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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectorsand optimized cooperative strategies

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0754-2

摘要： Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSs) mainly work on flat pavements, restricting their outdoor applications. The connectors’ finite deformation capability and the control strategies’ limitations are primarily responsible for this phenomenon. This study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability and expand the application scenarios of MRCTSs. In structure design, we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object (the communal payload). In addition, the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control. In the control strategy, we present a virtual leader–physical follower collaborative paradigm. The leader robot is imaginary to describe the movement of the entire system and manage the follower robots. All the TMRs in the system act as follower robots to transport the object cooperatively. Having divided the whole control structure into the leader robot level and the follower robot level, we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework. Furthermore, a control law satisfying saturation constraints is derived to ensure transportation stability. An adaptive control algorithm processes the wheelbase uncertainty of the TMR. Finally, we develop a prototype of the TMR-based MRCTS for experiments. In the trajectory tracking experiment, the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time. In the outdoor experiment, the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR’s maximum load limited to 15 kg. The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.

关键词： multirobot system     cooperative transportation     terrain adaptability     trajectory tracking     collaborative paradigm     uneven road    

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Sustainable urban transportation development in China: A behavioral perspective

《工程管理前沿（英文）》 2022年 第9卷 第1期   页码 16-30 doi: 10.1007/s42524-021-0162-4

摘要： The rapid development of economics requires highly efficient and environment-friendly urban transportation systems. Such requirement presents challenges in sustainable urban transportation. The analysis and understanding of transportation-related behaviors provide one approach to dealing with complicated transportation activities. In this study, the management of traffic systems is divided into four levels with a structural and systematic perspective. Then, several special cases from the perspective of behavior, including purchasing behaviors toward new energy vehicles, choice behaviors toward green travel, and behavioral reactions toward transportation demand management policies, are investigated. Several management suggestions are proposed for transportation authorities to improve sustainable traffic management.

关键词： sustainable urban transportation     transportation behaviors    

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Future urban transport management

《工程管理前沿（英文）》   页码 534-539 doi: 10.1007/s42524-023-0255-3

摘要： The incorporation of disruptive innovations into the transportation industry will inevitably cause major upheavals in the transportation sector. However, existing research lacks systematic theories and methodologies to represent the underlying characteristics of future urban transport systems. Furthermore, emerging modes in urban mobility have not been sufficiently studied. The National Natural Science Foundation of China (NSFC) officially approved the Basic Science Center project titled “Future Urban Transport Management” in 2022. The project members include leading scientists and engineers from Beijing Jiaotong University, Beihang University, and Beijing Transport Institute. Based on a wide range of previous projects by the consortium on urban mobility and sustainable cities, this project will encompass transdisciplinary and interdisciplinary research to explore critical issues affecting future urban traffic management. It aims to develop fundamental theories and methods based on social and technological developments in the near future and explores innovative solutions to implement alongside these emerging developments in urban mobility.

关键词： future urban transport management     travel behavior characteristics     transportation operations     transportation emergency management     transportation decision intelligence    

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Managing economic and social profit of cooperative models in three-echelon reverse supply chain for waste

Jian Li, Zhen Wang, Bao Jiang

《环境科学与工程前沿（英文）》 2017年 第11卷 第5期 doi: 10.1007/s11783-017-0999-2

摘要： In addition to maximizing economic benefits, reverse supply chains should further seek to maximize social benefits by increasing the quantity of waste electrical and electronic equipment (WEEE). The paper investigates cooperative models with different parties in a three-echelon reverse supply chain for WEEE consisting of a single collector, a single remanufacturer, and two retailers based on complete information. In addition, the optimal decisions of four cooperative models and the effect of the market demand of remanufactured WEEE products and the market share of two retailers on the optimal decisions are discussed. The results indicate that optimal total channel profit and recycle quantity in a reverse supply chain are maximized in a centralized model. The optimal total channel profit and recycle quantity increase with an increase in the market demand of remanufactured WEEE products. The three-echelon reverse supply chain consisting of duopolistic retailers maximizes total channel profit and recycle quantity in a reverse supply chain for WEEE.

关键词： Waste electrical and electronic equipment (WEEE)     Reverse supply chains     Recycle quantity     Social benefit     Cooperative models     Duopolistic retailers    

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Special issue: Management of road and railway traffic and transportation engineering

Yongfu SUN, Ziyou GAO

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 385-387 doi: 10.15302/J-FEM-2017110

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Benefit-based cost allocation for residentially distributed photovoltaic systems in China: A cooperative

Xi LUO, Xiaojun LIU, Yanfeng LIU, Jiaping LIU, Yaxing WANG

《工程管理前沿（英文）》 2021年 第8卷 第2期   页码 271-283 doi: 10.1007/s42524-019-0083-7

摘要： Distributed photovoltaic (PV) systems have constantly been the key to achieve a low-carbon economy in China. However, the development of Chinese distributed PV systems has failed to meet expectations because of their irrational profit and cost allocations. In this study, the methodology for calculating the levelized cost of energy (LCOE) for PV is thoroughly discussed to address this issue. A mixed-integer linear programming model is built to determine the optimal system operation strategy with a benefit analysis. An externality-corrected mathematical model based on Shapley value is established to allocate the cost of distributed PV systems in 15 Chinese cities between the government, utility grid and residents. Results show that (i) an inverse relationship exists between the LCOEs and solar radiation levels; (ii) the government and residents gain extra benefits from the utility grid through net metering policies, and the utility grid should be the highly subsidized participant; (iii) the percentage of cost assigned to the utility grid and government should increase with the expansion of battery bank to weaken the impact of demand response on increasing theoretical subsidies; and (iv) apart from the LCOE, the local residential electricity prices remarkably impact the subsidy calculation results.

关键词： solar photovoltaic     cost allocation     cooperative game theory     Shapley value     mixed-integer linear programming     levelized cost of energy    

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Direct energy rebound effect for road transportation in China

《工程管理前沿（英文）》   页码 597-611 doi: 10.1007/s42524-023-0276-y

摘要： The enhancement of energy efficiency stands as the principal avenue for attaining energy conservation and emissions reduction objectives within the realm of road transportation. Nevertheless, it is imperative to acknowledge that these objectives may, in part or in entirety, be offset by the phenomenon known as the energy rebound effect (ERE). To quantify the long-term EREs and short-term EREs specific to China’s road transportation, this study employed panel cointegration and panel error correction models, accounting for asymmetric price effects. The findings reveal the following: The long-term EREs observed in road passenger transportation and road freight transportation range from 13% to 25% and 14% to 48%, respectively; in contrast, the short-term EREs in road passenger transportation and road freight transportation span from 36% to 41% and 3.9% to 32%, respectively. It is noteworthy that the EREs associated with road passenger transportation and road freight transportation represent a partial rebound effect, falling short of reaching the magnitude of a counterproductive backfire effect. This leads to the inference that the upsurge in energy consumption within the road transportation sector cannot be solely attributed to advancements in energy efficiency. Instead, various factors, including income levels, the scale of commodity trade, and industrial structure, exert more substantial facilitating influences. Furthermore, the escalation of fuel prices fails to dampen the demand for energy services, whether in the domain of road passenger transportation or road freight transportation. In light of these conclusions, recommendations are proffered for the formulation of energy efficiency policies pertinent to road transportation.

关键词： road transportation     direct energy rebound effect     asymmetric price effects     panel data model    

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Cooperative effect between copper species and oxygen vacancy in CeZrCuO catalysts for carbon monoxide

《化学科学与工程前沿（英文）》 2021年 第15卷 第6期   页码 1524-1536 doi: 10.1007/s11705-021-2106-2

摘要： The effects of Zr doping on the existence of Cu and the catalytic performance of Ce0.7−xZrxCu0.3O2 for CO oxidation were investigated. The characterization results showed that all samples have a cubic structure, and a small amount of Zr doping facilitates Cu2+ ions entering the CeO2 lattice, but excessive Zr doping leads to the formation of surface CuO crystals again. Thus, the number of oxygen vacancies caused by the Cu2+ entering the lattice (e.g., Cu2+–□–Ce4+; □: oxygen vacancy), and the amount of reducible copper species caused by CuO crystals, varies with the Zr doping. Catalytic CO oxidation tests indicated that the oxygen vacancy and the reducible copper species were the adsorption and activation sites of O2 and CO, respectively, and the cooperative effects between them accounted for the high CO oxidation activity. Thus, the samples x = 0.1 and 0.3, which possessed the most oxygen vacancy or reducible copper species, showed the best activity for CO oxidation, with full CO conversion obtained at 110 °C. The catalyst is also stable and has good resistance to water during the reaction.

关键词： Ce–Zr–Cu–O     CO oxidation     reducible copper species     oxygen vacancy     cooperative effect    

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Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

《信息与电子工程前沿（英文）》 2020年 第21卷 第10期   页码 1413-1534 doi: 10.1631/FITEE.1900617

摘要： We investigate cooperative target tracking of multiple unmanned aerial vehicles (UAVs) with a limited communication range. This is an integration of UAV motion control, target state estimation, and network topology control. We first present the communication topology and basic notations for , and introduce the distributed . Then, convergence and boundedness of the estimation errors using the filter are analyzed, and potential functions are proposed for communication link maintenance and collision avoidance. By taking stable target tracking into account, a distributed potential function based UAV motion controller is discussed. Since only the estimation of the target state rather than the state itself is available for UAV motion control and UAV motion can also affect the accuracy of state estimation, it is clear that the UAV motion control and target state estimation are coupled. Finally, the stability and convergence properties of the coupled system under are analyzed in detail and demonstrated by simulations.
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Fire hazard in transportation infrastructure: Review, assessment, and mitigation strategies

Venkatesh KODUR, M. Z. NASER

《结构与土木工程前沿（英文）》 2021年 第15卷 第1期   页码 46-60 doi: 10.1007/s11709-020-0676-6

摘要： This paper reviews the fire problem in critical transportation infrastructures such as bridges and tunnels. The magnitude of the fire problem is illustrated, and the recent increase in fire problems in bridges and tunnels is highlighted. Recent research undertaken to address fire problems in transportation structures is reviewed, as well as critical factors governing the performance of those structures. Furthermore, key strategies recommended for mitigating fire hazards in bridges and tunnels are presented, and their applicability to practical situations is demonstrated through a practical case study. Furthermore, research needs and emerging trends for enhancing the “state-of-the-art” in this area are discussed.

关键词： fire hazard     bridges     tunnels     fire resistance     mitigation strategies     transportation infrastructure    

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城市虚拟交通系统与交通发展决策支持模式研究

王炜, 赵德,华雪东,周伟

《中国工程科学》 2021年 第23卷 第3期   页码 163-172 doi: 10.15302/J-SSCAE-2021.03.020

摘要：

本土化的城市虚拟交通系统与交通发展决策支持模式，在解决由快速城镇化引发且趋于严重的城市交通问题、克服现阶段智能交通系统存在的瓶颈方面具有重要意义。本研究依托大数据、互联网等信息技术，建立了由基础数据库、分析模型库、软件模块库、备选预案库组成的城市虚拟交通系统，涵盖其理论框架、系统功能、技术体系，据此提出覆盖城市土地开发、交通设施建设、交通运行管控、公共交通运营、交通政策制定等应用场景的交通发展决策支持模式。以重庆市为例，阐述了城市虚拟交通系统构建过程，完成重庆市新型冠状病毒肺炎疫情期间居民出行、车辆通行错峰方案的政府决策论证。结果表明，基于城市虚拟交通系统的交通发展决策支持模式在实际交通方案论证过程中具有及时性和有效性。研究建议，未来我国城市交通规划管理可注重城市虚拟交通系统的建设和运用，及时纳入新型信息技术成果以优化应用效果。

关键词： 城市交通系统     道路网络     交通分析模型     虚拟交通系统     决策支持模式    

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The role delegation authorization model of a computer-supported cooperative design system

XU Hongxue, LIU Yongxian, SHENG Zhongqi, GUO Xiuying

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 201-204 doi: 10.1007/s11465-007-0034-6

摘要： According to the specific characteristics of a computer-supported cooperative design (CSCD) system, the characteristics of role delegation authorization (RDA) are analyzed and deduced, and a set of fitful status is arrived at. Because of the diversified characteristics of RDA features in different systems, the RDA model has multi-varying status. On the basis of the basic model of role-based access control (RBAC), some basic characteristics of RDA are summed up. Then, according to the specific characteristics of CSCD system, the characteristics of RDA are recombined to develop a RDA model that is suitable for the CSCD system. It is different from the conventional role authorization models of RBAC, that is, it adopts the decentralized authorization management instead of the centralized one in CSCD system, which makes the management more flexible. This model is verified through a specific case of CSCD system.

关键词： fitful     RBAC     different     multi-varying     CSCD    

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车路协同环境下的交通工程

王云鹏,鲁光泉,于海洋

《中国工程科学》 2018年 第20卷 第2期   页码 106-110 doi: 10.15302/J-SSCAE-2018.02.016

摘要：

交通工程的产生与发展始终围绕着交通系统中的人车路耦合关系，来实现高效、安全、绿色的目标。载运工具智能化和车路/车车互联推动了车路协同技术的发展，将使交通系统逐渐从车路协调走向车路协同，并进一步提升交通系统的效能与安全。在车路协同环境下，传统交通系统中人为因素弱化，人车路耦合性增强，系统可控可测，随机性减弱，系统的感知、决策及控制主体逐渐从驾驶人转向机器，这给传统交通工程的基础理论方法带来了诸多变化与挑战。本文主要从人车路耦合的角度重点探讨车路协同系统对交通工程的影响，并提出未来发展过程中亟需解决的科学问题。

关键词： 交通工程     车路协同     发展趋势    

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Sliding window games for cooperative building temperature control using a distributed learning method

Zhaohui ZHANG, Ruilong DENG, Tao YUAN, S. Joe QIN

《工程管理前沿（英文）》 2017年 第4卷 第3期   页码 304-314 doi: 10.15302/J-FEM-2017045

摘要： In practice, an energy consumer often consists of a set of residential or commercial buildings, with individual units that are expected to cooperate to achieve overall optimization under modern electricity operations, such as time-of-use price. Global utility is decomposed to the payoff of each player, and each game is played over a prediction horizon through the design of a series of sliding window games by treating each building as a player. During the games, a distributed learning algorithm based on game theory is proposed such that each building learns to play a part of the global optimum through state transition. The proposed scheme is applied to a case study of three buildings to demonstrate its effectiveness.

关键词： game theory     demand response     HVAC control     multi-building system    

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A review of cooperative path planning of an unmanned aerial vehicle group

Hao Zhang, Bin Xin, Li-hua Dou, Jie Chen, Kaoru Hirota,brucebin@bit.edu.cn

《信息与电子工程前沿（英文）》 2020年 第21卷 第12期   页码 1671-1814 doi: 10.1631/FITEE.2000228

摘要： As a cutting-edge branch of unmanned aerial vehicle (UAV) technology, the of a group of UAVs has attracted increasing attention from both civil and military sectors, due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks, e.g., search and rescue, fire-fighting, reconnaissance, and surveillance. Cooperative (CPP) is a key problem for a UAV group in executing tasks collectively. In this paper, an attempt is made to perform a comprehensive review of the research on CPP for UAV groups. First, a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements, i.e., task, UAV group, and environment, as a basis for a comprehensive classification of different types of CPP problems. By following the proposed framework, a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified way. Then, a review and a statistical analysis are presented based on the taxonomy, emphasizing the coordinative elements in the existing CPP research. In addition, a collection of challenging CPP problems are provided to highlight future research directions.
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标题 作者 时间 类型 操作

Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectorsand optimized cooperative strategies

期刊论文

Sustainable urban transportation development in China: A behavioral perspective

期刊论文

Future urban transport management

期刊论文

Managing economic and social profit of cooperative models in three-echelon reverse supply chain for waste

Jian Li, Zhen Wang, Bao Jiang

期刊论文

Special issue: Management of road and railway traffic and transportation engineering

Yongfu SUN, Ziyou GAO

期刊论文

Benefit-based cost allocation for residentially distributed photovoltaic systems in China: A cooperative

Xi LUO, Xiaojun LIU, Yanfeng LIU, Jiaping LIU, Yaxing WANG

期刊论文

Direct energy rebound effect for road transportation in China

期刊论文

Cooperative effect between copper species and oxygen vacancy in CeZrCuO catalysts for carbon monoxide

期刊论文

Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

期刊论文

Fire hazard in transportation infrastructure: Review, assessment, and mitigation strategies

Venkatesh KODUR, M. Z. NASER

期刊论文

城市虚拟交通系统与交通发展决策支持模式研究

王炜, 赵德,华雪东,周伟

期刊论文

The role delegation authorization model of a computer-supported cooperative design system

XU Hongxue, LIU Yongxian, SHENG Zhongqi, GUO Xiuying

期刊论文

车路协同环境下的交通工程

王云鹏,鲁光泉,于海洋

期刊论文

Sliding window games for cooperative building temperature control using a distributed learning method

Zhaohui ZHANG, Ruilong DENG, Tao YUAN, S. Joe QIN

期刊论文

A review of cooperative path planning of an unmanned aerial vehicle group

Hao Zhang, Bin Xin, Li-hua Dou, Jie Chen, Kaoru Hirota,brucebin@bit.edu.cn

期刊论文