复杂障碍物环境下基于转向约束的智能汽车路径规划方法研究

针对传统路径规划算法中所生成路径不平滑、不安全、生成速度慢等问题,利用双向快速搜索随机树(Bi-RRT)对无人驾驶中的路径规划算法进行了研究.首先利用车辆自身的转向约束构建满足车辆运动学要求的节点扩展空间,随后采用目标偏置采样策略以及双向搜索大大提高了RRT算法的规划速度,同时使用K-D树结合最大曲率约束定义最邻近点,最后对生成的路径剪枝并进行安全碰撞检测和贝塞尔曲线平滑处理,使之更符合车辆的动力学特性.研究结果表明:改进后的Bi-RRT算法的在搜索速度和算法开销上都有显著的提升,生成的路径也更加平缓,证明了该算法的有效性、实用性和适应性.     

基于波速衰减的混凝土损伤声发射定位优化算法试验研究

为研究声波在混凝土内部的衰减规律并提高声发射定位精度,对混凝土梁进行波速衰减试验,计算波速随距离的变化并给出波速随距离的衰减公式,建立基于波速衰减的声发射源定位穷举算法,进行了三点加载模式下的水泥混凝土小梁损伤断裂试验,采用声发射采集仪采集各项声发射参数,利用基于波速衰减的穷举定位算法对加载过程中损伤点进行定位,并与原有恒定波速的损伤点定位算法进行对比.研究结果表明:标准声发射信号波速在混凝土内部随距离增大衰减现象较为严重,初始的基准速度为4745 m/s,在传播600 mm时已降至2124 m/s;在脆性破坏阶段,声发射优化算法定位点数量由4个上升至16个,占比由17.4％上升至70.0％,精度较时差定位法明显提高,对混凝土损伤的定位与检测具有重要意义.     

Operating strategy for gasoline/diesel dual-fuel premixed compression ignition in a light-duty diesel engine

Environmental problems have become a major issue for diesel engine development. Although emission aftertreatment systems such as DPFs (diesel particulate filters), LNTs (lean NOx traps) and SCR (selective catalytic reduction) have been used in diesel vehicles, the manufacturing cost increase caused by this equipment can be hard to be control. Thus, it is better for engine emissions to be reduced by improving the combustion system. A dual-fuel combustion concept is a recommended method to improve a combustion system and effectively reduce emissions. Low reactivity fuel including gasoline and natural gas, which was supplied to the intake port by the FPI (port fuel injector), improved the premixed air-fuel mixture conditions before ignition. Additionally, a small amount of high reactivity fuel, in this case diesel, was injected into the cylinder directly as an ignition source. This dual-fuel combustion promises lower levels of NOx (nitrogen oxide) and PM (particulate matter) emissions due to the elimination of local rich regions in the cylinder. However, it is challenging to control the dual-fuel combustion because the combustion stability and efficiency deteriorate due to the lack of ignition source and reactivity. Thus, it is important to establish an appropriate dual-fuel operating strategy to achieve stable, high efficiency and low emission operation. As a result of this research, a detailed operating method of dual-fuel PCI (premixed compression ignition) was introduced in detail at a low speed and low load condition by using a single cylinder diesel engine. Engine operating parameters including the gasoline ratio, a diesel injection strategy consisting of multiple injectors and timing, the EGR (exhaust gas recirculation) rate and the intake pressure were controlled to satisfy the low ISNOx (indicated specific NOx) and PM emissions levels (0.21 g/kWh and 0.1 FSN, 0.040 g/kWh, respectively) as per the EURO-6 regulation without any after-treatment systems. The results emphasized that a well-constructed dual-fuel PCI operating strategy showed low NOx and PM emissions and high GIE (gross indicated fuel conversion efficiency) with excellent combustion stability.     

Three-dimensional crush scanning methods for reconstruction of vehicle collision accidents

This paper presents efficient 3-D collision crush modelling methods utilizing photogrammetry and 3-D scanner for reconstruction analysis of vehicle collision accident. Photogrammetry for 3-D collision crush modelling was executed in two methods: Indirect photogrammetry utilizing small amount of preexisting photographic data, and direct photogrammetry utilizing large amount of photographic data collected for the purpose of 3-D modelling. With the 3-D scanner, it was possible to create a more precise 3-D crush model than the photogrammetry method. Using these 3-D crush models constructed with the mentioned methods, several applications in accident reconstruction analysis are presented, based on construction methods and characteristics of the resulting crush model. Indirect photogrammetry produced a 3-D model capable of providing approximate shape of crush with only 2 ~ 3 photos of the damaged vehicle, and made it possible to measure the crush volume for estimating the collision velocity. With direct photogrammetry or 3-D scanner, moving and rotating elaborately built 3-D vehicle deformation models makes it possible to precisely reconstruct the actual collision configuration. Additionally, by elaborately modelling the vehicle and its fragments and then putting them together, it is possible to construct a post-collision model of the whole vehicle.     

发动机轴承故障诊断方法的研究

针对EMD（Empirical Mode Decomposition）方法中存在的端点效应和IMF（Intrinsic Mode Function）虚假分量过多的问题,提出了基于互相关的EMD方法。首先,对非平稳性信号进行互相关延拓消除端点效应;其次,对消除端点效应的信号进行EMD分解,并将分解后的IMF与原信号作互相关,保留与原信号最相关的IMF;最后,作出信号的Hilbert边际谱,识别信号的频域特征。仿真结果表明该方法能够有效地克服端点效应,分离出真实IMF。将其应用于船舶发动机滚动轴承故障诊断中,能有效地识别出故障特征。     

模数式大位移伸缩缝智能监测

通过对模数式大位移伸缩缝的构造特点分析和运营现状调研,橡胶类部件性能劣化引起变形协调系统与中梁稳定系统的失效,最终导致竖向力传力系统损坏,是伸缩缝破坏的主要原因。通过对中梁各缝宽的监控及分析能够有效反映伸缩缝易损构件的使用状况,利用远程技术数据采集,经分析后做异常缝宽的检修预警,能够有效避免伸缩缝的结构性损坏。     

宝应船闸分散式输水系统设计

分散输水系统具有缩短闸室长度、减少闸室灌水时间、改善闸室内船舶停靠条件等优点。宝应船闸为中等水头船闸,采用长廊道分散输水系统,闸墙长廊道侧支孔出水,水流优于集中输水,放水开闸通航后运行情况良好。文中介绍宝应船闸分散输水系统的选择及布置,以及输水系统的设计计算,可为其他中等水头船闸输水系统设计提供参考。     

颈内动脉阻塞后再通对大鼠慢性脑缺血损伤的保护作用

目的通过建立慢性脑缺血动物模型,证实慢性脑缺血恢复血流可改善动物模型认知功能和神经细胞凋亡。方法经颈外动脉线栓法双侧颈内动脉阻塞术制备慢性脑缺血模型,并通过神经功能缺陷评分验证动物模型,恢复血流后用Morris水迷宫测试大鼠的空间学习能力和空间记忆能力,再将脑组织固定和染色,用HE染色和Nissl染色观察神经元数量变化情况,利用Fluoro-Jade C染色法特异性标记脑片中正在发生变性的神经元,观察阻断后及再通后变性的神经元数目的变化,通过观察双侧颈内动脉阻塞及再通后脑组织Bcl-2及Caspase 3的表达变化反映神经元的变性和丢失。结果双侧颈内动脉血流阻断能造成慢性脑缺血,引起神经元变性和死亡,导致大鼠感觉运动及空间学习记忆功能损害。脑血流的恢复能促进抗凋亡基因Bcl-2和Caspase 3的表达,从而逆转了慢性缺血对脑组织的损害,减缓了神经元的变性和丢失,有利于大鼠感觉运动和空间认知功能恢复。结论慢性脑缺血恢复血流可改善动物模型认知功能和神经细胞凋亡。     

船用推进变频器矢量控制的研究

本文对船用推进变频器矢量控制的原理进行了分析,给出了以数字信号处理器为核心的异步电机矢量控制系统的设计方法及软硬件的实现,同时还对空间矢量脉宽调制方式进行了理论分析.仿真和实验结果证明其有效性.