Vulnerable objects detection for autonomous driving: A review

Object detection performed by Autonomous Vehicles (AV)s is a crucial operation that comes ahead of various autonomous driving tasks, such as object tracking, trajectories estimation, and collision avoidance. Dynamic road elements (pedestrians, cyclists, vehicles) impose a greater challenge due to their continuously changing location and behaviour. This paper presents a comprehensive review of the state-of-the-art object detection technologies focusing on both the sensory systems and algorithms used. It begins with a brief introduction on the autonomous driving operations and challenges. Then, different sensory systems employed on existing AVs are elaborated while illustrating their advantages, limitations and applications. Also, sensory systems employed by different research are reviewed. Moreover, due to the significant role Deep Neural Networks (DNN)s are playing in object detection tasks, different DNN-based networks are also highlighted. Afterwards, previous research on dynamic objects detection performed by AVs are reviewed in tabular forms. Finally, a conclusion summarizes the outcomes of the review and suggests future work towards the development of vehicles with higher automation levels.     

Degradation analysis of the core components of metal plate proton exchange membrane fuel cell stack under dynamic load cycles

The durability of metal plate proton exchange membrane fuel cell (PEMFC) stack is still an important factor that hinders its large-scale commercial application. In this paper, we have conducted a 1000 h durability test on a 1 kW metal plate PEMFC stack, and explored the degradation of the core components. After 1000 h of dynamic load cycles, the voltage decay percentage of the stack under the current densities of 1000 mA cm^?2 is 5.67%. By analyzing the scanning electron microscopy (SEM) images, the surfaces of the metal plates are contaminated locally by organic matter precipitated from the membrane electrode assembly (MEA). The SEM images of the catalyst coated membrane (CCM) cross section indicate that the MEA has undergone severe degradation, including the agglomeration of the catalyst layer, and the thinning and perforation of the PEM. These are the main factors that cause the rapid increase in hydrogen crossover flow rate and performance decay of the PEMFC stack.     

Study on the influence of segmented fuel cell by grooving method and its application in oxygen starvation diagnosis

The oxygen starvation in fuel cells is an important reason for the deterioration of durability. The segmented fuel cell is a method to study the gas distribution inside the fuel cell. In order to study the influence of the grooving method on segmented fuel cell and its application in oxygen starvation diagnosis, a five-serpentine-channel three-dimensional two-phase simulation model is established by FLUENT. Through steady-state simulation, the effect of grooving method on fuel cell performance is studied. The overall performance (polarization curve) of the fuel cell drops slightly, but the current density distribution on the anode graphite plate changes greatly due to the grooves. The “current concentration” phenomenon is proposed based on the current density distribution. Through dynamic simulation, the oxygen starvation under current load mode and voltage load mode is simulated, and the “starvation coefficient” is defined as an oxygen starvation diagnostic index. In the current load mode, the “starvation coefficient” never exceed 15%, because when the oxygen starvation is severe, the simulation cannot converge or even cannot maintain, which corresponds to the voltage reversal in reality. However, in the voltage load mode, the “starvation coefficient” can reach up to 100%. The conclusions have important guiding significance for the judgment of the internal reaction uniformity of the segmented fuel cell by grooving method and provide a theoretical basis for judging whether a fuel cell is out of oxygen by segmented fuel cell.     

基于虚拟元-有限元耦合的隧道内道床干缩裂缝细观研究

为解释道床与盾构隧道管片产生脱空的现象，研究新混凝土在浇筑后由干燥收缩产生的裂缝机理。基于虚拟元推导任意多边形骨料的刚度矩阵格式，利用UEL子程序实现有限元与虚拟元的耦合计算，纯弯梁数值试验结果表明耦合法较有限元法计算效率明显提升，且具有较好的稳定性。在此基础上，建立细观尺度下新老混凝土的干缩数值模型，并通过圆盘干缩模型验证了模型参数。研究骨料和砂浆的应力分布、内部湿度与裂缝发展的对应关系以及新老混凝土表面和界面的应力发展。结果表明：①收缩过程中，骨料主要承受压应力作用，砂浆沿骨料边界的切线方向受骨料约束作用易形成收缩裂缝，在新混凝土表面首先出现大量微小裂缝，随后界面两端发生剥离; ②受表面下骨料的约束作用，新混凝土表面拉应力呈现“驼峰”分布。开裂后表面被划分为多个收缩区，收缩区边界受拉应力，内部受压应力；③界面的拉伸和剪切应力由两侧开始增加，并且随着界面剥离的增加不断内移。在界面内部未剥离区域内存在由界面附近骨料约束导致的局部压应力和剪切应力增大。     

Influences of assembly pressure and flow channel size on performances of proton exchange membrane fuel cells based on a multi-model

In this work, assembly pressure and flow channel size on proton exchange membrane fuel cell performance are optimized by means of a multi-model. Based on stress-strain data of the SGL-22BB GDL obtained from its initial compression experiments, Young's modulus with different ranges of assembly pressure fits well through modeling. A mechanical model is established to analyze influences of assembly pressure on various gas diffusion layer parameters. Moreover, a CFD calculation model with different assembly pressures, channel width, and channel depth are established to calculate PEMFC performances. Furthermore, a BP neural network model is utilized to explore optimal combination of assembly pressure, channel width and channel depth. Finally, the CFD model is used to validate effect of size optimization on PEMFC performance. Results indicate that gap change of GDL below bipolar ribs is more remarkable than that below channels under action of the assembly pressure, making liquid water easily transported under high porosity, which is conducive to liquid water to the channels, reduces the accumulation of liquid water under the ribs, and enhances water removal in the PEMFC. Affected by the assembly force, change of GDL porosity affects its diffusion rate, permeability and other parameters, which is not conducive to mass transfer in GDL. Optimizing the depth and different dimensions through width of the flow field can effectively compensate for this effect. Therefore, the PEMFC performance can be enhanced through the comprehensive optimization of the assembly force, flow channel width and flow channel depth. The optimal parameter is obtained when assembly pressure, channel width and channel depth are set as 0.6 MPa, 0.8 mm, and 0.8 mm, respectively. The parameter optimization enhances the mass transfer, impedance, and electrochemical characteristics of PEMFC. Besides, it effectively enhances the quality transfer efficiency inside GDL, prevents flooding, and reduces concentration loss and ohmic loss.     

Effect of mesoporous carbon on oxygen reduction reaction activity as cathode catalyst support for proton exchange membrane fuel cell

In this paper, a new carbon support with a large number of mesoporous-structures is selected to prepare Pt/C catalysts. Transmission electron microscope (TEM) results show that the Pt/3# catalyst presents a sponge-like morphology, Pt particles are not only evenly distributed on the surface of carbon support, but also the smaller Pt particles are deposited in the mesoporous inside the support. The average diameter of Pt particles is only 2.8 nm. The membrane electrode assembly (MEA) based on Pt/3# catalyst also shows excellent performance. In conclusion, the 3# support is an idea carbon support for PEMFC, which helps to improve the oxygen reduction reaction (ORR) activity of the catalyst. Based on the “internal-Pt” structure of the support mesoporous, the efficient three-phase boundaries (TPBs) are construct to avoid the poisoning effect of ionomer on the nano-metal particles, reduce the activation impedance and oxygen mass transfer impedance, and improve the reaction efficiency.     

Effect of micro-cracks on the in-plane electronic conductivity of proton exchange membrane fuel cell catalyst layers based on lattice Boltzmann method

Micro-cracks commonly occur on the catalyst layers (CLs) during the manufacturing of catalyst coated membranes (CCMs). However, the crack shape parameters effect on CLs in-plane (IP) electronic conductivity λ_s is not clear. In this work, the relationship between crack parameters and the λ_s is obtained based on the two-dimensional (2D) multiple-relaxation time (MRT) lattice Boltzmann method (LBM). The LBM numerical model is validated by the normalized λ_s experiment applied on three different home-made cracked CLs, and the parameter study focus on crack width, length, quantity and phase angle are carried out. The results show that the decrease of λ_s has different sensitivity |k| to the parameters above. The crack width has little effect on λ_s decrease, and the |k_w| is 0.038. However, crack arm length and quantity show more significant impact, which |k_l| and |k_N| are 0.753 and 0.725, respectively. The CLs with different crack propagation directions show significant anisotropy on λ_s, and a 53.53% decrease in λ_s is observed between 0° and 90° crack phase angle change. To manufacture a high electronic conductivity CL, crack initiation and migration mitigation are highly encouraged.     

Construction and analysis of photovoltaic directly coupled conditions in PEM electrolyzer

The Markov model and the PEM electrolyzer system model for directly coupled photovoltaic are combined to construct an efficient and reliable working condition that fits the fluctuation characteristics of solar energy. The working condition is designed through genetic algorithm so that the average coupling efficiency of the system can reach 98.8%. Then, the durability and recovery test are conducted on the basis of the constructed conditions. It is found that the attenuation rate at the current density of 1A/cm² under the photovoltaic fluctuating condition reached 7.8mV/h, which is twice that under the constant current condition. The charge transfer impedance (R_ct) is the main factor leading to the degradation. It is proved by the recovery experiment that the increase of R_ct is related to the pollution of metal ions. After pickling to remove some metal ions, R_ct can be significantly reduced by 46.8% and 65.2%, respectively. After the durability test, the voltammetric charges under the photovoltaic fluctuating condition and the constant current condition are reduced by 48.3% and 19.1% It indicates that the photovoltaic fluctuation condition will accelerate the attenuation of the effective reaction area of MEA, which is irreversible even after pickling. It can be observed from the SEM images that the catalyst layer of MEA has more obvious peeling under the photovoltaic fluctuation condition, which is not conducive to material transmission and destroys the transmission channel of ions and electrons. This result can provide a reliable reference for the coupling design of PEM electrolyzer and renewable energy in the future.     

Effect of different control strategies on rapid cold start-up of a 30-cell proton exchange membrane fuel cell stack

Many places experience extreme temperatures below −30 °C, which is a great challenge for the fuel cell vehicle (FCV). The aim of this study is to optimize the strategy to achieve rapid cold start-up of the 30-cell stack at different temperature conditions. The test shows that the stack rapidly starts within 30 s at an ambient temperature of −20 °C. Turning on the coolant at −25 °C show stability of the cell voltage at both ends due to the end-plate heating, however, voltage of intermediate cells fluctuates sharply, and successful start-up is completed after 60 s. The cold start strategy changes to load-voltage cooperative control mode when the ambient temperature reduced to −30 °C, the voltage of multiple cells in the middle of the stack fluctuate more drastic, and start-up takes 113 s. The performance and consistency of the stack did not decay after 20 cold start-up experiments, which indicates that our control strategies effectively avoided irreversible damage to the stack caused by freeze-thaw process.