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Current situation and development of wind power in China

BAO Nengsheng, NI Weidou

《能源前沿(英文)》 2007年 第1卷 第4期   页码 371-383 doi: 10.1007/s11708-007-0056-4

摘要: The current development of wind power in China was presented in this paper. Many regions such as Xinjiang Uygur Autonomous Region, Inner Mongolia Autonomous Region and southeast coastal region, etc. in China have abundant wind energ

关键词: Xinjiang     current development     Mongolia Autonomous     southeast coastal     Autonomous    

Characteristics and Influencing Factors of Microplastics in Snow in the Inner Mongolia Plateau, China

Hongwei Yu,Junrong Shao,Huawei Jia,Diga Gang,Baiwen Ma,Chengzhi Hu,

《工程(英文)》 doi: 10.1016/j.eng.2023.02.007

摘要: Microplastics (MPs; < 5 mm) have become one of the most prominent global environmental pollution problems. MPs can spread to high altitudes through atmospheric transport and can be deposited by rainfall or snowfall, potentially threatening the structure and function of natural ecosystems. MPs in terrestrial and aquatic ecosystems alter the growth and functional characteristics of organisms. However, little attention has been given to the possible harm associated with MPs deposited in snow, particularly in the context of global climate warming. MPs collected from surface snow in the Inner Mongolia Plateau, China, were used for quantitative analysis and identification. The results showed that MPs were easily detected, and the related concentration was approximately 68 ± 10–199 ± 22 MPs·L−1 in snow samples. Fibers were the most common morphology, the polymer composition was largely varied, and the abundance and composition of MPs were linked to human activity to a great extent. High-throughput sequencing results showed that the composition and abundance of microorganisms also differed in snow samples from areas with different MP pollution characteristics, indicating a considerable difference in microbial functional diversity. MPs may have an interference effect on the individual growth and functional expression of microorganisms in snow. In addition, the results showed that functional living areas (e.g., landfills and suburban areas) in cities play an important role in the properties of MPs. For instance, the highest abundance of MPs was found in thermal power plants, whereas the abundance of polymers per sample was significantly lower in landfills. The MP contaminants hidden in snow can alter microbial structure and function and are therefore a potential threat to ecosystem health.

关键词: Human activities     Snow     Microplastics     Microbial community     Urban function     Environmental effect    

mechanisms of desertification process in the Horqin Sandy Land-a case study in Zhalute Banner, Inner Mongolia

TANG Haiping, CHEN Yufu, LI Xinyu

《环境科学与工程前沿(英文)》 2008年 第2卷 第4期   页码 487-493 doi: 10.1007/s11783-008-0061-5

摘要: Both natural and human factors contributing to desertification were examined to understand the driving mechanisms of the desertification process in Zhalute Banner, Inner Mongolia of China. The coefficient of variation () and climate departure index () were calculated to examine the fluctuations and trends of inter-annual variations of temperature and precipitation; TM remote sensing data was extracted to obtain the sandy land area; linear regression analysis was used to analyze climate changes and the socio-economic evolution over the years, and it was also used to standardize the variables, which included annual temperature, annual precipitation, human population, and livestock number, in order to measure the difference in the rate of change between climate and anthropogenic factors. The results showed that there was a rise of about 1.6°C in temperature but no significant change in precipitation from 1961 to 2000, which indicated a short-term climatic trend toward aridity in this area, a condition necessary for desertification. The fraction of precipitation in spring tended to increase whilst the fraction in autumn and winter decreased. Both the human population and livestock population had tripled and the cultivated area had doubled from 1961 to 2000, suggesting that socio-economic factors might have contributed more significantly to the desertification. Between 1988 and 1997, the sandy land area increased by 12.5%, nearly 2.4 times in the farming section. It could be concluded that the driving mechanisms of the desertification processes in Zhalute banner are mainly the policy of cropland expansion and the rising populations of humans and their livestock, which has affected the land use pattern in the past decades.

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

《机械工程前沿(英文)》 2007年 第2卷 第2期   页码 197-200 doi: 10.1007/s11465-007-0033-7

摘要: Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词: measuring     distance     autonomous locomotion     advantage     navigation    

Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0686-2

摘要: With the proposal of intelligent mines, unmanned mining has become a research hotspot in recent years. In the field of autonomous excavation, environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance. In this study, an unmanned electric shovel (UES) is developed, and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented. Initially, the point cloud of the material surface is collected and reconstructed by polynomial response surface (PRS) method. Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption. Based on optimal trajectory command, the UES performs autonomous excavation. The experimental results show that the proposed surface reconstruction method can accurately represent the material surface. On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency. Compared with the common excavation trajectory planning approaches, the proposed method tends to be more capable in terms of mining time and energy consumption, ensuring high-performance excavation of the UES in practical mining environment.

关键词: autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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    

Assessment of metals in dry-toilet collected matters from suburban areas of Ulaanbaatar, Mongolia, using

Xuan LIU,Zifu LI,Eric BOSC,Heinz-Peter MANG

《环境科学与工程前沿(英文)》 2014年 第8卷 第5期   页码 710-718 doi: 10.1007/s11783-013-0592-2

摘要: Dry-toilet collected matter (DCM) from traditional dry-toilet pits are a potential health and ecological risk in suburban areas. In this study, the characteristics of metals in DCMs from suburban areas of Ulaanbaatar were surveyed. The results indicate that DCMs contain a high percentage of organic matter and nutrients, while heavy metals are at low levels, which shows good agricultural potential. The concentration ranges of Cr, Cu, Hg, Ni, Pb, and Zn were 11±5, 46±9, 0.08±0.05, 9±3, 17±9, and 338±86 mg·kg , respectively. The concentration of Cd was below 0.5 mg·kg , and a high positive relation was shown between chromium and nickel concentrations. The heavy metals in DCMs were safe for land application but Zn in DCMs was close to the effects range median (ERM), which is toxic in some cases, such as amphipod bioassays. Because it is mandatory to treat DCMs to reduce pathogens, in the case of heavy metal enrichment and agricultural reuse, composting or pyrolysis are better choices than incineration. Compared with global soil background values, the heavy metals in DCMs showed a low level of ecological risk, but a medium level when compared with Mongolian soil background values. The ecological risk of six heavy metals was in the descending order Hg>Cu>Zn>Pb>Ni>Cr and the contribution rate of Hg exceeded 60%.

关键词: heavy metals     suburban areas     dry-toilet     risk assessment    

自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

《中国工程科学》 2019年 第21卷 第3期   页码 92-97 doi: 10.15302/J-SSCAE-2019.03.004

摘要:

自动驾驶地图作为实现汽车自动驾驶的关键基础设施,对于推动我国自动驾驶领域的商业化开发至关重要。现阶段,我国受地图测绘、应用和监管等相关法律法规的制度掣肘,在自动驾驶地图的产业化进程方面相对滞后。为此,本文着重分析了我国在自动驾驶地图开发、应用和管理中面临的主要政策法规问题:自动驾驶地图是否需加密的问题、自动驾驶地图部分地理信息表达受限的问题、自动驾驶地图地理信息采集资质和审图流程的问题、自动驾驶地图事故责任和保险问题、自动驾驶地图相关测试规范和测试场景问题。同时结合国内外自动驾驶领域的发展趋势,给出加快我国自动驾驶汽车开发和商业化进程的四点建议:制定自动驾驶地图管理模式、允许自动驾驶地图应用试点及有序开放、适当放开企业权限及优化审核流程、建立国家级自动驾驶地图平台。

关键词: 自动驾驶地图     自动驾驶法规     自动驾驶政策    

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

《工程(英文)》 doi: 10.1016/j.eng.2023.10.001

摘要: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve. Considering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system. Furthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’ behavior and summarizing their manipulation characteristics of “seeking benefits and avoiding losses.” Finally, by integrating the idea of receding-horizon optimization, the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility, optimality, and adaptability. Extensive simulations and experiments are performed, and the results demonstrate the framework’s feasibility and effectiveness, which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants. Moreover, we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’ manipulation.

关键词: Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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

Xiangkun He,Wenhui Huang,Chen Lv,

《工程(英文)》 doi: 10.1016/j.eng.2023.10.005

摘要: While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving. Therefore, we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles. The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety. Specifically, an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics. In addition, an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics. Moreover, 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 model. Finally, the proposed approach is evaluated through both simulations and experiments. These 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    

The ecological adaptability of cloned sheep to free-grazing in the Tengger Desert of Inner Mongolia,

Xinxin LI,Huijuan WANG,Guanghua SU,Zhuying WEI,Chunling BAI,Wuni-MENGHE,Yanhui HOU,Changqing YU,Shorgan BOU,Guangpeng LI

《农业科学与工程前沿(英文)》 2014年 第1卷 第3期   页码 191-200 doi: 10.15302/J-FASE-2014029

摘要: Since the birth of the first cloned sheep, somatic cell nuclear transfer technology has been successfully used to clone a variety of mammals. Cloned livestock have no apparent health risks, and the quality and safety of the cloned animal products are similar to non-cloned animals. The social behavior and environmental adaptability of postnatal cloned animals, especially when used for grassland farm production purposes, is unknown. In the present study, the cloned Dorper sheep equipped with GPS location devices were free-grazed in a harsh natural environment similar to conditions commonly experienced by Mongolian sheep. The main findings of this research were as follows. (1) Under free-grazing conditions, the cloned sheep showed excellent climatic and ecological adaptability. In extreme temperature conditions ranging from -30 to 40°C, the cloned sheep maintained acceptable body condition and behaved as other sheep. (2) The cloned sheep quickly adapted from a herd feeding strategy to the harsh environment and quickly exhibited a grazing regimen as other free-grazing sheep. (3) The cloned sheep exhibited free-grazing patterns and social behavior as other sheep. (4) The cloned sheep in the harsh environment thrived and produced healthy lambs. Overall, the cloned Dorper sheep exhibited excellent ecological adaptation, which is an important consideration for breeding meat sheep by cloning. The Dorper sheep readily adapted to the free-grazing conditions on the Mongolian plateau grassland, which attests to their ability to withstand harsh environmental conditions.

关键词: somatic cell nuclear transfer     free-grazing synchronization     Dorper sheep     cloned animal ecology    

迈向L5级自动驾驶汽车的发展原则 Article

王建强, 黄荷叶, 李克强, 李骏

《工程(英文)》 2021年 第7卷 第9期   页码 1313-1325 doi: 10.1016/j.eng.2020.10.018

摘要:

自动驾驶汽车的快速发展给现有交通出行方式带来了全新面貌和潜在挑战。目前,L3 级及以下驾驶辅助系统已经量产,L4 级在特定场景下的一些应用也逐步开发,通过逐渐提高车辆的自动化、智能化程度来不断向完全自动驾驶发展。然而,针对L5 级自动驾驶汽车的发展思路始终未明确,而现有针对L0~L4级自动驾驶发展过程的研发方式主要基于任务驱动来进行特定场景下的功能开发,难以揭示高等级自动驾驶汽车所需解决问题的本质逻辑和物理机制,进而阻碍了迈向L5 级自动驾驶的途径。本文通过探索高等级自动驾驶系统背后的物理机制,并从驾驶的本质出发,采用推理演绎方式,提出“大脑-小脑-器官”协调平衡框架,基于“乌鸦推理+鹦鹉学舌”的混合模式,探索“自主学习+先验知识”的研究范式,实现自动驾驶汽车“自学习、自适应、自超越”特性。从系统、统一、均衡的角度出发,基于最小作用量原理和统一安全场思想,旨在为高等级自动驾驶汽车,尤其是L5 级自动驾驶的研发提供一种全新的研发思路与有效途径。

关键词: 自动驾驶汽车     最小作用量原理     行车安全场     自主学习     基础范式    

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿(英文)》 2015年 第16卷 第2期   页码 166-172 doi: 10.1631/FITEE.1400183

摘要: This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词: Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration

Kang Yuan,Yanjun Huang,Shuo Yang,Zewei Zhou,Yulei Wang,Dongpu Cao,Hong Chen,

《工程(英文)》 doi: 10.1016/j.eng.2023.03.018

摘要: Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment. This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data- and model-driven method. First, a data-driven decision-making module based on deep reinforcement learning (DRL) is developed to pursue a rational driving performance as much as possible. Then, model predictive control (MPC) is employed to execute both longitudinal and lateral motion planning tasks. Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements. Finally, two principles of safety and rationality for the self-evolution of autonomous driving are proposed. A motion envelope is established and embedded into a rational exploration and exploitation scheme, which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent. Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted, and the results show that the proposed online-evolution framework is able to generate safer, more rational, and more efficient driving action in a real-world environment.

关键词: Autonomous driving     Decision-making     Motion planning     Deep reinforcement learning     Model predictive control    

An autonomous system for thermal convection of viscoelastic fluids in a porous layer using a thermal

Qi WEI, Xiaohui ZHANG

《能源前沿(英文)》 2010年 第4卷 第4期   页码 507-516 doi: 10.1007/s11708-010-0017-x

摘要: Thermal convection of viscoelastic fluids saturating a horizontal porous layer heated from below is analyzed using a thermal nonequilibrium model to take account of the interphase heat transfer between the fluid and the solid. The viscoelastic character of the flow is considered by a modified Darcy’s law. An autonomous system with five differential equations is deduced by applying the truncated Galerkin expansion to the momentum and heat transfer equations. The effects of interphase heat transfer on the thermal convection of viscoelastic fluids in a porous medium are analyzed and discussed. The results show that the weak interphase heat transfer tends to stabilize the steady convection.

关键词: thermal convection     porous media     viscoelastic fluid     thermal nonequilibrium model    

标题 作者 时间 类型 操作

Current situation and development of wind power in China

BAO Nengsheng, NI Weidou

期刊论文

Characteristics and Influencing Factors of Microplastics in Snow in the Inner Mongolia Plateau, China

Hongwei Yu,Junrong Shao,Huawei Jia,Diga Gang,Baiwen Ma,Chengzhi Hu,

期刊论文

mechanisms of desertification process in the Horqin Sandy Land-a case study in Zhalute Banner, Inner Mongolia

TANG Haiping, CHEN Yufu, LI Xinyu

期刊论文

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

期刊论文

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

期刊论文

Assessment of metals in dry-toilet collected matters from suburban areas of Ulaanbaatar, Mongolia, using

Xuan LIU,Zifu LI,Eric BOSC,Heinz-Peter MANG

期刊论文

自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

期刊论文

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

期刊论文

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

Xiangkun He,Wenhui Huang,Chen Lv,

期刊论文

The ecological adaptability of cloned sheep to free-grazing in the Tengger Desert of Inner Mongolia,

Xinxin LI,Huijuan WANG,Guanghua SU,Zhuying WEI,Chunling BAI,Wuni-MENGHE,Yanhui HOU,Changqing YU,Shorgan BOU,Guangpeng LI

期刊论文

迈向L5级自动驾驶汽车的发展原则

王建强, 黄荷叶, 李克强, 李骏

期刊论文

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

期刊论文

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration

Kang Yuan,Yanjun Huang,Shuo Yang,Zewei Zhou,Yulei Wang,Dongpu Cao,Hong Chen,

期刊论文

An autonomous system for thermal convection of viscoelastic fluids in a porous layer using a thermal

Qi WEI, Xiaohui ZHANG

期刊论文