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Dual Extended Kalman Filter for Combined Estimation of Vehicle state and Road Friction

Chinese Journal of Mechanical Engineering 2013年第2期26卷 313-324页

作者： ZONG Changfu HU Dan ZHENG Hongyu State Key Laboratory of Automotive Simulation and Control Jilin University

Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute（HSRI） tire model; the dual extended Kalman filter （DEKF） technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions（high-friction, low-friction, and joint-friction）. On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future.

关键词： vehicle state road friction coefficient estimation dual extended Kalman filter (DEKF)

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Experimental and numerical investigations of the aerodynamic noise reduction of automotive side view mirrors

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Journal of Hydrodynamics 2018年第4期30卷 642-650页

作者：陈鑫汪硕吴元强李延洋王怀玉 State Key Laboratory of Automobile Simulation and Control Jilin University

This paper studies the aeroacoustics of the side view mirrors by wind tunnel tests and numerical simulations. The mirror is placed on a table in the wind tunnel test. Based on the experiment results, a numerical analysis model is established to analyze the acoustic field in the wake of the side view mirror by the Large Eddy simulation（LES）. The flow field and the noise level of two different side view mirrors are compared in the simulation. It is shown that, with the serration structures applied onto the mirror surface, the turbulence zone and the pressure fluctuation in the wake of the bionic model are improved effectively, which helps its flow control and noise reduction. Meanwhile, as is shown in the noise spectra, when the noise frequency is over 500 Hz, for the bionic mode, the noise is reduced to a lower level than with the original one, which further shows its effectiveness in the noise reduction.

关键词： Aerodynamic noise side view mirror flow field acoustic field bionic noise reduction

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Numerical simulation of the aerodynamic characteristics of heavy-duty trucks through viaduct in crosswind

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Journal of Hydrodynamics 2014年第3期26卷 394-399页

作者：胡兴军秦鹏廖磊郭鹏王靖宇杨博 State Key Laboratory of Automobile Simulation and Control Jilin University

In our numerical simulation the hybrid mesh and the SST k-ω turbulence model are adopted to investigate the variations of the aerodynamic loads and the flow field of heavy-duty trucks while crossing a viaduct with 1.1 m high fences in a crosswind at a velocity of 20 m/s. The results show that, with the protection of a fence, the side force is weakened, and the rolling and yaw moments are strengthened while the truck is crossing the viaduct, which relatively reduces the roll-over safety and the driving stability of the truck. Meanwhile, the direction of the side force changes when the truck enters the viaduct, which makes the roll-over safety and the driving stability the lowest during the process.

关键词： computational fluid dynamics heavy-duty truck crosswind cross viaduct aerodynamic loads flow field

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Orientation construction and comparison of mercury removal sites by physical and chemical adsorption on cotton stalk biochar

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Fuel 2025年 398卷

作者： Li, Guoliang Wang, Shuxiao Wu, Qingru Yue, Tao Gao, Jiajia Tong, Yali Zhang, Mingyu Zhang, Lin Zhang, Chenyang Xie, Sizhe School of Energy and Environmental Engineering University of Science and Technology Beijing Beijing100083 China State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University Beijing100084 China Changsha County Urban Management Bureau Hunan Province Changsha410100 China

The capture of elemental mercury (Hg0) is the crucial step for synergetic control of mercury emission via dust removal equipment. Micropore structure, oxygen-containing groups and adding active elements are three key factors in the biochars activation for mercury capture. Previous studies usually focused on single modification factor. This study aims to evaluate and contrast the influence of the three key factors on the mercury capture of biochars. Physical activation (microwave and steam), H2O2 modification and NH4Cl impregnation were used to directionally develop pore structure, form new oxygen-containing groups and introduce halogen active sites. The testing results showed that physical activation causes distinct increase in the Vmicro ratio by 420 % yet just modest increase in the highest mercury removal efficiency (η) of C6W by only 43.0 %. The 30 % H2O2 modification and 5 % NH4Cl impregnation distinctly increased η by 82.6 % and 116.2 %, respectively. Moreover, synergetic activation of H2O2 modification with physical activation and that of NH4Cl impregnation with physical activation further increased η by 159.5 % and 180.6 %, respectively. The pore structure development was not the key factor in mercury removal, yet it improved the chemical modification effectiveness. Physicochemical characterization methods, molecular adsorption kinetic models and mercury desorption energy calculation were used to analyze the mercury capture active sites and investigate the mercury adsorption mechanism. The H2O2 modification and NH4Cl impregnation formed chemisorption sites of C-O, C=O and C-Cl groups. The mercury desorption energy increased from 32.2-33.0 kJ∙mol−1 of physisorption to 60.2–70.7 kJ∙mol−1 of chemisorption. This paper provides guides for future preparation of highly effective mercury removal sorbents. © 2025

关键词： Dust control

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Cd Single Atom as an Electron Mediator in an S-Scheme Heterojunction for Artificial Photosynthesis of H2O2

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Advanced Energy Materials 2025年第0期

作者： Ruan, Xiaowen Xu, Minghua Ding, Chunsheng Leng, Jing Fang, Guozhen Meng, Depeng Zhang, Wei Jiang, Zhifeng Ravi, Sai Kishore Cui, Xiaoqiang Yu, Jiaguo State Key Laboratory of Automotive Simulation and Control School of Materials Science and Engineering Key Laboratory of Automobile Materials of MOE Jilin Provincial International Cooperation Key Laboratory of High-Efficiency Clean Energy Materials Electron Microscopy Center Jilin University Changchun130012 China School of Energy and Environment City University of Hong Kong Kowloon999077 Hong Kong State Key Laboratory of Molecular Reaction Dynamics Dalian Institute of Chemical Physics Chinese Academy of Sciences Dalian116023 China Institute for Energy Research Jiangsu University Zhenjiang212013 China Laboratory of Solar Fuel Faculty of Materials Science and Chemistry China University of Geosciences Wuhan430074 China

Developing conductor-mediated S-scheme heterojunction photocatalysts imitating natural photosynthetic systems emerges as a promising approach to hydrogen peroxide (H2O2) production. However, achieving precise coupling between two semiconductors with a charge shuttle and modulating the interfacial interactions still remain a significant bottleneck. Herein, we propose a catalyst architecture with a Cd single atom mediated S-scheme heterojunction formed by interfacing CdS and TiO2 nanoparticles. This catalyst exhibits an H2O2 production rate as high as 60.33 µmol g−1min−1 under UV–vis light irradiation, which is attributed to the efficient charge transport at the interface of CdS and TiO2 thanks to the Cd single atom mediated S-scheme. In-situ X-ray photoelectron spectroscopy (XPS) and electron spin resonance (ESR) spin-trapping tests confirm the S-scheme charge transfer route. Femtosecond transient absorption (fs-TA) spectroscopy and other ex-situ characterizations further corroborate the efficient charge transport across the catalyst interface. This work offers a new perspective on constructing single atoms mediated heterojunctions to enhance photocatalytic performance. © 2025 The Author(s). Advanced Energy Materials published by Wiley-VCH GmbH.

关键词： X ray photoelectron spectroscopy

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A bio-inspired PDA@MoS2 electrode with high conductivity and excellent antibacterial properties for selective and efficient uranium recovery via capacitive deionization

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Chemical Engineering Journal 2025年 514卷

作者： Zhang, Shuang Deng, Sheng Bo, Tao Li, Yuanli Zhao, Jiayin Wang, Yingcai Jiang, Hao Li, Xiaoyan Liu, Yuhui National Key Laboratory of Uranium Resources Exploration-Mining and Nuclear Remote Sensing East China University of Technology Nanchang330013 China Zhejiang Key Laboratory of Data-Driven High-Safety Energy Materials and Applications Ningbo Key Laboratory of Special Energy Materials and Chemistry Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo315201 China State Environmental Protection Key Laboratory of Simulation and Control of Groundwater Pollution Chinese Research Academy of Environmental Sciences Beijing100012 China Innovation Center of Nuclear Environmental Safety Technology Southwest University of Science and Technology Mianyang621010 China

Capacitive deionization (CDI) has been identified as a promising method for uranium recovery due to its efficiency and rapidity. Nevertheless, challenges with electrode materials, including low conductivity, poor selectivity and antibacterial properties, remain to be addressed. This study presents a novel biomimetic electrode material, PDA@MoS2, designed for efficient uranium recovery through CDI. Inspired by natural adhesion mechanisms, the integration of PDA with MoS2 significantly enhances charge transportation, improves uranium selectivity, and imparts intrinsic antibacterial properties. CDI experiments revealed that PDA@MoS2-4 achieved an impressive 81.0 % uranium removal rate at 1.20 V and pH 5.0, significantly outperforming standalone MoS2 Density functional theory (DFT) calculations provided insights into the enhanced electrosorption and reduction mechanisms driving this performance. Beyond efficiency, PDA@MoS2 exhibited nearly 99.99 % antibacterial activity against Escherichia coli and Staphylococcus aureus, ensuring operational stability over an extended period. Remarkably, the material maintained consistent uranium extraction from radioactive ore leachates across 145.0 days. These findings position PDA@MoS2 as a sustainable, efficient, and environmentally friendly solution for uranium recovery, offering a transformative technology for environmental remediation and a reliable nuclear fuel supply. © 2025 Elsevier B.V.

关键词： Layered semiconductors

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NSVineCopula: R package for modeling non-stationary multivariate dependence

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Environmental Modelling and Software 2025年 190卷

作者： Zhang, Q. Li, Y.P. Huang, G.H. Huang, X.M. Wang, H. Wang, Z. Xu, Z.P. Wang, Y.Y. Shen, Z.Y. State Key Joint Laboratory of Environmental Simulation and Pollution Control School of Environment Beijing Normal University Beijing100875 China Department of Earth System Science Ministry of Education Key Laboratory for Earth System Modeling Institute for Global Change Studies Tsinghua University Beijing100875 China Institute for Energy Environment and Sustainable Communities University of Regina ReginaSKS4S0A2 Canada

A vine copula is a flexible method for multivariate dependence simulations that assumes stationarity. However, only a few studies have focused on non-stationarity and comprehensively developed nonstationary vine copula functions. In this study, a novel R package, NSVineCopula was developed and presented. Canonical-vine and Drawable-vine structure with 36 bivariate copula functions were considered in NSVineCopula. This package is capable of capturing non-stationary multivariate dependence, providing time-varying parameters for each bivariate copula, and quantifying the conditional probability. Notably, NSVineCopula provides a simple way for sampling non-stationary vine copulas. The capability of NSVineCopula was evaluated through two case studies: (1) agricultural drought risk assessment under compound dry-hot extreme conditions and water level prediction. The results demonstrate the advantages of NSVineCopula in non-stationary multivariate dependence analysis, and highlights the potential of NSVineCopula in many fields. Overall, NSVineCopula can provide valuable and robust functionalities for modeling nonstationary multivariate dependence. © 2025 Elsevier Ltd

关键词： Copula Multivariate dependence Non-stationarity R package Vine copula

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Investigation of the combustion deterioration of an automotive diesel engine under transient operation

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Science China(Technological Sciences) 2014年第3期57卷 480-488页

作者： ZHANG LongPing LIU ZhongChang TIAN Jing SUN ShiJie State Key Laboratory of Automobile Simulation and Control Jilin University

With increasingly stringent emission regulations and demand for fuel economy by the public,the combustion and emission problems of automotive diesel engines during transient operation have become vital and urgent *** this study,combustion deterioration has been experimentally analyzed using a heavy-duty turbocharged diesel engine running under transient conditions(constant speed and increasing torque).Optimization of the transient combustion process was performed by adjusting the fuel injection *** results indicated that the notable combustion deterioration relative to steady state operation while transient was a function of the delay in the air-supply to the turbocharged engine,and took the form of combustion phasing delay,resulting in rapidly increasing smoke emission and fuel ***,the delay in combustion phasing can be controlled by advancing the fuel injection timing,effectively increasing thermal ***,smoke and NO x emissions increased at the same *** deterioration in combustion phasing can also be improved by increasing injection pressure,resulting in decreased smoke emission while NO x emission *** is worth noting that the effective thermal efficiency first increased and then decreased as fuel injection pressure increased during transient operation.

关键词： diesel engine transient operation combustion deterioration injection parameters combustion optimization

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High Abundance of Atmospheric Sulfonates Derived from Light-Duty Gasoline Vehicles

ACS ES&T Air

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ACS ES&T Air 2025年第4期2卷 607-614页

作者： Shuang Chen Huixia Han Lihong Ren Yisheng Xu Libin Wu Yuanguan Gao Yuanbi Yi Xinping Yang Mingliang Fu Hang Yin Yan Ding Pingqing Fu State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental Sciences Beijing 100012 China；School of Earth System Science Tianjin University Tianjin 300072 China School of Earth System Science Tianjin University Tianjin 300072 China State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental Sciences Beijing 100012 China Department of Ocean Science and Center for Ocean Research in Hong Kong and Macau The Hong Kong University of Science and Technology Hong Kong SAR China State Environmental Protection Key Laboratory of Vehicle Emission Control and Simulation Chinese Research Academy of Environmental Sciences Beijing 100012 China

Particulate matter (PM) emissions from light-duty gasoline vehicles (LDGV) pose a threat to both air quality and human health. However, the molecular compositions and chemical properties of these complex mixtures are poorly understood. In this study, we performed a detailed characterization of exhaust PM from LDGV at various speed phases at the molecular level by employing ultra-high-resolution Fourier transform ion cyclotron resonance mass spectrometry. We found that with increasing speed, the number of organic compounds increased significantly, especially organic nitrogen-containing and sulfur-containing compounds. Moreover, the increase of speed leads to high temperature and high pressure in the cylinder, which in turn leads to a series of thermal cracking–polymerization–cyclization reactions, resulting in new particulate matter with more aromatic structures. In addition, considerable intermediate volatility organic compounds and semivolatile organic compounds were identified in the exhaust PM. Notably, we observed the presence of sulfonates in tailpipe particulate matter during low- or high-speed phases, which highlights a previously negligible source of organic sulfonates in the atmosphere.

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Molecular characteristics and plastic additives in dissolved organic matter derived from polystyrene microplastics: Effects of cumulative irradiation and microplastic concentrations

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Water Research 2025年 282卷 123641页

作者： Cao, Yuanyuan Liu, Yang Guo, Kehui He, Wei Hur, Jin Guo, Huaming Key Laboratory of Groundwater Conservation of MWR Key Laboratory of Groundwater Circulation and Environmental Evolution of MOE School of Water Resources and Environment China University of Geosciences Beijing Beijing 100083 China State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Center for Water and Ecology Tsinghua University Beijing 100084 China Department of Environment and Energy Sejong University 209 Neungdong-ro Seoul Gwangjin-gu05006 Korea Republic of State Key Laboratory of Biogeology and Environmental Geology China University of Geosciences Beijing Beijing 100083 China Frontiers Science Center for Deep-time Digital Earth China University of Geosciences Beijing Beijing 100083 China

Microplastic-derived dissolved organic matter (MP-DOM), released during ultraviolet-induced aging of microplastics (MPs), has emerged as a critical yet underexplored topic regarding the environmental impacts of MPs. However, the effects of irradiation intensity on the release and molecular diversity of MP-DOM, including plastic additives, remain poorly understood. In this study, the photoaging processes of polystyrene MPs (PS-MPs) were simulated under varying cumulative irradiation (irradiation intensity × irradiation duration) and PS-MPs concentrations (1 − 5 g/L). The PS-derived DOM (PS-DOM) was characterized using fluorescence spectroscopy, Fourier transform-ion cyclotron resonance mass spectrometry (FT-ICR MS), and liquid chromatography coupled with high-resolution mass spectrometry (LC-HRMS). After 21 days of irradiation, the amount of leached PS-DOM ranged from 7.76 to 39.40 mg-C/g. Cumulative irradiation significantly accelerated PS-MPs aging and PS-DOM leaching (p 2. Beyond this threshold, PS-MPs exhibited substantial size reduction, increased oxidation, and enhanced PS-DOM leaching. FT-ICR MS analysis revealed that PS-DOM contained 30.1 %−31.8 % unique components compared to natural organic matter, with greater degradability at lower PS-MPs concentrations. Furthermore, LC-HRMS identified 13 oxidation products and 25 plastic additives in PS-DOM, with their amounts decreasing as PS-MPs concentrations increased, from 17.05 to 3.24 mg/g and 4.88 to 1.85 mg/g, respectively. Notably, lower PS-MPs concentrations resulted in greater cumulative irradiation per unit mass, intensifying PS-DOM leaching, enhancing degradability, and increasing plastic additives release. This study highlights the environmental implications of per unit cumulative irradiation on MP-DOM leaching and its molecular composition, providing insights into its ecological risks and potential impacts on aquatic systems. © 2025 Elsevier Ltd

关键词： Liquid chromatography

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