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Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues

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Chinese Journal of mechanical engineering 2024年第2期37卷 318-329页

作者： Pai Peng Dawei Pi Guodong Yin Yan Wang Liwei Xu Jiwei Feng school of mechanical engineering Southeast UniversityNanjing 211102China school of mechanical engineering Nanjing University of Science and TechnologyNanjing 210014China school of mechanical and aerospace engineering Nanyang Technological UniversitySingaporeSingapore

This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor ***,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor ***,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera ***,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.

关键词： Autonomous vehicle LiDAR and camera Miscalibration detection and correction Sensor drift

Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

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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

Tuning heterogeneous microstructures to enhance mechanical properties of nano-TiN particle reinforced Haynes 230 composites by laser powder bed fusion

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Rare Metals 2024年第9期43卷 4548-4565页

作者： Wen-Jie Liu Hui Li Qian-Xing Yin He-Jun Du school of Power and mechanical engineering Wuhan University The Institute of Technological Sciences Wuhan University school of mechanical&aerospace engineering Nanyang Technological University

Laser powder bed fusion(LPBF) is considered to be one of the most promising additive manufacturing technologies for producing components with geometries and high geometrical precision that are unattainable by traditional technologies. The superalloy exhibits exceptional mechanical and high-temperature performances,rendering it a prime candidate for advanced aero-engine applications. Despite the high demand for LPBF-manufactured superalloys, the superalloy is one of the materials manufactured difficultly by LPBF due to their large laser absorptivity fluctuation, poor molten pool stability and sharp temperature gradient. Hence, superalloys are characterized by severe pores, undesirable coarse columnar grains and poor mechanical properties. In this work, the effect of nano-Ti N particles on defects, molten pool characteristics and microstructure and performance of the composites were investigated. The 4.5 wt% Ti N/Haynes230 samples exhibited exceptional nanohardness and elastic modulus with maximum values reaching 5.53 GPa and 240.03 GPa, respectively. These superior mechanical properties were attributed to the combined effects of spatter and gas pore inhibition, grain refinement and duplex nanophases strengthening. Moreover, the stability of molten pool was enhanced, and spatter was effectively suppressed by adding nano-Ti N particles, while grain refinement and columnar to equiaxed transitions were promoted. Furthermore, the matrix exhibited a high dislocation density due to a significant hindrance of dislocation movement caused by massive nano-phases(e.g., Ti N and M23C6), resulting in the formation of extensive dislocation tangles and *** work offers novel insights into the role of nanoparticles reinforced superalloy composites by LPBF.

关键词： Composites Laser powder bed fusion mechanical properties Microstructure Molten pool characteristics

Size-dependent thermomechanical vibration characteristics of rotating pre-twisted functionally graded shear deformable microbeams

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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 1015-1032页

作者： Songye JIN Bo ZHANG Wuyuan ZHANG Yuxing WANG Huoming SHEN Jing WANG Juan LIU school of Mechanics and aerospace engineering Southwest Jiaotong UniversityChengdu 610031China school of mechanical engineering Southwest Jiaotong UniversityChengdu 610031China school of mechanical and Electrical engineering Southwest Petroleum UniversityChengdu 610500China

A three-dimensional(3D)thermomechanical vibration model is developed for rotating pre-twisted functionally graded(FG)microbeams according to the refined shear deformation theory(RSDT)and the modified couple stress theory(MCST).The material properties are assumed to follow a power-law distribution along the chordwise *** model introduces one axial stretching variable and four transverse deflection variables including two pure bending components and two pure shear *** complex modal analysis and assumed mode methods are used to solve the governing equations of motion under different boundary conditions(BCs).Several examples are presented to verify the effectiveness of the developed *** coupling the slenderness ratio,gradient index,rotation speed,and size effect with the pre-twisted angle,the effects of these factors on the thermomechanical vibration of the microbeam with different BCs are *** is found that with the increase in the pre-twisted angle,the critical slenderness ratio and gradient index corresponding to the thermal instability of the microbeam increase,while the critical material length scale parameter(MLSP)and rotation speed *** sensitivity of the fundamental frequency to temperature increases with the increasing slenderness ratio and gradient index,and decreases with the other increasing ***,the size effect can suppress the dynamic stiffening effect and enhance the Coriolis ***,the mode transition is quantitatively demonstrated by a modal assurance criterion(MAC).

关键词： thermomechanical vibration rotating pre-twisted functionally graded(FG)microbeam refined shear deformation theory(RSDT) modified couple stress theory(MCST) modal assurance criterion(MAC)

Experimental and numerical study of combustion characteristics of ammonia-hydrogen-air swirling flame with/without secondary air injection

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Chinese Journal of Aeronautics 2024年第4期37卷 243-255页

作者： Chunyu LIU Chenhu GAO Yue HUANG Hua JIN Dan ZHAO Wenjiang XU Yancheng YOU school of aerospace engineering Xiamen UniversityXiamen 361005China school of mechanical engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of mechanical engineering University of CanterburyChristchurch 8041New Zealand

Ammonia (NH_(3)) is currently considered to be a potential carbon-free alternative fuel,and its large-scale use as such would certainly decrease greenhouse gas emissions and meet increasingly stringent emission *** the low flame propagation speed and high NO production of NH_(3) hinder its direct application as a renewable fuel,co-combustion of NH_(3)–H_(2)is an effective way to overcome these *** this study,the combustion characteristics of NH_(3)–H_(2)swirling flames under different equivalence ratios and H_2blending ratios conditions are both numerically and experimentally ***,the One-Dimensional (1D) laminar flame computation presents a comparison base and the Three-Dimensional (3D) numerical simulation yields detailed flame property ***,the high-speed camera takes instantaneous swirl flame images and the gas analyzer measures the NO emission at the exit plane of the flame *** and quantitative analysis is performed on the flame structure and NO emission for a series of NH_(3)–H_(2)swirl *** variation trends of the NO emission calculated using different techniques agree very *** quantitative results show that the NO emissions are much higher at lean equivalence ratios than those at rich equivalence ratios,and such difference is closely related to the combustion flame ***,it is shown that the utilization of secondary air injection can achieve a significant reduction in NO emissions at the exit of the combustion chamber at equivalence ratios less than or equal to 0.9.

关键词： Ammonia combustion Swirling flow NO emission characteristics Secondary combustion Chemical reaction mechanism

Machining dynamics and chatters in micro-milling:A critical review on the state-of-the-art and future perspectives

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Chinese Journal of Aeronautics 2024年第7期37卷 59-80页

作者： Qingshun BAI Peng WANG Kai CHENG Liang ZHAO Yabo ZHANG school of mechanical and Electrical engineering Harbin Institute of TechnologyHarbin 150001China Department of mechanical and aerospace engineering Brunel University LondonUxbridge UB83PHUK

Micro-milling technology is widely applied in micro manufacturing,particularly for the fabrication of miniature and micro ***,the chatters and machining dynamics related issues in micro-milling are often the main challenges restricting its machining quality and *** research works have rendered that the machining dynamics and chatters in micro-milling are more complex compared with the conventional macro-milling process,likely because of the size effect and rigidity of the micro-milling system including the tooling,workpiece,process variables,materials involved,and the high-speed milling machines,and further their collective dynamic ***,in this paper,the state of the art focusing on micro-milling chatters and dynamics related issues over the past years are comprehensively and critically reviewed to provide some insights for potential researchers and ***,typical applications and the problems caused by the machining dynamics and chatters in micro-milling have been put forward in this ***,the research on the underlying micro-cutting mechanics and dynamics,stability analysis,chatters detection,and chatter suppression are summarized ***,the underlying scientific and technological challenges are discussed particularly against typical precision engineering ***,the possible future directions and trends in research and development of micro-milling have been discussed.

关键词： Micro-milling Machining dynamics Micro-cutting mechanics Stability lobe diagram(SLD) Chatters suppression Digital twin

Reconfigurable mechanism-based metamaterials for ternary-coded elastic wave polarizers and programmable refraction control

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Applied Mathematics and Mechanics(English Edition) 2024年第7期45卷 1225-1242页

作者： Zhou HU Zhibo WEI Yan CHEN Rui ZHU school of aerospace engineering Beijing Institute of Technology school of mechanical engineering Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University

Elastic metamaterials with unusual elastic properties offer unprecedented ways to modulate the polarization and propagation of elastic waves. However, most of them rely on the resonant structural components, and thus are frequency-dependent and unchangeable. Here, we present a reconfigurable 2D mechanism-based metamaterial which possesses transformable and frequency-independent elastic properties. Based on the proposed mechanism-based metamaterial, interesting functionalities, such as ternarycoded elastic wave polarizer and programmable refraction, are demonstrated. Particularly, unique ternary-coded polarizers, with 1-trit polarization filtering and 2-trit polarization separating of longitudinal and transverse waves, are first achieved. Then, the strong anisotropy of the proposed metamaterial is harnessed to realize positive-negative bi-refraction, only-positive refraction, and only-negative refraction. Finally, the wave functions with detailed microstructures are numerically verified.

关键词： elastic metamaterial elastic wave reconfigurable design zero mode ternary code programmable refraction O343 74J05

A novel efficient energy absorber with free inversion of a metal foam-filled circular tube

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Applied Mathematics and Mechanics(English Edition) 2024年第1期45卷 1-14页

作者： Jianxun ZHANG Jinwen BAI State Key Laboratory for Strength and Vibration of mechanical Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'an 710049China

In this paper, a novel efficient energy absorber with free inversion of a metal foam-filled circular tube(MFFCT) is designed, and the axial compressive behavior of the MFFCT under free inversion is studied analytically and numerically. The theoretical analysis reveals that the energy is mainly dissipated through the radial bending of the metal circular tube, the circumferential expansion of the metal circular tube, and the metal filled-foam compression. The principle of energy conservation is used to derive the theoretical formula for the minimum compressive force of the MFFCT over free inversion under axial loading. Furthermore, the free inversion deformation characteristics of the MFFCT are analyzed numerically. The theoretical steady values are found to be in good agreement with the results of the finite element(FE) analysis. The effects of the average diameter of the metal tube, the wall thickness of the metal tube, and the filled-foam strength on the free inversion deformation of the MFFCT are considered. It is observed that in the steady deformation stage, the load-carrying and energy-absorbing capacities of the MFFCT increase with the increase in the average diameter of the metal tube, the wall thickness of the metal tube, or the filled-foam strength. The specific energy absorption(SEA) of free inversion of the MFFCT is significantly higher than that of the metal tube alone.

关键词： metal foam-filled circular tube(MFFCT) free inversion load-carrying capacity energy absorption

Ballistic design and testing of a composite armour reinforced by CNTs suitable for armoured vehicles

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Defence Technology（防务技术） 2024年第2期32卷 173-195页

作者： Evangelos Ch.Tsirogiannis Evangelos Daskalakis Mohamed H.Hassan Abdalla M.Omar Paulo Bartolo EODH SA Research and Development DepartmentLakkoma Chalkidikis63080Greece school of mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchesterM139PLUK Singapore Centre for 3D Printing School of Mechanical and Aerospace EngineeringNanyang Technological University639798Singapore

This paper is investigating the use of composite armour reinforced by nanomaterials, for the protection of light armoured(LAV) and medium armoured military vehicles(MAV), and the interaction between the composite materials and high-performance ballistic projectiles. Four armour materials, consisted of front hybrid fibre reinforced polymer cover layer, ceramic strike-face, fibre reinforced polymer intermediate layer and the metal matrix composite reinforced backplate, were manufactured and assembled by adhesive technology. The proposed laminated protection system is suitable for armoured ground vehicles;however, it could be used as armour on ground, air and naval platforms. The design of the protection system, including material selection and thickness, was elaborated depending on the performance requirements of Level 4 + STANAG 4569 military standard(projectile 14.5 mm × 114 mm API B32) and especially on a design philosophy which is analysed with the specifications. The backplate of this new composite is a hybrid material of Metal Matrix Composite(MMC) reinforced with carbon nanotubes(CNTs), manufactured with the use of powder metallurgy technique. The composite backplate material was morphologically, mechanically and chemically analysed. Results show that all plates are presenting high mechanical properties and ballistic characteristics, compared to commonly used armour plates. Real military ballistic tests according to AEP-STANAG 4569 were carried out for the total composite armour systems. After the ballistic tests, AA2024-CNT3 showed the best protection results, compared with the other plates(AA2024-CNT1 and AA2024-CNT2), with the projectile being unable to fully penetrate the composite plate.

关键词： Passive armour protection Protective armour Ballistic performance Hybrid composites Vehicle protection