Abstract: Disclosed are a hydroxyl-terminated polybutadiene-based polyurethane (HTPB-PU)-modified asphalt and a preparation method thereof. In the disclosure, the HTPB-PU-modified asphalt includes the following components in parts by weight: 90 parts to 97 parts of a base asphalt and 3 parts to 10 parts of HTPB-PU, where the HTPB-PU is prepared from raw materials including an isocyanate and a polyol, and the polyol includes hydroxyl-terminated polybutadiene (HTPB) with a weight percentage of not less than 80%.

Abstract: The method includes: obtaining point cloud information collected by a depth camera, laser information collected by a lidar, and motion information of an unmanned aerial vehicle (UAV); generating a raster map based on the laser information, and obtaining pose information of the UAV based on the motion information; obtaining a map model through fusing the point cloud information, the raster map, and the pose information by a Bayesian fusion method; and correcting a latest map model by feature matching based on a previous map model.

Abstract: The present invention provides a method of reducing and controlling a hazardous substance in a process of high-value biological conversion of an urban organic waste. The method includes: 1) mixing a sludge, a first urban organic waste and an organic acid with water for acclimation to obtain an acclimatized sludge; 2) stage 1 of biological conversion: mixing the acclimatized sludge with a second urban organic waste to perform anaerobic culture; 3) stage 2 of biological conversion: adding nitrate and bacteria to continue anaerobic culture so as to obtain an organic acid. In the present invention, sludge microbes are acclimatized and then added to high-value chemicals such as acetic acid, propanoic acid and lactic acid prepared in biological conversion of the urban organic waste and then added with bacteria. Thus, by controlling pH value, microbe addition amount and nitrate concentration, the unfavorable effect of the antibiotics and heavy metal ions.

Abstract: A method for recycling a scrapped polyvinylidene fluoride (PVDF) membrane through chemical cleaning-structural transformation-hydrophilicity is disclosed, which can extend the service life of scrapped PVDF membrane materials (namely, membrane at the end of service life). The method includes the following steps: cleaning a scrapped membrane with sodium hypochlorite and citric acid; treating the membrane with a structural transformation agent, where, irreversible contaminants are washed away while the PVDF membrane is subjected to pore expansion and hydrophilization; and with self-polymerization of dopamine on a membrane surface, further improving the hydrophilicity of the membrane surface, enhancing the anti-contamination performance, and repairing damaged points on the surface of the scrapped PVDF membrane produced during long-term operation.

Abstract: A Helmholtz resonator and a low-frequency broadband sound-absorbing and noise-reducing structure based on the same is provided. The Helmholtz resonator includes a Helmholtz resonator body, at least one embedded tube is disposed in the Helmholtz resonator body, and an inner surface of an opening of the Helmholtz resonator body wraps around an outer side of one of the embedded tubes; and all the embedded tubes are not in contact with each other. The low-frequency broadband sound-absorbing and noise-reducing structure includes a rigid framework, and at least two Helmholtz resonators are disposed in parallel in the framework. The Helmholtz resonator not only achieves a better low-frequency broadband sound absorption and noise reduction effect, but also reduces a thickness of the Helmholtz resonator more effectively.

Abstract: Disclosed is a decision-making and planning integrated method for a nonconservative intelligent vehicle in a complex heterogeneous environment, including the following steps: offline establishing and training a social interaction knowledge learning model; obtaining state data of the traffic participants and state data of an intelligent vehicle online in real time, and splicing the state data to obtain an environmental state; using the environmental state as an input to the trained social interaction knowledge learning model to obtain predicted trajectories of all traffic participants including the nonconservative intelligent vehicle; updating the environmental state based on the predicted trajectories; and inputting the updated environmental state to the social interaction knowledge learning model to complete trajectory decision-making and planning for the nonconservative intelligent vehicle by iteration, where a planned trajectory of the nonconservative intelligent vehicle is a splicing result of a first poi

Abstract: Isolated direct DC/DC converter topology structure for fuel cell system includes: Boost converter topology structure and bidirectional full-bridge converter topology structure connected in sequence. Input of the Boost converter topology structure is connected to fuel cell, and output of the Boost converter topology structure is connected to other key components of the fuel cell system and input of the bidirectional full-bridge converter topology structure. Output of the bidirectional full-bridge converter topology structure is connected to power cell. Usage of the Boost converter topology structure and usage of the bidirectional full-bridge converter topology structure change under different operating states of the fuel cell system. Based on insulation performance and high efficiency of the fuel cell system, the usage of the Boost converter topology structure and the usage of the bidirectional full-bridge converter topology structure change.

Abstract: Disclosed is a method for predicting a trajectory of a traffic participant in a complex heterogeneous environment, including the following steps: obtaining traffic participant information in a complex heterogeneous environment; arranging and numbering traffic participant classes based on the class information, to obtain serial numbers of the traffic participant classes; establishing a position graph, a velocity graph, an acceleration graph, and a class graph, into each of which expert experience is introduced; and capturing topological structure relationships and time dependence relationships to obtain a position hidden state, a velocity hidden state, an acceleration hidden state, and a class hidden state; classifying the position hidden state, the velocity hidden state, the acceleration hidden state, and the class hidden state to obtain a hidden state set of traffic participants; and decoding hidden states of the traffic participants separately using a corresponding decoder to obtain future trajectory predic

Abstract: Disclosed is a decision-making and planning integrated method for a nonconservative intelligent vehicle in a complex heterogeneous environment, including the following steps: offline establishing and training a social interaction knowledge learning model; obtaining state data of the traffic participants and state data of an intelligent vehicle online in real time, and splicing the state data to obtain an environmental state; using the environmental state as an input to the trained social interaction knowledge learning model to obtain predicted trajectories of all traffic participants including the nonconservative intelligent vehicle; updating the environmental state based on the predicted trajectories; and inputting the updated environmental state to the social interaction knowledge learning model to complete trajectory decision-making and planning for the nonconservative intelligent vehicle by iteration, where a planned trajectory of the nonconservative intelligent vehicle is a splicing result of a first poi

Abstract: Disclosed are a device for strengthening anaerobic sludge digestion based on conical-coiled pipe coupling and an anaerobic sludge digestion method. The device comprises a feeder (A-3, B-3), a conical-coiled pipe coupling reactor (A-1, B-1) and a thermostat (A-4, B-4), wherein the bottom of the feeder (A-3, B-3) communicates with the top of the conical-coiled pipe coupling reactor (A-1, B-1), and the bottom of the feeder (A-3, B-3) is flush with the top of the thermostat (A-4, B-4); the conical-coiled pipe coupling reactor (A-1, B-1) is arranged in the thermostat (A-4, B-4); the whole coupling reactor (A-1, B-1) is in a regular cone shape or an inverted cone shape; and a main body of the coupling reactor (A-1, B-1) is a coiled pipe (A-2, B-2).

Abstract: Disclosed is an unmanned aerial vehicle (UAV) positioning method based on a millimeter-wave radar, including a calibration stage and a positioning stage. The calibration stage includes: acquiring ground coordinates of the unmanned aerial vehicle; and extracting feature points from radar point cloud data and get the ground coordinates of the feature points. The positioning stage includes: acquiring radar point cloud data of a current frame and pre-processing; acquiring UAV motion data and fuse the data with radar point cloud data; extracting characteristic line segment from radar point cloud data; registering the characteristic line segment of the current frame with the characteristic line segment of the previous frame, and finding matching feature points and newly added feature points; and obtaining the ground coordinates of UAV and the ground coordinates of newly added feature points based on the ground coordinates of matched feature points on the map.

Abstract: Disclosed is a method for predicting a trajectory of a traffic participant in a complex heterogeneous environment, including the following steps: obtaining traffic participant information in a complex heterogeneous environment; arranging and numbering traffic participant classes based on the class information, to obtain serial numbers of the traffic participant classes; establishing a position graph, a velocity graph, an acceleration graph, and a class graph, into each of which expert experience is introduced; and capturing topological structure relationships and time dependence relationships to obtain a position hidden state, a velocity hidden state, an acceleration hidden state, and a class hidden state; classifying the position hidden state, the velocity hidden state, the acceleration hidden state, and the class hidden state to obtain a hidden state set of traffic participants; and decoding hidden states of the traffic participants separately using a corresponding decoder to obtain future trajectory predic

Abstract: The present invention relates to a vehicle data communication and interaction system and a construction method thereof. The system includes a first test vehicle placed in an environment perception test platform and a second test vehicle placed in a rotating hub test platform, an intelligent-electronic control unit (i-ECU), a vehicle control unit (VCU), and a vehicle bottom electronic control unit that are communicatively connected with each other are mounted on each of the first test vehicle and the second test vehicle, and a sensor is further mounted on the first test vehicle. The first test vehicle is communicatively connected to the second test vehicle, and specifically, the VCU or a network gateway is connected via the sensor, to implement a communication connection between the two test vehicles.

Abstract: A whole vehicle in-loop test system of an intelligent automobile, including: a rotary drum platform, used for simulating a longitudinal movement of a test vehicle; an environment perception platform, disposed at a front end of the rotary drum platform, used for simulating a transverse movement of a test vehicle, and including a support base at a lower portion and a vehicle placing platform at an upper portion, where a transverse drive wheel is mounted at the lower portion of the support base, and the transverse drive wheel moves along a transverse track disposed on the ground; and a target vehicle simulation unit, disposed at a periphery of the environment perception platform, and configured to simulate a target vehicle.

Abstract: The present disclosure provides an ionic gel film preparation method, a chemical sensor and preparation method thereof, relating to the field of sensor technology. The preparation method of ionic gel film includes: blending a vinyl-free ionic liquid with a vinyl-containing ionic liquid and a specified additive to obtain a homogenous solution, taking a predetermined amount of the homogenous solution and dropping it onto a first substrate equipped with interdigital electrodes, flattening the homogenous solution on the first substrate using a second substrate, curing the flattened homogenous solution on the first substrate using ultraviolet light of a preset wavelength, and curing until the vinyl-containing ionic liquid polymerizes in situ to form an ionic gel film. The preparation method of ionic gel film, chemical sensor, and preparation method thereof of the present disclosure have the advantages of good device consistency, high conductivity, and good sensing performance when using the ionic gel film.

Abstract: A vehicle state estimation method based on adaptive total variation denoising (TVD) filtering includes the following steps: step 1: collection and preprocessing of an original signal of a vehicle; step 2: noise level evaluation; step 3: Teager-Kaiser energy evaluation; step 4: optimization problem construction; and step 5: application of a filtered signal in the step 4 in the estimation of a vehicle state. The vehicle state estimation method is mainly based on the global noise level characteristic and the local intensity change characteristic of the vehicle system state data, and adaptive filtering of parameters is achieved by means of a TVD filtering method. The signal is denoised to the maximum extent, peak information of the signal is retained while the data smoothness is maintained, and then the signal is used for vehicle state estimation, working condition identification and the like.

Abstract: A vehicle state estimation method based on adaptive total variation denoising (TVD) filtering includes the following steps: step 1: collection and preprocessing of an original signal of a vehicle; step 2: noise level evaluation, step 3: Teager-Kaiser energy evaluation; step 4: optimization problem construction; and step 5: application of a filtered signal in the step 4 in the estimation of a vehicle state. The vehicle state estimation method is mainly based on the global noise level characteristic and the local intensity change characteristic of the vehicle system state data, and adaptive filtering of parameters is achieved by means of a TVD filtering method. The signal is denoised to the maximum extent, peak information of the signal is retained while the data smoothness is maintained, and then the signal is used for vehicle state estimation, working condition identification and the like.

Abstract: Disclosed is a steering wheel torque feedback optimization control method for a differential braking system, including: estimating a tire lateral force of a vehicle; predicting a state of the vehicle at a next moment under a non-differential torque condition; predicting a state of the vehicle at the next moment under a differential torque condition with an additional yaw moment; calculating tire lateral forces at the next moment under the differential torque condition and the non-differential torque condition separately based on the predicted states of the vehicle at the next moment under the differential torque condition and the non-differential torque condition, and obtaining a predicted one-step change value of a front tire lateral force by performing subtraction; performing integral calculation based on time, and obtaining a continuous change amount of the tire lateral force; and correcting a desired moment of a steering power motor.

Abstract: A preparation method and use of a graphite felt (GF)-supported metal-organic framework (MOF) cathode material is disclosed. The preparation method includes the following steps: preparing an iron salt, Pluronic F127, a weak acid, 2-aminoterephthalic acid, and a carbon felt; adding the iron salt and Pluronic F127 to deionized water and stirring a resulting mixture; adding the weak acid and 2-aminoterephthalic acid to the mixture, and stirring a resulting mixture to obtain an MOF precursor solution; adding the MOF precursor solution together with a pretreated carbon felt to a reactor, and sealing the reactor for hydrothermal reaction; and washing and vacuum drying a reaction product to obtain the cathode material. With a porous structure and a large specific surface area (SSA), the cathode material significantly increases the output of H2O2 when used in an electric Fenton system.

Abstract: A tunnel defect detection and management system based on a vibration signal of a moving train. This system identifies the defects in a subway tunnel structure and soil behind a wall through the acquisition, transmission and analysis of an on-board acceleration signal. A signal acquisition sensor is mounted on the moving train. A signal acquisition module and a signal transmission system are mounted in the train to preprocess and compress the signal. A data processing and analysis server performs data analysis to quickly identify the defects of the tunnel and the auxiliary structure thereof, and determine a defect location and type. A tunnel management platform releases real-time detection information and health status of the tunnel, alarms for the defects, and releases the defect data to relevant personnel to take measures.