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Visual Place Recognition (VPR) excels at providing a good location prior for autonomous vehicles to initialize the map-based visual SLAM system, especially when the environment changes after a long term. Condition change and viewpoint change, which influences features extracted from images, are two of the major challenges in recognizing a visited place. Existing VPR methods focus on developing the robustness of global feature to address them but ignore the benefits that local feature can auxiliarily offer. Therefore, we introduce a novel hierarchical place recognition method with both global and local features deriving from homologous VLAD to improve the VPR performance. Our model is weak supervised by GPS label and we design a fine-tuning strategy with a coupled triplet loss to make the model more suitable for extracting local features.

Detailed and fast combustion models are necessary to support design of Diesel engines with low emission and fuel consumption. Over the years, the importance of turbulence chemistry interaction to correctly describe the diffusion flame structure was demonstrated by a detailed assessment with optical data from constant-volume vessel experiments. The main objective of this work is to carry out an extensive validation of two different combustion models which are suitable for the simulation of Diesel engine combustion. The first one is the Representative Interactive Flamelet model (RIF) employing direct chemistry integration. A single flamelet formulation is generally used to reduce the computational time but this aspect limits the capability to reproduce the flame stabilization process. To overcome such limitation, a second model called tabulated flamelet progress variable (TFPV) is tested in this work.

With the development of economic globalization, the speed of development of container terminals is also very rapid. Under the pressure brought by the surge in throughput, the unmanned and intelligent terminals will become the future development direction of terminals. As the cornerstone of the unmanned terminal, the positioning technology provides the most basic position information for system scheduling, path planning, real-time correction, and loading and unloading. Therefore, this paper is aimed to design a low-cost, high-precision, and easy-to-maintain unmanned dock positioning system in order to better solve the problem of unmanned dock positioning. The main research content of this paper is to design a positioning algorithm for unmanned terminal Automated Guided Vehicle (AGV) based on single-line lidar, including point cloud data acquisition, background filtering, point cloud clustering, vehicle position extraction, and result optimization.

Rotating flow inside an internal combustion engine cylinder is deliberately engineered for improved fuel-air mixing and combustion. The details of the rotating flow structure vary temporally over an engine cycle as well as cyclically at the same engine phase. Algorithms in the literature to identify these structural details of the rotating flow invariably focus on locating its center and, on occasion, measuring its rotational strength and spatial extent. In this paper, these flow structure parameters are evaluated by means of complex moments, which have been adapted from image (scalar field) recognition applications to two-dimensional flow pattern (vector field) analysis. Several additional detailed characteristics of the rotating flow pattern - the type and extent of its deviation from the ideal circular pattern, its rotational and reflectional symmetry (if exists), and thus its orientation - are also shown to be related to the first few low-order complex moments of the flow pattern.

In future decarbonized scenarios, hydrogen is widely considered as one of the best alternative fuels for internal combustion engines, allowing to achieve zero CO2 emissions at the tailpipe. However, NOx emissions represent the predominant pollutants and their production has to be controlled. In this work different strategies for the control and abatement of pollutant emissions on a H2-fueled high-performance V8 twin turbo 3.9L IC engine are tested. The characterization of pollutant production on a single-cylinder configuration is carried out by means of the 1D code Gasdyn, considering lean and homogeneous conditions. The NOx are extremely low in lean conditions with respect to the emissions legislation limits, while the maximum mass flow rate remains below the turbocharger technical constraint limit at λ=1 only.

Based on the similarity theory and conservation equations, some of the important dimensionless numbers in diesel combustion are deduced and discussed. Existence of similarity is theoretically proved in diffusion (or mixing-controlled) combustion and premixed combustion as well as in spray mixture formation processes in different size diesel engines. With the prerequisite of geometric similarity, scaling rules for some parameters including engine speed, injection pressure and injection duration are established to realize the similarity between large-bore and small-bore diesel engines. To verify the similarity theories, the computational fluid dynamics (CFD) simulation are conducted, and three scaling rules, which keep the engine speed, injection pressure and lift-off length constant, respectively, are compared under the conditions of the light load (0.3 MPa IMEP) and high load (1.55 MPa IMEP) operations.

European standards have set stringent PN (particle number) regulation (6×1011 #/km) for gasoline direct injection (GDI) engine, posing a great challenge for the particulate emission control of GDI engines. Dual-injection, which combines direct-injection (DI) with port-fuel-injection (PFI), is an effective approach to reduce particle emissions of GDI engine while maintaining good efficiency and power output. In order to investigate the PN emission characteristics under different dual-injection strategies, a DMS500 fast particle spectrometer was employed to characterize the effects of injection strategies on particulates emissions from a dual-injection gasoline engine. In this study, the injection strategies include injection timing, injection ratio and injection pressure of direct-injection.

The purpose of the ELEVATE (European Low Emission V4 Automotive Two-stroke Engine) industrial research project is to develop a small, compact, light weight, high torque and highly efficient clean gasoline 2-stroke engine of 120 kW which could industrially replace the relatively big existing automotive spark ignition or diesel 4-stroke engine used in the top of the mid size or in the large size vehicles, including the minivan vehicles used for multi people and family transportation. This new gasoline direct injection engine concept is based on the combined implementation on a 4-stroke bottom end of several 2-stroke engine innovative technologies such as the IAPAC compressed air assisted direct fuel injection, the CAI (Controlled Auto-Ignition) combustion process, the D2SC (Dual Delivery Screw SuperCharger) for both low pressure engine scavenging and higher pressure IAPAC air assisted DI and the ETV (Exhaust charge Trapping Valve).

In the paper some methods are presented, with the corresponding practical examples, related to MonteCarlo (MC) techniques for thermal model/test correlation purposes. The MonteCarlo techniques applied to model correlation are intended to be used as an alternative to empirical ‘manual’ correlation techniques, gradients methods, matrix methods based on least square fit minimization. First of all, Design Of Experiments (DoE) tools are used to determine the model response to uncertain parameters and the confidence level of such a response. A sensitivity map is built, allowing the design of the test to maximize the response of the system to the uncertain parameters. Techniques derived from the extreme statistics are used to extrapolate data beyond test limits, with a sufficient confidence in the queue behaviour.

This work investigates the suitability of n-butanol for enabling PCCI, HCCI, and RCCI combustion modes to achieve clean and efficient combustion on a high compression ratio (18.2:1) diesel engine. Systematic engine tests are conducted at low and medium engine loads (6∼8 bar IMEP) and at a medium engine speed of 1500 rpm. Test results indicate that n-butanol is more suitable than diesel to enable PCCI and HCCI combustion with the same engine hardware. However, the combustion phasing control for n-butanol is demanding due to the high combustion sensitivity to variations in engine operating conditions where engine safety concerns (e.g. excessive pressure rise rates) potentially arise. While EGR is the primary measure to control the combustion phasing of n-butanol HCCI, the timing control of n-butanol direct injection in PCCI provides an additional leverage to properly phase the n-butanol combustion.

Three-phase sequential turbocharging system with two unequal-size turbochargers is developed to improve fuel economy performance and reduce emission of the automotive diesel engine, which satisfies wide range of intake flow demand. However, it results in complicated transient control strategies under frequently changing operating conditions. The present work aims to optimize the control scheme of boost system and fuel injection and evaluate their contributions to the improvement of transient performance. A mean value model for diesel engine was built up in SIMULINK environment and verified by experiment for transient study. Then a mathematical model of optimization issue was established. Strategies of control valves and fuel injection for typical acceleration and loading processes are obtained by coupled calculating of the simulation model and optimization algorithm.

Flash boiling spray has been proven to be a useful method in providing finer fuel droplet and stronger evaporation in favor of creating a homogeneous fuel-air mixture. Combustion characteristics of flash boiling spray are thus valuable to be investigated systematically for aiding the development of efficient internal combustion system. An experimental study of flash boiling spray combustion in a SIDI optical engine under early injection has been conducted. The fuel, Iso-octane, was used across all tests. Three fuel spray conditions experimented in the study: normal liquid, transitional flash boiling and flare flash boiling sprays, within each case that Pa/Ps ratio was set in (>1), (0.3~1), and (<0.3) respectively. A small quartz insert on the piston enables optical access for observing combustion process; non-intrusive measurements on flame radicals has been carried out using a high-speed color camera.

Lift-off length is defined as the distance from injector hole to the location where flame stabilized on a high injection pressure direct injection (DI) diesel spray. In this paper we used the high-speed (40 kHz) Schlieren and time-averaged OH chemiluminescence imaging technique to simultaneously measure the flame lift-off locations on a DI diesel spray in an optically accessible and constant-volume combustion vessel. The time-resolved development of the diesel spray acquired from the high-speed Schlieren imaging system enabled us to observe the instantaneous spray structure details of the spray flames. The OH chemiluminescence image obtained from a gated, intensified CCD video camera with different delay and width settings was used to determine the quiescent lift-off length. Experiments were conducted under various ambient temperatures, ambient gas densities, injection pressures and oxygen concentrations.

In order to meet increasingly stringent emission regulations, it is significance to establish a control- oriented transient NOx and PM emission prediction model and improve the accuracy and real-time performance. In this study, the prediction model of transient PM emissions based on Transformer is established. In terms of model accuracy and real-time performance, Transformer emission prediction model is compared with Multilayer perceptron (MLP) neural network and Long-Short Term Memory (LSTM) emission prediction model. The results show that the performance of Transformer transient emission prediction model is superior to other model structures, it can be used for real-time prediction.

A novel method is applied to analysis the autoignition phenomenon. Experiments on the study of autoignition characteristics of diesel fuel were carried out with a Controllable Active Thermo-Atmosphere Combustor. The results show that the method for autoignition studying of liquid fuel is of feasibility. Autoignition delay time and autoignition height from the nozzle increase with the coflow temperature decreasing and autoignition delay time changes sensitively under lower coflow temperature. Liftoff height of diesel spray flame decreases with the increasing of coflow temperature. Lower temperature causes higher variance of liftoff height. It might be speculated that there are two different mechanisms of flame stabilization that the lower lift-off heights flames are related to a balance between the flow velocity and flame speed while the higher lift-off heights flames are stabilized by the mixture autoignition.

Ammonia/urea-SCR is a mature technology, applied worldwide for the control of NOx emissions in combustion exhausts from thermal power plants, cogeneration units, incinerators and stationary diesel engines and more recently also from mobile sources. However a greater DeNOx activity at low temperatures is desired in order to meet more and more restrictive legislations. In this paper we report transient and steady state data collected over commercial Fe-ZSM-5 and V₂O₅-WO₃/TiO₂ catalysts showing high NOx reduction efficiencies in the 200 - 350°C T-range when NO and ammonia react with nitrates, e.g., in the form of an aqueous solution of ammonium nitrate. Under such conditions a new reaction occurs, the so-called "Enhanced SCR" reaction, 2 NH₃ + 2 NO + NH₄NO₃ → 3 N₂ + 5 H₂O.

Detailed chemistry represents a fundamental pre-requisite for a realistic simulation of combustion process in Diesel engines to properly reproduce ignition delay and flame structure (lift-off and soot precursors) in a wide range of operating conditions. In this work, the authors developed reduced mechanisms for n-dodecane starting from the comprehensive kinetic mechanism developed at Politecnico di Milano, well validated and tested in a wide range of operating conditions [1]. An algorithm combining Sensitivity and Flux Analysis was employed for the present skeletal reduction. The size of the mechanisms can be limited to less than 100 species and incorporates the most important details of low-temperature kinetics for a proper prediction of the ignition delay. Furthermore, the high-temperature chemistry is also properly described both in terms of reactivity and species formation, including unsaturated compounds such as acetylene, whose concentration controls soot formation.

The purpose of the European « SPACE LIGHT » (Whole SPACE combustion for LIGHT duty diesel vehicles) 3-year project launched in 2001 is to research and develop an innovative Homogeneous internal mixture Charged Compression Ignition (HCCI) for passenger cars diesel engine where the combustion process can take place simultaneously in the whole SPACE of the combustion chamber while providing almost no NOx and particulates emissions. This paper presents the whole project with the main R&D tasks necessary to comply with the industrial and technical objectives of the project. The research approach adopted is briefly described. It is then followed by a detailed description of the most recent progress achieved during the tasks recently undertaken. The methodology adopted starts from the research study of the in-cylinder combustion specifications necessary to achieve HCCI combustion from experimental single cylinder engines testing in premixed charged conditions.

The target of the upcoming automotive emission regulations is to promote a fast transition to near-zero emission vehicles. As such, the range of ambient and operating conditions tested in the homologation cycles is broadening. In this context, the proposed work aims to thoroughly investigate the potential of post-oxidation phenomena in reducing the light-off time of a conventional three-way catalyst. The study is carried out on a turbocharged four-cylinder gasoline engine by means of experimental and numerical activities. Post oxidation is achieved through the oxidation of unburned fuel in the exhaust line, exploiting a rich combustion and a secondary air injection dedicated strategy. The CFD methodology consists of two different approaches: the former relies on a full-engine mesh, the latter on a detailed analysis of the chemical reactions occurring in the exhaust line.

Modeling combustion of transportation fuels remains a difficult task due to the extremely large number of species constituting commercial gasoline and diesel. However, for this purpose, multi-component surrogate fuel models with a reduced number of key species and dedicated reaction subsets can be used to reproduce the physical and chemical traits of diesel and gasoline, also allowing to perform CFD calculations. Recently, a detailed surrogate fuel kinetic model, named C3 mechanism, was developed by merging high-fidelity sub-mechanisms from different research groups, i.e. C0-C4 chemistry (NUI Galway), linear C6-C7 and iso-octane chemistry (Lawrence Livermore National Laboratory), and monocyclic aromatic hydrocarbons (MAHs) and polycyclic aromatic hydrocarbons (PAHs) (ITV-RWTH Aachen and CRECK modelling Lab-Politecnico di Milano).