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3-D Multiobject Tracking With Radar Data Enhancement for Intelligent vehicles

IEEE Sensors Journal 2025年第9期25卷 16310-16320页

作者： Li, Luxing Wei, Chao Sui, Shuxin Hu, Jibin Feng, Fuyong School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology Beijing100081 China

With the rapid advancement of autonomous driving technology, 3-D multiobject tracking (MOT) has become critical for enhancing the safety of intelligent vehicles. The tracking by detection (TBD) framework improves 3-D tracking performance with simplicity and efficiency. However, existing light detection and ranging (LiDAR)-camera systems struggle in complex scenarios, and millimeter wave radar’s (radar) high-precision motion data remain underutilized. This article presents a multimodal 3-D MOT model that integrates LiDAR, camera, and radar data to overcome these limitations and enhance tracking performance across diverse environments. The proposed model leverages the radar’s high-precision motion data to design an adaptive refinement of confidence scores and adaptive-nonmaximum suppression (A-NMS), improving the accuracy of the preprocessing stage. Additionally, it incorporates LiDAR and camera features to enhance data association and trajectory estimation. A graph attention network (GAT)-based radar modality feature extraction network further improves tracking accuracy by refining motion metrics. Extensive experiments on the nuScenes dataset show that our model achieves a new state-of-the-art (SOTA) tracking accuracy of 74.6% AMOTA, 288 IDS, and 0.514 m AMOTP, along with a real-time performance of 21.8 Hz. Furthermore, in tests of generalizability across various real-vehicle scenarios, our model demonstrates exceptional tracking accuracy, real-time performance, and robustness. © 2001-2012 IEEE.

关键词： Autonomous vehicles

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Microstructure and wear behavior of laser-cladded WC matrix composite coatings with different TiC/Ni contents on titanium alloys

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Ceramics International 2025年

作者： Zhang, Yongshi Liu, Zhenguang Yang, Chunguang Wang, Xiaonan Sun, Mingyan Chen, Shan Xu, Guoxiang School of Materials Science and Engineering Jiangsu University of Science and Technology Zhenjiang212100 China State Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology Baotou014030 China School of Iron and Steel Soochow University Suzhou215021 China

WC-based ceramic composite was fabricated on a Ti6Al4V surface using laser-cladding technology with different Ni alloy and TiC contents. The microstructure, microhardness, and tribological properties of the prepared composite coatings were characterized by analyzing phase, surface morphology, elemental distribution, wear depth profiles, and wear rate. The results show that the main phases of the prepared ceramic coatings comprised of TixW(1-x), TiC, α-Ti, and Ti2Ni-Ti3Al eutectic structure. The coating structure evolution was influenced by solidification thermodynamics and kinetics;as the temperature decreases, the dendritic TiC and chunk solid solution TixW(1-x) solidified first, followed by the transformation of β-Ti into α-Ti. Owing to the similar precipitation temperatures, the Ti2Ni-Ti3Al eutectic structure precipitated. The microhardness and wear resistance of the Ti6Al4V surface were improved by the prepared laser-cladding composite coatings, which can be attributed to the TixW(1-x) and TiC hard-enhanced phases. Adhesive, oxide, and abrasive wears were the main wear mechanisms of the prepared coatings. The prepared composite coatings exhibited pitting and galvanic corrosion in acidic solutions. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Titanium alloys

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Nonlinear multi-point impacts of the bi-stable functional gradient magneto-electro-elastic plate: Interaction analysis and active control strategy based on bistable configuration

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Communications in Nonlinear Science and Numerical Simulation 2025年 148卷

作者： Li, Lizhi Ren, Yiru Nie, Lu State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Hunan Changsha410082 China College of Mechanical and Vehicle Engineering Hunan University Hunan Changsha410082 China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of Education Hunan University Hunan Changsha410082 China China Academy of Aerospace Science and Innovation Beijing 100086 China

Revealing the coupling correlations between stiffness nonlinearity and magneto-electro-mechanical effect in multi-point impacts contributes significantly to the advancement of intelligent morphing structures. Multi-point impact responses and active control of bi-stable functional gradient magneto-electro-elastic (FG-MEE) plates are investigated, focusing on influence mechanism of the active control performance and the bi-stable characteristics. Based on the Reddy high-order shear plate theory model, the nonlinear geometric relationship considering the bi-stable configuration is established, and the multi-point impact model is extended. To achieve efficient structural design in multi-point impacts, the active control strategy in multi-physics fields is introduced. In the multi-physical field, the nonlinear dynamic model for multi-point impact involving the bi-stable functionally graded magneto-electro-elastic plate is established. The expanded two-step perturbation method is proposed to solve the bi-stable configuration driven by the magneto-electro-mechanical effect. To obtain the approximate solution for the multi-point impact of the bi-stable FG-MEE plate, the extended two-step perturbation method-Galerkin method is further developed to the higher-order form. Ultimately, coupling correlations between stiffness nonlinearity and magneto-electro-mechanical effect in the multi-point impacts are systematically revealed, and the active control performance is evaluated under the influence of multi-point impact. © 2025 Elsevier B.V.

关键词： Galerkin methods

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A multi-target regression-based method for multiple orders remaining completion time prediction in discrete manufacturing workshops

A multi-target regression-based method for multiple orders r...

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作者： Liu, Mingyuan Zhang, Jian Qin, Shengfeng Zhang, Kai Wang, Shuying Ding, Guofu Institute of Advance Design and Manufacturing Technology Southwest Jiaotong University Chengdu610031 China Department of Design Northumbria University Newcastle Upon TyneNE1 8ST United Kingdom State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong University Chengdu China Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province Southwest Jiaotong University Chengdu61003l China School of Computing and Artificial Intelligence Southwest Jiaotong University Chengdu610031 China

Accurate prediction of multiple orders remaining completion time (MORCT) is crucial in the make-to-order production model. It enables managers to keep track of production status, make timely decisions, and ensure on-time delivery of orders. However, dynamic production environments, characterized by constantly changing order quantities and relationships, as well as the special temporal features of the production process, pose challenges to existing prediction methods. To address these issues, this paper proposes a novel framework based on multi-target regression. First, production data are collected and standardized from various sources using multiple data transfer protocols. The input dataset is then constructed and dynamically adjusted to accommodate changes in order quantities and priorities. Finally, a prediction model named DMTR-LSA is developed to effectively handle the specific temporal relationships in the production data by integrating long short-term memory (LSTM) and self-attention mechanisms. A case study in a real production workshop demonstrates that the proposed method supports simultaneous prediction of multiple orders. It outperforms existing methods on several evaluation metrics, reducing the average prediction error by more than 8.9%. These results highlight the practical value of the proposed method for predicting MORCT in dynamic production environments and its potential impact to enhance the production decision-making process. © 2024 Elsevier Ltd

关键词： Prediction models

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A review of biodegradable biliary stents made of magnesium metals:Current progress and future trends

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Journal of Magnesium and Alloys 2025年第1期13卷 30-40页

作者： Ling Liu Tuo En Liu Tan To Cheung Department of Surgery The University of Hong KongQueen Mary HospitalPokfulam Road 102Hong Kong Special Administrative Region State Key Laboratory of Advanced Design andManufacturing Technology for Vehicle Hunan UniversityChangsha 410012PR China Department of biliary Surgery Xiangya Hospital of Central South UniversityChangsha 410008PR China International Joint Research Center of Minimally Invasive Endoscopic Technology Equipment&Standards Xiangya Hospital of Central South UniversityChangsha 410008PR China National Clinical Research Center for Geriatric Disorders Xiangya Hospital of Central South UniversityChangsha 410008PR China Department of Biomedical Sciences West Virginia School of Osteopathic MedicineLewisburg WV 24901United States

Biliary system,which is responsible for transporting bile from the liver into the intestine,is commonly damaged by inflammation or tumors eventually causing liver failure or *** implantation of biliary stents can effectively alleviate both benign and malignant biliary strictures,but the plastic and metal stents that are currently used cannot degrade and nearly has no beneficial biological effects,therefore their long-term service can result into inflammation,the formation of sludges and re-obstruction of bile *** recent years,magnesium(Mg)metal has been received increasing attention in the field of biomedical application due to its excellent biocompatibility,adequate mechanical properties,biodegradability and other advantages,such as anti-inflammatory and anti-tumor *** research on biliary stents made of magnesium metals(BSMM)has also made significant progress and a series of experiments in vitro and vivo has proved their ***,there are still some problems holding back BSMM’s clinical use,including rapid corrosion rate and potential harmful *** this review,we would summarize the current research of BSMM,evaluate their clinical benefits,find the choke points,and discuss the solving method.

关键词： Biliary stents Magnesium metals Degradation Biological application

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Bio-inspired MXene/graphene oxide-based nanocomposites with enhanced interfacial self-healing effects and multifunctional integration

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Chemical Engineering Journal 2025年 513卷

作者： Li, Xiangjun Zou, Dening Tong, Libo Li, Miaomiao Dong, Yinxia Xu, Shiwei Wang, Qingjuan Wang, Kuaishe School of Metallurgical Engineering Xi'an University of Architecture and Technology Xi'an710055 China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Engineering Research Center on Additive Manufacturing Technology and Application in Universities of Shaanxi Province Xi'an Siyuan University Shaanxi Xi'an710038 China

Self-healing materials have garnered considerable attention for their remarkable damage recovery capabilities. Nonetheless, the trade-off between enhanced mechanical strength and self-healing efficiency poses a formidable challenge. Inspired by the structure of biological enthesis, this study presents a self-healing polymer composite with complementary hydrogen bonding sites and gradient interface. The self-healing matrix is synthesized by incorporating multi-strength hydrogen bonds sites within a flexible polydimethylsiloxane backbone. The gradient interface is a character with "core-sheath" structure that integrates a rigid core (Ti3C2-MXene-grafted graphene oxide) and a soft shell (a cerium-polyphenol complex). The result exhibits impressive tensile strength (5.44 MPa, lifting approximately 4,434 times its own weight) and self-healing efficiency (96.4%) without requiring external stimuli. The resultant composite breaks through the monotony of the traditional two-dimensional (2D) nanofiller interface design and has the best mechanical performance in its kind. This composite coating also offers superior corrosion resistance (achieving a low-frequency impedance modulus of up to 5.25 × 109 ohm cm2) and healing corrosion resistance after damage for magnesium. Furthermore, this composite integrates self-healing properties, corrosion resistance, flame retardancy, and recyclability, offers a promising avenue of self-healing polymer composite for practical applications. © 2025 Elsevier B.V.

关键词： Corrosion resistant coatings

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Fatigue life prediction of aluminum-steel magnetic pulse crimped joints based on point cloud measurement and gradient boosting regression trees

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International Journal of Fatigue 2025年 198卷

作者： Zhao, Yujia Lai, Ming Wu, Yuqi Li, Guangyao Jiang, Hao Cui, Junjia State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha410082 China Elite Engineering School Changsha University of Science & Technology Changsha410114 China Shenzhen Automotive Research Institute Beijing Institute of Technology Shenzhen518057 China Shenzhen Huashun Intelligent Equipment Co. Ltd. Shenzhen518057 China

The fatigue life of magnetic pulse crimping (MPC) joints is crucial for the safe fatigue design of connection structures. Traditional fatigue life prediction methods primarily rely on loading condition analysis and fail to fully account for the impact of manufacturing variations (such as raw material dimensions, process parameters, and joint deformations), which presents challenges for accurate fatigue life prediction. To address this issue, this paper proposes a fatigue life prediction method for MPC joints that combines point cloud measurement and machine learning (ML) models. Random sample consensus (RANSAC) and point cloud segmentation are used to extract the joint deformation contour precisely. Compared to metallographic analysis, this method achieved non-destructive extraction of joint deformation features. Based on this, an integrated dataset covering the entire process from raw materials to fatigue testing is established. Five machine learning models are trained and tested, with results showing that the gradient boosting regression trees (GBRT) model performs the best. The visualization of a single decision tree in the GBRT model is analyzed, providing a transparent decision-making process. A comparison is made between the GBRT model and the traditional Basquin model. In the GBRT model, 100% of the training set and 90% of the testing set fall within the 1.5 times error band, while only 45% of the training set and 60% of the testing set in the Basquin model fall within this range. Additionally, the GBRT model achieves a higher coefficient of determination (R2) on the dataset compared to the Basquin model. © 2025 Elsevier Ltd

关键词： Fatigue testing

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Enhanced vibration energy harvesting of magnetically coupled piezoelectric cantilever beam with double-point stopper

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Mechanical Systems and Signal Processing 2025年 233卷

作者： Wang, Lu Zhang, Ying Liu, Shuai Zhao, Lin-Chuan Hu, Kai-Ming Li, Zhikang Zhao, Libo Zhang, Wen-Ming Meng, Guang State Key Laboratory for Manufacturing Systems Engineering State Industry-Education Integration Center for Medical Innovations International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Shaanxi Innovation Center for Special Sensing and Testing Technology in Extreme Environments Shaanxi Provincial University Engineering Research Center for Micro/Nano Acoustic Devices and Intelligent Systems Xi'an Jiaotong University Xi'an710049 China School of Instrument Science and Technology Xi'an Jiaotong University Xi'an710049 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China

Piezoelectric fragility is concerned with low broadband and large amplitude vibration for energy harvesting in human motion, vehicles, wave energy, etc. The design of the stopper is helpful for the protection and broadband of the piezoelectric vibration energy harvester (PVEH), but the output is limited due to uneven stress distribution and collision energy loss. This paper proposes a U-shaped mass PVEH with double-point stopper and magnetic coupling. The stress homogenization method of the cantilever beam is achieved by converting the collision energy into bending moment by double-point stopper, which effectively improves the electromechanical coupling coefficient of the structure. Thus, the double-point stopper enables 1.5 times saturation displacement within allowable PZT stress. The experimental performance is carried out that PVEH with double-point stopper and magnetic coupling has double higher power output of 10.2 mW than single-point stopper at the excitation level of 0.6 g. The stopper collision and the magnetic coupling broaden the high and low frequency response of the PVEH system jointly. It has voltage output beyond 40 V with broadband of 8–15.6 Hz under 1 g acceleration in test. This work has a good potential in the occasions of the big mass, stopper protection and magnetic coupling design for low frequency, broadband and large amplitude of PVEH. © 2025

关键词： Stress concentration

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Less-Conservative Robust Path Tracking Control With Intrinsic Bump-Free Feature for Autonomous vehicles: A Sub-Polytope Integrated Approach

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IEEE Transactions on Intelligent Transportation Systems 2025年

作者： Zhang, Liqin Hu, Manjiang Bian, Yougang Zhang, Hui Nguyen, Anh-Tu Hunan University State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University Wuxi Intelligent Control Research Institute Wuxi214115 China Beihang University Department of Transportation Science and Engineering Beijing100191 China Université Polytechnique Hauts-de-France LAMIH Laboratory UMR CNRS 8201 Valenciennes59313 France INSA Hauts-de-France Valenciennes59313 France

This paper proposes a novel sub-polytope integrated approach (sPIA) that features an intrinsic bump-free transition, aiming to reduce conservatism in the design of path tracking control for autonomous vehicles with large range time-varying longitudinal velocity. The approach encapsulates the interdependent time-varying parameters associated with longitudinal velocity as a set of finite-vertex sub-polytopes interconnected via junction points, thereby reducing the conservatism induced by modeling overbounding. The integration of junction points and the formulation of sub-region activation rules provide a theoretical foundation for avoiding abrupt changes in feedback gains, ensuring a bump-free transition between sub-regions. A gain-scheduling state feedback controller is designed, employing parameter-dependent Lyapunov functions to further attenuate design conservatism. The effectiveness of the proposed method in reducing design conservatism is demonstrated by a comparative analysis of the optimal H∞ performance indices across various sub-polytope integration schemes. Furthermore, the superiority of the method is exemplified via simulations within real-world driving scenarios, utilizing the high-fidelity CarSim-Simulink platform. The results indicate that the proposed sPIA outperforms traditional polytopic methods in path tracking performance. This improvement, together with the effective avoidance of bumps during sub-regional transitions, confirms the efficacy of the proposed approach. Moreover, the real-time performance of the method is verified by hardware-in-the-loop experiments. © 2000-2011 IEEE.

关键词： Lyapunov functions

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Experimental research on the mechanism of non-monotonic characteristic between curing temperature and mechanical behaviors of Kevlar/epoxy composite

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Science China(Technological Sciences) 2018年第7期61卷 1012-1020页

作者： LIU Li HU DeAn ZHANG YouMin HAN Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Key Laboratory of Advanced Design and Simulation Technology for Special Equipments Ministry of Education Hunan University School of Mechanical Engineering Hebei University of Technology

An experimental procedure is conducted to investigate the mechanism of the non-monotonic characteristic between curing temperature and mechanical behaviors of the Kevlar/epoxy composite in macro and micro levels. Different specimens are fabricated at four different curing temperatures and tested with ±45° off-axis tensile loading on a universal test machine coupled with digital image correlation(DIC). Moreover, the environmental scanning electron microscope(SEM) was used to obtain the micrographs and reveal their mechanism. The tested results show that the tensile mechanical behaviors are sensitive to the curing temperature and the relationship is non-monotonic. Also, as the temperature increases, the thicknesses of the specimens are significantly enlarged. By analyzing the SEM micrographs of the matrix grooves in the damage zone and DIC strain contours, it is concluded that the non-monotonic relationship is dominated by the properties of the Kevlar/epoxy interfaces and deformation of the distorted fibers.

关键词： Kevlar/epoxy composite mechanical behavior digital image correlation SEM micrograph non-monotonic character-istic distorted fiber

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