In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering th...In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.展开更多
The corrosion pathways in AA2024-T3, AA5083-O and AA6082-T6 alloys have been investigated. The objective of the investigation is to further the understanding of the complex localised corrosion mechanism in aluminium a...The corrosion pathways in AA2024-T3, AA5083-O and AA6082-T6 alloys have been investigated. The objective of the investigation is to further the understanding of the complex localised corrosion mechanism in aluminium alloys. The investigation was carried out by examining the corroded surfaces of the alloys after potentiodynamic polarization tests in a 3.5% NaCl solution with the aid of a scanning electron microscope, and by analysing the flow of anolyte solution using the scanning vibrating electrode technique. The results revealed that the overall corrosion pathways in the alloys are distinctively different and are influenced by the flow of anolyte solution. Also revealed, was the fact that corrosion propagates in two ways （particularly in the AA5083-O and AA6082-T6 alloys）： an overall pathway in the corrosion front （filiform-like pathway in the AA5083 alloy and organized linear pathways in AA6082 alloy）; and the crystallographic channelling along the （100） directions. These are dependent on the grain distinct features of the AA5083-O and AA6082-T6 alloys and are not influenced by the presence of coarse second phase particles in these alloys, compared with the AA2024-T3 alloy, where the corrosion pathways are more dependent on the presence of second phase particles and grain boundary character.展开更多
Reduced graphene oxide is the precursor to produce graphene in a large scale;however,to date,there has been no consensus on the electronic structure of reduced graphene oxide.In this study,we carried out an ab initio ...Reduced graphene oxide is the precursor to produce graphene in a large scale;however,to date,there has been no consensus on the electronic structure of reduced graphene oxide.In this study,we carried out an ab initio molecular dynamics simulation to investigate the adsorption process of hydroxyl groups on graphene surface.During the adsorption process,the OH group needs to firstly pass through a physical adsorption complex with the OH above the bridge site of two carbon atoms,next to surmount a transition state,then to be adsorbed at the atop site of a carbon atom.With a 5×5 graphene surface,up to 6 hydroxyl groups can be adsorbed on the graphene surface,indicating the concentration coverage of the hydroxyl groups on graphene surface is about 12%.The simulation results show that the negative adsorption energy increases linearly as the number of adsorbed hydroxyl groups increases,and the band gap also increases linearly with the number of adsorbed hydroxyl groups.展开更多
基金Project(20180608005600843855-19)supported by the International Graduate Exchange Program of Beijing Institute of Technology,China。
文摘In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.
基金EPSRC for financial support through the LATEST2 Programme grant (EP/H020047/1)
文摘The corrosion pathways in AA2024-T3, AA5083-O and AA6082-T6 alloys have been investigated. The objective of the investigation is to further the understanding of the complex localised corrosion mechanism in aluminium alloys. The investigation was carried out by examining the corroded surfaces of the alloys after potentiodynamic polarization tests in a 3.5% NaCl solution with the aid of a scanning electron microscope, and by analysing the flow of anolyte solution using the scanning vibrating electrode technique. The results revealed that the overall corrosion pathways in the alloys are distinctively different and are influenced by the flow of anolyte solution. Also revealed, was the fact that corrosion propagates in two ways （particularly in the AA5083-O and AA6082-T6 alloys）： an overall pathway in the corrosion front （filiform-like pathway in the AA5083 alloy and organized linear pathways in AA6082 alloy）; and the crystallographic channelling along the （100） directions. These are dependent on the grain distinct features of the AA5083-O and AA6082-T6 alloys and are not influenced by the presence of coarse second phase particles in these alloys, compared with the AA2024-T3 alloy, where the corrosion pathways are more dependent on the presence of second phase particles and grain boundary character.
基金supported by the National Natural Science Foundation of China(No.11774206)Taishan Scholarship Fund from Shandong Province。
文摘Reduced graphene oxide is the precursor to produce graphene in a large scale;however,to date,there has been no consensus on the electronic structure of reduced graphene oxide.In this study,we carried out an ab initio molecular dynamics simulation to investigate the adsorption process of hydroxyl groups on graphene surface.During the adsorption process,the OH group needs to firstly pass through a physical adsorption complex with the OH above the bridge site of two carbon atoms,next to surmount a transition state,then to be adsorbed at the atop site of a carbon atom.With a 5×5 graphene surface,up to 6 hydroxyl groups can be adsorbed on the graphene surface,indicating the concentration coverage of the hydroxyl groups on graphene surface is about 12%.The simulation results show that the negative adsorption energy increases linearly as the number of adsorbed hydroxyl groups increases,and the band gap also increases linearly with the number of adsorbed hydroxyl groups.
