrid A*algorithm is not applicable in complex parking scenarios.

关键词： Automated valet parking Path planning Hybrid A Visibility graph Shortest path

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Vehicle state and Bias Estimation Based on Unscented Kalman Filter with Vehicle Hybrid Kinematics and Dynamics Models

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Automotive Innovation 2023年第4期6卷 571-585页

作者： Shouren Zhong Yang Zhao Linhe Ge Zitong Shan Fangwu Ma State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China

In recent years,vehicle state estimation methods incorporating different vehicle models have received extensive *** the vehicle is disturbed by external forces not considered in traditional vehicle models(for example,a certain slope,or wind resistance different from theoretical calculation),the problem of model mismatch will occur,which leads to the inaccurate estimation of the vehicle *** solve this problem,an Unscented Kalman Filter(UKF)algorithm is used to fuse inertial navigation data with the vehicle hybrid model in this *** hybrid model introduces a switching strategy that fuses the vehicle kinematics and the dynamics models while augmenting biases that need to be estimated in the vehicle *** switching strategy resolves the integration divergence problem of vehicle dynamics models at low speeds and the inaccurate estimation of vehicle kinematics models at high *** experiments demonstrate that the proposed method can accurately estimate biases induced by external forces,enhancing the accuracy and confidence of states by eliminating errors caused by these *** robustness of the method is validated in vehicle verification platform experiments,where errors in vehicle lateral speed and yaw rate are reduced by 9.7 cm/s and 0.012°/s,respectively,under large curvature maneuvers,and 9.6 cm/s and 0.004°/s under quarter-turn *** proposed method significantly improves lateral speed and vehicle position accuracies.

关键词： Vehicle state estimation Vehicle hybrid models Unscented Kalman filter Integration stability

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Evolution of soil DOM during thermal remediation below 100℃:concentration,spectral characteristics and complexation ability

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Frontiers of Environmental Science & Engineering 2024年第8期18卷 31-41页

作者： Wan Huang Ziren Wan Di Zheng Lifeng Cao Guanghe Li Fang Zhang State Key Joint Laboratory of Environment Simulation and Pollution Control State Environment Protection Key Laboratory of Microorganism Application and Risk ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China National Engineering Laboratory for Site Remediation Technologies Beijing 100015China

The impact of thermal remediation on soil function has drawn increasing *** far,as the most active fraction of soil organic matter,the evolution of dissolved organic matter(DOM)during the thermal remediation lacks in-depth investigation,especially for the temperatures value below 100℃.In this study,a series of soil thermal treatment experiments was conducted at 30,60,and 90℃ during a 90-d period,where soil DOM concentration increased with heating temperature and *** molecular weight,functional groups content and aromaticity of DOM all decreased during the thermal *** excitation-emission matrices(EEM)results suggested that humic acid-like substances transformed into fulvic acid-like substances(FIII/FV increased from 0.27 to 0.44)during the heating process,and five DOM components were further identified by *** change of DOM structures and components indicated the decline of DOM stability and hydrophilicity,and can potentially change the bioavailability and *** temperature also resulted in the decline of DOM complexation ability,which may be caused by the loss of binding sites due to the decrease of polar function groups,aromatic structures and hydrophilic *** study provides valuable information about the evolution of DOM during thermal remediation,which would potentially change the fate of metal ions and the effectiveness of the post-treatment technologies in the treated region.

关键词： Thermal remediation below 100℃ Heating temperature Soil DOM concentration DOM spectral characteristics Excitation-emission matrices(EEM) Complexation ability

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Analysis of China’s PM_(2.5)and ozone coordinated control strategy based on the observation data from 2015 to 2020

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Journal of Environmental Sciences 2024年第4期36卷 385-394页

作者： Liuwei Kong Mengdi Song Xin Li Ying Liu Sihua Lu Limin Zeng Yuanhang Zhang State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China

The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution *** the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently ***,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution *** results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.

关键词： PM_(2.5) Ozone Coordinated control Multipollutant reduction

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Coordinated Suppression Method of Fault Current for DC Grid with Novel Dissipative Resistors Topology

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CSEE Journal of Power and Energy systems 2024年第6期10卷 2371-2383页

作者： Shouqi Jiang Huanyu Zhao Guoqing Li Yechun Xin Lixin Wang Weiru Wang Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of EducationNortheast Electric Power UniversityJilin 132012China.

A DC grid based on half-bridge modular multilevel converters(HB-MMC)is a feasible means to realize the friendly grid connection of renewable *** solve problems such as the high cost and technical difficulty of DC circuit breakers(DCCB),a coordinated control method for fault current suppression of DC grid connecting wind power is *** key influencing factors of DC fault current are revealed by fault characteristics analysis,and an adaptive current-limiting control method for MMC is proposed,whose parameter selection principles are designed to ensure the safe operation of equipment while achieving effective suppression of fault *** addition,a novel configuration method of dissipative resistors with the current-limiting function is proposed,which can solve the problem of surplus power in the DC grid and reduce the current stress of converter *** on this,a coordination scheme of dissipative resistors,the adaptive current-limiting control method,and DCCBs are proposed to block fault current,effectively reducing the manufacturing difficulty and cost of ***,a four-terminal DC grid simulation model is built based on the RTLAB OP5600 real-time digital simulation platform,and the effectiveness and feasibility of the proposed methods are verified.

关键词： Adaptive current-limiting control coordinated suppression method dissipative resistor DC grid parameter selection principle

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Fluctuation Classification and Feature Factor Extraction to Forecast Very Short-Term Photovoltaic Output Powers

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CSEE Journal of Power and Energy systems 2025年第2期11卷 661-670页

作者： Mao Yang Xiaoxuan Shen Dawei Huang Xin Su Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of EducationNortheast Electric Power UniversityJilin 132012China

In recent years, a spurt of photovoltaic power generation has brought certain impact on stability of the power system, which puts forward higher requirements on accuracy of photovoltaic power prediction. Therefore, this paper proposes a hybrid power prediction model based on fluctuation classification and feature factor extraction. First, based on fluctuation characteristics of photovoltaic power, fluctuation classification is applied to forecast power before the day, and weather is divided into complex fluctuation types and simple types. Then, parallel factor algorithm is used to reduce prediction model redundancy, which can reduce high-dimensional numerical weather prediction feature matrix to extract relevant features. Finally, the Long Short-Term Memory (LSTM) deep learning model is used to forecast very short-term photovoltaic power. The proposed hybrid model is compared with other methods, and photovoltaic data from several sites are selected for comparison and validation in this paper. simulation results show that very short-term prediction method of photovoltaic power proposed in this paper can significantly improve prediction accuracy.

关键词： Deep neural networks fluctuation classification PARAFAC photovoltaic generation very short-term forecasting

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Intake of tobacco nitrosamines of smokers in various provinces of China and their cancer risk:A meta-analysis

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Journal of Environmental Sciences 2024年第7期36卷 249-260页

作者： Xiao Li Zhiwei Ye Jun Wang Pengfei Lin Xiaojin Zhang Shuguang Xie Chao Chen Research Institute for Environmental Innovation(Suzhou) TsinghuaSuzhouJiangsu 215163China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Shenzhen Key Laboratory of Organic Pollution Prevention and Control State Key Laboratory of Urban Water Resource and EnvironmentHarbin Institute of TechnologyShenzhen 518055China State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Science and EngineeringPeking UniversityBeijing 100871China

Nitrosamines are a class of carcinogens which have been detected widely in food,water,some pharmaceuticals as well as *** objectives of this paper include reviewing the basic information on tobacco consumption and nitrosamine contents,and assessing the health risks of tobacco nitrosamines exposure to Chinese *** searched the publications in English from“Web of Science”and those in Chinese from the“China National Knowledge Infrastructure”in 2022 and collected 151 literatures with valid *** content of main nitrosamines in tobacco,including 4-(methylnitrosoamino)-1-(3-pyridyl)-1-butanone(NNK),N-nitrosonornicotine(NNN),N-nitrosoanatabine(NAT),N-nitrosoanabasine(NAB),total tobacco-specific nitrosamines(TSNA),and N-nitrosodimethylamine(NDMA)were *** information of daily tobacco consumption of smokers in 30 provinces of China was also ***,the intakes of NNN,NNK,NAT,NAB,TSNAs,and NDMA via tobacco smoke were estimated as 1534ng/day,591 ng/day,685 ng/day,81 ng/day,2543 ng/day,and 484 ng/day by adult smokers in30 provinces,*** cancer risk(CR)values for NNN and NNK inhalation intake were further calculated as 1.44×10^(-5)and 1.95×10^(-4).The CR value for NDMA intake via tobacco smoke(inhalation:1.66×10^(-4))indicates that NDMA is similarly dangerous in tobacco smoke when compared with the *** China,the CR values caused by average nitrosamines intake via various exposures and their order can be estimated as the following:smoke(3.75×10^(-4))>food(1.74×10^(-4))>drinking water(1.38×10^(-5)).Smokers in China averagely suffer 200%of extra cancer risk caused by nitrosamines in tobacco when compared with non-smokers.

关键词： N-nitrosamine Tobacco Cancer risk Tobacco specific nitrosamines(TSNAs) N-nitrosodimethylamine(NDMA)

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Efficient Metal Recovery from Industrial Wastewater:Potential Oscillation and Turbulence Mode for Electrochemical system

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Engineering 2024年第7期38卷 184-193页

作者： Li Chen Gong Zhang Huijuan Liu Shiyu Miao Qingbai Chen Huachun Lan Jiuhui Qu Center for Water and Ecology State Key Joint Laboratory of Environment Simulation and Pollution ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China

Efficient metal recovery from industrial wastewater facilitates addressing of the environmental hazards and resource requirements of heavy *** conventional electrodeposition recovery method is hampered by the limitations of interfacial ion transport in charge-transfer reactions,creating challenges for simultaneous rapid and high-quality metal ***,we proposed integrating a transient electric field(TE)and swirling flow(SF)to synchronously enhance bulk mass transfer and promote interfacial ion *** investigated the effects of the operation mode,transient frequency,and flow rate on metal recovery,enabling determination of the optimal operating conditions for rapid and efficient sequential recovery of Cu in TE&SF *** conditions included low and high electric levels of 0 and 4 V,a 50%duty cycle,1 kHz frequency,and 400 L·h^(-1)flow *** kinetic coefficients of TE&SF electrodeposition were 3.5-4.3 and 1.37-1.97 times that of single TE and SF electrodeposition,*** the deposition process under TE and SF conditions confirmed the efficient concurrence of interfacial ion transport and charge transfer under TE and SF synergy,which achieved rapid and highquality metal ***,the combined deposition strategy is considered an effective technique for reducing metal pollution and promoting resource recycling.

关键词： Ion transport Reaction kinetics Transient electric field Swirling flow

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Review of technologies and their applications for the speciated detection of RO2 radicals

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Journal of Environmental Sciences 2023年第1期35卷 487-499页

作者： Yue Gao Keding Lu Yuanhang Zhang State Key Joint Laboratory of Environmental Simulation and Pollution Control State Environmental Protection Key Laboratory of Atmospheric Ozone Pollution ControlCollege of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China

Peroxy radicals(RO_(2)),which are formed during the oxidation of volatile organic compounds,play an important role in atmospheric oxidation ***,the measurement of RO_(2),especially distinct species of RO_(2)radicals,is important and greatly helps the exploration of atmospheric chemistry *** the speciated detection of RO_(2)radicals remains challenging,various methods have been developed to study them in *** methods can be divided into spectroscopy and mass spectrometry *** spectroscopy methods contain laser-induced fluorescence(LIF),UV-absorption spectroscopy,cavity ring-down spectroscopy(CRDS)and matrix isolation and electron spin resonance(MIESR).The mass spectrometry methods contain chemical ionization atmospheric pressure interface time-of-flight mass spectrometry(CI-APi-TOF),chemical ionization mass spectrometry(CIMS),CI-Orbitrap-MS and the third-generation proton transfer reaction-time-of-flight mass spectrometer(PTR3).This article reviews technologies for the speciated detection of RO_(2)radicals and the applications of these *** addition,a comparison of these techniques and the reaction mechanisms of some key species are ***,possible gaps are proposed that could be filled by future research into speciated RO_(2)radicals.

关键词： Speciated RO_(2)radicals Atmospheric chemistry Reaction mechanisms Mass spectrometry

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Compilation of reaction kinetics parameters determined in the key Development Project for Air Pollution Formation Mechanism and control Technologies in China

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Journal of Environmental Sciences 2023年第1期123卷 327-340页

作者： Yuehui Liu Ming Zhou Keding Lu State Key Joint Laboratory of Environmental Simulation and Pollution Control State Environmental Protection Key Laboratory of Atmospheric Ozone Pollution ControlCollege of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China

A compilation of new advances made in the research?eld of laboratory reaction kinetics in China’s key Development Project for Air Pollution Formation Mechanism and control Technologies was *** advances are grouped into six broad,interrelated categories,including volatile organic compound(VOC)oxidation,secondary organic aerosol(SOA)formation,new particle formation(NPF)and gas-particle partitioning,ozone chemistry,model parameters,and secondary inorganic aerosol(SIA)formation,highlighting the laboratory work done by Chinese *** smog chamber applications,the current knowledge gained from laboratory studies is reviewed,with emphasis on summarizing the oxidation mechanisms of long-chain alkanes,aromatics,alkenes,aldehydes/ketones in the atmosphere,SOA formation from anthropogenic emission sources,and oxidation of aromatics,isoprene,and limonene,as well as SIA ***?ow tube applications,atmospheric oxidation mechanisms of toluene and methacrolein,SOA formation from limonene oxidation by ozone,gas-particle partitioning of peroxides,and sulfuric acid-water(H2SO4-H2O)binary nucleation,methanesulfonic acid-water(MSA-H2O)binary nucleation,and sulfuric acid-ammonia-water(H2SO4-NH3-H2O)ternary nucleation are discussed.

关键词： Smog chamber Flow tube VOC oxidation SOA formation New particle formation Gas-particle partitioning SIA formation

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