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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.

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.

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.

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.

Self-pierced rivet (SPR) and adhesive are two important joining technologies widely used in automobile industry, and they are often used together to form a hybrid joint. SPR and adhesives can often be used in close proximity in a component, leading to an interaction of the two joints. This interaction can influence the corrosion and noise, vibration and harshness (NVH) characteristics of the structure, as well as its strength and durability. In this paper, the stress distribution in an SPR-adhesive hybrid joint is evaluated by using the finite element method, and then compared with that in an adhesive joint. Results indicate that the stress concentrates at the edge of adhesive layer in hybrid joint and adhesive joint and around the rivet in an SPR joint. The effect of rivet is numerically investigated by either removing the rivet from the hybrid joint or changing the position of the rivet on the overlapping area.

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.

The wedge clutch takes advantages of small actuation force/torque, space-saving and energy-saving. However, big challenge arises from the varying self-reinforced ratio due to the varying friction coefficient inevitably affected by temperature and wear. In order to improve the smoothness and synchronization time of the slipping process of the wedge clutch, this paper proposes a self-tuning PID controller based on Lyapunov principle. A new Lyapunov function is developed for the wedge clutch system. Simulation results show that the self-tuning PID obtains much less error than the conventional PID with fixed gains. Moreover, the self-tuning PID is more adaptable to the variation of the friction coefficient for the error is about 1/5 of the conventional PID.

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.

Biodiesel is a potential alternative fuel which can meet the growing need for sustainable energy. Partially premixed compression ignition (PPCI) is an important low-temperature combustion strategy to reduce NOx and soot emission of diesel engines. To investigate partial premixing impact on particle formation in flames of biodiesel or biodiesel surrogates, an experimental study was performed to compare the soot morphology and nanostructure evolution in laminar co-flow methyl decanoate non-premixed flame (NPF) and partially premixed flame (PPF). The thermophoretic sampling technique was used to capture particles along flame centerlines. Soot morphology information and volume fraction were obtained from TEM analysis and nanostructure features were evaluated by HR-TEM. With primary equivalence ratio of 19, gas temperature of PPF is higher along flame centerline compared with NPF. The results show an initially stronger sooting tendency in PPF at lower positions.

In the internal combustion engine, about 25%-40% of the energy released by burned fuel is taken away by the exhaust gas. The part of the usable energy in the exhaust can be used in the turbocharged engine. So, at present, turbocharged diesel engine hasn't made full use of exhaust gas energy. The authors propose a model of the 4-stroke turbocharged diesel engine of split exhausting system. Adding a rapidly on-and-off exhaust control valve between exhaust passage and manifold in the 4-stroke turbocharged diesel engine can improve the utilization rate of the usable energy in the exhaust. By utilizing the mean effective pressure (MEP), this paper is to calculate the maximum usable energy, the energy provided by exhaust and the energy required by intake. The results gets that the new type of exhausting system can help engine to increase usage rate of the exhaust gas energy to around 20% at the rated condition compared to the existing vehicle diesel engines with VNT.

The numerical simulation of ice melting process on an iced helicopter rotor blade is presented. The ice melting model uses an enthalpy-porosity formulation, and treats the liquid-solid mushy zone as a porous zone with porosity equal to the liquid fraction. The ice shape on the blade section is obtained by the icing code with a dynamic mesh module. Both of the temperature change and the ice-melting process on the rotor blade section surface are analyzed. The phenomenon of ice melting is analyzed through the change of temperature and liquid fraction on the abrasion/ice interface. The liquid fraction change as with time on the abrasion/ice surface is observed, which describes the ice-melting process well. The numerical results show that the ice melting process can be simulated effectively by the melting model. The de-icing process can be monitored by observing the change of the liquid fraction of the area around the abrasion/ice interface.

The heat pump with low global warming potential (GWP) refrigerants is imperative for the electric vehicle (EV) to slow down global warming and extend the driving range while meeting passengers' thermal comfort in low ambient temperatures. However, there are no appropriate refrigerants. To provide long-term and environmental-friendly refrigerants in the heat pump for EVs, herein, we reported newly developed low-GWP refrigerant mixtures, i.e., DL3B, whose GWP is lower than 140, the flammability (lower flammability limit and burning velocity), saturation pressure, lubricant miscibility, material compatibility were experimentally tested. A test bench that can investigate the performance of an R410A prototype was built. The drop-in tests of the DL refrigerant were carried out to evaluate the capacities and COPs for both cooling and heating modes in the EV heat pump system.

Taking advantages of high speed RGB video cameras, the two-color method can be implemented with a relatively simple setup to obtain the temporal development of the two dimensional temperature and soot (KL) distributions in a reacting diesel jet. However, several issues such as the selection of the two wavelengths, the role of bandpass filters, and the proper optical settings, etc. should be known to obtain a reliable measurement. This paper, at first, discusses about the uncertainties in the measurement of temperature and KL distributions in the diesel flame by the two-color method using the high speed RGB video camera. Since n-butanol, as an alternative renewable fuel, has the potential application in diesel engines, the characteristic of spray combustion of diesel-butanol blends under the diesel-like ambient conditions in a pre-burning constant-volume combustion chamber is studied.

Based on a 125cm3 single cylinder SI engine, the designated idle speed was controlled by adjusting of cycle ignition advance angle. By analyzing the effects of different idle speed and throttle open position on three way catalyst (TWC) light-off time and conversion efficiency of HC and CO emissions, combined with the corresponding total HC and CO emissions level, the optimum idle speed and throttle open position at engine's warm-up phase were found by the matching optimum. The present method for engine control strategy is helpful to optimize the warm-up phase emission levels in SI engine with LPG fuel.

The aim of this study is to evaluate the land requirement, energy consumption and GHG (greenhouse gases) emissions of microalgal biodiesel (M-BD) and Jatropha curcas seeds (J-BD) based biodiesel from the perspective of life cycle assessment (LCA). Mass and energy balance was used through the whole LCA calculation for each process. Two types of biodiesel (100% biodiesel: BD100, and 20% blends of biodiesel: BD20) were assumed to be combusted in the suitable diesel engine. Displacement method was adopted to measure the co-products credits. The results showed that the land requirement of producing 1 kg biodiesel from microalgae was about 1/31 of that from Jatropha curcas seeds. The well to pump (WTP) stage for microalgal biodiesel had higher fossil energy requirement but lower petroleum energy consumption and GHG emissions compared to Jatropha curcas and conventional diesel (CD). The WTP energy efficiency for J-BD100 and M-BD 100 were 26% and 17.4%, respectively.