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Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 731-738页

作者： wang Liang wang Bing wang chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

In urban driving scenarios,owing to the presence of multiple static obstacles such as parked cars and roadblocks,planning a collision-free and smooth path remains a challenging *** addition,the path-planning problem is mostly non-convex,and contains multiple local ***,a method for combining a sampling-based method and an optimization-based method is proposed in this paper to generate a collision-free path with kinematic constraints for urban *** sampling-based method constructs a search graph to search for a seeding path for exploring a safe driving corridor,and the optimization-based method constructs a quadratic programming problem considering the desired state constraints,continuity constraints,driving corridor constraints,and kinematic constraints to perform path *** experimental results show that the proposed method is able to plan a collision-free and smooth path in real time when managing typical urban scenarios.

关键词： autonomous vehicle path planning dynamic searching quadratic programming

Recovery of Solid Oxide Fuel CellWaste Heat by Thermoelectric Generators and AlkaliMetal Thermoelectric Converters

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Frontiers in Heat and Mass Transfer 2024年第5期22卷 1559-1573页

作者： Wenxia Zhu Baishu Chen Lexin wang chunxiang wang College of Science Heilongjiang Bayi Agricultural UniversityDaqing163319China

A Solid Oxide Fuel Cell(SOFC)is an electrochemical device that converts the chemical energy of a substance into electrical energy through an oxidation-reduction *** electrochemical reaction of a solid oxide fuel cell(SOFC)generates heat,and this heat can be recovered and put to use in a waste heat recovery *** addition to preheating the fuel and oxidant,producing steam for industrial use,and heating and cooling enclosed rooms,this waste heat can be used for many more productive *** large waste heat produced by SOFCs is a worry that must be managed if they are to be adopted as a viable option in the power generation *** light of these findings,a novel approach to SOFC waste heat recovery is *** SOFC is combined with a“Thermoelectric Generator and an Alkali Metal Thermoelectric Converter(TG-AMTC)”to transform the excess heat generated by both the SOFC and the *** proposed TG-AMTC is evaluated using a number of performance indicators including power density,operating temperature,heat recovery rate,exergetic efficiency,energy efficiency,and recovery *** experimental results state that TG-AMTC has provided an exergetic efficiency,energetic efficiency,and recovery time of 97%,98%,and 23%,*** study proves that the proposed TG-AMTC for SOFC is an efficient method of recovering waste heat.

关键词： Alkali metal thermoelectric converters waste heat thermoelectric generators solid oxide fuel cell

Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 722-730页

作者： SHEN Qiyue wang Bing wang chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive *** to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning *** this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer *** indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost *** under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.

关键词： trajectory planning tractor-trailer vehicle forward simulation on-road driving

Giant renal angiomyolipoma with tuberous sclerosis complex

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Frontiers of Medicine 2009年第4期3卷 495-498页

作者： Ouyan SHI Guodong XU chunxiang wang Faculty of Basic Medicine Tianjin Medical UniversityTianjin 300070China Department of Pediatric Surgery Tianjin Children’s HospitalTianjin 300070China

Though rare,angiomyolipomas(AMLs)are the most common mesenchymal tumors of *** general,AMLs can always be associated with two conditions affecting other organ systems:tuberous sclero-sis complex(TSC)and sporadic *** article presents a case of renal AML occurring in a 14-year-old girl with a deﬁnite diagnosis of *** had been diagnosed with TSC at the age of three,and a schedule for close observation was *** this time,she underwent a series of examinations:physical examina-tion,ultrasonography,angiography,computed tomography(CT),and magnetic resonance imaging(MRI)*** physical examination showed adenoma sebaceum in a butterﬂy paranasal distribution,and a mass was palpated in the left upper *** were no neurological deﬁ*** studies(including ultrasonography,angiography,CT,and MRI)of the abdomen showed a large heterogeneous mass arising from the left *** nephrectomy was *** pathological diagnosis was hemorrhagic renal *** recurrence was found in the three-year *** concluded that schedule of close observation on patients with TSC should be strictly abided by for the high morbidity of *** speciﬁc risks of renal AMLs are spontaneous hemorrhage and *** options for AMLs include conservative and interventional(total/partial nephrectomy,cryoptherapy,and embolization)treatments.

关键词： renal angiomyolipoma tuberous sclerosis complex hemorrhage

End-to-end learning for high-precision lane keeping via multi-state model

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CAAI Transactions on Intelligence Technology 2018年第4期3卷 185-190页

作者： Wei Yuan Ming Yang Hao Li chunxiang wang Bing wang Department of Automation Key Laboratory of System Control and Information ProcessingShanghai Jiao Tong UniversityMinistry of Education of ChinaShanghai 200240People’s Republic of China Department of Automation & SJTU-ParisTech Elite Institute of Technology Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China

High-precision lane keeping is essential for the future autonomous ***,due to the imbalanced and inaccurate datasets collected by human drivers,current end-to-end driving models have poor lane keeping the *** improve the precision of lane keeping,this study presents a novel multi-state model-based end-to-end lane keeping ***,three driving states will be defined:going straight,turning right and turning ***,the finite-state machine(FSM)table as well as three kinds of training datasets will be generated based on the three driving *** of collecting the dataset by human drivers,the accurate dataset will be collected by the high-performance path following ***,three sets of parameters based on 3DCNN-LSTM model will be trained for going straight,turning left and turning right,which will be combined with FSM table to form a multi-state *** study evaluates the multi-state model by testing it on five tracks and recording the lane keeping *** result shows the multi-state model-based end-to-end method performs the higher precision of lane keeping than the traditional single end-to-end model.

关键词： High-precision lane keeping

Preparation of SiO_2 microspheres with sodium ions and self-assembly of photonic crystals

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Chinese Science Bulletin 2010年第8期55卷 766-770页

作者： LIU LiYing wang XiuFeng ZHANG chunxiang CHENG Bing School of Materials Science and Engineering Shaanxi University of Science and Technology Xi' an 710021 China

SiO2 microspheres were prepared via a novel co-precipitation *** Na + ions were introduced by adding sodium chloride and metal sodium in solution systems for improving surface charge of the SiO2 *** then SiO2 photonic crystals were fabricated by the vertical deposition *** electrical properties,micromorphology and optical properties were characterized by zeta potential instrument,scanning electron microscope (SEM) with energy dispersive X-ray spectroscopy and Uv-Vis-Nir *** potential of the SiO2 microspheres modified by sodium chloride and metal sodium were averagely heightened 11.39 mV and 13.52 mV respectively in ethanol *** spectra showed that there was Na element in the SiO2 *** images showed that the average size of the SiO2 microspheres modified by sodium chloride and metal sodium were 380 nm and 354 nm respectively,larger than that of the unmodified ones,and their distribution standard deviation was less than 5%,and the sample of SiO2 photonic crystals was face-centered cubic structure with their (111) planes parallel to the *** addition,absorption spectra showed that photonic band gap of the SiO2 photonic crystals was modified by sodium chloride and metal sodium located in 856 nm and 798 nm ***,their absorption peaks became narrower and higher and exhibited a red-shift phenomenon.

关键词：二氧化硅微球光子晶体钠离子自我组装制备扫描电子显微镜红外分光光度计 X射线光谱

The Total Irredundance Numbers on Graphs

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Wuhan University Journal of Natural Sciences 2007年第3期12卷 417-420页

作者： wang chunxiang FEI Pusheng School of Mathematics and Statistics Wuhan UniversityWuhan 430072 Hubei China School of Mathematics and Statistics Huazhong NormalUniversity Wuhan 430079 Hubei China

This paper discusses the total irredundance relations between the graph G and its clone-contraction graph H, that is, let H be the clone-contraction graph of G and v1,v2,...,vk be all contraction vertices ofH. IfS is a maximal total irredundant set of H such that A = S ∩ {V1,V2,…,Vk} contains as few vertices as possible, then S＇= S-A is the maximal total irredundant set of G. Furthermore, we obtain the bound of the total irredundance A（G） number： irt ≤△（G）/2△（G）＋1 n, which n is the order of graph G, and △（G） is maximum degree in G.

关键词： graphs irredundance set total irredundance set totalirredundance number

Camera-Radar Fusion Sensing System Based on Multi-Layer Perceptron

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 561-568页

作者： YAO Tong wang chunxiang QIAN Yeqiang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Environmental perception is a key technology for autonomous *** to the limitations of a single sensor,multiple sensors are often used in practical ***,multi-sensor fusion faces some problems,such as the choice of sensors and fusion *** solve these issues,we proposed a machine learning-based fusion sensing system that uses a camera and radar,and that can be used in intelligent ***,the object detection algorithm is used to detect the image obtained by the camera;in sequence,the radar data is preprocessed,coordinate transformation is performed,and a multi-layer perceptron model for correlating the camera detection results with the radar data is *** proposed fusion sensing system was verified by comparative experiments in a real-world *** experimental results show that the system can effectively integrate camera and radar data results,and obtain accurate and comprehensive object information in front of intelligent vehicles.

关键词： intelligent vehicle environmental perception system sensor fusion multi-layer perceptron

Substantially Enhanced Properties of 2D WS_(2) by High Concentration of Erbium Doping against Tungsten Vacancy Formation

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Research 2022年第4期2022卷 333-345页

作者： Hongquan Zhao Guoxing Zhang Bing Yan Bo Ning chunxiang wang Yang Zhao Xuan Shi Chongqing Institute of Green and Inteligent Technology Chinese Academy of SciencesChina University of Chinese Academy of Sciences Bejing 100064China Chongqing University of Posts and Telecommunications Chongqing 400065China

Doping in 2D materials is an important method for tuning of band *** this purpose,it is important to develop controllable doping ***,we demonstrate a substitutional doping strategy by erbium(Er)ions in the synthesis of monolayer WS2 by chemical vapor *** enhancements in photoluminescent and photoresponsive properties are achieved,which indicate a tungsten vacancy suppression mechanism by Er *** ion doping in the monolayer WS2 is proved by X-ray diffraction(XRD)and X-ray photoelectron spectra(XPS),fluorescence,absorption,excitation,and Raman spectra.11.5 at%of the maximum Er concentration is examined by energy dispersive X-ray spectroscopy(EDX).Over 6 times enhancement of intensities with 7.9 nm redshift in peaks are observed from the fluorescent spectra of Er-doped WS2 monolayers compared with their counterparts of the pristine WS2 monolayers,which agrees well with the density functional theory *** addition,over 11 times of dark current,469 times of photocurrents,photoresponsivity,and external quantum efficiency,and two orders of photoresponse speed are demonstrated from the Er-doped WS2 photodetector compared with those of the pristine WS2 *** findings prove rare-earth doping in 2D materials,the exciting and ideal technique for substantially enhanced photoluminescent and photoresponsive properties.

关键词： excitation vacancy rare