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CAAI Transactions on Intelligence Technology 2024年第2期9卷 365-373页

作者： Ruidong Yan Penghui Li hongbo gao Jin Huang Chengbo Wang School of Traffic and Transportation The Beijing Jiaotong UniversityBeijingChina Department of Automation School of Information Science and TechnologyUniversity of Science and Technology of ChinaHefeiChina School of Vehicle and Mobility The Tsinghua UniversityBeijingChina Liverpool Logistics Offshore and Marine Research Institute(LOOM)Liverpool John Moores UniversityLiverpoolUK

Disturbance observer-based control method has achieved good results in the carfollowing scenario of intelligent and connected vehicle(ICV).However,the gain of conventional extended disturbance observer(EDO)-based control method is usually set manually rather than adjusted adaptively according to real time traffic conditions,thus declining the car-following performance.To solve this problem,a car-following strategy of ICV using EDO adjusted by reinforcement learning is proposed.Different from the conventional method,the gain of proposed strategy can be adjusted by reinforcement learning to improve its estimation accuracy.Since the“equivalent disturbance”can be compensated by EDO to a great extent,the disturbance rejection ability of the carfollowing method will be improved significantly.Both Lyapunov approach and numerical simulations are carried out to verify the effectiveness of the proposed method.

关键词： adaptive system autonomous vehicle intelligent control

Trajectory tracking control of autonomous heavy-duty mining dump trucks with uncertain dynamic characteristics

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Science China(Information Sciences) 2023年第10期66卷 246-262页

作者： Liang CHEN Zhaobo QIN Manjiang HU hongbo gao Yougang BIAN Biao XU Xiaoyan PENG State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Wuxi Intelligent Control Research Institute of Hunan University Department of Automation University of Science and Technology of China

The proportion of mines using autonomous mining trucks is still very low at present. To promote the development of intelligent mining, it is urgent to proceed with the drive-by-wire modification to common mining trucks and design a motion control algorithm considering uncertain dynamic characteristics.This paper proposes a trajectory tracking control method for autonomous heavy-duty mining dump trucks(AHMDTs) with uncertain dynamic characteristics. In this method, a driving/braking force compensation algorithm based on an inverse dynamic model is designed to guarantee accurate longitudinal control with less control gain tuning. Using road curvatures, a modified rear-wheel position feedback control method is proposed to deal with reverse-path tracking, which can simultaneously reduce the lateral error and yaw angle error. A modified Stanley controller considering the collaborative preview based on speed and curvature is constructed to achieve accurate path tracking in the forward gear. Moreover, the proposed method focuses on the practice of trajectory tracking control in an open-pit mine condition with the adverse effects caused by uncertain vehicle dynamics, huge variable load, and large actuator lag. Real vehicle tests show that the proposed methodology can control AHMDTs with a low tracking error.

关键词： vehicle control trajectory tracking control driving/braking force compensation rear-wheel position feedback

Human motion segmentation based on structure constraint matrix factorization

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Science China(Information Sciences) 2022年第1期65卷 271-272页

作者： hongbo gao Fang GUO Juping ZHU Zhen KAN Xinyu ZHANG Department of Automation School of Information Science and Technology University of Science and Technology of China Xi'an Insitute of Microeiectronics Technology School of Vehicle and Mobility Tsinghua University

Dear editor,The human motion recognition based on the segmented datasets is a hot multidisciplinary research topic in the field of computer vision. However, in reality, the collected data is without segmented. Therefore, the motion segmentation is crucial. Currently, common methods include principal component analysis(PCA), cluster algorithm and deep learning.

关键词： PERCEPTION

Clamping effect driven design and fabrication of new infrared birefringent materials with large optical anisotropy

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Science China Chemistry 2023年第4期66卷 1086-1093页

作者： Linan Wang Chenchen Tu hongbo gao Jiazheng Zhou Hongshan Wang Zhihua Yang Shilie Pan Junjie Li Research Center for Crystal Materials CAS Key Laboratory of Functional Materials and Devices for Special EnvironmentsXinjiang Technical Institute of Physics&ChemistryChinese Academy of SciencesUrumqi 830011China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China

Infrared(IR)birefringent materials with large optical anisotropy and wide transparency range are important for efficient light manipulation in various IR optical devices.Herein,two new IR birefringent materials AMgGeSe_(3)(A=Li,Na)with large optical anisotropy were rationally designed by a rigid octahedron and flexible dimer combined strategy and fabricated in experiment.The introduction of rigid[LiSe_(6)]/[NaSe_(6)]and[MgSe_(6)]octahedra effectively regulates the geometry and arrangement of the flexible[Ge2Se6]dimers,resulting in the birefringence as large as 0.334@1,064 nm in LiMgGeSe_(3) and 0.445@1,064 nm(the largest one in the reported[Ge_(2)Se_(6)]dimer-contained selenides)in NaMgGeSe_(3).Density functional theory(DFT)calculations and statistical analyses highlight the influence of polarizability anisotropy,density,arrangement of units,as well as layer distance on birefringence.The results indicate that AMgGeSe_(3)(A=Li,Na)crystals are the promising IR birefringent materials and it gives an insight into the exploration of new IR birefringent materials with large birefringence based on the clamping effect from rigid groups.

关键词： birefringence clamping effect AMgGeSe_(3) [Ge_(2)Se_(6)]dimer octahedra

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Clinical analysis of the characteristics of patients diagnosed with hemolytic anemia induced by hepatitis E viral infection

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iLIVER 2022年第2期1卷 117-121页

作者： Haohui Deng Min Xu Huiyuan Liu hongbo gao Department of Infectious Disease Center Guangzhou Eighth People's HospitalGuangzhou Medical UniversityGuangzhouChina

Background:The extrahepatic manifestations of hepatitis E virus(HEV)infection include hemolytic anemia.However,the clinical characteristics of HEV-induced hemolytic anemia have been only sporadically reported in case reports,and there is a scarcity of relevant systematic reviews.The aim of the current study was to analyze and summarize the clinical characteristics of patients diagnosed with HEV-induced hemolytic anemia.Methods:This study included 1 patient diagnosed with HEV-induced hemolytic anemia who was admitted to our hospital and 19 additional patients identified through the available literature.Results:Of the 20 patients included in this study,the majorities were from China and India(12 and 6 cases,respectively);furthermore,13 of them were men and 7 were women,with an average age of 35(16–56)years.The highest total bilirubin level was 646(452–913)μmol/L,highest alanine aminotransferase level was 1335(708–2798)IU/L,and lowest hemoglobin level was 6.02.0 g/dL.Additionally,10 patients(50.0%,10/20)underwent the glucose-6-phosphate dehydrogenase(G6PD)activity test,and all of them were diagnosed with G6PD deficiency(100.0%,10/10).Finally,18 patients(90.0%)recovered and 2 died(10.0%)after treatment.Conclusions:Most of the patients with HEV-induced hemolytic anemia recovered with treatment.Acute HEV infection that causes hemolytic anemia is strongly associated with the G6PD status of the patients.

关键词： Hepatitis E virus Hemolytic anemia Glucose-6-phosphate dehydrogenase

基于应急预案的煤矿应急救援辅助决策系统设计

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工矿自动化 2024年第2期50卷 147-152,160页

作者：高洪波应急管理部信息研究院北京100029

针对煤矿应急救援辅助决策系统中应急预案应用不足、应用效率低及系统生成的救援方案可执行性欠佳等问题,提出了一种基于应急预案的煤矿应急救援辅助决策系统设计方法。该方法采用基于大语言模型的信息抽取技术,从应急预案中提炼出关键... 详细信息

针对煤矿应急救援辅助决策系统中应急预案应用不足、应用效率低及系统生成的救援方案可执行性欠佳等问题,提出了一种基于应急预案的煤矿应急救援辅助决策系统设计方法。该方法采用基于大语言模型的信息抽取技术,从应急预案中提炼出关键任务要素,如任务名称、触发条件、执行部门和任务内容等,形成元任务,并构建根据事故类型和级别对元任务进行分类存储的元任务库;发生煤矿安全事故时,运用基于SBERT模型的语义匹配技术,根据现场收集的信息进行事故分类分级,并从元任务库中筛选出与当前应急需求相符合的元任务集;为提高任务的可执行性,将元任务与实时采集的现场数据结合,通过指令模板构建具体的行动指令,并利用任务规划技术对指令的优先级进行优化和调整,生成切实可行的现场救援方案。基于应急预案的煤矿应急救援辅助决策系统充分利用了应急预案的规范化内容,形成了与现场信息紧密结合、资源优化的救援方案,进一步提高了救援决策的准确性、科学性和智能化水平。

关键词：应急救援煤矿事故辅助决策应急预案信息抽取语义匹配任务规划

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A Hardware Platform Framework for an Intelligent Vehicle Based on a Driving Brain

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Engineering 2018年第4期4卷 464-470页

作者： Deyi Li hongbo gao Department of Computer Science and Technology Tsinghua University Beijing 100084 China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing 100084 China Center for Intelligent Connected Vehicles and Transportation Tsinghua University Beijing 100084 China

The type, model, quantity, and location of sensors installed on the intelligent vehicle test platform are different, resulting in different sensor information processing modules. The driving map used in intelligent vehicle test platform has no uniform standard, which leads to different granularity of driving map information. The sensor information processing module is directly associated with the driving map information and decision-making module, which leads to the interface of intelligent driving system software module has no uniform standard. Based on the software and hardware architecture of intelligent vehicle, the sensor information and driving map information are processed by using the formal language of driving cognition to form a driving situation graph cluster and output to a decision-making module, and the output result of the decision-making module is shown as a cognitive arrow cluster, so that the whole process of intelligent driving from perception to decision-making is completed. The formalization of driving cognition reduces the influence of sensor type, model, quantity, and location on the whole software architecture, which makes the software architecture portable on different intelligent driving hardware platforms.

关键词：智能车辆测试平台传感器产品介绍设计方案

Multiobjective adaptive car-following control of an intelligent vehicle based on receding horizon optimization

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Science China(Information Sciences) 2023年第4期66卷 301-302页

作者： hongbo gao Juping ZHU Fei ZHANG Ruidong YAN Junjie ZHOU Lei JIANG Jianqiang WANG Keqiang LI Department of Automation University of Science and Technology of China Institute of Advanced Technology University of Science and Technology of China Department of Computational Mathematics School of Mathematical Sciences Anhui University School of Traffic and Transportation Beijing Jiaotong University Autonomous Driving Business Unit Chery Automobile School of College of Computer Science and Technology Zhejiang University China North Vehicle Research Institute School of Automotive Engineering Tsinghua University

Dear editor, Vehicle control is one of the key steps of intelligent driving [1]. Algorithms based on receding horizon optimization(RHO) can predict future trajectories and handle multiobjective constraint conditions; therefore, RHO-based methods have attracted considerable attention in the field of vehicle control. Although existing methods use RHO to design controllers, they do not simultaneously meet the multiobjective optimal control performance requirements on tracking, fuel economy, and ride comfort.

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Evolution of the chloroplast division machinery

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Frontiers in Biology 2011年第5期6卷 398-413页

作者： hongbo gao Fuli gao College of Biological Sciences and Biotechnology Beijing Forestry UniversityBeijing 100083China National Engineering Laboratory for Tree Breeding Beijing 100083China Key Laboratory of Genetics and Breeding in Forest Trees and Ornamental Plants of Ministry of Education Beijing 100083China

Chloroplasts are photosynthetic organelles derived from endosymbiotic cyanobacteria during evolution.Dramatic changes occurred during the process of the formation and evolution of chloroplasts,including the large-scale gene transfer from chloroplast to nucleus.However,there are still many essential characters remaining.For the chloroplast division machinery,FtsZ proteins,Ftn2,SulA and part of the division site positioning system-MinD and MinE are still conserved.New or at least partially new proteins,such as FtsZ family proteins FtsZ1 and ARC3,ARC6H,ARC5,PDV1,PDV2 and MCD1,were introduced for the division of chloroplasts during evolution.Some bacterial cell division proteins,such as FtsA,MreB,Ftn6,FtsW and FtsI,probably lost their function or were gradually lost.Thus,the chloroplast division machinery is a dynamically evolving structure with both conservation and innovation.

关键词： chloroplast division evolution cyanobacteria

Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in the presence of uncertain dynamics

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Frontiers of Mechanical Engineering 2018年第3期13卷 354-367页

作者： Keqiang LI Feng gao Shengbo Eben LI Yang ZHENG hongbo gao State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Tsinghua University Beijing 100084 China School of Automotive Engineering Chongqing University Chongqing 400044 China Department of Engineering Science University of Oxford Oxford OX13PJ UK

This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.

关键词： automated vehicles platoon distributedcontrol robustness