基于神经网络的无人无缆水下机器人运动建模与控制技术研究

对自主型水下机器人（ＡＵＶ）神经网络运动模型的结构进行了理论分析和探讨,提出了非完全回归型神经网络、增加积分层的输出层结构及相应的分步式学习方法。对ＡＵＶ运动过程中目标运动路径和目标运动速度的同时跟踪控制进行了系统研究。提出了由主控网络和伴随网络构成的神经网络控制器结构,给出了通过计算机模拟来生成教师样本的方法,提出了预测控制的思想。计算机仿真及水下机器人“Ｔｗｉｎ－Ｂｕｒｇｅｒ”的水池实验结果验证了本文所提出的建模方法和跟踪控制方法的有效性和可行性。     

Optimizing the locations of electric taxi charging stations: A spatial–temporal demand coverage approach

Vehicle electrification is a promising approach towards attaining green transportation. However, the absence of charging stations limits the penetration of electric vehicles. Current approaches for optimizing the locations of charging stations suffer from challenges associated with spatial–temporal dynamic travel demands and the lengthy period required for the charging process. The present article uses the electric taxi (ET) as an example to develop a spatial–temporal demand coverage approach for optimizing the placement of ET charging stations in the space–time context. To this end, public taxi demands with spatial and temporal attributes are extracted from massive taxi GPS data. The cyclical interactions between taxi demands, ETs, and charging stations are modeled with a spatial–temporal path tool. A location model is developed to maximize the level of ET service on the road network and the level of charging service at the stations under spatial and temporal constraints such as the ET range, the charging time, and the capacity of charging stations. The reduced carbon emission generated by used ETs with located charging stations is also evaluated. An experiment conducted in Shenzhen, China demonstrates that the proposed approach not only exhibits good performance in determining ET charging station locations by considering temporal attributes, but also achieves a high quality trade-off between the levels of ET service and charging service. The proposed approach and obtained results help the decision-making of urban ET charging station siting.     

车辆侧翻的运动力学分析及预防措施

车辆转弯发生侧翻是最常见、最严重的交通事故之一。对车辆转弯的4种运动状态进行了力学分析，对“车轮下的奇迹”进行科学的压力测算，提出了防止车辆侧翻的具体措施。     

丰田燃料电池汽车Mirai技术分析

燃料电池汽车因具有零排放、续驶里程长、燃料加注快和噪声低等优势,引起了国内外汽车产商的广泛关注,将燃料电池新能源汽车作为研发的重点,并推出了一些量产的燃料电池汽车。基于丰田Mirai燃料电池汽车,对其技术原理和核心总成部件进行了综述分析,并对燃料电池汽车的发展方向和关键技术问题进行了思考和建议,为读者提供了有益的参考和借鉴。     

衬砌脱空雷达波数值模拟与定量解释

地质雷达是隧道衬砌脱空病害检测主要方法,常规探测理论是以菲涅尔带半径为最终空间分辨率,小于该半径的脱空不能识别,而大于该半径的脱空在定量解释上也存在困难。针对隧道脱空检测常用900 MHz天线,采用时域有限差分对不同脱空量的模型进行雷达波数字模拟计算,并合成雷达记录剖面。在分析脱空区域顶、底反射叠加波形特征及振幅变化的基础上,给出不同脱空量模型的波形双峰极值点幅度变化规律,提出基于极值点振幅比反演脱空量的解释策略,并给出反演结果的拟合算法。该策略不仅为脱空区脱空量分析提供一条途经,同时为地质雷达在脱空定量解释方面提供有效的技术手段。     

纯电动汽车动力电池降温性能研究

为了更好地优化纯电动汽车动力电池系统的加热策略,以磷酸铁锂电池包为研究对象,测试其在3种不同环境温度下的电池降温性能,结合实际环境的影响,建立电池降温速率计算模型并通过测试验证。     

Optimal selection of suspension parameters in large scale vehicle models

Optimum values are selected for the suspension damping and stiffness parameters of complex car models, subjected to road excitation, by applying suitable numerical methodologies. These models result from a detailed finite-element discretisation and possess a relatively large number of degrees of freedom. They also involve strongly nonlinear characteristics, due mostly to large rigid body rotation of some of their components and the properties of the connection elements. First, attention is focused on gaining some insight into the dynamics of the mechanical models examined, resulting when the vehicle passes over roads involving typical geometric profiles. Then, the emphasis is shifted to presenting results obtained by applying appropriate optimisation methodologies. For this purpose, three classes of design criteria are first set up, referring to passenger ride comfort, suspension travel and car road holding and yielding the most important suspension stiffness and damping parameters. Originally, the optimisation is performed by forming a composite cost function and employing a single-objective optimisation method. Since the design criteria are conflicting, a multi-objective optimisation methodology is also set up and applied subsequently.     

A combined use of phase plane and handling diagram method to study the influence of tyre and vehicle characteristics on stability

This paper deals with in-curve vehicle lateral behaviour and is aimed to find out which vehicle physical characteristics affect significantly its stability. Two different analytical methods, one numerical (phase plane) and the other graphical (handling diagram) are discussed. The numerical model refers to the complete quadricycle, while the graphical one refers to a bicycle model. Both models take into account lateral load transfers and nonlinear Pacejka tyre–road interactions. The influence of centre of mass longitudinal position, tyre cornering stiffness and front/rear roll stiffness ratio on vehicle stability are analysed. The presented results are in good agreement with theoretical expectations about the above parameters influence, and show how some physical characteristics behave as saddle-node bifurcation parameters.     

汽车电子技术的现状与展望

简述汽车电子技术应用的分类，总结其特点与要求，并概述我国汽车电子产业的现状．展望汽车电子技术的发展趋势。