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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

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Agriculture Green Development in China and the UK: common objectives and converging policy pathways

Yuelai LU, David NORSE, David POWLSON

《农业科学与工程前沿（英文）》 2020年第7卷第1期页码 98-105 doi: 10.15302/J-FASE-2019298

摘要：

This paper has three aims. First, to examine how the negative environmental consequences of intensive agriculture have driven China and the UK to shift away from narrowly focused farm output policies and adopt more holistic green development pathways. Second, to explore the policy objectives they have in common. Third, to assess the numerous opportunities for joint research and knowledge sharing through the Sustainable Agriculture Innovation Network and other existing institutional mechanisms. The intensification of agricultural production in the UK started several decades earlier than in China as did the negative environmental consequences of the farm practices. However, their strategies and policies for sustainable intensification and green development have much in common. These are set out in two main documents: the Chinese State Council guidelines for green agriculture and the UK Department for Environment, Food and Rural Affairs 25 Year Environment Plan. There are substantial mutual advantages from greater collaboration on problem identification and monitoring; the development of appropriate technological and management responses and the formulation of sound policies. To achieve this potential, it is recommended that further thought be given to how best to bring together all of the key stakeholders along the whole food chain.

关键词： Agriculture Green Development China policy UK

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M-LFM: a multi-level fusion modeling method for shape−performance integrated digital twin of complex

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0708-0

摘要： As a virtual representation of a specific physical asset, the digital twin has great potential for realizing the life cycle maintenance management of a dynamic system. Nevertheless, the dynamic stress concentration is generated since the state of the dynamic system changes over time. This generation of dynamic stress concentration has hindered the exploitation of the digital twin to reflect the dynamic behaviors of systems in practical engineering applications. In this context, this paper is interested in achieving real-time performance prediction of dynamic systems by developing a new digital twin framework that includes simulation data, measuring data, multi-level fusion modeling (M-LFM), visualization techniques, and fatigue analysis. To leverage its capacity, the M-LFM method combines the advantages of different surrogate models and integrates simulation and measured data, which can improve the prediction accuracy of dynamic stress concentration. A telescopic boom crane is used as an example to verify the proposed framework for stress prediction and fatigue analysis of the complex dynamic system. The results show that the M-LFM method has better performance in the computational efficiency and calculation accuracy of the stress prediction compared with the polynomial response surface method and the kriging method. In other words, the proposed framework can leverage the advantages of digital twins in a dynamic system: damage monitoring, safety assessment, and other aspects and then promote the development of digital twins in industrial fields.

关键词： shape−performance integrated digital twin (SPI-DT) multi-level fusion modeling (M-LFM) surrogate model telescopic boom crane data fusion

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Multi-effect anthraquinone-based polyimide enclosed SnO/reduced graphene oxide composite as high-performance

《化学科学与工程前沿（英文）》 2023年第17卷第9期页码 1231-1243 doi: 10.1007/s11705-023-2306-z

摘要： The cycling stability of SnO₂ anode as lithium-ion battery is poor due to volume expansion. Polyimide coatings can effectively confine the expansion of SnO₂. However, linear polyimides are easily dissolved in ester electrolytes and their carbonyls is not fully utilized during charging/discharging process. Herein, the SnO₂ enclosed with anthraquinone-based polyimide/reduced graphene oxide composite was prepared by self-assembly. Carbonyls from the anthraquinone unit provide fully available active sites to react with Li⁺, improving the utilization of carbonyl in the polyimide. More exposed carbonyl active sites promote the conversion of Sn to SnO₂ with electrode gradual activation, leading to an increase in reversible capacity during the charge/discharge cycle. In addition, the introduction of reduced graphene oxide cannot only improve the stability of polyimide in the electrolyte, but also build fast ion and electron transport channels for composite electrodes. Due to the multiple effects of anthraquinone-based polyimide and the synergistic effect of reducing graphene oxide, the composite anode exhibits a maximum reversible capacity of 1266 mAh·g⁻¹ at 0.25 A·g⁻¹, and maintains an excellent specific capacity of 983 mAh·g⁻¹ after 200 cycles. This work provides a new strategy for the synergistic modification of SnO₂.

关键词： anthraquinone-based polyimide multi-effect tin dioxide reduced graphene oxide lithium-ion battery

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Assessing artificial neural network performance for predicting interlayer conditions and layer modulusof multi-layered flexible pavement

Lingyun YOU, Kezhen YAN, Nengyuan LIU

《结构与土木工程前沿（英文）》 2020年第14卷第2期页码 487-500 doi: 10.1007/s11709-020-0609-4

摘要： The objective of this study is to evaluate the performance of the artificial neural network (ANN) approach for predicting interlayer conditions and layer modulus of a multi-layered flexible pavement structure. To achieve this goal, two ANN based back-calculation models were proposed to predict the interlayer conditions and layer modulus of the pavement structure. The corresponding database built with ANSYS based finite element method computations for four types of a structure subjected to falling weight deflectometer load. In addition, two proposed ANN models were verified by comparing the results of ANN models with the results of PADAL and double multiple regression models. The measured pavement deflection basin data was used for the verifications. The comparing results concluded that there are no significant differences between the results estimated by ANN and double multiple regression models. PADAL modeling results were not accurate due to the inability to reflect the real pavement structure because pavement structure was not completely continuous. The prediction and verification results concluded that the proposed back-calculation model developed with ANN could be used to accurately predict layer modulus and interlayer conditions. In addition, the back-calculation model avoided the back-calculation errors by considering the interlayer condition, which was barely considered by former models reported in the published studies.

关键词： asphalt pavement interlayer conditions finite element method artificial neural network back-calculation

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Exploring the mechanical properties of steel- and polypropylene-reinforced ultra-high-performance concretethrough numerical analyses and experimental multi-target digital image correlation

《结构与土木工程前沿（英文）》页码 1228-1248 doi: 10.1007/s11709-023-0931-8

摘要： This study presents experimental and numerical investigations on the mechanical properties of ultra-high-performance concrete (UHPC) reinforced with single and hybrid micro- and macro-steel and polypropylene fibers. For this purpose, a series of cubic, cylindrical, dog-bone, and prismatic beam specimens (total fiber by volume = 1%, and 2%) were tested under compressive, tensile, and flexural loadings. A method, namely multi-target digital image correlation (MT-DIC) was used to monitor the displacement and deflection values. The obtained experimental data were subsequently used to discuss influential parameters, i.e., flexural strength, tensile strength, size effect, etc. Numerical analyses were also carried out using finite element software to account for the sensitivity of different parameters. Furthermore, nonlinear regression analyses were conducted to obtain the flexural load-deflection curves. The results showed that the MT-DIC method was capable of estimating the tensile and flexural responses as well as the location of the crack with high accuracy. In addition, the regression analyses showed excellent consistency with the experimental results, with correlation coefficients close to unity. Furthermore, size-effect modeling revealed that modified Bazant theory yielded the best estimation of the size-effect phenomenon compared to other models.

关键词： UHPC MT-DIC flexural behavior tensile behavior steel fiber polypropylene fiber

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Multi-objective optimization of combustion, performance and emission parameters in a jatropha biodiesel

Sunil Dhingra,Gian Bhushan,Kashyap Kumar Dubey

《机械工程前沿（英文）》 2014年第9卷第1期页码 81-94 doi: 10.1007/s11465-014-0287-9

摘要：

The present work studies and identifies the different variables that affect the output parameters involved in a single cylinder direct injection compression ignition (CI) engine using jatropha biodiesel. Response surface methodology based on Central composite design (CCD) is used to design the experiments. Mathematical models are developed for combustion parameters (Brake specific fuel consumption (BSFC) and peak cylinder pressure (P_max)), performance parameter brake thermal efficiency (BTE) and emission parameters (CO, NO_x, unburnt HC and smoke) using regression techniques. These regression equations are further utilized for simultaneous optimization of combustion (BSFC, P_max), performance (BTE) and emission (CO, NO_x, HC, smoke) parameters. As the objective is to maximize BTE and minimize BSFC, P_max, CO, NO_x, HC, smoke, a multi-objective optimization problem is formulated. Non-dominated sorting genetic algorithm-II is used in predicting the Pareto optimal sets of solution. Experiments are performed at suitable optimal solutions for predicting the combustion, performance and emission parameters to check the adequacy of the proposed model. The Pareto optimal sets of solution can be used as guidelines for the end users to select optimal combination of engine output and emission parameters depending upon their own requirements.

关键词： jatropha biodiesel fuel properties response surface methodology multi-objective optimization non-dominated sorting genetic algorithm-II

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municipal solid waste comprehensive treatment plants using a novel three-stage integrated biofilter: Performance

《环境科学与工程前沿（英文）》 2021年第15卷第3期 doi: 10.1007/s11783-021-1421-7

摘要：

A novel three-stage integrated biofilter (TSIBF) composed of acidophilic bacteria reaction segment (ABRS), fungal reaction segment (FRS) and heterotrophic bacteria reaction segment (HBRS) was constructed for the treatment of odors and volatile organic compounds (VOCs)from municipal solid waste (MSW) comprehensive treatment plants. The performance, counts of predominant microorganisms, and bioaerosol emissions of a full-scale TSIBF system were studied. High and stable removal efficiencies of hydrogen sulfide, ammonia and VOCs could be achieved with the TSIBF system, and the emissions of culturable heterotrophic bacteria, fungi and acidophilic sulfur bacteria were relatively low.

关键词： Biofiltration Multi-stage biofilter Volatile organic compounds Waste gas treatment Bioaerosol emissions

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多星联合定位理论性能分析 Article

Ding WANG,Shuai WEI,Ying WU

《信息与电子工程前沿（英文）》 2016年第17卷第12期页码 1360-1387 doi: 10.1631/FITEE.1500285

摘要：为利用卫星束确定地球表面目标的位置信息具有很多重要应用，例如导航，监控，遥感等。然而，在实际条件下，会有很多因素影响卫星定位系统的精度，比如说信号参数的测量误差，卫星位置误差以及校正源的位置误差。本文基于时差观测量系统分析了多星联合定位的理论性能。首先在基于目标高程约束和高斯误差的假设下，推导四种定位场景下目标位置估计方差的克拉美罗界。第一种场景仅考虑时差观测量误差，并且假设卫星位置精确已知；第二种场景同时考虑时差观测量误差和卫星位置误差；第三种场景假设存在若干位置信息精确已知的校正源，其用于消除卫星位置的影响；第四种场景则假设校正源位置也存在测量误差。此外，文中基于一阶扰动分析和拉格朗日方法推导了两种情形下的定位均方根误差的表达式。第一种情形是假设卫星位置精确已知但实际上却含有误差；第二种情形则是假设校正源位置精确已知但实际上却含有误差。仿真结果验证了文中理论分析的有效性。

关键词：卫星定位；时差；克拉美罗界；校正源；性能分析

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邵韦平、束伟农：基于高性能目标的整体设计思想与实践（2019年10月17日）

邵韦平(高级职称)

2021年01月20日

关键词：建筑科学

Improving performance portability for GPU-specific OpenCL kernels onmulti-core/many-coreCPUs by analysis-based

Mei WEN,Da-fei HUANG,Chang-qing XUN,Dong CHEN

《信息与电子工程前沿（英文）》 2015年第16卷第11期页码 899-916 doi: 10.1631/FITEE.1500032

摘要： OpenCL is an open heterogeneous programming framework. Although OpenCL programs are functionally portable, they do not provide performance portability, so code transformation often plays an irreplaceable role. When adapting GPU-specific OpenCL kernels to run on multi-core/many-core CPUs, coarsening the thread granularity is necessary and thus has been extensively used. However, locality concerns exposed in GPU-specific OpenCL code are usually inherited without analysis, which may give side-effects on the CPU performance. Typically, the use of OpenCL’s local memory on multi-core/many-core CPUs may lead to an opposite performance effect, because local-memory arrays no longer match well with the hardware and the associated synchronizations are costly. To solve this dilemma, we actively analyze the memory access patterns using array-access descriptors derived from GPU-specific kernels, which can thus be adapted for CPUs by (1) removing all the unwanted local-memory arrays together with the obsolete barrier statements and (2) optimizing the coalesced kernel code with vectorization and locality re-exploitation. Moreover, we have developed an automated tool chain that makes this transformation of GPU-specific OpenCL kernels into a CPU-friendly form, which is accompanied with a scheduler that forms a new OpenCL runtime. Experiments show that the automated transformation can improve OpenCL kernel performance on a multi-core CPU by an average factor of 3.24. Satisfactory performance improvements are also achieved on Intel’s many-integrated-core coprocessor. The resultant performance on both architectures is better than or comparable with the corresponding OpenMP performance.

关键词： OpenCL Performance portability Multi-core/many-core CPU Analysis-based transformation

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Development trend of urban design in “digital age”: Pan-dimensionality and individual-ubiquity

《结构与土木工程前沿（英文）》 2021年第15卷第3期页码 569-575 doi: 10.1007/s11709-021-0735-7

摘要： The wave of “digital age” featuring digital information is coming. Digital technology is profoundly changing the societal development direction and evolution paths. It also has significant bearing on production modes, social interactions and lifestyles. With regard to urban design, a system of knowledge about the creation and adaptation of material space forms that integrate humanities, art, technology and materials, digital technology has provided it with a brand-new and revolutionary scientific impetus for its evolution. The result of this evolution is “digital urban design paradigm based on human-computer interaction”, i.e., the urban development is moving toward “pan-dimensionality” and “individual ubiquity”. The future of urban design will construct a new approach to urban research and engineering, which is more complex, capable of accommodating and compatible with multiple goals of “instrumental rationality” and “value rationality”. Such a new approach shall be led by the probabilistic theory of “gray scale thinking”, reflecting quaternary synergetic view of “scientific rationality, ecological rationality, cultural rationality and technical rationality” to realize the cognitive progress of “engineering for the benefit of mankind”.

关键词： digital age urban design multiple objectives human-computer interaction pan-dimensionality individual-ubiquity

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考虑设计参数扰动的芯片多元参数成品率预测算法 Article

Xin LI,Jin SUN,Fu XIAO

《信息与电子工程前沿（英文）》 2016年第17卷第12期页码 1344-1359 doi: 10.1631/FITEE.1601225

摘要：随着芯片制造工艺的进步，工艺参数、供电电压及片上温度（Process, voltage, and temperature, PVT）等设计参数扰动已成为芯片设计过程的棘手问题，其所产生的性能指标间相关性将导致芯片参数成品率显著下降。但是，当前芯片参数成品率预测算法主要局限于单一性能指标成品率预测或对多个单性能指标成品率进行均衡优化，而不能同时针对多个性能指标约束进行多元参数成品率预测，易造成参数成品率精度缺失。基于以上问题，本文将多个性能指标同时作为约束条件，提出一种芯片多元参数成品率预测方法。该方法首先考虑PVT参数扰动，利用自适应弹性网（Adaptive elastic net, AEN）对芯片性能指标进行建模。然后，基于乘法定理及马尔科夫链蒙特卡罗法，通过求解累积分布函数（Cumulative distribution function, CDF）对单一性能指标的芯片参数成品率进行预测。最后，同时考虑多个芯片性能指标约束，根据Copula方法准确预测芯片多元参数成品率。实验结果表明，本文方法可以在指定性能指标约束下对芯片多元参数成品率进行有效预测，并可为芯片设计人员提供任意性能指标约束下的多元参数成品率预测曲面。

关键词：成品率预测；参数扰动；多元参数成品率；性能建模；稀疏表示

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基于元胞自动机的多自主体人员行为模型及其在性能化设计中的应用

方伟峰,杨立中,黄锐

《中国工程科学》 2003年第5卷第3期页码 67-71

摘要：

目前性能化设计规范一个最主要的特点是从强调财产保护转变到强调生命安全保护，因此对建筑物内人员行为特征和运动规律的研究正越来越受到人们的重视。元胞自动机模型在交通流研究中的应用已经开展多年并取得了很多有用的成果，但涉及人的行为特征的研究往往十分复杂，在这方面利用自主体来研究具有较大的优势。给出的模型结合了这两方面各自的优势，是在元胞自动机交通流、行人流基本框架上建立起的多自主体人员行为模型，它对评估建筑物的设计方案具有很好的参考作用。

关键词：元胞自动机模型多自主体人员行为性能化设计

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多径环境下脉冲超宽带系统的传输性能分析

林迪,沙学军,吴宣利,张乃通

《中国工程科学》 2009年第11卷第2期页码 75-81

摘要：

为分析多径环境下脉冲超宽带跳时多址系统的传输性能，通过研究IEEE802.4.53a工作组给出的多径信道参考模型，提出了一个同时存在符号间干扰、符号内多径干扰和多用户干扰的跳时超宽带系统相干解调的性能分析模型，分别得到了符号内多径干扰、符号间干扰和多用户干扰的方差，且推导得到了系统的误比特率计算公式，并用计算机仿真验证了公式的有效性。通过计算相邻多径的平均间隔，论证了符号内脉冲自身多径的干扰是不可忽略的。在不同的信道环境下，以一定误码率要求作为衡量标准，比较了单用户系统中仅考虑符号间干扰和同时考虑符号内多径干扰及符号间干扰的用户最高传输速率，并分析了多用户系统中接入不同用户数时对应的平均传输速率的上限。

关键词：超宽带符号内多径干扰符号间干扰多用户干扰传输性能分析模型

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标题作者时间类型操作

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

Agriculture Green Development in China and the UK: common objectives and converging policy pathways

Yuelai LU, David NORSE, David POWLSON

期刊论文

M-LFM: a multi-level fusion modeling method for shape−performance integrated digital twin of complex

期刊论文

Multi-effect anthraquinone-based polyimide enclosed SnO/reduced graphene oxide composite as high-performance

期刊论文

Assessing artificial neural network performance for predicting interlayer conditions and layer modulusof multi-layered flexible pavement

Lingyun YOU, Kezhen YAN, Nengyuan LIU

期刊论文

Exploring the mechanical properties of steel- and polypropylene-reinforced ultra-high-performance concretethrough numerical analyses and experimental multi-target digital image correlation

期刊论文

Multi-objective optimization of combustion, performance and emission parameters in a jatropha biodiesel

Sunil Dhingra,Gian Bhushan,Kashyap Kumar Dubey

期刊论文

municipal solid waste comprehensive treatment plants using a novel three-stage integrated biofilter: Performance

期刊论文

多星联合定位理论性能分析

Ding WANG,Shuai WEI,Ying WU

期刊论文

邵韦平、束伟农：基于高性能目标的整体设计思想与实践（2019年10月17日）

邵韦平(高级职称)

2021年01月20日