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从有缆遥控水下机器人到自治水下机器人

封锡盛

《中国工程科学》 2000年 第2卷 第12期   页码 29-33

摘要：

文章给出了水下机器人的定义，依据定义进行了分类，简要回顾了几类重要水下机器人的进展，指出了无人无缆自治水下机器人（AUVs）是当今水下机器人研究与开发的热点，介绍了最近20年沈阳自动化研究所与国内外有关单位合作，在水下机器人领域从无人有缆遥控水下机器人（ROVs）到AUVs的研究开发工作，它从一个侧面反映了我国在这一领域的进展情况

关键词： 水下机器人     AUVs     ROVs     潜水器     海洋开发     海洋工程    

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Efficient Identification of water conveyance tunnels siltation based on ensemble deep learning

Xinbin WU; Junjie LI; Linlin WANG

《结构与土木工程前沿（英文）》 2022年 第16卷 第5期   页码 564-575 doi: 10.1007/s11709-022-0829-x

摘要： The inspection of water conveyance tunnels plays an important role in water diversion projects. Siltation is an essential factor threatening the safety of water conveyance tunnels. Accurate and efficient identification of such siltation can reduce risks and enhance safety and reliability of these projects. The remotely operated vehicle (ROV) can detect such siltation. However, it needs to improve its intelligent recognition of image data it obtains. This paper introduces the idea of ensemble deep learning. Based on the VGG16 network, a compact convolutional neural network (CNN) is designed as a primary learner, called Silt-net, which is used to identify the siltation images. At the same time, the fully-connected network is applied as the meta-learner, and stacking ensemble learning is combined with the outputs of the primary classifiers to obtain satisfactory classification results. Finally, several evaluation metrics are used to measure the performance of the proposed method. The experimental results on the siltation dataset show that the classification accuracy of the proposed method reaches 97.2%, which is far better than the accuracy of other classifiers. Furthermore, the proposed method can weigh the accuracy and model complexity on a platform with limited computing resources.

关键词： water conveyance tunnels     siltation images     remotely operated vehicles     deep learning     ensemble learning     computer vision    

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Development and deep-sea exploration of the Haidou-1

《工程管理前沿（英文）》   页码 546-549 doi: 10.1007/s42524-023-0260-6

摘要： Development and deep-sea exploration of the Haidou-1

关键词： hadal zone     autonomous and remotely-operated vehicle     integrated exploration operation     deep dive exceeding 10000 meters    

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Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

《结构与土木工程前沿（英文）》 2022年 第16卷 第11期   页码 1378-1396 doi: 10.1007/s11709-022-0855-8

摘要： It is of great significance to quickly detect underwater cracks as they can seriously threaten the safety of underwater structures. Research to date has mainly focused on the detection of above-water-level cracks and hasn’t considered the large scale cracks. In this paper, a large-scale underwater crack examination method is proposed based on image stitching and segmentation. In addition, a purpose of this paper is to design a new convolution method to segment underwater images. An improved As-Projective-As-Possible (APAP) algorithm was designed to extract and stitch keyframes from videos. The graph convolutional neural network (GCN) was used to segment the stitched image. The GCN’s m-IOU is 24.02% higher than Fully convolutional networks (FCN), proving that GCN has great potential of application in image segmentation and underwater image processing. The result shows that the improved APAP algorithm and GCN can adapt to complex underwater environments and perform well in different study areas.

关键词： underwater cracks     remote operated vehicle     image stitching     image segmentation     graph convolutional neural network    

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Structural synthesis of ancient Chinese foot-operated silk-reeling mechanism

Kuohung HSIAO, Yuhsun CHEN, Hongsen YAN,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 279-288 doi: 10.1007/s11465-010-0101-2

摘要： This work synthesizes the structures of the foot-operated silk-reeling mechanism, which was vaguely depicted in many literatures in ancient China. Based on the analysis of the mechanism, the structural characteristics and design constraints of the mechanism with indeterminate links and joints are concluded. Then, according to the concepts of generalization and specialization subject to the concluded design constraints, all feasible structures of the mechanism that met the technological standards of the subject’s time period are reconstructed. This reconstruction process provides a logical foundation to better understanding, clarification, and suggestions for the issue of ancient mechanical drawings with indeterminate links and joints.

关键词： silk-reeling mechanism     structure of mechanism     reconstruction design     history of machinery    

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Combustion analysis of a hydrogen-diesel fuel operated DI diesel engine with exhaust gas recirculation

M. LOGANATHAN, A. VELMURUGAN, TOM PAGE, E. JAMES GUNASEKARAN, P. TAMILARASAN

《能源前沿（英文）》 2017年 第11卷 第4期   页码 568-574 doi: 10.1007/s11708-017-0461-y

摘要： The rapid depletion of fossil fuel and growing demand necessitates researchers to find alternative fuels which are clean and sustainable. The need for finding renewable, low cost and environmentally friendly fuel resources can never be understated. An efficient method of generation and storage of hydrogen will enable automotive manufacturers to introduce hydrogen fuelled engine in the market. In this paper, a conventional DI diesel engine was modified to operate as gas engine. The intake manifold of the engine was supplied with hydrogen along with recirculated exhaust gas and air. The injection rates of hydrogen were maintained at three levels with 2 L/min, 4 L/min, 6 L/min and 8 L/min and 10 L/min with an injection pressure of 2 bar. Many of the combustion parameters like heat release rate (HRR), ignition delay, combustion duration, rate of pressure rise (ROPR), cumulative heat release rate (CHR), and cyclic pressure fluctuations were measured. The HRR peak pressure decreased with the increase in EGR rate, while combustion duration increased with the EGR rate. The cyclic pressure variation also increased with the increase in EGR rate.

关键词： hydrogen     exhaust gas recirculation (EGR)     diesel     combustion     heat release rate (HRR)     combustion duration    

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Reactive power deployment and cost benefit analysis in DNO operated distribution electricity markets

Atma Ram GUPTA,Ashwani KUMAR

《能源前沿（英文）》 2019年 第13卷 第1期   页码 86-98 doi: 10.1007/s11708-017-0456-8

摘要： The aim of this paper is to analyze unbalanced radial distribution systems (UBRDS) with the distribution static compensator (D-STATCOM). The main objectives of this paper are D-STATCOM allocation in UBRDS with an objective of providing reactive power support to enhance voltage profile and reduce line losses of the distribution network, determination of optimal D-STATCOM rating subjected to minimization of total cost, and impact of D-STATCOM placement on improving power factor and savings in cost of energy loss. The analysis is conducted on a large industrial load model with light, medium and high loading scenarios. Further, the impact of load growth is also considered for better planning of the power distribution system. The results are obtained on standard 25-bus UBRDS to check the feasibility of the proposed methodology.

关键词： unbalanced distribution system     D-STATCOM     voltage sensitivity index     load models     load growth     distribution network operator (DNO)    

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Process stability and microbial community composition in pig manure and food waste anaerobic co-digesters operated

Conor Dennehy, Peadar G. Lawlor, Gillian E. Gardiner, Yan Jiang, Paul Cormican, Matthew S. McCabe, Xinmin Zhan

《环境科学与工程前沿（英文）》 2017年 第11卷 第3期 doi: 10.1007/s11783-017-0923-9

摘要： This study assessed the effects of reducing hydraulic retention times (HRTs) from 21 days to 10.5 days when anaerobically co-digesting pig manure and food waste. Continuously stirred tank reactors of 3.75 L working volume were operated in triplicate at 42°C. Digester HRT was progressively decreased from 21 to 15 days to 10.5 days, with an associated increase in organic loading rate (OLR) from 3.1 kg volatile solids (VS)·m ·day to 5.1 kg VS·m ·day to 7.25 kg VS·m ·day . Reducing HRT from 21 days to 15 days caused a decrease in specific methane yields and VS removal rates. Operation at a HRT of 10.5 days initially resulted in the accumulation of isobutyric acid in each reactor. High throughput 16S rRNA gene sequencing revealed that this increase coincided with a shift in acidogenic bacterial populations, which most likely resulted in the increased isobutyric acid concentrations. This may in turn have caused the increase in relative abundance of bacteria, which syntrophically degrade non-acetate volatile fatty acids (VFAs) into H and CO . This, along with the increase in abundance of other syntrophic VFA oxidizers, such as suggests that VFA oxidation plays a role in digester operation at low HRTs. Reducing the HRT to below 21 days compromised the ability of the anaerobic digestion system to reduce enteric indicator organism counts below regulatory limits.

关键词： Biogas     Sequencing     Clocamonaceae     Spiorchatetes     Isobutyrate     Biosafety    

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Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

《机械工程前沿（英文）》 2016年 第11卷 第3期   页码 258-274 doi: 10.1007/s11465-016-0381-2

摘要：

Natural gas, whose primary constituent is methane, has been considered a convincing alternative for the growth of the energy supply worldwide. Adsorbed natural gas (ANG), the most promising methane storage method, has been an active field of study in the past two decades. ANG constitutes a safe and low-cost way to store methane for natural gas vehicles at an acceptable energy density while working at substantially low pressures (3.5–4.0 MPa), allowing for conformable store tank. This work serves to review the state-of-the-art development reported in the scientific literature on adsorbents, adsorption theories, ANG conformable tanks, and related technologies on ANG vehicles. Patent literature has also been searched and discussed. The review aims at illustrating both achievements and problems of the ANG technologies-based vehicles, as well as forecasting the development trends and critical issues to be resolved of these technologies.

关键词： adsorbed natural gas (ANG)     adsorbent     adsorption theory     conformable tank     natural gas vehicles (NGVs)    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization algorithm    

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Implementation of a flexible Major Vacation Toll-free Program for small passenger vehicles in China

Meng XU, Ziyou GAO

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 498-499 doi: 10.15302/J-FEM-2017111

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Investigating the role of exiting vehicles and turn indicator usage in gap acceptance at single-lane

Nathan P. BELZ

《结构与土木工程前沿（英文）》 2017年 第11卷 第1期   页码 8-16 doi: 10.1007/s11709-016-0365-7

摘要： Roundabouts are becoming a preferred form of intersection control type due to their safety and capacity benefits. Yield control at roundabout entries inherently reduces fuel consumption and emissions when compared to other conventional intersection types. However, these benefits can be limited by poor driver behavior and judgment when entering the roundabout. This research addresses the nature of gap distributions and use of turn indicators by exiting vehicles at three single-lane roundabouts in Vermont, New York, and Alaska. Presented here is a comparison of vehicle headways measured at two different locations in each roundabout. Rejected headways are analyzed in the context of priority abstaining events when entering drivers yield to vehicles exiting on the same leg of the roundabout suggesting that “true” critical gaps are being overestimated. Results indicate that exiting vehicles, particularly those that do not use their turn indicators when departing from the major-stream of traffic have an influence on the entry decision of drivers on the same approach. This behavior is of particular concern for intersection efficiency (i.e., delay) and sustainability (i.e., excess fuel consumption and emissions). Results prompt the consideration of more consistent guidance on and enforcement of turn indicator use during roundabout negotiations.

关键词： roundabouts     exiting vehicles     turn indicator use     headways    

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Analysis on carbon emission reduction intensity of fuel cell vehicles from a life-cycle perspective

《能源前沿（英文）》 doi: 10.1007/s11708-023-0909-1

摘要： The hydrogen fuel cell vehicle is rapidly developing in China for carbon reduction and neutrality. This paper evaluated the life-cycle cost and carbon emission of hydrogen energy via lots of field surveys, including hydrogen production and packing in chlor-alkali plants, transport by tube trailers, storage and refueling in hydrogen refueling stations (HRSs), and application for use in two different cities. It also conducted a comparative study for battery electric vehicles (BEVs) and internal combustion engine vehicles (ICEVs). The result indicates that hydrogen fuel cell vehicle (FCV) has the best environmental performance but the highest energy cost. However, a sufficient hydrogen supply can significantly reduce the carbon intensity and FCV energy cost of the current system. The carbon emission for FCV application has the potential to decrease by 73.1% in City A and 43.8% in City B. It only takes 11.0%–20.1% of the BEV emission and 8.2%–9.8% of the ICEV emission. The cost of FCV driving can be reduced by 39.1% in City A. Further improvement can be obtained with an economical and “greener” hydrogen production pathway.

关键词： hydrogen energy     life-cycle assessment (LCA)     fuel cell vehicle     carbon emission     energy cost    

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对我国电动汽车产业化问题的思考

郭孔辉

《中国工程科学》 2011年 第13卷 第9期   页码 4-7

摘要：

简单介绍了电动车的特点和发展情况，认为电池比重量大、比价格高是电动汽车的特点，成本、寿命和重量是发展电动汽车的关键；提出了我国电动车行业的一些不合理的现象；指出发展小型高效电动汽车是我国汽车产业发展的战略选择；最后给出了电动汽车发展的路线：市场引导、扶小带大、低端切入、多样发展。

关键词： 电动汽车     产业化     战略选择     发展路线    

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Real-world fuel consumption of light-duty passenger vehicles using on-board diagnostic (OBD) systems

Xuan Zheng, Sheng Lu, Liuhanzi Yang, Min Yan, Guangyi Xu, Xiaomeng Wu, Lixin Fu, Ye Wu

《环境科学与工程前沿（英文）》 2020年 第14卷 第2期 doi: 10.1007/s11783-019-1212-6

摘要： • Fuel consumption (FC) from LDPVs is measured using on-board diagnostic method (OBD). • The FC of the OBD is 7.1% lower than that of the carbon balance results. • The discrepancy between the approved FC and real-world FC is 13%±18%. • There is a strong relationship (R2=0.984) between the average speed and relative FC. An increasing discrepancy between real-world and type-approval fuel consumption for light-duty passenger vehicles (LDPVs) has been reported by several studies. Normally, real-world fuel consumption is measured primarily by a portable emission measurement system. The on-board diagnostic (OBD) approach, which is flexible and offers high-resolution data collection, is a promising fuel consumption monitoring method. Three LDPVs were tested with a laboratory dynamometer based on a type-approval cycle, the New European Driving Cycle (NEDC). Fuel consumption was measured by the OBD and constant-volume sampling system (CVS, a regulatory method) to verify the accuracy of the OBD values. The results of the OBD method and the regulatory carbon balance method exhibited a strong linear correlation (e.g., R2 = 0.906-0.977). Compared with the carbon balance results, the fuel consumption results using the OBD were 7.1%±4.3% lower on average. Furthermore, the real-world fuel consumption of six LDPVs was tested in Beijing using the OBD. The results showed that the normalized NEDC real-world fuel consumption of the tested vehicles was 13%±17% higher than the type-approval-based fuel consumption. Because the OBD values are lower than the actual fuel consumption, using a carbon balance method may result in a larger discrepancy between real-word and type-approval fuel consumption. By means of the operating mode binning and micro trip methods, a strong relationship (R2 = 0.984) was established between the average speed and relative fuel consumption. For congested roads (average vehicle speed less than 25 km/h), the fuel consumption of LDPVs is highly sensitive to changes in average speed.

关键词： Fuel consumption     Light-duty passenger vehicles     On-board diagnostic systems    

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标题 作者 时间 类型 操作

从有缆遥控水下机器人到自治水下机器人

封锡盛

期刊论文

Efficient Identification of water conveyance tunnels siltation based on ensemble deep learning

Xinbin WU; Junjie LI; Linlin WANG

期刊论文

Development and deep-sea exploration of the Haidou-1

期刊论文

Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

期刊论文

Structural synthesis of ancient Chinese foot-operated silk-reeling mechanism

Kuohung HSIAO, Yuhsun CHEN, Hongsen YAN,

期刊论文

Combustion analysis of a hydrogen-diesel fuel operated DI diesel engine with exhaust gas recirculation

M. LOGANATHAN, A. VELMURUGAN, TOM PAGE, E. JAMES GUNASEKARAN, P. TAMILARASAN

期刊论文

Reactive power deployment and cost benefit analysis in DNO operated distribution electricity markets

Atma Ram GUPTA,Ashwani KUMAR

期刊论文

Process stability and microbial community composition in pig manure and food waste anaerobic co-digesters operated

Conor Dennehy, Peadar G. Lawlor, Gillian E. Gardiner, Yan Jiang, Paul Cormican, Matthew S. McCabe, Xinmin Zhan

期刊论文

Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

期刊论文

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

Implementation of a flexible Major Vacation Toll-free Program for small passenger vehicles in China

Meng XU, Ziyou GAO

期刊论文

Investigating the role of exiting vehicles and turn indicator usage in gap acceptance at single-lane

Nathan P. BELZ

期刊论文

Analysis on carbon emission reduction intensity of fuel cell vehicles from a life-cycle perspective

期刊论文

对我国电动汽车产业化问题的思考

郭孔辉

期刊论文

Real-world fuel consumption of light-duty passenger vehicles using on-board diagnostic (OBD) systems

Xuan Zheng, Sheng Lu, Liuhanzi Yang, Min Yan, Guangyi Xu, Xiaomeng Wu, Lixin Fu, Ye Wu

期刊论文