Ensuring Secure Platooning of Constrained Intelligent and Connected Vehicles Against Byzantine Attacks:A Distributed MPC Framework

This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings.

Adaptability evaluation of transportation system and urban development

Sixty indexes, ranging from social development and economy increasing to ecological protection and transportation system construction, are chosen to construct an index system of adaptability evaluation on transportation system and urban development. A synthesis model with nonlinear characteristic is proposed, and the corresponding procedure is presented based on an improved AHP model, which utilizes the SVD method to improve the required precision of matrix with acceptable consistency weight and detect and amend the significant elements via distance and proximity so as to improve the whole consistency. Taking Shandong Province for the case study, experimental results indicate that the adaptability degree of the system is in an increasing state, which provides robust and effective support for decision-makers working on a range of problems and in various circumstances.

End-to-End Joint Multi-Object Detection and Tracking for Intelligent Transportation Systems

Environment perception is one of the most critical technology of intelligent transportation systems(ITS).Motion interaction between multiple vehicles in ITS makes it important to perform multi-object tracking(MOT).However,most existing MOT algorithms follow the tracking-by-detection framework,which separates detection and tracking into two independent segments and limit the global efciency.Recently,a few algorithms have combined feature extraction into one network;however,the tracking portion continues to rely on data association,and requires com‑plex post-processing for life cycle management.Those methods do not combine detection and tracking efciently.This paper presents a novel network to realize joint multi-object detection and tracking in an end-to-end manner for ITS,named as global correlation network(GCNet).Unlike most object detection methods,GCNet introduces a global correlation layer for regression of absolute size and coordinates of bounding boxes,instead of ofsetting predictions.The pipeline of detection and tracking in GCNet is conceptually simple,and does not require compli‑cated tracking strategies such as non-maximum suppression and data association.GCNet was evaluated on a multivehicle tracking dataset,UA-DETRAC,demonstrating promising performance compared to state-of-the-art detectors and trackers.

Effects of Atmospheric Pressure on Developmental Characteristics and the Stability of Air Entraining Agent for Concrete

In order to ascertain the effects of atmospheric pressure on developmental characteristics and the stability of AEA(air-entraining agent)solution bubbles,AEA solution experiments and AEA solution bubble experiments were,respectively,conducted in Peking(50 m,101.2 kPa)and Lhasa(3,650 m,63.1 kPa).Surface tensions and inflection-point concentrations were tested based on AEA solutions,whilst developmental characteristics,thicknesses and elastic coefficients of liquid films were tested based on air bubbles of AEA solutions.The study involved three types of AEAs,which were TM-O,226A,and 226S.The experimental results show that initial sizes of TM-O,226A,and 226S are,respectively,increased by 43.5%,17.5%,and 3.8%.With the decrease of ambient pressure,the drainage rate and the drainage index of AEA solution bubbles increase.Interference experiments show that the liquid film thicknesses of all tested AEA solution bubbles are in micron scales.When the atmospheric pressure decreases from 101.2 to 63.1 kPa,the liquid film thicknesses of three types of AEA solutions decrease in various degrees;and film elasticities at critical thicknesses increase.Liquid film of 226S solution bubbles is the most stable,presenting as a minimum thickness variation.It should be noted that elastic coefficient of liquid film only represents the level at critical thickness,thus it can not be applied as the only evaluating indicator of bubble stability.For a type of AEA,factors affecting the stability of its bubbles under low atmospheric pressure include initial bubbles size,liquid film thickness,liquid film elasticity,ambient temperature,etc.

Micro-structure and Macro-performance:Surface Layer Evolution of Concrete under Long-term Exposure in Harsh Plateau Climate

We conducted a series tests on surface layers of plateau concrete at the ages of 180 and 540 days,including the most superficial cement paste,the 5 mm thick surface mortar,and the 50 mm thick surface concrete.Thermogravimetry and nitrogen absorption porosimetry on cement past,mercury intrusion porosimetry on mortar,and microhardness test on interface transition zone between mortar and coarse aggregate were conducted to evaluate the hydration degree and characterize the micro-structure.Whilst,tests for the rebound strength,abrasion resistance,and chloride ion impenetrability of concrete were conducted to assess the macro-performance.The experimental results show that,affected by the harsh plateau climate,outward surfaces have lower hydration degrees and worse pore structure than inward surfaces.As the hydration of concrete surface is ongoing after the age of 180 days,both the micro-structure and the macro-performance are continuously improved.In the long-term,either the orientation or the depth towards surface does not significantly affect concrete performance.Surface carbonation brings positive effects on mechanical properties but negative effects on the durability.Additionally,standard test result of chloride ion impenetrability is found significantly affected by the atmospheric pressure.For a same batch of concrete,charge passed in plateau regions is obviously lower than that in common regions.

Robust Platoon Control of Mixed Autonomous and Human-Driven Vehicles for Obstacle Collision Avoidance:A Cooperative Sensing-Based Adaptive Model Predictive Control Approach

Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.

Bird’s-eye view of recycled solid wastes in road engineering

Recent trends in road engineering have explored the potential of incorporating recycled solid wastes into infrastructures that including pavements,bridges,tunnels,and accessory structures.The utilization of solid wastes is expected to offer sustainable solutions to waste recycling while enhancing the performance of roads.This review provides an extensive analysis of the recycling of three main types of solid wastes for road engineering purposes:industrial solid waste,infrastructure solid waste,and municipal life solid waste.Industrial solid wastes suitable for road engineering generally include coal gangue,fly ash,blast furnace slag,silica fume,and steel slag,etc.Infrastructure solid wastes recycled in road engineering primarily consist of construction&demolition waste,reclaimed asphalt pavements,and recycled cement concrete.Furthermore,recent exploration has extended to the utilization of municipal life solid wastes,such as incinerated bottom ash,glass waste,electronics waste,plastic waste,and rubber waste in road engineering applications.These recycled solid wastes are categorized into solid waste aggregates,solid waste cements,and solid waste fillers,each playing distinct roles in road infrastructure.Roles of solid waste acting aggregates,cements,and fillers in road infrastructures were fully investigated,including their pozzolanic properties,integration effects to virgin materials,modification or enhancement solutions,engineering performances.Utilization of these materials not only addresses the challenge of waste management but also offers environmental benefits aiming carbon neutral and contributes to sustainable infrastructure development.However,challenges such as variability in material properties,environmental impact mitigation,secondary pollution to environment by leaching,and concerns regarding long-term performance need to be further addressed.Despite these challenges,the recycled solid wastes hold immense potential in revolutionizing road construction practices and fostering environmental stewardship.This review delves into a bird’seye view of the utilization of recycled solid wastes in road engineering,highlighting advances,benefits,challenges,and future prospects.

A YOLOv8-CE-based real-time traffic sign detection and identification method for autonomous vehicles

Traffic sign detection in real scenarios is challenging due to their complexity and small size,often preventing existing deep learning models from achieving both high accuracy and real-time performance.An improved YOLOv8 model for traffic sign detection is proposed.Firstly,by adding Coordinate Attention(CA)to the Backbone,the model gains location information,improving detection accuracy.Secondly,we also introduce EIoU to the localization function to address the ambiguity in aspect ratio descriptions by calculating the width-height difference based on CIoU.Additionally,Focal Loss is incorporated to balance sample difficulty,enhancing regression accuracy.Finally,the model,YOLOv8-CE(YOLOv8-Coordinate Attention-EIoU),is tested on the Jetson Nano,achieving real-time street scene detection and outperforming the Raspberry Pi 4B.Experimental results show that YOLOv8-CE excels in various complex scenarios,improving mAP by 2.8%over the original YOLOv8.The model size and computational effort remain similar,with the Jetson Nano achieving an inference time of 96 ms,significantly faster than the Raspberry Pi 4B.

Design and dynamic simulation of hydraulic system of a new automatic transmission

A new hydraulic system of a novel automatic transmission (AT) was designed. The dimension and structure of valves and cylinders were designed by theoretical calculation. The dynamic simulation model of hydraulic system of AT was established by ITI-SimulationX. Simulation results and theoretical design results were compared to confirm the simulation model. Based on the confirmed simulation model, the simulation results of pressure and flow of the hydraulic system were analyzed. The dynamic simulation method is very helpful for designing and analyzing the performance of hydraulic system and further optimization design. The theoretical design method and dynamic simulation model are feasible for the real industrial applications. The research results can be used in hydraulic system design and optimization.

Preparation and Characterization of High-Strength Geopolymer Based on BH-1 Lunar Soil Simulant with Low Alkali Content

The construction of a lunar base and habitation on the Moon has always been on researchers’minds.Building materials used in in situ lunar resources are of great significance for saving expensive space freight.In this study,a new type of lunar soil simulant named Beihang(BH)-1 was developed.The chemical mineral composition and microstructure of BH-1 closely resemble those of real lunar soil,as verified by X-ray fluorescence spectroscopy(XRF),X-ray diffraction(XRD),scanning electron microscopy(SEM),and reflectance spectra.This research also synthesized a geopolymer based on BH-1 cured at simulated lunar atmospheric conditions.We also investigated the effect of supplementing aluminum(Al)sources on the enhancement of geopolymer strength based on BH-1.The rheological behavior of alkali-activated BH-1 pastes was determined for workability.XRF,XRD,Fourier transform infrared spectroscopy,SEM coupled with energy dispersive spectroscopy,and 27Al magic angle spinningnuclear magnetic resonance were used to characterize resulting geopolymers.Rheological test findings showed that the rheology of BH-1 pastes fits the Herschel–Bulkley model,and they behaved like a shear-thinning fluid.The results showed that the 28-day compressive strength of the BH-1 geopolymer was improved by up to 100.8%.Meanwhile,the weight of additives required to produce per unit strength decreased,significantly reducing the mass of materials transported from the Earth for the construction of lunar infrastructure and saving space transportation costs.Microscopic analyses showed that the mechanism to improve the mechanical properties of the BH-1 geopolymer by adding an additional Al source enhances the replacement of silicon atoms by Al atoms in the silicon–oxygen group and generates a more complete and dense amorphous gel structure.

Integrated reliability of travel time and capacity of urban road network under ice and snowfall conditions

In order to evaluate and integrate travel time reliability and capacity reliability of a road network subjected to ice and snowfall conditions,the conceptions of travel time reliability and capacity reliability were defined under special conditions.The link travel time model(ice and snowfall based-bureau public road,ISB-BPR) and the path choice decision model(elastic demand user equilibrium,EDUE) were proposed.The integrated reliability was defined and the model was set up.Monte Carlo simulation was used to calculate the model and a numerical example was provided to demonstrate the application of the model and efficiency of the solution algorithm.The results show that the intensity of ice and snowfall,the traffic demand and supply,and the requirements for level of service(LOS) have great influence on the reliability of a road network.For example,the reliability drops from 65% to 5% when the traffic demand increases by 30%.The comprehensive performance index may be used for network planning,design and maintenance.

Research Status, Critical Technologies, and Development Trends of Hydraulic Pressure Pulsation Attenuator

Hydraulic pumps are a positive displacement pump whose working principle causes inherent output flow pulsation.Flow pulsation produces pressure pulsation when encountering liquid resistance.Pressure pulsation spreads in the pipeline and causes vibration,noise,damage,and even pipeline rupture and major safety accidents.With the development of airborne hydraulic systems with high pressure,power,and flow rate,the hazards of vibration and noise caused by pressure pulsation are also amplified,severely restricting the application and development of hydraulic systems.In this review paper,the mechanism,harm,and suppression method of pressure pulsation in hydraulic systems are analyzed.Then,the classification and characteristics of pulsation attenuators according to different working principles are described.Furthermore,the critical technology of simulation design,matching method with airborne piston pumps,and preliminary design method of pulsation attenuators are proposed.Finally,the development trend of pulsation attenuators is prospected.This paper provides a reference for the research and application of pressure pulsation attenuators.

Macro modeling and analysis of traffic flow with road width

The macro modeling and the solution of traffic flow with road width were investigated.Firstly,a new macro model with the consideration of road width was proposed.Secondly,the effects of road width on uniform flow and small perturbation were studied.The analytical and numerical results show that widening (shrinking) road can enhance (reduce) the equilibrium speed and flow,and the increments (decrements) will increase with the absolute value of road width gradient.In addition,the numerical results illustrate that the new model can describe the effects of road width on the evolutions of uniform flow and small perturbation.

Multi-domain modeling and simulation of proportional solenoid valve

A multi-domain nonlinear dynamic model of a proportional solenoid valve was presented.The electro-magnetic,mechanical and fluid subsystems of the valve were investigated,including their interactions.Governing equations of the valve were derived in the form of nonlinear state equations.By comparing the simulated and measured data,the simulation model is validated with a deviation less than 15%,which can be used for the structural design and control algorithm optimization of proportional solenoid valves.

Development and Application of an in Situ Penetrator for Rapid Strength Testing of Submarine Sediment

In marine engineering, the strength of a submarine sediment is an indispensable parameter for assessment of construction. In this study, a free-fall cone penetrator named IPen was developed to realize a rapid and efficient measurement of sediment strength. The equipment is characterized by modular design and self-contained data acquisition. It is equipped with an acceleration sensor, a water pressure sensor, and a piezocone penetration test(CPTu) probe. It is designed to be released from near seabed surface with a releaser and then fall freely to provide a higher penetration velocity. Its maximum working depth is approximately 2500 m and maximum penetration depth is approximately 3 m. To derive the correlation between penetration resistance and sediment strength, a calibrator was devised to determine the penetration-rate factor. In addition, the factor applicable to in situ test points was determined in laboratory experiments. In June 2016, the IPen was tested in situ in the South Yellow Sea, China, during a shared voyage funded by the National Science Foundation. Meanwhile, undisturbed column samples were collected for laboratory tests. Based on the in situ test results, it was demonstrated that the IPen could accurately record the working states of various sensors during the freely falling course. IPen test results reliably reflected the sediment strength at all the testing points when compared with laboratory calibration tests, in situ vane tests and penetration tests, laboratory penetration tests, and unconsolidated and undrained triaxial compression tests.

Lifetime Evaluating and the Effects of Operation Conditions on Automotive Fuel Cells

Lifetime isone of the important indicators of automotive proton exchange membrane fuel cells. People used to evaluate the lifetime of vehicular fuel cells by laboratory tests or road tests that usually take thousands hours even years. In order to achieve a rapid evaluation technique and to seek lifetime extension methods, a lifetime calculation formation was drawn out in consideration of the vehicle driving cycle and the working condition factors. Bench experiments were individually carried out on two fuel-cell stacks same as ones applied on vehicle, and the performance decay rates of the two stacks were obtained under four operation conditions of changing load cycle, start-stop cycle, idling and heavy load. As a result, the predicted lifetimes rather conform to the actual running status in road test. And the research on the fuel cell performance decay rates under different load conditions was also done. Consequently, an unexpected finding was discovered that operating under micro-current has an effect on recovering fuel cell performance. The vehicle fuel cell rapid assessment method only requires four laboratory tests of driving cycle, load cycle, idle operating conditions and heavy load conditions, and the whole process merely lasts less than 250 h. These experimental results can be used to predict the vehicular fuel cell lifetimes on various utility models or driving cycles, therefore to optimize the application model to prolong the fuel cell lifetime. Actually in the experiment, it has already been proved successfully that the fuel cell lifetime could be extended from 1 100 h to 2 600 h by optimizing operating mode. The quick evaluation method is helpful to develop extended life fuel cell and to deplete fuel cell for a longer time.

End-cloud collaboration method enables accurate state of health and remaining useful life online estimation in lithium-ion batteries

Though the lithium-ion battery is universally applied,the reliability of lithium-ion batteries remains a challenge due to various physicochemical reactions,electrode material degradation,and even thermal runaway.Accurate estimation and prediction of battery health conditions are crucial for battery safety management.In this paper,an end-cloud collaboration method is proposed to approach the track of battery degradation process,integrating end-side empirical model with cloud-side data-driven model.Based on ensemble learning methods,the data-driven model is constructed by three base models to obtain cloud-side highly accurate results.The double exponential decay model is utilized as an empirical model to output highly real-time prediction results.With Kalman filter,the prediction results of end-side empirical model can be periodically updated by highly accurate results of cloud-side data-driven model to obtain highly accurate and real-time results.Subsequently,the whole framework can give an accurate prediction and tracking of battery degradation,with the mean absolute error maintained below 2%.And the execution time on the end side can reach 261μs.The proposed end-cloud collaboration method has the potential to approach highly accurate and highly real-time estimation for battery health conditions during battery full life cycle in architecture of cyber hierarchy and interactional network.

Effects of submicron-MgO and nano-MgO on the expansion and microscopic properties of high-performance concrete

MgO-series expansive agents can effectively compensate for the shrinkage and deformation of concrete structures.However,few experimental studies have been conducted on MgO expansive agents,particularly concerning the difference between and effects of submicron-MgO and nano-MgO in high-performance concrete(HPC)with a low water-cement ratio,thereby limiting their application in practical engineering.To clarify the expansion effect and expansion mechanism of MgO expansive agents in HPC,the effects of submicron-MgO and nano-MgO on the strength,toughness,and expansion characteristics of HPC were examined.The test results showed that submicron-MgO and nano-MgO continued to hydrate in the cement environment to produce Mg(OH)_(2),thus improving the structural compactness and structural strength of HPC.Nano-MgO concrete was found to have more stable mechanical properties and better structural deformability than submicron-MgO concrete.This study provides effective data support and theoretical reference concerning the hydration expansion mechanisms and engineering applications of nano-expanded materials.

Wireless Acoustic Sensor Networks and Edge Computing for Rapid Acoustic Monitoring

Passive acoustic monitoring is emerging as a promising solution to the urgent, global need for new biodiversity assessment methods. The ecological relevance of the soundscape is increasingly recognised, and the affordability of robust hardware for remote audio recording is stimulating international interest in the potential for acoustic methods for biodiversity monitoring.The scale of the data involved requires automated methods,however, the development of acoustic sensor networks capable of sampling the soundscape across time and space and relaying the data to an accessible storage location remains a significant technical challenge, with power management at its core. Recording and transmitting large quantities of audio data is power intensive,hampering long-term deployment in remote, off-grid locations of key ecological interest. Rather than transmitting heavy audio data, in this paper, we propose a low-cost and energy efficient wireless acoustic sensor network integrated with edge computing structure for remote acoustic monitoring and in situ analysis.Recording and computation of acoustic indices are carried out directly on edge devices built from low noise primo condenser microphones and Teensy microcontrollers, using internal FFT hardware support. Resultant indices are transmitted over a ZigBee-based wireless mesh network to a destination server.Benchmark tests of audio quality, indices computation and power consumption demonstrate acoustic equivalence and significant power savings over current solutions.

Numerical analysis on transitions and symmetry-breaking in the wake of a flapping foil

Flying and marine animals often use flapping wings or tails to generate thrust. In this paper, we will use the simplest flapping model with a sinusoidal pitching mo- tion over a range of frequency and amplitude to investigate the mechanism of thrust generation. Previous work focuses on the Karman vortex street and the reversed Karman vor- tex street but the transition between two states remains un- known. The present numerical simulation provides a com- plete scenario of flow patterns from the Karman vortex street to reversed Karman vortex street via aligned vortices and the ultimate state is the deflected Karman vortex street, as the parameters of flapping motions change. The results are in agreement with the previous experiment. We make further discussion on the relationship of the observed states with drag and thrust coefficients and explore the mechanism of enhanced thrust generation using flapping motions.