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Engineering 2024年第2期33卷 77-89页

作者： xiangkun he Wenhui Huang Chen Lv School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous ***,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous *** proposed technique ensures decision trustworthiness in terms of policy robustness and collision ***,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental *** addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and ***,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety ***,the proposed approach is evaluated through both simulations and *** results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

关键词： Autonomous vehicle Decision-making Reinforcement learning Adversarial attack Safety guarantee

Towards Safe Autonomous Driving:Decision Making with Observation‑Robust Reinforcement Learning

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Automotive Innovation 2023年第4期6卷 509-520页

作者： xiangkun he Chen Lv State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchunChina School of Mechanical and Aerospace Engineering Nanyang Technological University639798 NanyangSingapore

Most real-world situations involve unavoidable measurement noises or perception errors which result in unsafe decision making or even casualty in autonomous *** address these issues and further improve safety,automated driving is required to be capable of handling perception ***,this paper presents an observation-robust reinforcement learning against observational uncertainties to realize safe decision making for autonomous ***,an adversarial agent is trained online to generate optimal adversarial attacks on observations,which attempts to amplify the average variation distance on perturbed *** addition,an observation-robust actor-critic approach is developed to enable the agent to learn the optimal policies and ensure that the changes of the policies perturbed by optimal adversarial attacks remain within a certain ***,the safe decision making scheme is evaluated on a lane change task under complex highway traffic *** results show that the developed approach can ensure autonomous driving performance,as well as the policy robustness against adversarial attacks on observations.

关键词： Autonomous vehicle Robust reinforcement learning Safe decision making Adversarial attack

Towards Energy-Efficient Autonomous Driving: A Multi-Objective Reinforcement Learning Approach

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1329-1331页

作者： xiangkun he Chen Lv the School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

Dear Editor, With the development of automobile industry and artificial intelligence(AI) domains, autonomous vehicles(AVs) are becoming a reality and promise to revolutionize human mobility [1]–[3]. The decision-making system of AVs is crucial, which is typically required to trade off multiple competing objectives. For example,when determining driving policies.

关键词： typically driving artificial

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商用车电控转向系统的发展现状与趋势

汽车工程 2024年第5期46卷 816-829页

作者：董梒季学武陶书鑫蒋体通何祥坤王恒刘亚辉北京科技大学自动化学院北京100083 清华大学车辆与运载学院北京100084 南洋理工大学机械与航空航天工程学院新加坡639798

商用车转向系统的电控化是实现商用车节能化和智能化的必由之路,为此商用车转向系统从传统的液压助力转向系统发展到以电液耦合助力转向系统为代表的电控转向系统。本文将对商用车电控转向技术进行综述,从电控转向系统的典型构型、智能... 详细信息

商用车转向系统的电控化是实现商用车节能化和智能化的必由之路,为此商用车转向系统从传统的液压助力转向系统发展到以电液耦合助力转向系统为代表的电控转向系统。本文将对商用车电控转向技术进行综述,从电控转向系统的典型构型、智能转向控制和功能安全设计3个方面对商用车电控转向技术的研究进行梳理,总结电控转向技术的重点研究领域和未来发展方向。梳理总结发现:(1)在系统构型方面,商用车电控转向系统以电液耦合转向助力技术为主,着重于实现商用车智能转向功能,同时兼顾节能化需求;商用车电动助力转向系统是未来理想的电控转向技术方案。(2)在智能控制方面,为了适应商用车智能化的发展,转向执行控制着重于解决液压系统所造成的非线性与时滞性问题以及轨迹跟随过程中的横向动力学控制难题;辅助驾驶功能着重于克服液压系统的非线性导致的转向力矩不连续以及人机控制权的分配;自动驾驶功能着重于提升安全性与燃油经济性。(3)在系统功能安全设计方面,商用车电控转向系统着重于设计符合功能安全标准的故障诊断与容错控制策略。

关键词：商用车电控转向系统智能转向控制功能安全容错控制策略

Polar codes: Encoding/decoding and rate-compatible jointly design for HARQ system

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Intelligent and Converged Networks 2021年第4期2卷 334-346页

作者： Qiaoli Zeng Quan Zhou xiangkun he Youming Sun Xiangcheng Li Haiqiang Chen School of Computer Electronics and Information and Guangxi Colleges and Universities Key Laboratory of Multimedia Communications and Information ProcessingGuangxi UniversityNanning 530004China Department of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 999002Singapore

Polar coding are the first class of provable capacity-achieving coding techniques for a wide range of *** an ideal recursive structure and many elegant mathematical properties,polar codes are inherently implemented with low complexity encoding and decoding *** the block length of the original polar construction is limited to powers of two,rate-compatible polar codes(RCPC)are presented to meet the flexible length/rate transmission requirements in *** RCPC codes are well-conditioned to combine with the hybrid automatic repeat request(HARQ)system,providing high throughput efficiency and such RCPC-HAPQ scheme is commonly used in delay-insensitive communication *** paper first gives a survey of both the classical and state-of-the-art encoding/decoding algorithms for polar *** the RCPC construction methods are discussed,including the puncturing,shortening,multi-kernel construction,***,we investigate several RCPC-HARQ jointly design systems and discuss their encoding gain and re-transmission diversity gain.

关键词： polar code rate compatible hybrid automatic re-transmission request polar coding/decoding

Introdnuction to Yangxin No.1 Middle School

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语数外学习(高中版下旬) 2011年第5期 66-66页

作者： he xiangkun

Yangxin County is in the south of the middle reaches of the Yangtze River with a population of nearly 1,000,000 and Yangxin No.1 Middle School is the only key middle school in the county with a long history and distin... 详细信息

关键词： Introdnuction to Yangxin No.1 Middle School

Effect of(Cr,V)_(2)(C,N)on the Microstructure and Mechanical Properties of WC-10Co Cemented Carbides

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Journal of Wuhan University of Technology(Materials Science) 2024年第5期39卷 1138-1148页

作者： LI xiangkun WANG Lu YE Jinwen School of Materials Science and Engineering Sichuan UniversityChengdu 610065China

WC-10Co cemented carbides with finer WC and narrower grain size distributions are produced by using(Cr,V)_(2)(C,N)as grain growth *** a result,with the increase of(Cr_(0.9),V_(0.1))_(2)(C,N)and(V_(0.9),Cr_(0.1))_(2)(C,N),the grains size of WC and mean free path of Co phase decrease,and adjacency of WC *** and homogenization of grains enhance the transverse rupture strength(TRS)and the ***,the deflection and bridging of cracks keep the fracture toughness at a respectable *** WC-10Co-0.6(Cr_(0.9),V_(0.1))_(2)(C,N)-0.025(V_(0.9),Cr_(0.1))_(2)(C,N)cemented carbides exhibit excellent comprehensive mechanical properties with the TRS of 4602.6 MPa,hardness of 1835 kg/mm^(2),and fracture toughness of 10.39 MPa·m^(1/2),***,the large pores are caused by excess N larger than 0.03 wt%and deteriorates the mechanical *** provide a new approach to WC-Co cemented carbides preparation with a narrow grain size distribution by adding novel grain growth inhibitors.

关键词： (Cr,V)_(2)(C,N) nutrient content WC grains size microstructure mechanical properties

Current collectors' effects on the electrochemical performance of LiNi0.6Co0.2Mn0.2O2 suspension electrodes for lithium slurry battery

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Green Energy & Environment 2024年第8期9卷 1306-1313页

作者： Linshan Peng Yufei Ren Zhaoqiang Yin Zhitong Wang xiangkun Wu Lan Zhang CAS Key Laboratory of Green Process and Engineering Beijing Key Laboratory of Ionic Liquids Clean ProcessState Key Laboratory of Multiphase Complex SystemsInstitute of Process EngineeringChinese Academy of Sciences School of Chemical Engineering University of Chinese Academy of Sciences hefei University Institute of Mechanics Chinese Academy of Sciences Langfang Green Industrial Technology Center

Take after the advantages of lithium-ion battery（LIB） and redox flow battery（RFB）, semi-solid flow battery（SSFB） is a promising electrochemical energy storage device in renewable energy utilization. The flowable slurry electrode realizes decouple of energy and power density,while it also brings about new challenge to SSFBs, electron transport between active material and the out circuit. In this consideration, three types of current collectors（CCs） are applied to study the resistance and electrochemical performances of slurry cathodes within pouch cells for the first time. It proves that the electronic resistance（Re） between slurry electrode and the CC plays a decisive role in SSFB operation, and it is so large when Al foil is adopted that the cell cannot even work. Contact angle between Ketjen black（KB） slurry without active material（AM） and the CC is a preliminarily sign for the Re, the smaller the angle, the lower the resistance, and the better electrochemical performance of the cell.

关键词： Semi-solid flow battery Slurry electrode Current collector Electronic resistance Carbon coated Al

Threshold Structures in Hadron Spectrum and Hadronic Molecules

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原子核物理评论 2024年第1期41卷 156-162页

作者： DONG xiangkun CAS Key Laboratory of Theoretical Physics Institute of Theoretical PhysicsChinese Academy of SciencesBeijing 100190China

Numerous candidates for exotic hadrons have been detected experimentally in the past two decades,predominantly near the threshold of a pair of *** study aims to investigate the overall behavior of nearthreshold line shapes in invariant mass *** is noteworthy that the threshold cusp might manifest as a peak only in channels with attractive *** assertion is made that there should be near-threshold structures for any heavy-quark and heavy-antiquark hadron pairs exhibiting attractive interaction at the threshold,as observed in the invariant mass distribution of heavy quarkonium and light hadrons that couple to the open-flavor hadron ***,we have conducted an analysis of potential hadronic molecules comprising pairs of heavy hadrons,utilizing the Bethe-Salpeter equation with constant interactions derived from the one-boson-exchange *** candidates for these hadronic molecules are in good agreement with our predicted spectrum.

关键词： threshold structure hadronic molecules heavy-antiheavy systems heavy-heavy systems

Nonlinear optics of two-dimensional heterostructures

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Frontiers of physics 2024年第3期19卷 19-27页

作者： xiangkun Zeng Chenyu Wan Zhichen Zhao Di Huang Zhanshan Wang Xinbin Cheng Tao Jiang MOE Key Laboratory of Advanced Micro-Structured Materials Shanghai Frontiers Science Center of Digital OpticsInstitute of Precision Optical Engineeringand School of Physics Science and EngineeringTongji UniversityShanghai 200092China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 200092China

Two-dimensional (2D) materials exhibit exceptionally strong nonlinear optical responses, benefiting from their reduced dimensionality, relaxed phase-matching requirements, and enhanced light-matter interaction. With additional degrees of freedom in the modulation of the physical properties by stacking 2D layers together, nonlinear optics of 2D heterostructures becomes increasingly fascinating. In this perspective, we provide a brief overview of recent advances in the field of nonlinear optics of 2D heterostructures, with a particular focus on their remarkable capabilities in characterization and modulation. Given the recent advances and the emergence of novel heterostructures, combined with innovative tuning knobs and advanced nonlinear optical techniques, we anticipate deeper insights into the underlying mechanisms and more associated applications in this rapidly evolving field.

关键词： nonlinear optics 2D heterostructures