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Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 181-195页

作者： Xiaolin Tang Yuyou yang Teng Liu Xianke Lin Kai yang Shen Li IEEE the College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China the Clinical Research Center and Medical Pathology Center Chongqing University Three Gorges HospitalChongqing UniversityWanzhou 404000 the Department of Automotive and Mechatronics Engineering Ontario Tech UniversityOshawa ON LIG OC5Canada the School of Civil Engineering Tsinghua UniversityBeijing 100084China

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

关键词： Automatic parking control strategy parking deviation(APS) soft actor-critic(SAC)

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Effects of the initiation position on the damage and fracture characteristics of linear-charge blasting in rock

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International Journal of Minerals,Metallurgy and Materials 2024年第3期31卷 443-451页

作者： Chenxi Ding Renshu yang Xiao Guo Zhe Sui Chenglong Xiao Liyun yang School of Civil and Resource Engineering University of Science and Technology BeijingBeijing 100083China School of Mechanics and Civil Engineering China University of Mining and Technology(Beijing)Beijing 100083China School of Mathematics and Physics University of Science and Technology BeijingBeijing 100083China State Key Lab of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China

To study the effects of the initiation position on the damage and fracture characteristics of linear-charge blasting, blasting model experiments were conducted in this study using computed tomography scanning and three-dimensional reconstruction methods. The fractal damage theory was used to quantify the crack distribution and damage degree of sandstone specimens after blasting. The results showed that regardless of an inverse or top initiation, due to compression deformation and sliding frictional resistance, the plugging medium of the borehole is effective. The energy of the explosive gas near the top of the borehole is consumed. This affects the effective crushing of rocks near the top of the borehole, where the extent of damage to Sections Ⅰ and Ⅱ is less than that of Sections Ⅲ and Ⅳ. In addition, the analysis revealed that under conditions of top initiation, the reflected tensile damage of the rock at the free face of the top of the borehole and the compression deformation of the plug and friction consume more blasting energy, resulting in lower blasting energy efficiency for top initiation. As a result, the overall damage degree of the specimens in the top-initiation group was significantly smaller than that in the inverse-initiation group. Under conditions of inverse initiation, the blasting energy efficiency is greater, causing the specimen to experience greater damage. Therefore, in the engineering practice of rock tunnel cut blasting, to utilize blasting energy effectively and enhance the effects of rock fragmentation, using the inverse-initiation method is recommended. In addition, in three-dimensional(3D) rock blasting, the bottom of the borehole has obvious end effects under the conditions of inverse initiation, and the crack distribution at the bottom of the borehole is trumpet-shaped. The occurrence of an end effect in the 3D linear-charge blasting model experiment is related to the initiation position and the blocking condition.

关键词： blasting linear charge initiation position computed tomography three-dimensional reconstruction damage

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Investigation of Quantum Dot Color Filter Micro-LED Display

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Photonic Sensors 2024年第1期14卷 40-47页

作者： Xuhui PENG yang ZENG Sitao HUO Zhenyuan yang Xiaoping HUANG Qing ZHAO School of Resources and Environment University of Electronic Science and Technology of ChinaChengdu 611731China yangtze Delta Region Institute(Huzhou) University of Electronic Science and Technology of ChinaHuzhou 313001China Shanghai Tianma Microelectronics Shanghai 201201China

In this work,we present the investigation of the quantum dot color filter(QDCF)micro-light emitting diode(micro-LED)display.Green and red quantum dot photoresist(QDPR)materials are patterned into a pixelated array and precisely bonded with an all-blue micro-light emitting diode(micro-LED)substrate,forming a red,green,and blue(RGB)full color display through color conversion.A few factors that influence the achievable color gamut are further investigated.The resulting 1.1-inch 228-pixels per inch(ppi)display demo shows the good performance.The findings in this paper pave a way to the future industrialization of the micro-LED display.

关键词： Quantum dot color filter(QDCF) color conversion micro-light emitting diode(micro-LED) color gamut

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Particle agglomeration and inhibition method in the fluidized pyrolysis reaction of waste resin

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Chinese Journal of Chemical Engineering 2024年第3期67卷 135-147页

作者： Congjing Ren Peng Zhang Qi Song Zhengliang Huang Yao yang Yongrong yang Ningbo Innovation Center Zhejiang UniversityNingbo 315100China College of Chemical and Biological Engineering Zhejiang Provincial Key Laboratory of Advanced Chemical Engineering Manufacture TechnologyZhejiang UniversityHangzhou 310027China

This work investigated the pyrolysis reaction of waste resin in a fluidized bed reactor.It was found that the pyrolysis-generated ash would adhere to the surface of ceramic particles,causing particle agglomeration and defluidization.Adding kaolin could effectively inhibit the particle agglomeration during the fluidized pyrolysis reaction through physical isolation and chemical reaction.On the one hand,kaolin could form a coating layer on the surface of ceramic particles to prevent the adhesion of organic ash generated by the pyrolysis of resin.On the other hand,when a sufficient amount of kaolin(-0.2%(mass))was added,the activated kaolin could fully contact with the Na+ ions generated by the pyrolysis of resin and react to form a high-melting aluminosilicate mineral(nepheline),which could reduce the formation of low-melting-point sodium sulfate and thereby avoid the agglomeration of ceramic particles.

关键词： Pyrolysis reaction of waste resin Fluidization Particle agglomeration Kaolin

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Effect of Vacancy Defects on the Properties of CoS_(2) and FeS_(2)

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Journal of Wuhan University of Technology(Materials Science) 2024年第3期39卷 627-638页

作者：冯中营 ZHANG Jianmin WANG Xiaowei yang Wenjin JING Yinlan yang Yan Department of Science Taiyuan Institute of TechnologyTaiyuan 030008China Computational Physics Research Center Taiyuan In-stitute of TechnologyTaiyuan 030008China College of Physics and Information Technology Shaanxi Normal UniversityXi’an 710119China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Department of Physics College of ScienceNorth University of ChinaTaiyuan 030051China

In order to explore the effect of vacancy defects on the structural,electronic,magnetic and optical properties of CoS_(2) and FeS_(2),first-principles calculation method was used to investigate the alloys.The calculated results of materials without vacancy are consistent with those reported in the literatures,while the results of materials with vacancy defect were different from those of literatures due to the difference vacancy concentration.The Co vacancy defect hardly changes the half-metallic characteristic of CoS_(2).The Fe vacancy defect changes FeS_(2) from semiconductor to half-metal,and the bottom of the spin-down conduction band changes from the p orbital state of S to the d(t_(2g))orbital state of Fe,while the top of the valence band remains the d orbital d(eg)state of Fe.The half-metallic Co vacancy defects of CoS_(2) and Fe vacancy defects of FeS_(2) are expected to be used in spintronic devices.S vacancy defects make both CoS_(2) and FeS_(2) metallic.Both the Co and S vacancy defects lead to the decrease of the magnetic moment of CoS_(2),while both the Fe and S vacancy defects lead to the obvious magnetic property of FeS_(2).Vacancy defects enhance the absorption coefficient of infrared band and long band of visible light obviously,and produce obvious red shift phenomenon,which is expected to be used in photoelectric devices.

关键词： cobalt disulfide iron disulfide vacancy defect fist principles

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Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1358-1369页

作者： Zheng Wu Yiyun Zhao Fanbiao Li Tao yang yang Shi Weihua Gui School of Automation Central South UniversityChangsha 410083China Power Electronics Machines and Control GroupThe University of NottinghamNottingham NG72RDUK Department of Mechanical Engineering University of VictoriaVictoria BC V8W 3P6Canada IEEE

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

关键词： Asynchronous switching learning-based control output feedback semi-Markovian jump systems sliding mode con-trol(SMC).

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Investigation on Strengthening Mechanism of China Low-Activation Ferrite Steel upon Thermo-Mechanical Treatment

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Acta Metallurgica Sinica(English Letters) 2024年第2期37卷 373-387页

作者： Dongtian yang Liangyin Xiong Hongbin Liao Guoping yang Xiaoyu Wang Shi Liu Institute of Metal Research Chinese Academy of SciencesShenyang110016China School of Materials Science and Engineering University of Science and Technology of ChinaShenyang110016China Center for Fusion Science Southwestern Institute of PhysicsChengdu610041China

The objective of this study was to investigate the influence of strengthening mechanisms on the high-temperature mechanical properties of China low-activation ferrite(CLF-1)steel,which underwent thermodynamic design and thermo-mechanical treatment(TMT).The microstructure characterization in the normalized and tempered condition and the TMT condition was carried out using optical microscopy,X-ray diffractometer,and scanning electron microscopy with electron backscatter diffraction.High-resolution transmission electron microscopy was employed to determine the crystallographic structures of precipitated phases.The results indicated that the addition of Ti led to an increase in the allocation of C in MC phase and an enhancement in the content of MC phase.Compared to CLF-P steel in the normalized and tempered condition,a 1.5-fold increase in dislocation density and an order of magnitude improvement in MX phase density were achieved after TMT.The formation of high-density nano-scale MC phases during TMT played a significant role in precipitation strengthening due to their favorable coherent relationship with the matrix and low interfacial free energy.The excellent high-temperature mechanical properties observed in CLF-P steel after TMT can be attributed to the combined effects of precipitation strengthening,dislocation strengthening,and lath strengthening.

关键词： China low-activation ferrite(CLF-1)steel Thermo-mechanical treatment MC phase Crystallographic structure Strengthening mechanism

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Optimizing 3d spin polarization of CoOOH by in situ Mo doping for efficient oxygen evolution reaction

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Carbon Energy 2024年第1期6卷 236-244页

作者： Zhichao Jia yang Yuan Yanxing Zhang Xiang Lyu Chenhong Liu Xiaoli yang Zhengyu Bai Haijiang Wang Lin yang Key Laboratory of Green Chemical Media and Reactions School of Chemistry and Chemical EngineeringCollaborative Innovation Center of Henan Province for Green Manufacturing of Fine ChemicalsMinistry of EducationHenan Normal UniversityXinxiangHenanChina School of Physics Henan Normal UniversityXinxiangHenanChina Oak Ridge National Laboratory Electrification and Energy Infrastructures DivisionOak RidgeTennesseeUSA Department of Mechanical and Energy Engineering Key Laboratory of Energy Conversion and Storage TechnologiesSouthern University of Science and TechnologyShenzhenGuangdongChina

Transition-metal oxyhydroxides are attractive catalysts for oxygen evolution reactions(OERs).Further studies for developing transition-metal oxyhydroxide catalysts and understanding their catalytic mechanisms will benefit their quick transition to the next catalysts.Herein,Mo-doped CoOOH was designed as a high-performance model electrocatalyst with durability for 20 h at 10 mAcm−2.Additionally,it had an overpotential of 260 mV(glassy carbon)or 215 mV(nickel foam),which was 78 mV lower than that of IrO_(2)(338 mV).In situ,Raman spectroscopy revealed the transformation process of CoOOH.Calculations using the density functional theory showed that during OER,doped Mo increased the spin-up density of states and shrank the spin-down bandgap of the 3d orbits in the reconstructed CoOOH under the electrochemical activation process,which simultaneously optimized the adsorption and electron conduction of oxygen-related intermediates on Co sites and lowered the OER overpotentials.Our research provides new insights into the methodical planning of the creation of transition-metal oxyhydroxide OER catalysts.

关键词： electrocatalyst in situ Raman Mo-doped CoOOH oxygen evolution reaction

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Transcriptome Analysis of Heterosis in Survival in the Hybrid Progenies of‘Haida No.1’and Orange-Shelled Lines of the Pacific Oyster Crassostrea gigas

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Journal of Ocean University of China 2024年第1期23卷 199-208页

作者： yang Hang LI Qi Key Laboratory of Mariculture Ministry of EducationOcean University of ChinaQingdao 266003China

Heterosis has been exploited to enhance the yield and adaptability in various shellfish species;however,the molecular basis of it remains unclear.The Pacific oyster Crassostrea gigas is one of the most economically important aquaculture species,and its productive traits can be improved by hybridization.Here,an intraspecific cross between orange shell(O,10th generation)and‘Haida No.1’(H,13th generation)of C.gigas was performed to assess the heterosis of survival trait.Survival rates of hybrid family(OH)and inbred families(HH and OO)were compared at larval stage,and eyed-pediveliger larvae of three families were subjected to transcriptome analysis.The analysis results of best-parent heterosis and mid-parent heterosis showed that the hybrid family exhi-bited a high heterosis in survival relative to the parental families.The OH-M(OH vs.OO)and OH-P(OH vs.HH)had 425 and 512 dif-ferentially expressed genes(DEGs),respectively.Functional enrichment analysis of these DEGs revealed that the significantly enrich-ed genes function in virion binding,C-type lectin receptor signaling pathway,cellular defense response and other immune-related pro-cesses,which involves perlucin-like protein,CD209 antigen-like protein,ZNFX1,caspase-3 and acan genes.These differentially ex-pressed genes in OH-M and OH-P,together with the immune-related processes mentioned above may play an important role in the larval survival of C.gigas.In addition,three genes(CYP450,fucolectin and perlucin-like)are associated with the orange shell and low survival of maternal oyster OO.These findings provide support for the application of hybrid with superior survival and will facilitate the understanding of heterosis formation in the Pacific oyster.

关键词： Crassostrea gigas survival rate heterosis transcriptome

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Petrogenesis and Tectonic Significance of Shenxianshui Alkaline Granite in Gejiu,Yunnan Province,China

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Acta Geologica Sinica(English Edition) 2024年第2期98卷 368-385页

作者： yang Rong CHEN Yongqing School of Earth Sciences and Resources China University of GeosciencesBeijing 100083China

The Shenxianshui granites in the western Gejiu area were formed in the Late Cretaceous.Laser ablation inductively coupled plasma mass spectrometry indicates zircon U-Pb ages ranging from 90.67±0.7 to 85.97±0.6 Ma.The intrusive rocks are peraluminous(A/CNK=1.03 to 1.33)and calc-alkaline,showing an affinity towards I-type granite.Large ion lithophilic elements are enriched in K and Rb,while high field strength elements are depleted.Moreover,light rare earth elements are significantly enriched,showing a slight negative Eu anomaly(Eu/Eu^(*)=0.39 to 0.58).Shenxianshui granite has a relatively high initial Sr isotope ratio(^(87)Sr/^(86)Sr)_(i)(0.7098-0.7105),negative ε_(Nd)(t)values(−7.99 to−7.44)and negative ε_(Hf)(t)values(−8.37 to−2.58).Combined with previous studies,these characteristics suggest that the Shenxianshui alkaline granites were formed in a post-collision extensional environment.The alkaline granitic magma possibly originated from the partial melting of the lower crust during the Mesoproterozoic era and may have contained mantle source materials.Shenxianshui alkaline granite was formed from mixed magma with a high degree of crystal differentiation.The abundance of ore-forming elements indicates that Shenxianshui granite has the potential to mineralize key metals and rare earth elements.

关键词： I-type granite zircon U-Pb geochronology Sr-Nd-Pb isotopes Hf isotope Gejiu

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