Search Results (2,104)

Aiming to enable intelligent vehicles to achieve autonomous charging under low-battery conditions, this paper presents a navigation system for autonomous charging that integrates an improved bidirectional A* algorithm for path planning and an optimized YOLOv11n model for visual recognition. The system utilizes the improved bidirectional A* algorithm to generate collision-free paths from the starting point to the charging area, dynamically adjusting the heuristic function by combining node–target distance and search iterations to optimize bidirectional search weights, pruning expanded nodes via a greedy strategy and smoothing paths into cubic Bézier curves for practical vehicle motion. For precise localization of charging areas and piles, the YOLOv11n model is enhanced with a CAFMFusion mechanism to bridge semantic gaps between shallow and deep features, enabling effective local–global feature fusion and improving detection accuracy. Experimental evaluations in long corridors and complex indoor environments showed that the improved bidirectional A* algorithm outperforms the traditional improved A* algorithm in all metrics, particularly in that it reduces computation time significantly while maintaining robustness in symmetric/non-symmetric and dynamic/non-dynamic scenarios. The optimized YOLOv11n model achieves state-of-the-art precision (P) and mAP@0.5 compared to YOLOv5, YOLOv8n, and the baseline model, with a minor 0.9% recall (R) deficit compared to YOLOv5 but more balanced overall performance and superior capability for small-object detection. By fusing the two improved modules, the proposed system successfully realizes autonomous charging navigation, providing an efficient solution for energy management in intelligent vehicles in real-world environments. Full article

Rail transit as a high-energy consumption field urgently requires the adoption of clean energy innovations to reduce energy consumption and accelerate the transition to new energy applications. As an energy-saving fluid machinery, the ejector exhibits significant application potential and academic value within this field. This paper reviewed the recent advances, technical challenges, research hotspots, and future development directions of ejector applications in rail transit, aiming to address gaps in existing reviews. (1) In waste heat recovery, exhaust heat is utilized for propulsion in vehicle ejector refrigeration air conditioning systems, resulting in energy consumption being reduced by 12~17%. (2) In vehicle pneumatic pressure reduction systems, the throttle valve is replaced with an ejector, leading to an output power increase of more than 13% and providing support for zero-emission new energy vehicle applications. (3) In hydrogen supply systems, hydrogen recirculation efficiency exceeding 68.5% is achieved in fuel cells using multi-nozzle ejector technology. (4) Ejector-based active flow control enables precise ± 20 N dynamic pantograph lift adjustment at 300 km/h. However, current research still faces challenges including the tendency toward subcritical mode in fixed geometry ejectors under variable operating conditions, scarcity of application data for global warming potential refrigerants, insufficient stability of hydrogen recycling under wide power output ranges, and thermodynamic irreversibility causing turbulence loss. To address these issues, future efforts should focus on developing dynamic intelligent control technology based on machine learning, designing adjustable nozzles and other structural innovations, optimizing multi-system efficiency through hybrid architectures, and investigating global warming potential refrigerants. These strategies will facilitate the evolution of ejector technology toward greater intelligence and efficiency, thereby supporting the green transformation and energy conservation objectives of rail transit. Full article

The growing demand for agile and reliable Unmanned Aerial Vehicles (UAVs) has spurred the advancement of advanced control strategies capable of ensuring stability and precision under nonlinear and uncertain flight conditions. This work addresses the challenge of accurately tracking UAV position by proposing a neural-network-based approach designed to replicate the behavior of classical control systems. A complete nonlinear model of the quadcopter was derived and linearized around a hovering point to design a traditional proportional derivative (PD) controller, which served as a baseline for training a nonlinear autoregressive exogenous (NARX) artificial neural network. The NARX model, selected for its feedback structure and ability to capture temporal dynamics, was trained to emulate the control signals of the PD controller under varied reference trajectories, including step, sinusoidal, and triangular inputs. The trained networks demonstrated performance comparable to the PD controller, particularly in the vertical axis, where the NARX model achieved a minimal Mean Squared Error (MSE) of $7.78\times {10}^{-5}$ and an $R^2$ value of 0.9852. These results confirm that the NARX neural network, trained via supervised learning to emulate a PD controller, can replicate and even improve classical control strategies in nonlinear scenarios, thereby enhancing robustness against dynamic changes and modeling uncertainties. This research contributes a scalable approach for integrating neural models into UAV control systems, offering a promising path toward adaptive and autonomous flight control architectures that maintain stability and accuracy in complex environments. Full article

Effective energy management is vital for enhancing reliability, reducing operational costs, and supporting the increasing penetration of electric vehicles (EVs) and renewable energy sources (RESs) in distribution networks. This study presents a dynamic reconfiguration strategy for distribution feeders that integrates EV charging stations (EVCSs), RESs, and capacitors. The goal is to minimize both Energy Not Supplied (ENS) and operational costs, particularly under varying demand conditions caused by EV charging in grid-to-vehicle (G2V) and vehicle-to-grid (V2G) modes. To improve optimization accuracy and avoid local optima, an improved Whale Optimization Algorithm (IWOA) is employed, featuring a mutation mechanism based on Lévy flight. The model also incorporates uncertainties in electricity prices and consumer demand, as well as a demand response (DR) program, to enhance practical applicability. Simulation studies on a 95-bus test system show that the proposed approach reduces ENS by 16% and 20% in the absence and presence of distributed generation (DG) and EVCSs, respectively. Additionally, the operational cost is significantly reduced compared to existing methods. Overall, the proposed framework offers a scalable and intelligent solution for smart grid integration and distribution network modernization. Full article

Accurate and reliable multi-scene positioning remains a critical challenge in autonomous driving systems, as conventional fixed-noise fusion strategies struggle to handle the dynamic error characteristics of heterogeneous sensors in complex operational environments. This paper proposes a novel noise-adaptive fusion framework integrating Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) measurements. Our key innovation lies in developing a dual noise estimation model that synergizes priori weighting with posterior variance compensation. Specifically, we establish an a priori weighting model for satellite pseudorange errors based on elevation angles and signal-to-noise ratios (SNRs), complemented by a Helmert variance component estimation for posterior refinement. For INS error modeling, we derive a bias instability noise accumulation model through Allan variance analysis. These adaptive noise estimates dynamically update both process and observation noise covariance matrices in our Error-State Kalman Filter (ESKF) implementation, enabling real-time calibration of GNSS and INS contributions. Comprehensive field experiments demonstrate two key advantages: (1) The proposed noise estimation model achieves 37.7% higher accuracy in quantifying GNSS single-point positioning uncertainties compared to conventional elevation-based weighting; (2) in unstructured environments with intermittent signal outages, the fusion system maintains an average absolute trajectory error (ATE) of less than 0.6 m, outperforming state-of-the-art fixed-weight fusion methods by 36.71% in positioning consistency. These results validate the framework’s capability to autonomously balance sensor reliability under dynamic environmental conditions, significantly enhancing positioning robustness for autonomous vehicles. Full article

Image segmentation is a foundation for autonomous driving frameworks that empower vehicles to explore and navigate their surrounding environment. It gives a fundamental setting to the dynamic cycles by dividing the image into significant parts like streets, vehicles, walkers, and traffic signs. Precise segmentation ensures safe navigation and the avoidance of collisions, while following the rules of traffic is very critical for seamless operation in self-driving cars. The most recent deep learning-based image segmentation models have demonstrated impressive performance in structured environments, yet they often fall short when applied to the complex and unpredictable conditions encountered in autonomous driving. This study proposes an Adaptive Ensemble Attention (AEA) mechanism within a Generative Adversarial Network architecture to deal with dynamic and complex driving conditions. The AEA integrates the features of self, spatial, and channel attention adaptively and powerfully changes the amount of each contribution as per input and context-oriented relevance. It does this by allowing the discriminator network in GAN to evaluate the segmentation mask created by the generator. This explains the difference between real and fake masks by considering a concatenated pair of an original image and its mask. The adversarial training will prompt the generator, via the discriminator, to mask out the image in such a way that the output aligns with the expected ground truth and is also very realistic. The exchange of information between the generator and discriminator improves the quality of the segmentation. In order to check the accuracy of the proposed method, the three widely used datasets BDD100K, Cityscapes, and KITTI were selected to calculate average IoU, where the value obtained was 89.46%, 89.02%, and 88.13% respectively. These outcomes emphasize the model’s effectiveness and consistency. Overall, it achieved a remarkable accuracy of 98.94% and AUC of 98.4%, indicating strong enhancements compared to the State-of-the-art (SOTA) models. Full article

The occurrence of haze pollution significantly deteriorates air quality and threatens human health, yet persistent knowledge gaps in real-time source apportionment of fine particulate matter (PM_2.5) hinder sustained improvements in atmospheric pollution conditions. Thus, this study employed single-particle aerosol mass spectrometry (SPAMS) to investigate PM_2.5 sources and dynamics during winter haze episodes in Yinchuan, Northwest China. Results showed that the average PM_2.5 concentration was 57 μg·m⁻³, peaking at 218 μg·m⁻³. PM_2.5 was dominated by organic carbon (OC, 17.3%), mixed carbonaceous particles (ECOC, 17.0%), and elemental carbon (EC, 14.3%). The primary sources were coal combustion (26.4%), fugitive dust (25.8%), and vehicle emissions (19.1%). Residential coal burning dominated coal emissions (80.9%), highlighting inefficient decentralized heating. Source contributions showed distinct diurnal patterns: coal combustion peaked nocturnally (29.3% at 09:00) due to heating and inversions, fugitive dust rose at night (28.6% at 19:00) from construction and low winds, and vehicle emissions aligned with traffic (17.5% at 07:00). Haze episodes were driven by synergistic increases in local coal (+4.0%), dust (+2.7%), and vehicle (+2.1%) emissions, compounded by regional transport (10.1–36.7%) of aged particles from northwestern zones. Fugitive dust correlated with sulfur dioxide (SO₂) and ozone (O₃) (p < 0.01), suggesting roles as carriers and reactive interfaces. Findings confirm local emission dominance with spatiotemporal heterogeneity and regional transport influence. SPAMS effectively resolved short-term pollution dynamics, providing critical insights for targeted air quality management in arid regions. Full article

To investigate how severe wear at No. 12 turnout frogs in an urban rail transit line operating at speeds over 120 km/h on the dynamic performance of the vehicle, a vehicle–frog coupled dynamic model was established by employing the 2021 version of SIMPACK software. Profiles of No. 12 alloy steel frogs and metro wheel rims were measured to simulate wheel–rail interactions as the vehicle traverses the turnout, using both brand-new and worn frog conditions. The experimental results indicate that increased service life deepens frog wear, raises equivalent conicity, and intensifies wheel–rail forces. When a vehicle passes through the frog serviced for over 17 months at the speed of 120 km/h, the maximum derailment coefficient, lateral acceleration of the car body, and lateral and vertical wheel–rail forces increased by 0.14, 0.17 m/s², 9.52 kN, and 105.76 kN, respectively. The maximum contact patch area grew by 35.73%, while peak contact pressure rose by 236 MPa. To prevent dynamic indicators from exceeding safety thresholds and ensure train operational safety, it is recommended that the frog maintenance cycle be limited to 12 to 16 months. Full article

This paper presents a reinforcement learning (RL) approach for solving the team orienteering problem under both deterministic and dynamic travel time conditions. The proposed method builds on the transformer architecture and is trained to construct routes that adapt to real-time variations, such as traffic and environmental changes. A key contribution of this work is the model’s ability to generalize across problem instances with varying numbers of nodes and vehicles, eliminating the need for retraining when problem size changes. To assess performance, a comprehensive set of experiments involving 27,000 synthetic instances is conducted, comparing the RL model with a variable neighborhood search metaheuristic. The results indicate that the RL model achieves competitive solution quality while requiring significantly less computational time. Moreover, the RL approach consistently produces feasible solutions across all dynamic instances, demonstrating strong robustness in meeting time constraints. These findings suggest that learning-based methods can offer efficient, scalable, and adaptable solutions for routing problems in dynamic and uncertain environments. Full article

The Internet of Vehicles (IoV) presents a vast opportunity for optimised traffic flow, road safety, and enhanced usage experience with the influence of Federated Learning (FL). However, the distributed nature of IoV networks creates certain inherent problems regarding data privacy, security from adversarial attacks, and the handling of available resources. This paper introduces Fed-DTB, a new dynamic trust-based framework for FL that aims to overcome these challenges in the context of IoV. Fed-DTB integrates the adaptive trust evaluation that is capable of quickly identifying and excluding malicious clients to maintain the authenticity of the learning process. A performance comparison with previous approaches is shown, where the Fed-DTB method improves accuracy in the first two training rounds and decreases the per-round training time. The Fed-DTB is robust to non-IID data distributions and outperforms all other state-of-the-art approaches regarding the final accuracy (87–88%), convergence rate, and adversary detection (99.86% accuracy). The key contributions include (1) a multi-factor trust evaluation mechanism with seven contextual factors, (2) correlation-based adaptive weighting that dynamically prioritises trust factors based on vehicular conditions, and (3) an optimisation-based client selection strategy that maximises collaborative reliability. This work opens up opportunities for more accurate, secure, and private collaborative learning in future intelligent transportation systems with the help of federated learning while overcoming the conventional trade-off of security vs. efficiency. Full article

Aiming at the problem that the aggravation of the wheel tread wear of high-speed trains leads to the deterioration of train operation performance and an increase in re-profiling times, a multi-objective data-driven optimization design method for the wheel profile is proposed. Firstly, the chaotic map is introduced into the population initialization process of the golden jackal algorithm. In the later stage of the algorithm iteration, random disturbance is introduced with optimization algebra as the switching condition to obtain an improved optimization algorithm, and the performance index of the optimization algorithm is verified to be superior to other algorithms. Secondly, the improved multi-objective optimization algorithm and data-driven model are used to optimize the tread coordinates and obtain an optimized profile. The vehicle dynamics performance of the optimized profile and the wheel wear evolution after long-term service are compared. The results show that the tread wear index of the left and right wheels in a straight line is reduced by 62.4% and 62.6%, respectively, and the wear index of the left and right wheels in a curved line is reduced by 26.5% and 5.5%, respectively. The stability and curve passing performance of the optimized profile are improved. Under the long-term service conditions of the train, the wear amount of the optimized profile is greatly reduced. After the wear prediction of 200,000 km, the wear amount of the optimized profile is reduced by 60.1%, and it has better curve-passing performance. Full article

Silicon carbide (SiC) half-bridge power modules are widely utilized in new energy power generation, electric vehicles, and industrial power supplies. To address the research gap in collaborative validation between electro-thermal coupling models and process reliability, this paper proposes a closed-loop methodology of “design-simulation-process-validation”. This approach integrates in-depth electro-thermal simulation (LTspice XVII/COMSOL Multiphysics 6.3) with micro/nano-packaging processes (sintering/bonding). Firstly, a multifunctional double-pulse test board was designed for the dynamic characterization of SiC devices. LTspice simulations revealed the switching characteristics under an 800 V operating condition. Subsequently, a thermal simulation model was constructed in COMSOL to quantify the module junction temperature gradient (25 °C → 80 °C). Key process parameters affecting reliability were then quantified, including conductive adhesive sintering (S820-F680, 39.3 W/m·K), high-temperature baking at 175 °C, and aluminum wire bonding (15 mil wire diameter and 500 mW ultrasonic power/500 g bonding force). Finally, a double-pulse dynamic test platform was established to capture switching transient characteristics. Experimental results demonstrated the following: (1) The packaged module successfully passed the 800 V high-voltage validation. Measured drain current (4.62 A) exhibited an error of <0.65% compared to the simulated value (4.65 A). (2) The simulated junction temperature (80 °C) was significantly below the safety threshold (175 °C). (3) Microscopic examination using a Leica IVesta 3 microscope (55× magnification) confirmed the absence of voids at the sintering and bonding interfaces. (4) Frequency-dependent dynamic characterization revealed a 6 nH parasitic inductance via Ansys Q3D 2025 R1 simulation, with experimental validation at 8.3 nH through double-pulse testing. Thermal evaluations up to 200 kHz indicated 109 °C peak temperature (below 175 °C datasheet limit) and low switching losses. This work provides a critical process benchmark for the micro/nano-manufacturing of high-density SiC modules. Full article

Understanding automated vehicle (AV) behavior in complex road environments and user attitudes in such contexts is critical for their safe and effective integration into smart cities. Despite growing deployment, limited public data exist on AV performance in construction zones; highly dynamic settings marked by irregular lane markings, shifting detours, and unpredictable human presence. This study investigates AV behavior in these conditions through qualitative, video-based analysis of user-documented experiences on YouTube, focusing on Tesla’s supervised Full Self-Driving (FSD) and Waymo systems. Spoken narration, captions, and subtitles were examined to evaluate AV perception, decision-making, control, and interaction with humans. Findings reveal that while AVs excel in structured tasks such as obstacle detection, lane tracking, and cautious speed control, they face challenges in interpreting temporary infrastructure, responding to unpredictable human actions, and navigating low-visibility environments. These limitations not only impact performance but also influence user trust and acceptance. The study underscores the need for continued technological refinement, improved infrastructure design, and user-informed deployment strategies. By addressing current shortcomings, this research offers critical insights into AV readiness for real-world conditions and contributes to safer, more adaptive urban mobility systems. Full article

The low-carbon transition of the global energy system is an urgent necessity to address climate change and meet growing energy demand. As a major source of energy consumption and emissions, buildings play a key role in this transition. This study systematically analyzes the flexible resources of building energy systems and vehicle-to-grid (V2G) interaction technologies, and mainly focuses on the regulation characteristics and coordination mechanisms of distributed energy supply (renewable energy and multi-energy cogeneration), energy storage (electric/thermal/cooling), and flexible loads (air conditioning and electric vehicles) within regional energy systems. The study reveals that distributed renewable energy and multi-energy cogeneration technologies form an integrated architecture through a complementary “output fluctuation mitigation–cascade energy supply” mechanism, enabling the coordinated optimization of building energy efficiency and grid regulation. Electricity and thermal energy storage serve as dual pillars of flexibility along the “fast response–economic storage” dimension. Air conditioning loads and electric vehicles (EVs) complement each other via thermodynamic regulation and Vehicle-to-Everything (V2X) technologies, constructing a dual-dimensional regulation mode in terms of both power and time. Ultimately, a dynamic balance system integrating sources, loads, and storage is established, driven by the spatiotemporal complementarity of multi-energy flows. This paper proposes an innovative framework that optimizes energy consumption and enhances grid stability by coordinating distributed renewable energy, energy storage, and flexible loads across multiple time scales. This approach offers a new perspective for achieving sustainable and flexible building energy systems. In addition, this paper explores the application of demand response policies in building energy systems, analyzing the role of policy incentives and market mechanisms in promoting building energy flexibility. Full article

The electromechanical composite transmission technology for tracked vehicles demonstrates excellent performance in energy efficiency, mobility, and ride comfort. However, due to frequent operation under harsh conditions, the components of the electric drive system, such as drive motors, are prone to failures. This paper proposes three fault-tolerant control methods for three typical fault scenarios of the electromechanical composite transmission system (ECTS) to ensure the normal operation of tracked vehicles. Firstly, an ECTS and the electromechanical coupling dynamics model of the tracked vehicle are established. Moreover, a double-layer anti-windup PID control for motors and an instantaneous optimal control strategy for the engine are proposed in the fault-free case. Secondly, an anti-windup PID control law for motors and an engine control strategy considering the state of charge (SOC) and driving demands are developed in the case of single-side drive motor failure. Thirdly, a B4 clutch control strategy during starting and a steering brake control strategy are proposed in the case of electric drive system failure. Finally, in the straight-driving condition of the tracked vehicle, the throttle opening is set as 0.6, and the motor failure is triggered at 15 s during the acceleration process. Numerical simulations verify the fault-tolerant control strategies’ feasibility, using the tracked vehicle’s maximum speed and acceleration at 30 s as indicators for dynamic performance evaluation. The simulation results show that under single-motor fault, its straight-line driving power drops by 33.37%; with electric drive failure, the drop reaches 43.86%. The vehicle can still maintain normal straight-line driving and steering under fault conditions. Full article