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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.

The transient characteristics of combustion and emissions during the engine start up at different higher cranking speeds for hybrid electric vehicle (HEV) applications were presented in this paper. Cycle-by-cycle analysis was done for each start up case. Intake air mass during the first several cycles decrease as the engine was cranked at higher speed. Ignition timing is delayed with higher cranking speed, which leads to an increase of exhaust temperature. For various start up cases, similar quantity of fuel is injected at the first cycle, but the ignition timing is significantly delayed to meet the acceleration requirement when cranking speed enhanced. Because of the deterioration of intake charge, the air-fuel mixture is over-enriched in the first several cycles for the cases at higher cranking speed. With cranking speed is increased, the in-cylinder residual gas fraction rises, which leads to poor combustion and decrease of mass fraction of burned fuel.

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).

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 electricity energy consumption for passenger cabin heating can drastically shorten the driving range for electric vehicles in cold climates. Mobile heat pump system is considered as an effective method to improve heating efficiency. This study investigates the system characteristics of mobile heat pump systems for electrical vehicle application. Based on KULI thermal management software, simulation models including HFC-R134a direct heat pump (DHP) and secondary loop heat pump (SLHP) were developed. The secondary loop employed in the SLHP includes a coolant pump, an indoor heater core and a plate heat exchanger, instead of an indoor condenser in the DHP. The use of a secondary loop has advantages to improve air outlet temperature uniformity. The simulation models were verified by measured data obtained from calorimeter experiments. By adopting simulation models, the effects of indoor and outdoor temperatures on system performance and cycle characteristics were discussed.

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.

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.

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.

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.

Motor speed synchronization is important in gear shifting of emerging clutchless automated manual transmissions for battery electric vehicles (BEV) and other kinds of parallel shaft-based powertrains for hybrid electric vehicles (HEV). Difficulties of the problem mainly come from random delay induced by network communication and unknown load torques from air drag, oil drag, and friction torques, etc. To deal with these two factors, this paper proposes a robust speed synchronization controller based on act-and-wait control and disturbance observer. The former is a kind of periodical controller specially for regulating problems with feedback delay while the latter is a technique for active disturbance rejection. Firstly, the dynamic model of the motor shaft is formulated, and the system parameters are offline identified. The speed tracking problem is then transformed into a regulating one.

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.

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.

The control of combustion phasing in homogeneous charge compression ignition (HCCI) combustion is investigated with neat n-butanol in this work. HCCI is a commonly researched combustion mode, owing to its improved thermal efficiency over conventional gasoline combustion, as well as its lower nitrogen oxide (NOx) and particulate matter emissions compared to those of diesel combustion. Despite these advantages, HCCI lacks successful widespread implementation with conventional fuels, primarily due to the lack of effective combustion phasing control. In this preliminary study, chemical kinetic simulations are conducted to study the auto-ignition characteristics of n-butanol under varied background pressures, temperatures, and dilution levels using established mechanisms in CHEMKIN software. Increasing the pressure or temperature lead to a shorter ignition delay, whereas increasing the dilution by the application of exhaust gas recirculation (EGR) leads to a longer ignition delay.

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.

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.

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 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.

Fuel film deposited on fuel injector tips used in gasoline direct injection engines, otherwise known as nozzle tip wetting, has been identified as an essential source of particle emissions. Attempts have been made to reduce nozzle tip wetting by the optimization design of nozzle geometry parameters. However, relevant investigations are still limited to emission measurements and corresponding indirect analysis. Due to the lack of related visualization research, the mechanism of nozzle tip wetting formation and its link with nozzle internal flow are still unclear. To clarify the influence of spray hole length on nozzle tip wetting and the underlying mechanisms, the dynamic formation process and the fuel film area evolution of nozzle tip wetting were visualized directly using laser-induced fluorescence technique and photomicrography technique.