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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

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Engineering 2024年第2期33卷 133-145页

作者： Jian wu Yang Yan Yulong Liu Yahui Liu School of Mechanical and Automotive Engineering Liaocheng UniversityLiaocheng 252000China 2 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior *** addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding ***,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is ***,numerous expert-demonstrated trajectories are extracted from the HighD natural driving ***,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated ***,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is ***,the proposed strategy is verified based on real driving *** results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the ***,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios

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Random Raman Fiber Laser as a Liquid Refractive Index Sensor

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Photonic Sensors 2024年第1期14卷 13-22页

作者： Bing HAN Yuxi MA Han wu Yong ZHAO College of Information Science and Engineering Northeastern UniversityShenyang 110819China Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology Qinhuangdao 066004China College of Electronics and Information Engineering Sichuan UniversityChengdu 610064China

In this paper,a new concept of forward-pumped random Raman fiber laser(RRFL)-based liquid refractive index sensing is proposed for the first *** liquid refractive index sensing,the flat fiber end immersed in the liquid can act as the point reflector for generating random fiber lasing and also as the sensing *** to the high sensitivity of the output power of the RRFL to the reflectivity provided by the point reflector in the ultralow reflectivity regime,the proposed RRFL is capable of achieving liquid refractive index sensing by measuring the random lasing output *** theoretically investigate the effects of the operating pump power and fiber length on the refractive index sensitivity for the proposed *** a proof-of-concept demonstration,we experimentally realize high-sensitivity half-open short-cavity RRFL-based liquid refractive index sensing with the maximum sensitivity and the sensing resolution of-39.88W/RIU and 2.5075×10^(-5) RIU,*** also experimentally verify that the refractive index sensitivity can be enhanced with the shorter fiber length of the *** work extends the application of the random fiber laser as a new platform for highly-sensitive refractive index sensing in chemical,biomedical,and environmental monitoring applications,etc.

关键词： Fiber optic sensors refractive index measurements fiber lasers Rayleigh scattering stimulated Raman scattering

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Boron nitride silicone rubber composite foam with low dielectric and high thermal conductivity

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Chinese Journal of Chemical Engineering 2024年第4期68卷 224-230页

作者： Shuilai Qiu Hang wu Fukai Chu Lei Song College of Safety and Ocean Engineering China University of Petroleum-BeijingBeijing 102249China State Key Laboratory of Fire Science University of Science and Technology of ChinaHefei 230026China

Silicone rubber(SR)is widely used in the field of electronic packaging because of its low dielectric *** this work,the porosity of the SR was improved,and the dielectric constant of the SR foam was reduced by adding expanded microspheres(EM).Then,the thermal conductivity of the system was improved by combining the modified boron nitride(f-BN).The results showed that after the f-BN was added,the dielectric constant and dielectric loss were much lower than those of pure ***-sized modified boron nitride(f-mBN)improved the dielectric and thermal conductivity of the SR foam better than that of nano-sized modified boron nitride(f-nBN),but f-nBN improved the volume resistivity,tensile strength,and thermal stability of the SR better than *** the mass ratio of f-mBN and fnBN is 2:1,the thermal conductivity of the SR foam reaches the maximum value of 0.808 W·m^(-1)·K^(-1),which is 6.5 times that before the *** heat release rate and fire growth index are the lowest,and the improvement in flame retardancy is mainly attributed to the high thermal stability and physical barrier of f-BN.

关键词： Foam Composites Dielectric properties Thermal conductivity Mechanical properties Flame retardant

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The Sequential Pricing of Ride-Hailing System with Rental Service in the Context of Fleet Electrification

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Journal of Systems Science and Systems Engineering 2024年第1期33卷 77-105页

作者： Yaoyao Ku Peng wu Qiang Ren Yiqing Wang Business School Sichuan UniversityChengdu610065China

Surging demand and reduced capacity in the ride-hailing industry have prompted numerous ride-hailing platforms to build their own car-rental services catering to drivers who do not possess private vehicles. However, the trade-off between the ride-hailing service and the car-rental service is an important issue that is still unclear in theory. Moreover, ride-hailing platforms are transitioning towards all-electric fleets in the context of Carbon Neutrality goals and government regulations. This paper considers a ride-hailing system comprising a monopolist ride-hailing platform, an electric vehicle (EV) rental firm, and a gasoline vehicle (GV) rental firm. Furthermore, we build a stylized model to study the sequential pricing of the system. The equilibrium outcomes show the significant impact of the ride-hailing platform’s decision to continue or withdraw offering EV rental services on EV and GV drivers’ net earnings, rental prices, and wages. The ride-hailing platform providing EV rental services increases EV drivers’ net earnings but decreases the GV driver wages and rental prices. However, the EV rental service offered by the ride-hailing platform does not necessarily lead to an increased total profit for the system. The improved profitability of the system by the ride-hailing platform providing EV rental services is contingent upon lower rider prices and higher fuel costs. The ride-hailing platform’s EV rental services provision also effectively fosters the ride-hailing fleet’s electrification. Furthermore, as the number of riders increases, the ride-hailing platform should reduce the commission rate for EV drivers to maintain competitiveness and profitability.

关键词： Ride-hailing system car rental fleet electrification sequential pricing differential wage scheme

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Resource allocation for D2D-assisted haptic communications

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Digital Communications and Networks 2024年第1期10卷 63-74页

作者： Yan wu Chao Yue Yang Yang Liang Ao College of Telecommunication Engineering Army Engineering University of PLANanjing210000China

Haptic communications is recognized as a promising enabler of extensive services by enabling real-time haptic control and feedback in remote environments,e.g.,teleoperation and autonomous *** the strict transmission requirements on reliability and latency,Device-to-Device(D2D)communications is introduced to assist haptic *** particular,the teleoperators with poor channel quality are assisted by auxiliaries,and each auxiliary and its corresponding teleoperator constitute a D2D ***,the haptic interaction and the scarcity of radio resources pose severe challenges to the resource allocation,especially facing the sporadic packet ***,the contentionbased access scheme is applied to achieve low-latency transmission,where the resource scheduling latency is omitted and users can directly access available *** this context,we derive the reliability index of D2D pairs under the contention-based access scheme,i.e.,closed-loop packet error ***,the reliability performance is guaranteed by bidirectional power control,which aims to minimize the sum packet error probability of all D2D *** game theory is introduced to solve the problem with low ***,a distributed power control algorithm based on synchronous log-linear learning is proposed to converge to the optimal Nash *** results demonstrate the superiority of the proposed learning algorithm.

关键词： Haptic communications D2D Power control Contention-based access Potential game

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Multi-Objective Optimization Based on Life Cycle Assessment for Hybrid Solar and Biomass Combined Cooling,Heating and Power System

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Journal of Thermal Science 2024年第3期33卷 931-950页

作者： LIU Jiejie LI Yao MENG Xianyang wu Jiangtao Key Laboratory of Thermo-Fluid Science and Engineering Ministry of EducationXi’an Jiaotong UniversityXi’an710049China

The complementary of biomass and solar energy in combined cooling,heating and power(CCHP)system provides an efficient solution to address the energy crisis and environmental *** work aims to propose a multi-objective optimization model based on the life cycle assessment(LCA)method for the optimal design of hybrid solar and biomass *** life-cycle process of the poly-generation system is divided into six phases to analyze energy consumption and greenhouse gas *** comprehensive performances of the hybrid system are optimized by incorporating the evaluation criteria,including environmental impact in the whole life cycle,renewable energy contribution and economic *** non-dominated sorting genetic algorithmⅡ(NSGA-Ⅱ)with the technique for order preference by similarity to ideal solution(TOPSIS)method is employed to search the Pareto frontier result and thereby achieve optimal *** developed optimization methodology is used for a case study in an industrial *** results indicate that the best performance from the optimized hybrid system is reached with the environmental impact load reduction rate(EILRR)of 46.03%,renewable energy contribution proportion(RECP)of 92.73%and annual total cost saving rate(ATCSR)of35.75%,*** comparing pollutant-eq emissions of different stages,the operation phase emits the largest pollutant followed by the phase of raw material ***,this study reveals that the proposed multi-objective optimization model integrated with LCA method delivers an alternative path for the design and optimization of more sustainable CCHP system.

关键词： combined cooling heating and power system solar-biomass multi-objective optimization life cycle assessment optimal design

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Cycling performance of layered oxide cathode materials for sodium-ion batteries

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International Journal of Minerals,Metallurgy and Materials 2024年第7期31卷 1720-1744页

作者： Jinpin wu Junhang Tian Xueyi Sun Weidong Zhuang School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing 100083China Beijing Key Laboratory for Green Recovery and Extraction of Rare and Precious Metals University of Science and Technology BeijingBeijing 100083China

Layered oxide is a promising cathode material for sodium-ion batteries because of its high-capacity,high operating voltage,and simple *** performance is an important criterion for evaluating the application prospects of ***,facing challenges,including phase transitions,ambient stability,side reactions,and irreversible anionic oxygen activity,the cycling performance of layered oxide cathode materials still cannot meet the application ***,this review proposes several strategies to address these ***,bulk doping is introduced from three aspects:cationic single doping,anionic single doping,and multi-ion ***,homogeneous surface coating and concentration gradient modification are *** addition,methods such as mixed structure design,particle engineering,high-entropy material construction,and integrated modification are ***,a summary and outlook provide a new horizon for developing and modifying layered oxide cathode materials.

关键词： sodium-ion battery layered oxide materials cycling performance bulking doping surface coating concentration gradient mixed structure high-entropy

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Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

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Defence Technology（防务技术） 2024年第2期32卷 1-22页

作者： Zengliang Han Mou Chen Haojie Zhu Qingxian wu School of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning *** to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking ***,a dynamic threat distribution probability model is developed based on the characteristics of typical ground *** dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real ***,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground *** adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly ***,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking *** proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and ***,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

关键词： UAH Path planning Ground threat prediction Hybrid enhanced Collaborative thinking

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Multi-level coarse-grained discrete element method modeling of cylinder particle flow in a rotating drum

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Particuology 2024年第5期88卷 218-238页

作者： Lei Xu Xiukai wu Shuai Wang Shiyi Bao Institute of Process Equipment and Control Engineering Zhejiang University of TechnologyHangzhou 310023China Engineering Research Center of Process Equipment and Remanufacturing Ministry of EducationZhejiang University of TechnologyHangzhou 310023China College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China State Key Laboratory of Clean Energy Utilization Zhejiang UniversityHangzhou 310027China

The coarse-grained discrete element method(DEM)is probably a feasible option for simulating an actual drum-type biomass boiler,which contains over 10 million cylinder particles.A multi-level study was conducted based on particle and coarse-grained level data to evaluate the adequacy of the coarse-grained approach in terms of geometrical characteristics,kinematic features,and dynamic *** scaling laws for contact parameters were used and compared during the *** results show that the coarse-grained approach can accurately predict the positions of the free surface and active-passive interface,the mixing index,and the orientation *** in the velocity fields may occur due to the worse flowability of coarse-grained particles near the free *** efficiency is significantly improved by the coarse-grained model compared with the corresponding original case(the same DEM code without a coarse-grained model was used for the original simulations).

关键词： Coarse-grained method Discrete element method(DEM) Cylinder particle Rotating drum Granular flow

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Precise phase adjustment and antibacterial property of copper sulfide particles in confined mesoporous silica nanoreactor

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Particuology 2024年第2期85卷 113-121页

作者： Shiyu Xu Jinyong wu Zhongzhen Ren Dechao Niu Low Dimensional Materials Chemistry Laboratory Key Laboratory for Ultrafine Materials of Ministry of EducationFrontier Science Center of the Materials Biology and Dynamic ChemistryShanghai Engineering Research Center of Hierarchical NanomaterialsSchool of Materials Science and EngineeringEast China University of Science and TechnologyShanghai200237China

Bacteria-caused wound infection greatly threatens human health,thus developing an efficient and safe antibacterial agent without drug resistance is still a great ***,a confined vulcanization strategy is proposed to construct copper sulfides-loaded dual-mesoporous silica nanospheres(Cux-Sy@DMSNs)with various crystal phases for reactive oxygen species(ROS)-mediated and photothermal antibacterial *** the pore confinement of DMSNs,the crystal phases of copper sulfides including CuS,Cu_(9)S_(5)and Cui.96S can be easily controlled by changing the vulcanization *** relationships between the crystal phases and photothermal properties as well as peroxidase-like activity of copper sulfides were systematically *** show that the obtained CuS@DMSNs exhibited higher photothermal ability with remarkable photothermal conversion efficiency of 36.86%in the second near-infrared region(NIR-II)and better peroxidase-like activity,compared to those of Cu_(9)S_(5)@DMSNs and Cu_(1.96)S@*** a result,the in vitro experiments showed the good antibacterial effect against both gram-negative *** and gram-positive *** under 1064 nm laser irradiation and the presence of H_(2)O_(2).Besides,the CCK-8 assay indicated that CuS@p-DMSNs have minimal cytotoxicity against normal human umbilical vein endothelial cells at the ranged ***,the resultant CuS@p-DMSNs could act as a promising antibacterial agent for deep wound bacterial infection treatment.

关键词： Copper sulfides Mesoporous silica Photothermal Reactive oxygen species Antibacterial agent

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