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Building mm Wave on the Evolving C-V2X:mm Wave NR-V2X

China Communications 2024年第1期21卷 88-101页

作者： Shanzhi Chen Xinxin He Rui Zhao Jinling Hu Xin Zhang China Information and Communication Technology Group Co. Ltd.(CICT)the State Key Laboratory of Wireless Mobile CommunicationsBeijing 100083China Beijing Laboratory of Advanced Information Networks Beijing Key Laboratory of Network System Architecture and ConvergenceBeijing University of Posts and TelecommunicationsBeijing 100876China CICT Connected and Intelligent Technologies Co. LtdChina Academy of Telecommunication TechnologyBeijing 100191China CICT Mobile Communications Technology Co.Ltd.

Since the evolving standardization of cellular V2X(C-V2X)technologies is continuously developed by 3GPP,research on new radio(NR-V2X)has been on schedule by academic and *** millimeter wave(mm Wave)frequency band is supposed to provide large transmission bandwidth,yet the development of mm Wave band in NR-V2X is still in preliminary *** this article,a comprehensive discussion of mm Wave NR-V2X is given covering trends,standardization landscape,and enabling technologies,aiming at tackling the challenge of channel modeling,directional channel access,beamforming and blockage *** vision of mm Wave NR-V2X is to fully support the development of automated driving,holographic control display and improved in-car infotainment for the future.

关键词： C-V2X enabling technologies mmWave NR-V2X

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Research on an automatic light field refocusing method for a camera array

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Optics Express 2025年第10期33卷 20964-20980页

作者： Pan, Yihua Zhao, Yushan Li, Yuyang Liu, Bin Chen, Ping Shanxi Key Laboratory of Intelligent Detection Technology & Equipment School of Information and Communication Engineering North University of China Shanxi Taiyuan030051 China Key Laboratory of Photoelectronic Imaging Technology System of Ministry of Education of China School of Optics and Photonics Beijing Institute of Technology Beijing100081 China State Key Laboratory of Extreme Environment Optoelectronic Dynamic Testing Technology and Instruments North University of China Shanxi Taiyuan030051 China

Light field information includes the position and angle information of light in space. A camera array is one of the methods for obtaining light field information, which combines and arranges multiple cameras in space to achieve multi-angle imaging of the same target. Based on the light field information, a computational imaging method can be used to achieve refocusing technology for a camera array (also known as optical synthetic aperture imaging technology). In this technology, by setting the focusing coefficient, the light field information can be focused on different depths. This mode is called taking photos first and focusing later. However, in order to focus on a specific object surface, traditional refocusing methods require users to manually adjust the focusing coefficient multiple times, which is time-consuming and user-unfriendly. Therefore, in this paper, we propose an automatic focusing method based on the optimal focusing coefficient map (OFCM) to address the manual refocusing problem. This method transforms the refocusing problem into obtaining the optimal focus coefficient map. In the process of solving OFCM, the threshold filtering method and the neighborhood filling method are used to optimize the results and improve the robustness of the proposed method. The experimental results show that our proposed method has higher imaging quality and faster running efficiency compared to automatic refocusing methods based on disparity maps and gradient functions. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Computational Imaging

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Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

Trajectory Planning for Autonomous Overtaking on Curved Road...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Shao, Chen Duan, Xuting Zhou, Jianshan Zhao, Dezong School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Zhongguancun Laboratory Beijing China James Watt School of Engineering University of Glasgow Glasgow United Kingdom

ISBN: (纸本)9798350316308

A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application. © 2023 IEEE.

关键词： Model predictive control

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Multi-field coupling and free vibration of a sandwiched functionally-graded piezoelectric semiconductor plate

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Applied Mathematics and Mechanics(English Edition) 2023年第8期44卷 1351-1366页

作者： Xueqian FANG Qilin HE Hongwei MA Changsong ZHU School of Environment and Civil Engineering Dongguan University of TechnologyDongguan 523808Guangdong ProvinceChina Guangdong Provincial Key Laboratory of Intelligent Disaster Prevention and Emergency Technologies for Urban Lifeline Engineering Dongguan University of TechnologyDongguan 523808Guangdong ProvinceChina State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China

Sandwiched functionally-graded piezoelectric semiconductor(FGPS)plates possess high strength and excellent piezoelectric and semiconductor properties,and have significant potential applications in micro-electro-mechanical *** multi-field coupling and free vibration of a sandwiched FGPS plate are studied,and the governing equation and natural frequency are derived with the consideration of electron *** material properties in the functionally-graded layers are assumed to vary smoothly,and the first-order shear deformation theory is introduced to derive the multi-field coupling in the *** total strain energy of the plate is obtained,and the governing equations are presented by using Hamilton’s *** introducing the boundary conditions,the coupling physical fields are *** numerical examples,the natural frequencies of sandwiched FGPS plates under different geometrical and physical parameters are *** is found that the initial electron density can be used to modulate the natural frequencies and vibrational displacement of sandwiched FGPS plates in the case of *** effects of the material properties of FGPS layers on the natural frequencies are also examined in detail.

关键词： sandwiched piezoelectric semiconductor(PS)plate functionally-graded layer multi-field coupling free vibration Hamilton's principle

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6D Grasp Pose Detection in Cluttered Environment from a Single-view

6D Grasp Pose Detection in Cluttered Environment from a Sing...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Enbo Fu, Yili Feng, Haibo Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate. © 2023 IEEE.

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FIRE: A Dataset for Feedback Integration and Refinement Evaluation of Multimodal Models 38

FIRE: A Dataset for Feedback Integration and Refinement Eval...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Li, Pengxiang Gao, Zhi Zhang, Bofei Yuan, Tao Wu, Yuwei Harandi, Mehrtash Jia, Yunde Zhu, Song-Chun Li, Qing Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China State Key Laboratory of General Artificial Intelligence BIGAI China State Key Laboratory of General Artificial Intelligence Peking University China Department of Electrical and Computer System Engineering Monash University Australia Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Automation Tsinghua University China

Vision language models (VLMs) have achieved impressive progress in diverse applications, becoming a prevalent research direction. In this paper, we build FIRE, a feedback-refinement dataset, consisting of 1.1M multi-turn conversations that are derived from 27 source datasets, empowering VLMs to spontaneously refine their responses based on user feedback across diverse tasks. To scale up the data collection, FIRE is collected in two components: FIRE-100K and FIRE-1M, where FIRE-100K is generated by GPT-4V, and FIRE-1M is freely generated via models trained on FIRE-100K. Then, we build FIRE-Bench, a benchmark to comprehensively evaluate the feedback-refining capability of VLMs, which contains 11K feedback-refinement conversations as the test data, two evaluation settings, and a model to provide feedback for VLMs. We develop the FIRE-LLaVA model by fine-tuning LLaVA on FIRE-100K and FIRE-1M, which shows remarkable feedback-refining capability on FIRE-Bench and outperforms untrained VLMs by 50%, making more efficient user-agent interactions and underscoring the significance of the FIRE dataset. © 2024 Neural information processing systems foundation. All rights reserved.

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Monolithically integrated triaxial high-performance micro accelerometers with position-independent pure axial stressed piezoresistive beams

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Microsystems & Nanoengineering 2023年第1期9卷 91-102页

作者： Mingzhi Yu Libo Zhao Shanshan Chen Xiangguang Han Chen Jia Yong Xia Xiaozhang Wang Yonglu Wang Ping Yang Dejiang Lu Zhuangde Jiang State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University710049Xi’anChina Xi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and System Xi’an Jiaotong University710049Xi’anChina Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing 265503YantaiChina

With the increasing demand for multidirectional vibration measurements,traditional triaxial accelerometers cannot achieve vibration measurements with high sensitivity,high natural frequency,and low cross-sensitivity ***,for piezoresistive accelerometers,achieving pure axial deformation of the piezoresistive beam can greatly improve performance,but it requires the piezoresistive beam to be located in a specific position,which inevitably makes the design more complex and limits the performance ***,a monolithically integrated triaxial high-performance accelerometer with pure axial stress piezoresistive beams was designed,fabricated,and *** controlling synchronous displacements at both piezoresistive beam ends,the pure axial stress states of the piezoresistive beams could be easily achieved with position independence without tedious *** measurement unit for the z-axis acceleration was innovatively designed as an interlocking proof mass structure to ensure a full Wheatstone bridge for sensitivity *** pure axial stress state of the piezoresistive beams and low cross-sensitivity of all three units were verified by the finite element method(FEM).The triaxial accelerometer was fabricated and *** showing extremely high sensitivities(x axis:2.43 mV/g/5 V;y axis:2.44 mv/g/5 V;z axis:2.41 mV/g/5 V(without amplification by signal conditioning circuit))and high natural frequencies(x/y axes:11.4 kHz;z-axis:13.2 kHz)were *** approach of this paper makes it simple to design and obtain high-performance piezoresistive accelerometers.

关键词： axial proof independence

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Distributed Power Restoration Method Based on Joint Control of DGs

Distributed Power Restoration Method Based on Joint Control ...

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2023 International Conference on Power system Technology, PowerCon 2023

作者： Wang, Ruimei Cong, Wei Tang, Yi Wang, Anning Zhang, Yongjie Gu, Qianshuo Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Jinan China State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350300222

As the scale of power system continues to expand, the proportion of distributed generators (DGs) in the smart distribution network has been increasing year by year. To address the problem of power restoration after DGs access, distributed power restoration method based on joint control of photovoltaic unit and pv/battery unit is proposed. Analyzing the control modes of photovoltaic unit and pv/battery unit during distributed power restoration, available capacity and adjustment range are determined based on control principles and operation constraints. Based on this method, the network is gradually converted into Thevenin equivalent circuit, and power restoration calculations are performed while considering the operating characteristics of photovoltaic unit and pv/battery unit. At the same time, power output adjustment is carried out based on voltage and frequency constraints to avoid overvoltage or frequency problems during the power restoration process. Using IEEE 33-node system as an example, then the feasibility of this method is verified. © 2023 IEEE.

关键词： Restoration

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An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhai, Yanwu Fu, Yili Li, Xu Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features. © 2023 IEEE.

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Design of Trading Adjustment Mechanism for Energy Storage in Electricity Market Based on Equivalent Net Load Fluctuation 6

Design of Trading Adjustment Mechanism for Energy Storage in...

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6th International Conference on Energy, Electrical and Power Engineering, CEEPE 2023

作者： Song, Shihang Zhang, Li Qi, Zhiqiang Wang, Haibo Wang, Yuxi Su, Xinyan Chen, Guanting Wang, Fukun Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Jinan China State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350348279

As the proportion of renewable energy connected to grid increases continuously, the volatility and uncertainty of its output affect the safe operation of the power system, so it is necessary to adjust the trading mechanism of electricity market. As a high-quality flexible resource, energy storage becomes an important means to deal with the challenge caused by renewable energy. How to improve the mechanism of electricity market to better play the role of energy storage is worthy of in-depth research. This paper proposes a trading adjustment mechanism for energy storage in electricity market based on the fluctuation degree of equivalent net load, and establishes a joint market model of energy market and frequency regulation market including storage power station. The example simulation shows that the trading adjustment mechanism proposed in this paper can effectively enhance the role of energy storage, and has a good effect on improving the fluctuation degree of net load and reducing system operating costs. © 2023 IEEE.

关键词： Power markets

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