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MODEL PREDICTIVE TRAJECTORY OPTIMIZATION AND TRACKING IN HIGHLY CONSTRAINED ENVIRONMENTS
Lu Xiong,Zhiqiang Fu,Zixuan Qian,Bo Leng,Dequan Zeng,Yanjun Huang 한국자동차공학회 2022 International journal of automotive technology Vol.23 No.4
This paper presents a model predictive trajectory optimization and tracking framework to avoid collisions for autonomous vehicles in highly constrained environments. Firstly, a vehicle model is established in road coordinate system to describe the relationship between the vehicle and the reference road. Secondly, a numerical optimization method is applied to smoothen the reference path generated by waypoints. Then, a multilayer searched method is used to establish a safe driving corridor in highly constrained environments. In addition, an optimal path optimization and tracking framework based on model predictive control is formulated to improve the driving safety and comfort. The proposed framework considers the constraints of path boundaries and vehicle dynamics to provide the optimal control command. Furthermore, the speed profile is optimized based on the longitudinal motion model in space domain to ensure the constraints of speed limits and vehicle acceleration. Finally, the proposed algorithms are evaluated through experiments in various scenarios to demonstrate the effectiveness.
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Kinetic modeling of non-hydrocarbon/nitric oxide interactions in a flow reactor above 1,400K
Shaozeng Sun,Zhiqiang Wang,Lin Qian,Yukun Qin,Huali Cao 한국화학공학회 2009 Korean Journal of Chemical Engineering Vol.26 No.3
The reduction of nitric oxide by reaction with non-hydrocarbon fuels under reducing conditions at comparatively higher temperature has been studied with a detailed chemical kinetic model. The reaction mechanism consists of 337 elementary reactions between 65 chemical species based on the newest rate coefficients. The experimental data were adopted from previous work. Analyses by comparing existing experimental data with the modeling predictions of this kinetic mechanism indicate that, at comparatively high temperature, apart from the reaction path NO→ HNO→NH→N2, NO+N→N2 is also prominent. In the presence of CO, NO is partly converted to N by reaction with CO. Based on present model, the reduction of NO at high temperature, which was usually underestimated by previous work, can be improved to some extent.
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Honglong Zhan,Yingjun Qiao,Zhiqiang Qian,Jun Li,Zhijian Wu,Xiaogang Hao,Zhong Liu 한국공업화학회 2022 Journal of Industrial and Engineering Chemistry Vol.114 No.-
The manganese-based spinel adsorbent (HMO) refers to lithium-ion adsorbents derived from the spinellithium manganese oxide (LMO). Two types of lithium ions extraction composite films composed of HMO(HMn2O4 and H1.6Mn1.6O4) are successfully prepared by the blade coating method. Based on the excellentLi+ selectivity of HMO and the outstanding conductivity of conductive carbon black (C), HMO/C films arecarried out to extract lithium by electrochemically switched ion exchange (ESIX) technique. HMO has acertain adsorption capacity for Li+ when the Li+ concentration is close to the actual brine, and the adsorptioncapacity of HMn2O4 and H1.6Mn1.6O4 is 24.56 mg/g and 34.40 mg/g, respectively. HMO showed goodselectivity for Li+ in multiple metal ions solution. The capacity of HMn2O4 and H1.6Mn1.6O4 keep 80% and86% of the initial values after 5 cycles, respectively. The inherent different lithium occupied leads to thedifference of electrical-adsorption abilities between HMn2O4 and H1.6Mn1.6O4. H1.6Mn1.6O4 has a broadapplication prospect in lithium extraction from salt lake brine due to its lower application voltage, largeadsorption capacity and superior stability.
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Pan Jiaquan,Zhang Qian,Liu Shuai,Liu Zhiqiang,Bian Xiaofeng,Yu Tao 한국식물생명공학회 2023 Plant biotechnology reports Vol.17 No.6
Sweetpotato [Ipomoea batatas (L.) Lam] is one of the most important crops for food, feed, industrial material, and bio-energy resource. However, since it originated in tropical regions, sweetpotato exhibits limited cold tolerance, hindering its cultivation in low-temperature areas. To comprehend the sweetpotato response to chilling stress, de novo transcriptome assembly was conducted on leaves from two sweetpotato cultivars: the cold-tolerant Liaohanshu 21 and the cold-sensitive Shenshu 28, exposed to low-temperature stress for 3 h and 24 h. 787.24 million raw reads and 763.44 million clean reads were obtained, 60.60–66.06% of clean reads successfully mapped to the reference database across all 18 libraries. 2524 unigenes were identified as transcript factors and classified into 55 families in Plant Transcription Factor Database (PlantTFDB) and 4671 unigenes were matched to 24 groups in Plant Resistance Gene Database (PRGdb). In Liaohanshu 21, 3618 genes and 8391 genes exhibited significant differential expression 3 h and 24 h of low-temperature exposure, respectively. In Shenshu 28, 13,394 genes and 11,627 genes displayed substantial differential expression after 3 h and 24 h of low-temperature exposure, respectively. The differentially expressed genes (DEGs) were further analyzed using Gene Ontology (GO) and the Kyoto Encyclopedia of Genes and Genome (KEGG) database. DEGs related to “active oxygen scavenging systems”, “lipid metabolism”, and “plant hormone signal transduction” were potentially associated with sweetpotato’s cold resistance. This research offers insights into the mechanisms and genes involved in cold stress in sweetpotato’s response to cold stress and will contribute valuable information for cold-tolerant breeding of sweetpotato.
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Yingying Wang,Bin Yang,Liangyong He,Yuqing Yang,Nuo Zhang,Yang Wang,Zhiqiang Shi,Yuchao Ke,Lifen Su,Jia-Sheng Qian,RU XIA,Tao Jiang 한국고분자학회 2022 폴리머 Vol.46 No.5
In this study, a series of poly(methyl methacrylate) (PMMA) copolymer films were prepared via solutionpolymerization of methyl methacrylate (MMA) with butyl acrylate (BA) and lauryl methacrylate (LMA) as monomers. Mechanical properties, hydrophobic properties, and optical properties of the films were intensively investigated. The rheological results showed that the fluidity of the copolymer was considerably enhanced. When the monomer ratio ofMMA:BA:LMA was 100:30:10, the copolymer film S4 showed the best overall performance with perfect optical transparency maintained. The results of the dynamic mechanical and thermal analysis suggested that the glass transition temperature (Tg) moved towards lower temperature, with enhanced ductility of the PMMA films. A large number of yieldfolds and crazes appeared on the cross-sectional surface of copolymer films through morphological observations, displaying the obvious characteristics of toughness fracture and obeying the energy dissipation mechanism of cracks shearband. The present study provided a facile way of preparing PMMA films with high toughness and light transmittanceby appropriate selection of the monomers, which will be of practical significance for further studies on the replacementof triacetyl cellulose as a support film of polarizers.
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