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Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 212-227页

作者： Fen Lin Yaowen zhang Youqun Zhao Guodong Yin Huiqi zhang Kaizheng Wang College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical Engineering Southeast University

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

关键词： Autonomous vehicle Trajectory tracking Direct yaw moment control(DYC) Model predictive control (MPC) Longitudinal–lateral control

Exploring Trade-offs in Thermal Interface Materials:The Impact of Polymer-Filler Interfaces on Thermal Conductivity and Thixotropy

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Chinese Journal of Polymer Science 2024年第7期42卷 916-925,I0006页

作者： Bin zhang Zheng-Li Dou Yong-Zheng zhang Qiang Fu Kai Wu College of Polymer Science and Engineering State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengdu610065China

Effective thermal transport across solid-solid interfaces which is essential in thermal interface materials(TIMs),necessitates both optimal thixotropy and high thermal *** role of filler surface modification,a fundamental aspect of TIM fabrication,in the influence of these properties is not fully *** study employs the use of a silane coupling agent(SCA)to modify alumina,integrating experimental approaches with molecular dynamics simulations,to elucidate the interface effects on thixotropy and thermal conductivity in polydimethylsiloxane(PDMS)-based *** findings reveal that the variations of SCAs modify both interface binding energy and transition layer *** interface binding energy restricts macromolecular segmental relaxation near the interface,hindering desirable thixotropy and bond line *** the contrary,the thickness of the transition layer at the interface positively influences thermal conductivity,facilitating the transport of phonons between the polymer and ***,selecting an optimal SCA allows a balance between traditionally conflicting goals of high thermal conductivity and minimal bond line thickness,achieving an impressively low interface thermal resistance of just 2.45-4.29 K·mm^(2)·W^(-1)at275.8 kPa.

关键词： Thermal interface material Surface modification Thermal conductivity Thixotropy Interface thermal resistance

Biosorption of clofibric acid and carbamazepine in aqueous solution by agricultural waste rice straw

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Journal of Environmental Sciences 2013年第12期25卷 2384-2395页

作者： zhanguang Liu Xuefei Zhou Xiaohua Chen Chaomeng Dai Juan zhang Yalei zhang Key Laboratory of Yangtze Water Environment of Ministry of Education State Key Laboratory of Pollution Control and Resource ReuseTongji University

Due to their widespread use, clofibric acid （CA） and carbamazepine （CBZ） have been frequently detected simultaneously at relatively high concentrations in aquatic environments. In this study, agricultural waste rice straw was employed as a potentially low-cost, effective and easy-to-operate biosorbent （RSB） to remove CA and CBZ. The adsorption of both pharmaceuticals followed pseudo second-order kinetics, and intraparticle diffusion was an important rate-limiting step. The adsorption isotherms of both drugs were fit well with Freundlich model. The adsorption of CA onto RSB was exothermic and was more likely to be dominated by physical processes, while the adsorption of CBZ was endothermic. Solution pH was determined to be the most important factor for CA adsorption, such that the adsorption capacity of CA onto RSB increased with the decline of solution pH. In the lower range of solution pH below 3. l, the CA removal efficiency was enhanced with the increase of biosorbent dosage. The CBZ removal efficiency was enhanced with the increase of RSB dosage without pH control. The maximum adsorption capacities were 126.3 mg/g for CA and 40.0 mg/g for CBZ.

关键词： biosorption clofibric acid carbamazepine rice straw agricultural waste uniform design

A new design concept for a thermoelectric generator with multiscale,multiphase,multifunctional composites

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Clean Energy 2018年第2期2卷 154-166页

作者： Tinggang zhang University of Alaska Fairbanks FairbanksAK99775USA

A new module design concept that integrates materials engineering with thermoelectric module optimization is *** concept transforms the gaps between thermoelements and couples into internal space/pores within the elements to eliminate heat loss and thus to enhance module *** effect of the internal pore structure on module performance was studied using two effective medium *** modeling results demonstrated that the power generation of the proposed module design increased by~8%and the efficiency increased>20%compared to those of the traditional module *** effect of the inclusion of the second solid phase in the composite on module performance was also studied using nine different high-efficiency thermoelectric materials as the *** modeling results showed that further increase in module performance up to~50%that of the traditional module design can be achieved.

关键词： thermoelectric composite thermopower thermal conductivity conversion efficiency power genera-tion module design optimization

Synergistic enhancement on mechanical properties and corrosion resistance of biodegradable Mg-Zn-Y alloy via V-microalloying

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Journal of Magnesium and Alloys 2024年第2期12卷 530-545页

作者： Jiaxin zhang Xin Ding Ruirun Chen Wenchao Cao Jinshan zhang Rui Zhao National Key Laboratory for Precision Hot Processing of Metals Harbin Institute of TechnologyNo.92West Dazhi StreetHarbinHeilongjiang 150001China College of Materials Science and Engineering Taiyuan University of TechnologyNo.79West Yingze StreetTaiyuanShanxi 030024China

For the sake of improving the mechanical properties and corrosion resistance of biodegradable Mg alloy synergistically,various content of element V(0,0.05,0.10,0.15,0.20 wt.%)are introduced into an Mg-Zn-Y alloy with long-period stacking ordered(LPSO)structure,and the effects of V on its microstructure,mechanical properties and corrosion resistance are investigated *** results indicate that the grains are effectively refined by V addition,and the primaryα-Mg in Mg-Zn-Y-V0.1 alloy is most significantly refined,with grain size being decreased by 62%.The amount of 18R LPSO structure is increased owing to the V *** growth mode of the second phase(W-phase and 18R LPSO structure)is transformed to divorced growth pattern,which ascribes to the thermodynamic drive force of V to promote the nucleation of LPSO ***,18R LPSO structure presents a continuous *** to grains refinement and modification of second phase,the tensile strength and strain of alloys are both enhanced ***,the ultimate tensile strength and the elongation of V0.1 alloy are 254 MPa and 15.26%,which are 41%and 61%higher than those of V-free alloy,*** to the continuously distributed 18R LPSO structure with refined grains and stable product film,the weight loss and hydrogen evolution corrosion rates of V0.1 alloy are 7.1 and 6.2 mmy^(-1),respectively,which are 42.6%and 45.4%lower than those of V-free alloy.

关键词： Corrosion Mechanical property V-microalloying LPSO SKPFM

Simulation of methane adsorption in diverse organic pores in shale reservoirs with multi-period geological evolution

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International Journal of Coal Science & Technology 2021年第5期8卷 844-855页

作者： Shangbin Chen Chu zhang Xueyuan Li Yingkun zhang Xiaoqi Wang Key Laboratory of Coalbed Methane Resources and Reservoir Formation Process of the Ministry of Education China University of Mining and TechnologyXuzhou 221116China School of Resources and Geoscience China University of Mining and TechnologyXuzhou 221116China

In shale reservoirs,the organic pores with various structures formed during the thermal evolution of organic matter are the main storage site for adsorbed ***,in the process of thermal evolution,the adsorption characteristics of methane in multi type and multi-scale organic matter pores have not been sufficiently *** this study,the molecular simulation method was used to study the adsorption characteristics of methane based on the geological conditions of Longmaxi Formation shale reservoir in Sichuan Basin,*** results show that the characteristics of pore structure will affect the methane adsorption *** adsorption capacity of slit-pores for methane is much higher than that of cylindrical *** groove space inside the pore will change the density distribution of methane molecules in the pore,greatly improve the adsorption capacity of the pore,and increase the pressure sensitivity of the adsorption *** the variation of methane adsorption characteristics of different shapes is not consistent with pore size,all pores have the strongest methane adsorption capacity when the pore size is about 2 *** addition,the changes of temperature and pressure during the thermal evolution are also important factors to control the methane adsorption *** pore adsorption capacity first increases and then decreases with the increase of pressure,and increases with the increase of *** the early stage of thermal evolution,pore adsorption capacity is strong and pressure sensitivity is weak;while in the late stage,it is on the contrary.

关键词： Adsorption mechanism Shale reservoir Diverse pores Multi-period geological evolution Thermal evolution

A comparative study of four nonlinear dynamic methods and their applications in classification of ship-radiated noise

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Defence Technology（防务技术） 2022年第2期18卷 183-193页

作者： Yu-xing Li Shang-bin Jiao Bo Geng Qing zhang You-min zhang School of Automation and Information Engineering Xi’an University of TechnologyXi’an710048China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQuebec H3G 1M8Canada

Refined composite multi-scale dispersion entropy(RCMDE),as a new and effective nonlinear dynamic method,has been applied in the field of medical diagnosis and fault *** this paper,we first introduce RCMDE into the field of underwater acoustic signal processing for complexity feature extraction of ship radiated noise,and then propose a novel classification method for ship-radiated noise based on RCMDE and k-nearest neighbor(KNN),termed *** results of a comparative experiment show that the proposed RCMDE-KNN classification method can effectively extract the complexity features of ship-radiated noise,and has better classification performance under one and two scales than the other three classification methods based on multi-scale permutation entropy(MPE)and KNN,multi-scale weighted-permutation entropy(MW-PE)and KNN,and multi-scale dispersion entropy(MDE)and KNN,termed MPE-KNN,MW-PE-KNN,and *** is proved that the RCMDE-KNN classification method for ship-radiated noise is feasible and effective,and can obtain a very high recognition rate.

关键词： Nonlinear dynamic Refined composite multi-scale dispersion entropy(RCMDE) Multi-scale dispersion entropy(MDE) Multi-scale weighted-permutation entropy (MW-PE) Multi-scale permutation entropy(MPE) Classification of ship-radiated noise

Terpyridine-Grafted Nitrogen-Terminal Endowing Cyanine with Metal-Ion-Regulated Photophysical Properties for Cancer Theranostics

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Research 2023年第4期2023卷 117-130页

作者： Junfei Zhu Gang He Peng-Hang Chen Yajie zhang Yafei zhang Shan Lei Yu zhang Meng Li Peng Huang Jing Lin Marshall Laboratory of Biomedical Engineering International Cancer CenterLaboratory of Evolutionary Theranostics(LET)Guangdong Key Laboratory for Biomedical Measurements and Ultrasound ImagingSchool of Biomedical EngineeringShenzhen University Medical SchoolShenzhen 518060China

Heptamethine cyanines(Cy7)are one of the most important dyes in bioimaging and phototherapy,but they often suffer from poor photostability or limited photothermal conversion ***,a facile molecular engineering approach to regulating the photophysical properties of Cy7 by metal ions is *** innovatively modifying the nitrogen with functional groups,a novel terpyridine-grafted nitrogen-terminated Cy7 scaffold(denoted as CydtPy)was synthesized and exhibited tunable photophysical properties when chelating with various metal ions(Mn^(2+),Fe^(2+),etc.).In comparison with metal-ion-free PEGylated CydtPy(LET-11),Mn^(2+)-chelated LET-11(namely,LET-11-Mn)exhibited the increased fluorescence emission intensity,and Fe^(2+)-chelated LET-11(namely,LET-11-Fe)showed the enhanced photostability with~2-fold increase in photothermal conversion *** simply switching the chelated metal ion species,LET-11-Mn or LET-11-Fe could be used for near-infrared fluorescence imaging,magnetic resonance imaging,or photoacoustic ***,LET-11-Fe displayed superior synergistic efficacy of photothermal therapy and chemodynamic therapy both in vitro and in *** work not only provides a new strategy for regulating the photophysical properties of cyanine dyes but also establishes a versatile nanoplatform for cancer theranostics.

关键词： versatile terminated cyanine

Additive manufacturing of multi-morphology graded titanium scaffolds for bone implant applications

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Journal of Materials Science & Technology 2023年第8期139卷 47-58页

作者： Aihua Yu Ce zhang Wei Xu Yun zhang Shiwei Tian Bowen Liu Jiazhen zhang Anrui He Bo Su Xin Lu Shunde Graduate School of University of Science and Technology Beijing Foshan 528399China National Engineering Research Center for Advanced Rolling and Intelligent Manufacturing Institute of Engineering TechnologyUniversity of Science and Technology BeijingBeijing 100083China Beijing Advanced Innovation Center for Materials Genome Engineering State Key Laboratory for Advanced Metals and MaterialsUniversity of Science and Technology BeijingBeijing 100083China National Engineering Technology Research Center of Flat Rolling Equipment Institute of Engineering TechnologyUniversity of Science and Technology BeijingBeijing 100083China Bristol Dental School University of BristolBristol BS12LYUK

Porous Titanium scaffolds have attracted widespread attention as bone implants for avoiding the stress shielding effect and promoting *** this study,multi-morphology graded scaffolds hy-bridized by Primitive and Gyroid structures with porosity of 50,60,and 70%were designed(denoted as PG50,PG60,and PG70,respectively)and fabricated by selective laser *** simulation results showed that the maximum von-Mises stress of hybridized scaffolds increased from 504.22 to 884.24 MPa with *** permeability and average pore size of multi-morphology PG50,PG60,and PG70 were in the range of 3.58×10^(-9)-5.50×10^(-9) m^(2) and 568.1-758.4μm,*** microstructure of multi-morphology graded scaffolds consisted of a fully martensiticα′*** permeabilities of PG50 and PG60 were 3.27×10^(-9) and 4.35×10^(-9) m^(2),respectively,which were within the range of human bone(0.01-12.1×10^(-9) m^(2)).Elastic modulus and compressive yield strength of PG50 and PG60 ranged within 5.93^(-9).86 and 180.06-257.08 MPa,***,the PG50 not only exhibited a similar elastic modulus compared to human cortical bone(10.1 GPa)but also had higher strength(257.08 vs 131 MPa).The results of in vitro biocompatibility assay showed that PG50 and PG60 have better cyto-compatibility than mono-morphology scaffolds with the same *** together,PG50 is promising to be used for the restoration of bone defects due to its excellent mechanical properties,appropriate per-meability,and good cytocompatibility.

关键词： Bone implants Multi-morphology graded titanium scaffolds Finite element analysis Selective laser melting Cytocompatibility