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Cooperative driving of mixed autonomy vehicles: A delay-compensating MPC approach

Fundamental Research 2025年

作者： Wang, Xuan Bian, Yougang Hu, Mangjiang Qin, Hongmao Ding, Rongjun The State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Hunan University Changsha 410082 China Wuxi Intelligent Control Research Institute (WICRI) of Hunan University Wuxi 214115 China

The era of mixed autonomy when connected automated vehicles and human-driven vehicles co-exist will last a long time. Communication time delays are inevitable and may highly deteriorate the safety and stability of mixed vehicle platoons in dynamic tracking scenarios. To address this challenge, this paper proposes a model predictive control (MPC) method for cooperative control of mixed platoons with time-varying communication delays. The detriments of time delay to cooperative control are analyzed and two delay compensation mechanisms are established, based on which a dual-mode MPC controller is designed. The feasibility, closed-loop stability, and head-to-tail string stability are theoretically proved. Furthermore, numerical simulations are conducted to verify the effectiveness of the proposed MPC controller. Simulation results show that the proposed controller outperforms the state-of-the-art consensus-based controller with 4.5 %-5.8 % fuel consumption reduction and 28.1 %-33.1 % average velocity error reduction. © 2025

关键词： Communication delays Cooperative control Human-driven vehicles Mixed autonomy Model predictive control Vehicle platoon

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LCFNet: Loss Compensation Fusion Network for Real-Time Semantic Segmentation of Urban Road Scenes

LCFNet: Loss Compensation Fusion Network for Real-Time Seman...

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International Conference on intelligent Transportation

作者： Lu Yang Yiwen Bai Fenglei Ren Shiyu Zhang Chongke Bi Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China College of Intelligence and Computing Tianjin University Tianjin China

Semantic segmentation is used by intelligent transportation systems to understand and sense the traffic environment. However, achieving semantic segmentation in real-time is a challenge due to the necessity of both high accuracy and fast processing. This is especially valuable for applications such as autonomous driving and industrial robotics. In this paper, we propose a real-time semantic segmentation network, called LCFNet, which makes use of three-branch structure. The LCFNet consists of Lightweight Detail Guidance Fusion (L-DGF) and Lightweight Semantic Guidance Fusion (L-SGF) modules. Both modules aggregate information from various network layers. In the termination of network, a Total Guidance Fusion (TGF) module is proposed for processing information from all three branches. Depth-wise Convolution Pyramid Pooling (DCPP) module is also included to optimize accuracy and simplify computation. The effectiveness of LCFNet is demonstrated on two typical semantic segmentation datasets, Cityscapes and CamVid. On a single NVIDIA GeForce GTX 2080 Ti GPU, LCFNet reaches 77.02% mIoU at 95.97 FPS and 81.17% mIoU at 204.82 FPS, respectively.

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Research on solar-coupled ground-source variable frequency air conditioning system based on trnsys

Research on solar-coupled ground-source variable frequency a...

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Geothermal Resources Council Virtual Annual Meeting and Expo: Clean, Renewable and Always On, GRC 2020

作者： Deng, Yiming Wang, Zhigang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology

ISBN: (纸本)9781713822097

By building a model of an air conditioning system with a solar-coupled ground-source heat pump, the simulation shows that the pump has been running at its maximum load, especially in terms of energy consumption. In order to solve this problem, the variable frequency drive (VFD) pump is adopted. Only the variable frequency of the water pump at the load side and the water pump at the source side has been considered, and the flow rate of the pump is determined according to the load value. The solar side water pump does not adopt frequency conversion to operate at the maximum flow to ensure the maximum utilization of solar energy. When the load side water pump and the source side water pump adopt frequency conversion, this will not only cause a change in flow but also a change in the power consumption of the unit, which will further affect the unit's operating performance. On the other hand, based on the simulation results of the load, the cooling capacity is greater than the heating capacity, which will cause the soil temperature to rise, that is, the soil temperature will be out of balance. Therefore, it is necessary to add a cooling tower to dissipate the temperature of the buried pipe in summer. The total energy consumption of the system is 22,411,541 kW, which is 27% less than the conventional energy consumption. In summer, the COP of the unit is about 6.9, which is 42% higher than the conventional situation. And in winter, the COP is about 4.8, which is 27% higher than the conventional model. © 2020 Geothermal Resources Council. All rights reserved.

关键词： Energy utilization

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design of 0.8-3.7 GHz Broadband asymmetric multi-node directional coupler

Design of 0.8-3.7 GHz Broadband asymmetric multi-node direct...

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International Conference on Microwave and Millimeter Wave Technology Proceedings

作者： Ruikang Wang Bo Wu Meng Kong Jingyang Wang Yue Ma Xianliang Wu Key Laboratory of Intelligent Computing & Signal Processing Ministry of Education Anhui University Hefei China Anhui Province Key Laboratory of simulation and design for Electronic information system Hefei Normal University Hefei China

ISBN: (纸本)9781665482271

In this paper, a 15 dB asymmetric broadband directional coupler for 4G and 5G communication is designed. The physical size of the coupler is $13\ \text{mm}\times 60\ \text{mm}$ . The dielectric constant is 4.4 and the thickness of single layer plate is 2 mm. The couplers operate in the 0.8-3.7 GHz band. The coupler has the advantages of bandwidth width, convenient processing and installation. ANSYS HFSS 2019 simulation results shows that in the 0.8-3.7 GHz band, the return loss (S 11 ) is more than 16.4 dB, the insertion loss (S 21 ) is from 0.14 dB to 1.18 dB, the coupling degree (S 31 ) is about 15 dB, and the isolation degree (S 41 ) is more than 29 dB. The method of multi-section coupling line cascade is adopted, to achieve the requirements of bandwidth width. The directivity of the coupler is increased by loading the branches to meet the design requirements of the 15 dB coupler.

关键词： Couplings Microwave technology Power transmission lines 5G mobile communication Simulation Millimeter wave technology Broadband communication

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Effects of ultrasonic vibration parameters on the cutting force, chip morphology, and bone cracking in bovine cortical bone milling

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International Journal of Abrasive Technology 2024年第4期12卷 293-312页

作者： Hu, Yahui Zhong, Jie He, Lingrui Lin, Yize Zhang, Zhaoxiong Zhang, Chunqiu Fu, Weihua Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Department of General Surgery Tianjin Medical University General Hospital Tianjin300052 China

Ultrasonic vibration-assisted technology is employed in orthopaedic surgery to minimise invasive effects in bone milling. This study explored the motion characteristics of ultrasonic vibration-assisted milling (UVAM), its intermittent cutting phenomenon, and tool-bone contact and separation times, via the developed experimental platform. The UVAM and conventional milling (CM) tests were carried out on bovine cortical bones with measurement of respective cutting forces and scanning electron microscope (SEM) observation of crack initiation and propagation in the milled bones. The UVAM application improved the chip-breaking ability of the milling tool and reduced the bone-milling force by 15.90%–25.06% compared to CM. Properly adjusting ultrasonic frequency and amplitude made it possible to reduce the bone cracking effect and enhance the milled bone surface quality. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Mammals

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Human Activity Recognition Based on a Modified Capsule Network

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Mobile Information Systems 2023年第1期2023卷

作者： Zhu, Shanying Chen, Wei Liu, Fulong Zhang, Xiaotao Han, Xiupeng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Human activity recognition (HAR) has attracted considerable research attention in the past decade with the development of wearable sensor technology and deep learning algorithms. However, most of the existing HAR methods ignored the spatial relationship of features, which may lead to recognition errors. In this paper, a novel model based on a modified capsule network (MCN) is proposed to accurately recognize various human activities. This novel model is composed of a convolution block and a capsule block, which can achieve end-to-end intelligent recognition. In the meantime, the spatial information among features is preserved through a dynamic routing process. To validate the effectiveness of the model, a human activity dataset is constructed by placing an inertial measurement unit (IMU) on the calf of the volunteers to collect their activity data in daily life, including walking, jogging, upstairs, downstairs, up-ramps, and down-ramps. The recognition accuracy of this novel approach can reach 96.08%, which performs better than the convolutional neural network (CNN) with an accuracy of 91.62%. In addition, it is evaluated on two public datasets named WISDM and UCI-HAR, and the accuracies achieve 98.21% and 95.28%, respectively, which presents higher accuracy than the reported results obtained from benchmark algorithms like CNN. The experimental results show that the proposed model has better activity detection capability and achieves outstanding performance for HAR. © 2023 Shanying Zhu et al.

关键词： Convolution

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Facial Expression Recognition With Vision Transformer Using Fused Shifted Windows

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IEEE Transactions on Affective computing 2024年

作者： Sun, Xiao Wang, Rui Chen, Shaokai Wang, Meng Hefei University of Technology Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machines School of Computer Science and Information Engineering China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei China University of Science and Technology of China Institute of Advanced Technology China Hefei University of Technology School of Computer Science and Information Engineering Hefei China

Facial expressions contain massive affective information. Previous methods have focused on using diverse models based on CNN or Transformer to handle the facial expression recognition(FER) task. However, most of them treat the FER task as a general image classification task and neglect the impact of regions of interest (ROIs) for the performance of FER. To verify the influence of different ROIs, in this paper, we propose a vision Transformer based on Fused Shifted windows (FSwin), called FSwin Transformer. The semantic information of the face, obtained by ROIs, guides the FSwin Transformer to focus more on the key regions. The fused shifted windows enable the model to perform global semantic interactions, allowing it to concentrate on key regions without losing the topological structural information of the entire face. Additionally, learnable parameters are introduced to learn the feature weights expressed by each ROI, helping the model dynamically adjust the attention distribution. We have conducted controlled experiments to quantitatively verify the impact of ROIs. And the experimental results show that with the increase of the number of ROIs, the accuracy of FER is significantly improved, demonstrating that the key ROIs play an important role in feature extraction. The results on Jaffe, CK+, FER2013, AffectNet have reached 99.8%, 99.0%, 74.8%, and 68.9%, respectively, which all set new state-of-the-art. Extensive cross-dataset experiments also show that the FSwin Transformer has good generalization ability, proving that our proposed model has a beneficial effect on FER tasks. © 2010-2012 IEEE.

关键词： Feature extraction

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An Adaptive Bionic Sensor: Enhancing Ankle Joint Tracking with High Sensitivity and Superior Cushioning Performance

SSRN

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SSRN 2024年

作者： Jin, Jianqiao Zhang, Chen Zhao, Jianyuan Yu, Minghan Lei, Ming Jin, Chun Yin, Rui Zhao, Weiwei Sauvage Laboratory for Smart Materials The School of Integrated Circuit Harbin Institute of Technology Shenzhen518055 China Shenzhen Key Laboratory of Flexible Printed Electronics Technology Harbin Institute of Technology Shenzhen518055 China State Key Laboratory of Advanced Welding & Joining Harbin Institute of Technology Harbin150001 China Human-Computer Interaction Design Lab School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China

Flexible sensors are renowned for their rapid responsiveness, high flexibility, and outstanding mechanical properties, making them ideal for applications in wearable devices, sports and health monitoring, and human-machine interfaces. To enhance the sensing performance of these flexible sensors, researchers have drawn inspiration from nature, creating various bionic microstructures. However, these structures often manifest in the macroscopic form of thin films, which do little to improve impact resistance and joint protection. In response, this work achieves a highly sensitive and impact-resistant pressure sensor by integrating bionic principles at both micro and macro levels. Specifically, at the micro level, a muscle-like hydrogel system consisting of MXene nanosheets incorporated into the double network of polyvinyl alcohol and sodium alginate matrix is selected. At the macro level, the bionic prototypes of mimosa leaves and durian spikes with good energy absorption structure, together with octopus’ sucker with good adsorption capacity are selected, and the synergistic construction of the three structures is realized through 3D printing methods. The obtained sensor has an appropriate response range, sensitivity and stability. More importantly, the displacement deformation of the hydrogel can be reduced by 91.22%, while its adhesion strength can be increased by 57.5% compared to the unstructured hydrogel. As a proof-of-concept, the proposed bionic flexible sensor can be used to monitor the motion status of the human ankle joint in real-time, thereby assisting users in making real-time judgments on gait health. © 2024, The Authors. All rights reserved.

关键词： Sodium alginate

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The Influence of Hydrogen on the Recrystallization Texture of a Face Centered Cubic Metal

SSRN

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SSRN 2024年

作者： Ren, He Shen, Junjie Guo, Xiangru Shao, Yuqing Zhao, Liwei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The evolution of an alloy’s microstructure in a hydrogen atmosphere at high temperatures is one of the important factors contributing to the degradation in the alloy’s strength. The present study aimed to clarify the influence of hydrogen on the recrystallization texture of a face centered cubic (FCC) metal. As a model of FCC metal, commercially pure nickel (Ni) was cold-rolled and then annealed separately in vacuum and hydrogen atmospheres. Subsequently, the recrystallization textures were analyzed using EBSD and XRD. Hydrogen promoted the recrystallization of -oriented deformed grains while hindering the recrystallization of -oriented deformed grains. It increased the content of {011} texture, promoted the decrease of R-Cube texture content, hindered the increase of Cube texture content， and hindered the reduction in contents of Brass, Copper, Goss, and S textures. In addition, it had an insignificant effect on {011} texture contents. Hydrogen demonstrated an anisotropic effect on the dislocation movement and density of grains with different orientations. Specifically, it impeded the dislocation movement within -oriented deformed grains while facilitating the dislocation movement within -oriented deformed grains. As a result, hydrogen induced an increase in dislocation density in -oriented grains and a decrease in dislocation density in -oriented grains. © 2024, The Authors. All rights reserved.

关键词： Hydrogen

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Effects and Mechanisms of Heteroatom-Doped Hierarchical Porous Carbon on Hydrogen Storage Properties of Mgh2

SSRN

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SSRN 2024年

作者： Li, R. Zhang, Jian Zhou, Xiao-Jie Pang, Xiaotong Ji, X.X. Duan, Junfei Lu, Xian-Zheng Chen, Xiao-Min Li, J.H. Zhou, D.W. Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-performance Mechanical Equipment Changsha University of Science and Technology Changsha410114 China School of Materials Science and Engineering Changsha University of Science and Technology Changsha410114 China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China

In this paper, the nitrogen doped (N-HPC), nitrogen and phosphorus co-doped hierarchical porous carbon (NP-HPC) are prepared by cross-linking phytic acid and poly pyrrole/aniline precursor, respectively. They are mixed with MgH2 by high-energy ball milling, and then their effects and mechanisms on the hydrogen absorption and desorption properties of MgH2 are investigated. Meanwhile, the hydrogen storage properties of MgH2 added with graphite (G) are also compared. The results show that the additions of NP-HPC, N-HPC, and G all exhibit the catalytic effect on the hydrogen absorption and desorption of MgH2. As for the hydrogen desorption, the catalytic effect is enhanced in the order of N-HPC, G and NP-HPC. Compared with pure MgH2, the hydrogen desorption temperature is reduced by 65.3°C, 79.6°C and 91.1°C, respectively. Among them, the MgH2 + NP- HPC system can release 5.17 wt% hydrogen at 300 °C within 30 min. First-principle calculations reveal that the P-doped and vacancy-containing carbon materials significantly reduce the H2 recombination barrier from the surface of MgH2 and distort the atomic structure of near-surface layer of MgH2, which in turn weakens the Mg-H bond strength. This may be the intrinsic reason for the excellent catalytic effect of NP-HPC and vacancy-containing G on the hydrogen desorption performance of MgH2. © 2024, The Authors. All rights reserved.

关键词： Magnesium compounds

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