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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.

Accuracy of heat flux models is critical to clutch design in case of excessive temperatures due to large amounts of friction heat generated in the narrow space. Pressure distribution on the clutch friction interface is an important factor affecting heat flux distribution, thus affecting temperature distribution. In this paper, an experiment is conducted to obtain the pressure distribution for one typical dry clutch equipped with a set of diaphragm spring. Considering that the frictional interface is in contact, this study makes use of pressure sensitive film and acquires data based on image processing techniques. Then a polynomial mathematical model with dimensionless parameters is developed to fit the pressure distribution on the friction disc. After that, the proposed pressure model is applied to a thermal model based on finite element method. In addition, two conventional thermal models (i.e., uniform heat flux model and uniform pressure model), are implemented for comparison.

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.

Recently, all world countries facing the stringent emission regulations have been encouraged to explore the clean fuel. The diesel from indirect coal liquefaction (DICL) has been verified that can reduce the soot and NOx emissions of compression-ignition engine. However, the atomization characteristics of DICL are rarely studied. The aim of this work is to numerically analyze the inner nozzle flow and the atomization characteristics of the DICL and compare the global and local flow characteristics of the DICL with the NO.2 diesel (D2) at engine conditions. A surrogate fuel of the DICL (a mixture of 72.4% n-dodecane and 27.6% methylcyclohexane by mass) was built according to its components to simulate the atomization characteristics of the DICL under the high-temperature and high-pressure environment (non-reacting) by the Large Eddy Simulation (LES).

The vehicle chassis integrated control system can improve the stability of vehicles under extreme conditions using tire force allocation algorithm, in which, the nonlinearity and uncertainty of tire-road contact condition need to be taken into consideration. Thus, An MPC (Model Predictive Control) controller is designed to obtain the additional steering angle and the additional yaw moment. By using a robust optimal allocation algorithm, the additional yaw moment is allocated to the slip ratios of four wheels. An SMC (Sliding-Mode Control) controller is designed to maintain the desired slip ratio of each wheel. Finally, the control performance is verified in MATLAB-CarSim co-simulation environment with open-loop manoeuvers.

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.

Aiming at the high altitude operation problems for piston-type aero-engines and to improve the practical ceiling and high altitude dynamic performance, this thesis analyzes a controllable three-stage composite supercharging system, using a two-stage turbocharger coupled supercharger method. The GT-Power simulation model of a four-cylinder boxer engine was established, and the control strategy of variable flight height was obtained. The simulation research of engine performance from 0 to 20,000 meters above sea level has been carried out, which shows that the engine power is at the same level as the plain condition, and it could still maintain 85.28 percent of power even at the height of 20,000 meters, which meets the flight requirements of the aircraft.

A new kind of integrated semi-track air-cushion pitch controller is proposed in this paper. The controller first compute the target working point based on a weighed function, which is the combination of optimal power consumption and pitch angle control demand. Then the sequential quadratic programming algorithm distributes the general target values to specific control values. The performance of the controller is verified through co-simulation between Matlab/Simulink and ADAMS/View. The simulation results show the effectiveness of the control algorithm and the correctness of the choice in physical configuration with two air cushions for vehicle body pitch control.

An energy-regenerative vehicle suspension is proposed. Permanent-magnet direct-current motors are utilized as the active actuators in automotive suspension. The significant characteristic of the suspension is that vibration energy from the road excitation can be regenerated and transformed into electric energy while good suspension performance can be maintained. The modeling of electrical suspension system has been completed and simulated in Matlab/Simulink. The motor actuator working as a generator is proved to maintain the performance of vibration control and energy-regeneration. The prototype of motor actuator is designed and made. The vibration absorption and regeneration performances are verified by full-vehicle experiments.

Electric vehicles (EVs) have become a hot research topic due to the petroleum crisis and air pollution issues, and Hybrid EVs (HEVs) equipped with engines and motors are popular nowadays due to their advantage over Pure EVs. The energy distribution between the engine and the motor is the major task of the control strategy or energy management for HEVs. Rule-based and optimization-based approaches are developed in this area, but not much work has been done for large-size super-capacitor (SC) equipped HEVs, like Hybrid buses. In this paper, a new optimization-based control strategy for a hybrid bus equipped with SCs as the energy regeneration system is presented. Considering the driving patterns of a bus that is of frequent accelerations and decelerations, it is proposed to characterize each time instant by its speed and acceleration, and the energy distribution is optimized based on these two state variables.

The present work aims at the reduction of transmission delay at the level of AFDX ES (Avionics Full Duplex Switched Ethernet End-Systems). To this end, two approaches, namely Network Calculus and response time analysis (RTA), are employed in the computation of upper bound delay. To evaluate the delay regarding different scheduling policies, the arrival curve of the flow on output of ES is established for given traffic shaping algorithm and service mode. Computational analysis shows that Bandwidth Allocation Gap (BAG) based scheduling is the optimal policy at the level of AFDX ES, which leads to the tightest output arrival curve among all possible scheduling policies. BAG-based scheduling consists in assigning higher priority to virtual links with smaller BAG thus corresponding to the well known Rate-Monotonic Algorithm. Furthermore, schedulability criterion are established based on RTA.

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.

Port water injection is considered as a promising strategy to further improve the combustion performance of internal combustion engines for its benefit in knock resistance by reducing the cylinder temperature. A thorough investigation of the port water injection technique is required to fully understand its effects on the engine combustion process. This study explores the potential of the port water injection technique in improving the performance of a turbo charged Gasoline Direct Injection engine. A 3D computational fluid dynamics model is applied to simulate the in-cylinder mixing and combustion for this engine both with and without water injection. Different water injection timings are investigated and it is found that the injection timing greatly effects the mass of water which enters the combustion chamber, both in liquid and vapor form.

Because of rising complexity during the automotive product development process, the number of disciplines to be concerned has been significantly increased. Multidisciplinary design optimization (MDO) methodology, which provides an opportunity to integrate each discipline and conduct compromise searching process, is investigated and introduced to achieve the best compromise solution for the automotive industry. To make a better application of MDO, the suitable coupling strategy of different disciplines and efficient optimization techniques for automotive design are studied in this article. Firstly, considering the characteristics of automotive load cases which include many shared variables but rare coupling variables, a multilevel MDO coupling strategy based on enhanced collaborative optimization (ECO) is studied to improve the computational efficiency of MDO problems.

Manufacturing of the internal combustion engines (ICEs) has very critical requirements on the precision and tolerance of engine parts in order to guarantee the engine performance. As a typical complex nonlinear system, small changes in dimensions of ICE components may have great impact on the performance and cost of the manufacturing of ICES. In this regard, it is still necessary to discuss the optimization of the tolerance and manufacturing precision of the critical components of ICEs even though the tolerance optimization in general has been reported in the literature. A systematic process for determining optimal tolerances will overcome the disadvantages of the traditional experience-based tolerance design and therefore improve the system performance.

The internal combustion engine (ICE) is a typical complex multidisciplinary system which requires the support of precision design and manufacturing. To achieve a better performance of ICEs, tolerance assignment, or tolerance design, plays an important role. A novel multi-disciplinary tolerance design optimization problem considering two important disciplines of ICEs, the compression ratio and friction loss, is proposed and solved in this work, which provides a systematic procedure for the optimal determination of tolerances and overcomes the disadvantages of the traditional experience-based tolerance design. A bi-disciplinary analysis model is developed in this work to assist the problem solving, within which a model between the friction loss and tolerance is built based on the Gaussian Process using the corresponding simulation and experimental data.

Vehicle lateral states such as lateral distance at a preview point and heading angle are indispensable for lane keeping control systems, and such states are normally estimated by fusing signals from an onboard vision system and inertial sensors. However, the sampling rates and measurement delays are different between the two kinds of sensing devices. Most of the conventional methods simply neglect measurement delay and reduce sampling rate of the estimator to adapt to the slow sensors/devices. However, the estimation accuracy is deteriorated, especially considering the delay of visual signals may not be constant. In case of electric vehicles, the actuators for steering and traction are motors that have high control frequency. Therefore, the frequency of vehicle state feedback may not match the control frequency if the estimator is infrequently updated. In this paper, a multi-rate estimation algorithm based on Kalman filter is proposed to provide lateral states with high frequency.

With the rapid development of series-parallel hybrid electric vehicles (SPHEVs), mode transition from pure electrical drive to hybrid drive has attracted considerable attention. The presence of time delay due to response capacity of actuators and signal transmission of communication may cause decrease of speed tracking accuracy, even instable dynamics. Consequently, drivability of the SPHEV is unacceptable, and durability of the components is reduced. So far, plenty of control strategies have been proposed for mode transition, however, no previous research has been reported to deal with the time delay during mode transition. In this paper, a dynamic model with time delay of hybrid electric system is established. Next, a mode transition time-delay controller is proposed based on a two degree of freedom internal model controller (2-DOF-IMC).

In the current work, unidirectional (UD) carbon fiber composite hatsection component with two different layups are studied under dynamic three-point bending loading. The experiments are performed at various impact velocities, and the effects of impactor velocity and layup on acceleration histories are compared. A macro model is established with LS-DYNA for a more detailed study. The simulation results show that the delamination plays an important role during dynamic three-point bending test. Based on the analysis with a high-speed camera, the sidewall of hatsection shows significant buckling rather than failure. Without considering the delamination, the current material model cannot capture the post-failure phenomenon correctly. The sidewall delamination is modeled by assumption of larger failure strain together with slim parameters, and the simulation results of different impact velocities and layups match the experimental results reasonably well.