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Development and deep-sea exploration of the Haidou-1

Frontiers of Engineering Management   Pages 546-549 doi: 10.1007/s42524-023-0260-6

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

Keywords： hadal zone     autonomous and remotely-operated vehicle     integrated exploration operation     deep dive exceeding    

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From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12,   Pages 29-33

Abstract: brief introduction of the advances on the unmanned undersea vehicles the paper points out that the autonomousSIA started to be engaged in the research and development of the remotely operated tethered vehiclespaper gives a wide introduction of the critical characteristics and technical descriptions of the first remotelyoperated tethered vehicle “HR- 01” in China, the first autonomous underwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles     ROV     AUV     ocean engineer     ocean resources exploration    

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

Wenxuan CAO; Junjie LI

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 11,   Pages 1378-1396 doi: 10.1007/s11709-022-0855-8

Abstract: 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.

Keywords： underwater cracks     remote operated vehicle     image stitching     image segmentation     graph convolutional    

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

Xinbin WU; Junjie LI; Linlin WANG

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 5,   Pages 564-575 doi: 10.1007/s11709-022-0829-x

Abstract: The remotely operated vehicle (ROV) can detect such siltation.

Keywords： water conveyance tunnels     siltation images     remotely operated vehicles     deep learning     ensemble learning    

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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 4-4 doi: 10.1007/s11465-021-0660-4

Abstract: presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomousvehicles, 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 describeSideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulationconstraints, which can improve the path following quality for better ride comfort and road availability of autonomous

Keywords： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization    

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

Xiangkun He,Wenhui Huang,Chen Lv,

Engineering doi: 10.1016/j.eng.2023.10.005

Abstract: While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthinessof decision-making remains a substantial challenge in realizing autonomous driving.robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomousMoreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent duringThese results indicate that the autonomous driving agent can make trustworthy decisions and drastically

Keywords： Autonomous vehicle     Decision-making     Reinforcement learning     Adversarial attack     Safety guarantee    

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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,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVsConsidering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are

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

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Towards the Unified Principles for Level 5 Autonomous Vehicles Article

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Engineering 2021, Volume 7, Issue 9,   Pages 1313-1325 doi: 10.1016/j.eng.2020.10.018

Abstract:

The rapid advance of autonomous vehicles (AVs) has motivated new perspectives and potential challengesBy improving the automation level and vehicle intelligence, these systems
can be further advancedtowards fully autonomous driving.By exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essencemode relying on the crow inference and parrot imitation approach, we explore the research paradigm of autonomous

Keywords： Autonomous vehicle     Principle of least action     Driving safety field     Autonomous learning     Basic paradigm    

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Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques Review

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Engineering 2023, Volume 28, Issue 9,   Pages 26-48 doi: 10.1016/j.eng.2023.01.012

Abstract:

Through vehicle-to-vehicle (V2V) communication, autonomizinga vehicle platoon can significantly reduce the distance between vehicles, thereby reducing air resistanceThe gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic drivingfunctions, thereby permitting large-scale vehicle platoon scheduling and planning, which is essentialScheduling and planning are required in many aspects of vehicle platoon operation; here, we outline the

Keywords： Autonomous vehicle platoon     Autonomous driving     Connected and automated vehicles     Scheduling and planning    

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A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving Article

Jinxin Liu, Yugong Luo, Zhihua Zhong, Keqiang Li, Heye Huang, Hui Xiong

Engineering 2022, Volume 19, Issue 12,   Pages 228-239 doi: 10.1016/j.eng.2021.12.020

Abstract: long-term trajectory forecasting of surrounding vehicles is one of the indispensable preconditions for autonomousIn this paper, we propose an integrated probabilistic architecture for long-term vehicle trajectory predictionThe proposed DIM incorporates the basic traffic rules and multivariate vehicle motion information.develop a Gaussian process (GP)-based TPM, considering both the short-term prediction results of the vehicle

Keywords： Autonomous driving     Dynamic Bayesian network     Driving intention recognition     Gaussian process     Vehicle    

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Robust global route planning for an autonomous underwater vehicle in a stochastic environment Research Article

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11,   Pages 1658-1672 doi: 10.1631/FITEE.2200026

Abstract:

This paper describes a route planner that enables an to selectively complete part of the predetermined tasks in the operating ocean area when the local path cost is stochastic. The problem is formulated as a variant of the . Based on the (GA), we propose the greedy strategy based GA (GGA) which includes a novel rebirth operator that maps infeasible individuals into the feasible solution space during evolution to improve the efficiency of the optimization, and use a differential evolution planner for providing the deterministic local path cost. The uncertainty of the local path cost comes from unpredictable obstacles, measurement error, and trajectory tracking error. To improve the robustness of the planner in an uncertain environment, a sampling strategy for path evaluation is designed, and the cost of a certain route is obtained by multiple sampling from the probability density functions of local paths. Monte Carlo simulations are used to verify the superiority and effectiveness of the planner. The promising simulation results show that the proposed GGA outperforms its counterparts by 4.7%–24.6% in terms of total profit, and the sampling-based GGA route planner (S-GGARP) improves the average profit by 5.5% compared to the GGA route planner (GGARP).

Keywords： Autonomous underwater vehicle     Route planning     Genetic algorithm     Orienteering problem     Stochastic path    

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Current trends in the development of intelligent unmanned autonomous systems Review

Tao ZHANG,Qing LI,Chang-shui ZHANG,Hua-wei LIANG,Ping LI,Tian-miao WANG,Shuo LI,Yun-long ZHU,Cheng WU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 1,   Pages 68-85 doi: 10.1631/FITEE.1601650

Abstract: Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligenceThis paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing

Keywords： Intelligent unmanned autonomous system     Autonomous vehicle     Artificial intelligence     Robotics     Development    

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Autonomous Driving in the iCity—HD Maps as a Key Challenge of the Automotive Industry Perspective

Heiko G. Seif, Xiaolong Hu

Engineering 2016, Volume 2, Issue 2,   Pages 159-162 doi: 10.1016/J.ENG.2016.02.010

Abstract:

This article provides in-depth insights into the necessary technologies for automated driving in future cities. State of science is reflected from different perspectives such as in-car computing and data management, road side infrastructure, and cloud solutions. Especially the challenges for the application of HD maps as core technology for automated driving are depicted in this article.

Keywords： Autonomous driving     Traffic infrastructure     iCity     Car-to-X communication     Connected vehicle     HD maps    

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

Kuohung HSIAO, Yuhsun CHEN, Hongsen YAN,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 3,   Pages 279-288 doi: 10.1007/s11465-010-0101-2

Abstract: This work synthesizes the structures of the foot-operated silk-reeling mechanism, which was vaguely depicted

Keywords： 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

Frontiers in Energy 2017, Volume 11, Issue 4,   Pages 568-574 doi: 10.1007/s11708-017-0461-y

Abstract: 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.

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

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Title Author Date Type Operation

Development and deep-sea exploration of the Haidou-1

Journal Article

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Journal Article

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

Wenxuan CAO; Junjie LI

Journal Article

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

Xinbin WU; Junjie LI; Linlin WANG

Journal Article

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

Journal Article

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

Xiangkun He,Wenhui Huang,Chen Lv,

Journal Article

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,

Journal Article

Towards the Unified Principles for Level 5 Autonomous Vehicles

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Journal Article

Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Journal Article

A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving

Jinxin Liu, Yugong Luo, Zhihua Zhong, Keqiang Li, Heye Huang, Hui Xiong

Journal Article

Robust global route planning for an autonomous underwater vehicle in a stochastic environment

Jiaxin ZHANG, Meiqin LIU, Senlin ZHANG, Ronghao ZHENG

Journal Article

Current trends in the development of intelligent unmanned autonomous systems

Tao ZHANG,Qing LI,Chang-shui ZHANG,Hua-wei LIANG,Ping LI,Tian-miao WANG,Shuo LI,Yun-long ZHU,Cheng WU

Journal Article

Autonomous Driving in the iCity—HD Maps as a Key Challenge of the Automotive Industry

Heiko G. Seif, Xiaolong Hu

Journal Article

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

Kuohung HSIAO, Yuhsun CHEN, Hongsen YAN,

Journal Article

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

Journal Article