Ammonia(NH3)has been widely recognized as a key precursor of atmospheric secondary aerosol formation.Vehicle emission is a major source of urban atmospheric NH3.With the tightening of emission standards and the growin...Ammonia(NH3)has been widely recognized as a key precursor of atmospheric secondary aerosol formation.Vehicle emission is a major source of urban atmospheric NH3.With the tightening of emission standards and the growing trend of vehicle fleet electrification,it is imperative to update the emission factors for NH3 from real-world on-road fleets.In this study,a tunnel measurement was conducted in the urban area of Tianjin,China.The fleet-average NH3 emission factor(EF)was 11.2 mg/(km·veh),significantly lower than those in previous studies,showing the benefit of emission standard updating.Through a multiple linear regression analysis,the EFs of light-duty gasoline vehicles,light-duty diesel vehicles,and heavy-duty diesel vehicles(HDDVs)were estimated to be 5.7±0.6 mg/(km·veh),40.8±5.1 mg/(km·veh),and 160.2±16.6 mg/(km·veh),respectively.Based on the results from this study,we found that HDDVs,which comprise<3%of the total vehicles may contribute approximately 22%of total NH3 emissions in Tianjin.Our results highlight NH3 emissions from HDDVs,a previously potentially overlooked source of NH3 emissions in urban areas.The actual on-road NH3 emissions from HDDVs may exceed current expectations,posing a growing concern for the future.展开更多
To achieve low-carbon regulation of electric vehicle(EV)charging loads under the“dual carbon”goals,this paper proposes a coordinated scheduling strategy that integrates dynamic carbon factor prediction and multiobje...To achieve low-carbon regulation of electric vehicle(EV)charging loads under the“dual carbon”goals,this paper proposes a coordinated scheduling strategy that integrates dynamic carbon factor prediction and multiobjective optimization.First,a dual-convolution enhanced improved Crossformer prediction model is constructed,which employs parallel 1×1 global and 3×3 local convolutionmodules(Integrated Convolution Block,ICB)formultiscale feature extraction,combinedwith anAdaptive Spectral Block(ASB)to enhance time-series fluctuationmodeling.Based on high-precision predictions,a carbon-electricity cost joint optimization model is further designed to balance economic,environmental,and grid-friendly objectives.The model’s superiority was validated through a case study using real-world data from a renewable-heavy grid.Simulation results show that the proposed multi-objective strategy demonstrated a superior balance compared to baseline and benchmark models,achieving a 15.8%reduction in carbon emissions and a 5.2%reduction in economic costs,while still providing a substantial 22.2%reduction in the peak-valley difference.Its balanced performance significantly outperformed both a single-objective strategy and a state-of-the-art Model Predictive Control(MPC)benchmark,highlighting the advantage of a global optimization approach.This study provides theoretical and technical pathways for dynamic carbon factor-driven EV charging optimization.展开更多
Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
As urban landscapes evolve and vehicular volumes soar,traditional traffic monitoring systems struggle to scale,often failing under the complexities of dense,dynamic,and occluded environments.This paper introduces a no...As urban landscapes evolve and vehicular volumes soar,traditional traffic monitoring systems struggle to scale,often failing under the complexities of dense,dynamic,and occluded environments.This paper introduces a novel,unified deep learning framework for vehicle detection,tracking,counting,and classification in aerial imagery designed explicitly for modern smart city infrastructure demands.Our approach begins with adaptive histogram equalization to optimize aerial image clarity,followed by a cutting-edge scene parsing technique using Mask2Former,enabling robust segmentation even in visually congested settings.Vehicle detection leverages the latest YOLOv11 architecture,delivering superior accuracy in aerial contexts by addressing occlusion,scale variance,and fine-grained object differentiation.We incorporate the highly efficient ByteTrack algorithm for tracking,enabling seamless identity preservation across frames.Vehicle counting is achieved through an unsupervised DBSCAN-based method,ensuring adaptability to varying traffic densities.We further introduce a hybrid feature extraction module combining Convolutional Neural Networks(CNNs)with Zernike Moments,capturing both deep semantic and geometric signatures of vehicles.The final classification is powered by NASNet,a neural architecture search-optimized model,ensuring high accuracy across diverse vehicle types and orientations.Extensive evaluations of the VAID benchmark dataset demonstrate the system’s outstanding performance,achieving 96%detection,94%tracking,and 96.4%classification accuracy.On the UAVDT dataset,the system attains 95%detection,93%tracking,and 95%classification accuracy,confirming its robustness across diverse aerial traffic scenarios.These results establish new benchmarks in aerial traffic analysis and validate the framework’s scalability,making it a powerful and adaptable solution for next-generation intelligent transportation systems and urban surveillance.展开更多
Traffic at urban intersections frequently encounters unexpected obstructions,resulting in congestion due to uncooperative and priority-based driving behavior.This paper presents an optimal right-turn coordination syst...Traffic at urban intersections frequently encounters unexpected obstructions,resulting in congestion due to uncooperative and priority-based driving behavior.This paper presents an optimal right-turn coordination system for Connected and Automated Vehicles(CAVs)at single-lane intersections,particularly in the context of left-hand side driving on roads.The goal is to facilitate smooth right turns for certain vehicles without creating bottlenecks.We consider that all approaching vehicles share relevant information through vehicular communications.The Intersection Coordination Unit(ICU)processes this information and communicates the optimal crossing or turning times to the vehicles.The primary objective of this coordination is to minimize overall traffic delays,which also helps improve the fuel consumption of vehicles.By considering information from upcoming vehicles at the intersection,the coordination system solves an optimization problem to determine the best timing for executing right turns,ultimately minimizing the total delay for all vehicles.The proposed coordination system is evaluated at a typical urban intersection,and its performance is compared to traditional traffic systems.Numerical simulation results indicate that the proposed coordination system significantly enhances the average traffic speed and fuel consumption compared to the traditional traffic system in various scenarios.展开更多
Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrain...Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrained onboard devices to nearby Roadside Unit(RSU),thereby achieving lower delay and energy consumption.However,due to the limited storage capacity and energy budget of RSUs,it is challenging to meet the demands of the highly dynamic Internet of Vehicles(IoV)environment.Therefore,determining reasonable service caching and computation offloading strategies is crucial.To address this,this paper proposes a joint service caching scheme for cloud-edge collaborative IoV computation offloading.By modeling the dynamic optimization problem using Markov Decision Processes(MDP),the scheme jointly optimizes task delay,energy consumption,load balancing,and privacy entropy to achieve better quality of service.Additionally,a dynamic adaptive multi-objective deep reinforcement learning algorithm is proposed.Each Double Deep Q-Network(DDQN)agent obtains rewards for different objectives based on distinct reward functions and dynamically updates the objective weights by learning the value changes between objectives using Radial Basis Function Networks(RBFN),thereby efficiently approximating the Pareto-optimal decisions for multiple objectives.Extensive experiments demonstrate that the proposed algorithm can better coordinate the three-tier computing resources of cloud,edge,and vehicles.Compared to existing algorithms,the proposed method reduces task delay and energy consumption by 10.64%and 5.1%,respectively.展开更多
Amphibious vehicles are more prone to attitude instability compared to ships,making it crucial to develop effective methods for monitoring instability risks.However,large inclination events,which can lead to instabili...Amphibious vehicles are more prone to attitude instability compared to ships,making it crucial to develop effective methods for monitoring instability risks.However,large inclination events,which can lead to instability,occur frequently in both experimental and operational data.This infrequency causes events to be overlooked by existing prediction models,which lack the precision to accurately predict inclination attitudes in amphibious vehicles.To address this gap in predicting attitudes near extreme inclination points,this study introduces a novel loss function,termed generalized extreme value loss.Subsequently,a deep learning model for improved waterborne attitude prediction,termed iInformer,was developed using a Transformer-based approach.During the embedding phase,a text prototype is created based on the vehicle’s operation log data is constructed to help the model better understand the vehicle’s operating environment.Data segmentation techniques are used to highlight local data variation features.Furthermore,to mitigate issues related to poor convergence and slow training speeds caused by the extreme value loss function,a teacher forcing mechanism is integrated into the model,enhancing its convergence capabilities.Experimental results validate the effectiveness of the proposed method,demonstrating its ability to handle data imbalance challenges.Specifically,the model achieves over a 60%improvement in root mean square error under extreme value conditions,with significant improvements observed across additional metrics.展开更多
Rapid evolutions of the Internet of Electric Vehicles(IoEVs)are reshaping and modernizing transport systems,yet challenges remain in energy efficiency,better battery aging,and grid stability.Typical charging methods a...Rapid evolutions of the Internet of Electric Vehicles(IoEVs)are reshaping and modernizing transport systems,yet challenges remain in energy efficiency,better battery aging,and grid stability.Typical charging methods allow for EVs to be charged without thought being given to the condition of the battery or the grid demand,thus increasing energy costs and battery aging.This study proposes a smart charging station with an AI-powered Battery Management System(BMS),developed and simulated in MATLAB/Simulink,to increase optimality in energy flow,battery health,and impractical scheduling within the IoEV environment.The system operates through real-time communication,load scheduling based on priorities,and adaptive charging based on batterymathematically computed State of Charge(SOC),State of Health(SOH),and thermal state,with bidirectional power flow(V2G),thus allowing EVs’participation towards grid stabilization.Simulation results revealed that the proposed model can reduce peak grid load by 37.8%;charging efficiency is enhanced by 92.6%;battery temperature lessened by 4.4℃;SOH extended over 100 cycles by 6.5%,if compared against the conventional technique.By this way,charging time was decreased by 12.4% and energy costs dropped by more than 20%.These results showed that smart charging with intelligent BMS can boost greatly the operational efficiency and sustainability of the IoEV ecosystem.展开更多
The task assignment problem of multiple heterogeneous unmanned aerial vehicles （UAVs）, concerned with cooperative decision making and control, is studied in this paper. The heterogeneous vehicles have different oper...The task assignment problem of multiple heterogeneous unmanned aerial vehicles （UAVs）, concerned with cooperative decision making and control, is studied in this paper. The heterogeneous vehicles have different operational capabilities and kinematic constraints, and carry limited resources （e.g., weapons） onboard. They are designated to perform multiple consecutive tasks cooperatively on multiple ground targets. The problem becomes much more complicated because of these terms of heterogeneity. In order to tackle the challenge, we modify the former genetic algorithm with multi-type genes to stochastically search a best solution. Genes of chromo- somes are different, and they are assorted into several types according to the tasks that must be performed on targets. Different types of genes are processed specifically in the improved genetic operators including initialization, crossover, and mutation. We also present a mirror representation of vehicles to deal with the limited resource constraint. Feasible chromosomes that vehicles could perform tasks using their limited resources under the assignment are created and evolved by genetic operators. The effect of the proposed algorithm is demonstrated in numerical simulations. The results show that it effectively provides good feasible solutions and finds an optimal one.展开更多
The time dependent vehicle routing problem with time windows(TDVRPTW)is considered.A multi-type ant system(MTAS)algorithm hybridized with the ant colony system(ACS)and the max-min ant system(MMAS)algorithms is propose...The time dependent vehicle routing problem with time windows(TDVRPTW)is considered.A multi-type ant system(MTAS)algorithm hybridized with the ant colony system(ACS)and the max-min ant system(MMAS)algorithms is proposed.This combination absorbs the merits of the two algorithms in solutions construction and optimization separately.In order to improve the efficiency of the insertion procedure,a nearest neighbor selection(NNS)mechanism,an insertion local search procedure and a local optimization procedure are specified in detail.And in order to find a balance between good scouting performance and fast convergence rate,an adaptive pheromone updating strategy is proposed in the MTAS.Computational results confirm the MTAS algorithm's good performance with all these strategies on classic vehicle routing problem with time windows(VRPTW)benchmark instances and the TDVRPTW instances,and some better results especially for the number of vehicles and travel times of the best solutions are obtained in comparison with the previous research.展开更多
Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Un...Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.展开更多
To meet the requirements of electromagnetic(EM)theory and applied physics,this study presents an overview of the state-of-the-art research on obtaining the EM properties of media and points out potential solutions tha...To meet the requirements of electromagnetic(EM)theory and applied physics,this study presents an overview of the state-of-the-art research on obtaining the EM properties of media and points out potential solutions that can break through the bottlenecks of current methods.Firstly,based on the survey of three mainstream approaches for acquiring EM properties of media,we identify the difficulties when implementing them in realistic environments.With a focus on addressing these problems and challenges,we propose a novel paradigm for obtaining the EM properties of multi-type media in realistic environments.Particularly,within this paradigm,we describe the implementation approach of the key technology,namely“multipath extraction using heterogeneous wave propagation data in multi-spectrum cases”.Finally,the latest measurement and simulation results show that the EM properties of multi-type media in realistic environments can be precisely and efficiently acquired by the methodology proposed in this study.展开更多
Aiming at the problem that the existing algorithms for vehicle detection in smart factories are difficult to detect partial occlusion of vehicles,vulnerable to background interference,lack of global vision,and excessi...Aiming at the problem that the existing algorithms for vehicle detection in smart factories are difficult to detect partial occlusion of vehicles,vulnerable to background interference,lack of global vision,and excessive suppression of real targets,which ultimately cause accuracy degradation.At the same time,to facilitate the subsequent positioning of vehicles in the factory,this paper proposes an improved YOLOv8 algorithm.Firstly,the RFCAConv module is combined to improve the original YOLOv8 backbone.Pay attention to the different features in the receptive field,and give priority to the spatial features of the receptive field to capture more vehicle feature information and solve the problem that the vehicle is partially occluded and difficult to detect.Secondly,the SFE module is added to the neck of v8,which improves the saliency of the target in the reasoning process and reduces the influence of background interference on vehicle detection.Finally,the head of the RT-DETR algorithm is used to replace the head in the original YOLOv8 algorithm,which avoids the excessive suppression of the real target while combining the context information.The experimental results show that compared with the original YOLOv8 algorithm,the detection accuracy of the improved YOLOv8 algorithm is improved by 4.6%on the self-made smart factory data set,and the detection speed also meets the real-time requirements of smart factory vehicle detection and subsequent vehicle positioning.展开更多
In this paper,a novel guidance law is proposed which can achieve the desired impact speed and angle simultaneously for unpowered gliding vehicles.A guidance law with only impact angle constraint is used to produce the...In this paper,a novel guidance law is proposed which can achieve the desired impact speed and angle simultaneously for unpowered gliding vehicles.A guidance law with only impact angle constraint is used to produce the guidance profile,and its convergence in the varying speed scenario is proved.A relationship between flight states,guidance input and impact speed is established.By applying the fixed-time convergence control theory of error dynamics,an impact speed corrector is built with the above guidance profile,which can implement impact speed correction without affecting the impact angle constraint.Numerical simulations with various impact speed and angle constraints are conducted to demonstrate the performance of the proposed guidance law,and the robustness is also verified by Monte Carlo tests.展开更多
Studying the coupling coordination development of new energy vehicles(NEVs)and the ecological environment in China is helpful in promoting the development of NEVs in the country and is of great significance in promoti...Studying the coupling coordination development of new energy vehicles(NEVs)and the ecological environment in China is helpful in promoting the development of NEVs in the country and is of great significance in promoting high-quality development of new energy in China.This paper constructs an evaluation index system for the development of NEVs and the ecological environment.It uses game theory combining weighting model,particle swarm optimized projection tracking evaluation model,coupling coordination degree model,and machine learning algorithms to calculate and analyze the level of coupling coordination development of NEVs and the ecological environment in China from 2010 to 2021,and identifies the driving factors.The research results show that:(i)From 2010 to 2021,the development index of NEVs in China has steadily increased from 0.085 to 0.634,while the ecological environment level index significantly rose from 0.170 to 0.884,reflecting the continuous development of China in both NEVs and the ecological environment.(ii)From 2010 to 2012,the two systems—new energy vehicle(NEV)development and the ecological environment—were in a period of imbalance and decline.From 2013 to 2016,they underwent a transition period,and from 2017 to 2021,they entered a period of coordinated development showing a trend of benign and continuous improvement.By 2021,they reached a good level of coordination.(iii)Indicators such as the number of patents granted for NEVs,water consumption per unit of GDP,and energy consumption per unit of GDP are the main driving factors affecting the coupling coordination development of NEVs and the ecological environment in China.展开更多
The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operatin...The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operating in a single medium.To ensure the reliable and stable completion of tasks by AAVs,this paper proposes a tiltable quadcopter AAV to mitigate the potential issue of rotor failure,which can lead to high-speed spinning or damage during cross-media transitions.Experimental validation demonstrates that this tiltable quadcopter AAV can transform into a dual-rotor or triple-rotor configuration after losing one or two rotors,allowing it to perform cross-domain movements with enhanced stability and maintain task completion.This enhancement significantly improves its fault tolerance and task reliability.展开更多
The global adoption of Electric Vehicles(EVs)is on the rise due to their advanced features,with projections indicating they will soon dominate the private vehicle market.However,improper management of EV charging can ...The global adoption of Electric Vehicles(EVs)is on the rise due to their advanced features,with projections indicating they will soon dominate the private vehicle market.However,improper management of EV charging can lead to significant issues.This paper reviews the development of high-power,reliable charging solutions by examining the converter topologies used in rectifiers and converters that transfer electricity from the grid to EV batteries.It covers technical details,ongoing developments,and challenges related to these topologies and control strategies.The integration of rapid charging stations has introduced various Power Quality(PQ)issues,such as voltage fluctuations,harmonic distortion,and supra-harmonics,which are discussed in detail.The paper also highlights the benefits of controlled EV charging and discharging,including voltage and frequency regulation,reactive power compensation,and improved power quality.Efficient energy management and control strategies are crucial for optimizing EV battery charging within microgrids to meet increasing demand.Charging stations must adhere to specific converter topologies,control strategies,and industry standards to function correctly.The paper explores microgrid architectures and control strategies that integrate EVs,energy storage units(ESUs),and Renewable Energy Sources(RES)to enhance performance at charging points.It emphasizes the importance of various RES-connected architectures and the latest power converter topologies.Additionally,the paper provides a comparative analysis of microgrid-based charging station architectures,focusing on energy management,control strategies,and charging converter controls.The goal is to offer insights into future research directions in EV charging systems,including architectural considerations,control factors,and their respective advantages and disadvantages.展开更多
The rapid proliferation of electric vehicle(EV)charging infrastructure introduces critical cybersecurity vulnerabilities to power grids system.This study presents an innovative anomaly detection framework for EV charg...The rapid proliferation of electric vehicle(EV)charging infrastructure introduces critical cybersecurity vulnerabilities to power grids system.This study presents an innovative anomaly detection framework for EV charging stations,addressing the unique challenges posed by third-party aggregation platforms.Our approach integrates node equations-based on the parameter identification with a novel deep learning model,xDeepCIN,to detect abnormal data reporting indicative of aggregation attacks.We employ a graph-theoretic approach to model EV charging networks and utilize Markov Chain Monte Carlo techniques for accurate parameter estimation.The xDeepCIN model,incorporating a Compressed Interaction Network,has the ability to capture complex feature interactions in sparse,high-dimensional charging data.Experimental results on both proprietary and public datasets demonstrate significant improvements in anomaly detection performance,with F1-scores increasing by up to 32.3%for specific anomaly types compared to traditional methods,such as wide&deep and DeepFM(Factorization-Machine).Our framework exhibits robust scalability,effectively handling networks ranging from 8 to 85 charging points.Furthermore,we achieve real-time monitoring capabilities,with parameter identification completing within seconds for networks up to 1000 nodes.This research contributes to enhancing the security and reliability of renewable energy systems against evolving cyber threats,offering a comprehensive solution for safeguarding the rapidly expanding EV charging infrastructure.展开更多
The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a nove...The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
基金supported by the National key research and development program of China(No.2022YFE0135000)the National Natural Science Foundation of China(No.42175123)the Natural Science Foundation of Tianjin(No.23JCJQJC00170).
文摘Ammonia(NH3)has been widely recognized as a key precursor of atmospheric secondary aerosol formation.Vehicle emission is a major source of urban atmospheric NH3.With the tightening of emission standards and the growing trend of vehicle fleet electrification,it is imperative to update the emission factors for NH3 from real-world on-road fleets.In this study,a tunnel measurement was conducted in the urban area of Tianjin,China.The fleet-average NH3 emission factor(EF)was 11.2 mg/(km·veh),significantly lower than those in previous studies,showing the benefit of emission standard updating.Through a multiple linear regression analysis,the EFs of light-duty gasoline vehicles,light-duty diesel vehicles,and heavy-duty diesel vehicles(HDDVs)were estimated to be 5.7±0.6 mg/(km·veh),40.8±5.1 mg/(km·veh),and 160.2±16.6 mg/(km·veh),respectively.Based on the results from this study,we found that HDDVs,which comprise<3%of the total vehicles may contribute approximately 22%of total NH3 emissions in Tianjin.Our results highlight NH3 emissions from HDDVs,a previously potentially overlooked source of NH3 emissions in urban areas.The actual on-road NH3 emissions from HDDVs may exceed current expectations,posing a growing concern for the future.
基金Supported by State Grid Corporation of China Science and Technology Project:Research on Key Technologies for Intelligent Carbon Metrology in Vehicle-to-Grid Interaction(Project Number:B3018524000Q).
文摘To achieve low-carbon regulation of electric vehicle(EV)charging loads under the“dual carbon”goals,this paper proposes a coordinated scheduling strategy that integrates dynamic carbon factor prediction and multiobjective optimization.First,a dual-convolution enhanced improved Crossformer prediction model is constructed,which employs parallel 1×1 global and 3×3 local convolutionmodules(Integrated Convolution Block,ICB)formultiscale feature extraction,combinedwith anAdaptive Spectral Block(ASB)to enhance time-series fluctuationmodeling.Based on high-precision predictions,a carbon-electricity cost joint optimization model is further designed to balance economic,environmental,and grid-friendly objectives.The model’s superiority was validated through a case study using real-world data from a renewable-heavy grid.Simulation results show that the proposed multi-objective strategy demonstrated a superior balance compared to baseline and benchmark models,achieving a 15.8%reduction in carbon emissions and a 5.2%reduction in economic costs,while still providing a substantial 22.2%reduction in the peak-valley difference.Its balanced performance significantly outperformed both a single-objective strategy and a state-of-the-art Model Predictive Control(MPC)benchmark,highlighting the advantage of a global optimization approach.This study provides theoretical and technical pathways for dynamic carbon factor-driven EV charging optimization.
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金funded by the Open Access Initiative of the University of Bremen and the DFG via SuUB BremenThe authors extend their appreciation to the Deanship of Research and Graduate Studies at King Khalid University for funding this work through Large Group Project under grant number(RGP2/367/46)+1 种基金This research is supported and funded by Princess Nourah bint Abdulrahman University Researchers Supporting Project number(PNURSP2025R410)Princess Nourah bint Abdulrahman University,Riyadh,Saudi Arabia.
文摘As urban landscapes evolve and vehicular volumes soar,traditional traffic monitoring systems struggle to scale,often failing under the complexities of dense,dynamic,and occluded environments.This paper introduces a novel,unified deep learning framework for vehicle detection,tracking,counting,and classification in aerial imagery designed explicitly for modern smart city infrastructure demands.Our approach begins with adaptive histogram equalization to optimize aerial image clarity,followed by a cutting-edge scene parsing technique using Mask2Former,enabling robust segmentation even in visually congested settings.Vehicle detection leverages the latest YOLOv11 architecture,delivering superior accuracy in aerial contexts by addressing occlusion,scale variance,and fine-grained object differentiation.We incorporate the highly efficient ByteTrack algorithm for tracking,enabling seamless identity preservation across frames.Vehicle counting is achieved through an unsupervised DBSCAN-based method,ensuring adaptability to varying traffic densities.We further introduce a hybrid feature extraction module combining Convolutional Neural Networks(CNNs)with Zernike Moments,capturing both deep semantic and geometric signatures of vehicles.The final classification is powered by NASNet,a neural architecture search-optimized model,ensuring high accuracy across diverse vehicle types and orientations.Extensive evaluations of the VAID benchmark dataset demonstrate the system’s outstanding performance,achieving 96%detection,94%tracking,and 96.4%classification accuracy.On the UAVDT dataset,the system attains 95%detection,93%tracking,and 95%classification accuracy,confirming its robustness across diverse aerial traffic scenarios.These results establish new benchmarks in aerial traffic analysis and validate the framework’s scalability,making it a powerful and adaptable solution for next-generation intelligent transportation systems and urban surveillance.
基金supported by the Japan Society for the Promotion of Science(JSPS)Grants-in-Aid for Scientific Research(C)23K03898.
文摘Traffic at urban intersections frequently encounters unexpected obstructions,resulting in congestion due to uncooperative and priority-based driving behavior.This paper presents an optimal right-turn coordination system for Connected and Automated Vehicles(CAVs)at single-lane intersections,particularly in the context of left-hand side driving on roads.The goal is to facilitate smooth right turns for certain vehicles without creating bottlenecks.We consider that all approaching vehicles share relevant information through vehicular communications.The Intersection Coordination Unit(ICU)processes this information and communicates the optimal crossing or turning times to the vehicles.The primary objective of this coordination is to minimize overall traffic delays,which also helps improve the fuel consumption of vehicles.By considering information from upcoming vehicles at the intersection,the coordination system solves an optimization problem to determine the best timing for executing right turns,ultimately minimizing the total delay for all vehicles.The proposed coordination system is evaluated at a typical urban intersection,and its performance is compared to traditional traffic systems.Numerical simulation results indicate that the proposed coordination system significantly enhances the average traffic speed and fuel consumption compared to the traditional traffic system in various scenarios.
基金supported by Key Science and Technology Program of Henan Province,China(Grant Nos.242102210147,242102210027)Fujian Province Young and Middle aged Teacher Education Research Project(Science and Technology Category)(No.JZ240101)(Corresponding author:Dong Yuan).
文摘Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrained onboard devices to nearby Roadside Unit(RSU),thereby achieving lower delay and energy consumption.However,due to the limited storage capacity and energy budget of RSUs,it is challenging to meet the demands of the highly dynamic Internet of Vehicles(IoV)environment.Therefore,determining reasonable service caching and computation offloading strategies is crucial.To address this,this paper proposes a joint service caching scheme for cloud-edge collaborative IoV computation offloading.By modeling the dynamic optimization problem using Markov Decision Processes(MDP),the scheme jointly optimizes task delay,energy consumption,load balancing,and privacy entropy to achieve better quality of service.Additionally,a dynamic adaptive multi-objective deep reinforcement learning algorithm is proposed.Each Double Deep Q-Network(DDQN)agent obtains rewards for different objectives based on distinct reward functions and dynamically updates the objective weights by learning the value changes between objectives using Radial Basis Function Networks(RBFN),thereby efficiently approximating the Pareto-optimal decisions for multiple objectives.Extensive experiments demonstrate that the proposed algorithm can better coordinate the three-tier computing resources of cloud,edge,and vehicles.Compared to existing algorithms,the proposed method reduces task delay and energy consumption by 10.64%and 5.1%,respectively.
基金Supported by the National Defense Basic Scientific Research Program of China.
文摘Amphibious vehicles are more prone to attitude instability compared to ships,making it crucial to develop effective methods for monitoring instability risks.However,large inclination events,which can lead to instability,occur frequently in both experimental and operational data.This infrequency causes events to be overlooked by existing prediction models,which lack the precision to accurately predict inclination attitudes in amphibious vehicles.To address this gap in predicting attitudes near extreme inclination points,this study introduces a novel loss function,termed generalized extreme value loss.Subsequently,a deep learning model for improved waterborne attitude prediction,termed iInformer,was developed using a Transformer-based approach.During the embedding phase,a text prototype is created based on the vehicle’s operation log data is constructed to help the model better understand the vehicle’s operating environment.Data segmentation techniques are used to highlight local data variation features.Furthermore,to mitigate issues related to poor convergence and slow training speeds caused by the extreme value loss function,a teacher forcing mechanism is integrated into the model,enhancing its convergence capabilities.Experimental results validate the effectiveness of the proposed method,demonstrating its ability to handle data imbalance challenges.Specifically,the model achieves over a 60%improvement in root mean square error under extreme value conditions,with significant improvements observed across additional metrics.
文摘Rapid evolutions of the Internet of Electric Vehicles(IoEVs)are reshaping and modernizing transport systems,yet challenges remain in energy efficiency,better battery aging,and grid stability.Typical charging methods allow for EVs to be charged without thought being given to the condition of the battery or the grid demand,thus increasing energy costs and battery aging.This study proposes a smart charging station with an AI-powered Battery Management System(BMS),developed and simulated in MATLAB/Simulink,to increase optimality in energy flow,battery health,and impractical scheduling within the IoEV environment.The system operates through real-time communication,load scheduling based on priorities,and adaptive charging based on batterymathematically computed State of Charge(SOC),State of Health(SOH),and thermal state,with bidirectional power flow(V2G),thus allowing EVs’participation towards grid stabilization.Simulation results revealed that the proposed model can reduce peak grid load by 37.8%;charging efficiency is enhanced by 92.6%;battery temperature lessened by 4.4℃;SOH extended over 100 cycles by 6.5%,if compared against the conventional technique.By this way,charging time was decreased by 12.4% and energy costs dropped by more than 20%.These results showed that smart charging with intelligent BMS can boost greatly the operational efficiency and sustainability of the IoEV ecosystem.
文摘The task assignment problem of multiple heterogeneous unmanned aerial vehicles （UAVs）, concerned with cooperative decision making and control, is studied in this paper. The heterogeneous vehicles have different operational capabilities and kinematic constraints, and carry limited resources （e.g., weapons） onboard. They are designated to perform multiple consecutive tasks cooperatively on multiple ground targets. The problem becomes much more complicated because of these terms of heterogeneity. In order to tackle the challenge, we modify the former genetic algorithm with multi-type genes to stochastically search a best solution. Genes of chromo- somes are different, and they are assorted into several types according to the tasks that must be performed on targets. Different types of genes are processed specifically in the improved genetic operators including initialization, crossover, and mutation. We also present a mirror representation of vehicles to deal with the limited resource constraint. Feasible chromosomes that vehicles could perform tasks using their limited resources under the assignment are created and evolved by genetic operators. The effect of the proposed algorithm is demonstrated in numerical simulations. The results show that it effectively provides good feasible solutions and finds an optimal one.
文摘The time dependent vehicle routing problem with time windows(TDVRPTW)is considered.A multi-type ant system(MTAS)algorithm hybridized with the ant colony system(ACS)and the max-min ant system(MMAS)algorithms is proposed.This combination absorbs the merits of the two algorithms in solutions construction and optimization separately.In order to improve the efficiency of the insertion procedure,a nearest neighbor selection(NNS)mechanism,an insertion local search procedure and a local optimization procedure are specified in detail.And in order to find a balance between good scouting performance and fast convergence rate,an adaptive pheromone updating strategy is proposed in the MTAS.Computational results confirm the MTAS algorithm's good performance with all these strategies on classic vehicle routing problem with time windows(VRPTW)benchmark instances and the TDVRPTW instances,and some better results especially for the number of vehicles and travel times of the best solutions are obtained in comparison with the previous research.
基金This work was funded by the research center of the Future University in Egypt,in 2023.
文摘Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.
基金supported by the Beijing Natural Science Foundation(No.L212029)the National Natural Science Foundation of China(No.62271043).
文摘To meet the requirements of electromagnetic(EM)theory and applied physics,this study presents an overview of the state-of-the-art research on obtaining the EM properties of media and points out potential solutions that can break through the bottlenecks of current methods.Firstly,based on the survey of three mainstream approaches for acquiring EM properties of media,we identify the difficulties when implementing them in realistic environments.With a focus on addressing these problems and challenges,we propose a novel paradigm for obtaining the EM properties of multi-type media in realistic environments.Particularly,within this paradigm,we describe the implementation approach of the key technology,namely“multipath extraction using heterogeneous wave propagation data in multi-spectrum cases”.Finally,the latest measurement and simulation results show that the EM properties of multi-type media in realistic environments can be precisely and efficiently acquired by the methodology proposed in this study.
基金funded by Changzhou Science and Technology Project(No.CZ20230025)Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.XSJCX23_36).
文摘Aiming at the problem that the existing algorithms for vehicle detection in smart factories are difficult to detect partial occlusion of vehicles,vulnerable to background interference,lack of global vision,and excessive suppression of real targets,which ultimately cause accuracy degradation.At the same time,to facilitate the subsequent positioning of vehicles in the factory,this paper proposes an improved YOLOv8 algorithm.Firstly,the RFCAConv module is combined to improve the original YOLOv8 backbone.Pay attention to the different features in the receptive field,and give priority to the spatial features of the receptive field to capture more vehicle feature information and solve the problem that the vehicle is partially occluded and difficult to detect.Secondly,the SFE module is added to the neck of v8,which improves the saliency of the target in the reasoning process and reduces the influence of background interference on vehicle detection.Finally,the head of the RT-DETR algorithm is used to replace the head in the original YOLOv8 algorithm,which avoids the excessive suppression of the real target while combining the context information.The experimental results show that compared with the original YOLOv8 algorithm,the detection accuracy of the improved YOLOv8 algorithm is improved by 4.6%on the self-made smart factory data set,and the detection speed also meets the real-time requirements of smart factory vehicle detection and subsequent vehicle positioning.
基金supported by the National Natural Science Foundation of China(No.52175214)。
文摘In this paper,a novel guidance law is proposed which can achieve the desired impact speed and angle simultaneously for unpowered gliding vehicles.A guidance law with only impact angle constraint is used to produce the guidance profile,and its convergence in the varying speed scenario is proved.A relationship between flight states,guidance input and impact speed is established.By applying the fixed-time convergence control theory of error dynamics,an impact speed corrector is built with the above guidance profile,which can implement impact speed correction without affecting the impact angle constraint.Numerical simulations with various impact speed and angle constraints are conducted to demonstrate the performance of the proposed guidance law,and the robustness is also verified by Monte Carlo tests.
基金Supported by the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX24_0102)the China Scholarship Council Program(202406190114)。
文摘Studying the coupling coordination development of new energy vehicles(NEVs)and the ecological environment in China is helpful in promoting the development of NEVs in the country and is of great significance in promoting high-quality development of new energy in China.This paper constructs an evaluation index system for the development of NEVs and the ecological environment.It uses game theory combining weighting model,particle swarm optimized projection tracking evaluation model,coupling coordination degree model,and machine learning algorithms to calculate and analyze the level of coupling coordination development of NEVs and the ecological environment in China from 2010 to 2021,and identifies the driving factors.The research results show that:(i)From 2010 to 2021,the development index of NEVs in China has steadily increased from 0.085 to 0.634,while the ecological environment level index significantly rose from 0.170 to 0.884,reflecting the continuous development of China in both NEVs and the ecological environment.(ii)From 2010 to 2012,the two systems—new energy vehicle(NEV)development and the ecological environment—were in a period of imbalance and decline.From 2013 to 2016,they underwent a transition period,and from 2017 to 2021,they entered a period of coordinated development showing a trend of benign and continuous improvement.By 2021,they reached a good level of coordination.(iii)Indicators such as the number of patents granted for NEVs,water consumption per unit of GDP,and energy consumption per unit of GDP are the main driving factors affecting the coupling coordination development of NEVs and the ecological environment in China.
基金supported by Southern Marine Science and Engineering Guangdong Laboratory Grant No.SML2023SP229。
文摘The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operating in a single medium.To ensure the reliable and stable completion of tasks by AAVs,this paper proposes a tiltable quadcopter AAV to mitigate the potential issue of rotor failure,which can lead to high-speed spinning or damage during cross-media transitions.Experimental validation demonstrates that this tiltable quadcopter AAV can transform into a dual-rotor or triple-rotor configuration after losing one or two rotors,allowing it to perform cross-domain movements with enhanced stability and maintain task completion.This enhancement significantly improves its fault tolerance and task reliability.
文摘The global adoption of Electric Vehicles(EVs)is on the rise due to their advanced features,with projections indicating they will soon dominate the private vehicle market.However,improper management of EV charging can lead to significant issues.This paper reviews the development of high-power,reliable charging solutions by examining the converter topologies used in rectifiers and converters that transfer electricity from the grid to EV batteries.It covers technical details,ongoing developments,and challenges related to these topologies and control strategies.The integration of rapid charging stations has introduced various Power Quality(PQ)issues,such as voltage fluctuations,harmonic distortion,and supra-harmonics,which are discussed in detail.The paper also highlights the benefits of controlled EV charging and discharging,including voltage and frequency regulation,reactive power compensation,and improved power quality.Efficient energy management and control strategies are crucial for optimizing EV battery charging within microgrids to meet increasing demand.Charging stations must adhere to specific converter topologies,control strategies,and industry standards to function correctly.The paper explores microgrid architectures and control strategies that integrate EVs,energy storage units(ESUs),and Renewable Energy Sources(RES)to enhance performance at charging points.It emphasizes the importance of various RES-connected architectures and the latest power converter topologies.Additionally,the paper provides a comparative analysis of microgrid-based charging station architectures,focusing on energy management,control strategies,and charging converter controls.The goal is to offer insights into future research directions in EV charging systems,including architectural considerations,control factors,and their respective advantages and disadvantages.
基金supported by Jiangsu Provincial Science and Technology Project,grant number J2023124.Jing Guo received this grant,the URLs of sponsors’website is https://kxjst.jiangsu.gov.cn/(accessed on 06 June 2024).
文摘The rapid proliferation of electric vehicle(EV)charging infrastructure introduces critical cybersecurity vulnerabilities to power grids system.This study presents an innovative anomaly detection framework for EV charging stations,addressing the unique challenges posed by third-party aggregation platforms.Our approach integrates node equations-based on the parameter identification with a novel deep learning model,xDeepCIN,to detect abnormal data reporting indicative of aggregation attacks.We employ a graph-theoretic approach to model EV charging networks and utilize Markov Chain Monte Carlo techniques for accurate parameter estimation.The xDeepCIN model,incorporating a Compressed Interaction Network,has the ability to capture complex feature interactions in sparse,high-dimensional charging data.Experimental results on both proprietary and public datasets demonstrate significant improvements in anomaly detection performance,with F1-scores increasing by up to 32.3%for specific anomaly types compared to traditional methods,such as wide&deep and DeepFM(Factorization-Machine).Our framework exhibits robust scalability,effectively handling networks ranging from 8 to 85 charging points.Furthermore,we achieve real-time monitoring capabilities,with parameter identification completing within seconds for networks up to 1000 nodes.This research contributes to enhancing the security and reliability of renewable energy systems against evolving cyber threats,offering a comprehensive solution for safeguarding the rapidly expanding EV charging infrastructure.
基金Fundamental Research Funds for the Central Universities(2024JBZX038)National Natural Science F oundation of China(62076023)。
文摘The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
