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.     

基于测绘地理信息技术的涉地税源风险识别模式应用研究

为解决沧州市涉地税源管理手段单一等问题,文中提出以测绘地理信息技术为支撑,通过对多源数据组织管理,建立风险分析指标,采用多种GIS空间分析方法构建了涉地风险税源识别模式并在沧州进行应用。结果表明:该模式能有效识别多种涉地风险,为涉地税源管理提供了支撑。     

“三软”煤层沿空掘巷围岩力学环境及支护体承载性能分析

为应对"三软"煤层综放沿空掘巷围岩稳定性差的问题,通过数值模拟分析、揭示"三软"煤层中锚杆、锚索载荷变化规律及其与围岩变形相互作用关系,为"三软"煤层沿空掘巷锚网支护参数优化提供理论依据,改善了巷道支护状况,降低相邻工作面间保护煤柱压煤率,提高矿井经济效益和社会效益。     

A Lane-Level Road Marking Map Using a Monocular Camera

The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings (RMs). Obviously, we can build the lane-level map by running a mobile mapping system (MMS) which is equipped with a high-end 3D LiDAR and a number of high-cost sensors. This approach, however, is highly expensive and ineffective since a single high-end MMS must visit every place for mapping. In this paper, a lane-level RM mapping system using a monocular camera is developed. The developed system can be considered as an alternative to expensive high-end MMS. The developed RM map includes the information of road lanes (RLs) and symbolic road markings (SRMs). First, to build a lane-level RM map, the RMs are segmented at pixel level through the deep learning network. The network is named RMNet. The segmented RMs are then gathered to build a lane-level RM map. Second, the lane-level map is improved through loop-closure detection and graph optimization. To train the RMNet and build a lane-level RM map, a new dataset named SeRM set is developed. The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images. Finally, the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.      

受老空水威胁工作面巷道防治水实践

针对高庄煤矿3_上1104回风巷为沿空掘巷,巷道掘进期间受3_上1102老空水威胁,掘进开采存在严重的水患安全问题,采用超前打设疏水孔的方案来治理老空水威胁,对巷道采用调向增大护巷煤柱厚度等措施实现巷道安全快速掘进,探放水期间无淹巷情况发生,探放水后巷道顶板和上帮无淋水现象发生。     

Preparation of faceted TaN grains by heating Ta-containing oxides in BN crucible with Na

Single-crystal grains of TaN were synthesized by heating Ta₂O₅, FeTa₂O₆, or FeTaO₄ in a BN crucible together with Na metal in an Ar atmosphere at 1100 °C. The BN crucible acted a solid source of nitrogen. Aggregates of columnar ε-TaN single crystals 10–150 μm in size were formed on the inner wall of the BN crucible when either Ta₂O₅ or FeTa₂O₆ was used. On the other hand, platelet-like single crystals of θ-TaN 1–50 μm in size were obtained from FeTaO₄. The results of wavelength-dispersive X-ray spectrometry indicated that the compositions of the ε-TaN and θ-TaN crystals were close to the stoichiometric ideal.     

江淮丘陵区马槽河流域污染源调查分析及治理建议

随着区域城市人口增加和人民生活水平提高，江淮丘陵区中小河流水环境污染问题日益突出，成为区域社会经济发展的主要制约因素之一。本文以位于江淮丘陵区马槽河流域为研究对象，通过资料收集、问卷调查、实地勘察等手段，查明该地区入河污染物指标 COD、氨氮、TN、TP 主要贡献因素及占比，其中生活污染（51%，40%，54%，28%）、面源污染(6%，38%，9%，42%)、畜禽养殖（39%，15%，17%，25%）三类型贡献占比 90%以上，内源污染和水产养殖较少。针对污染源调查结果特征，提出镇区管网完善、农村分散处理、畜禽粪污处理、养殖废水农田消纳、污染缓冲带设置、径流拦截与再利用、河流生态化改造等治理建议，可为今后中小河流污染源调查与治理提供借鉴。     

Charge source and the charging mechanism of the contact electrification of polymer powder

The charge sources, as well as the charging mechanism of the contact electrification (CE) of polymers, are still debatable. Since CE is accompanied by destruction, it is considered that “hard contacting” via ball milling can induce covalent bond scission and produce naked-activated-charge sources. Regarding “soft contacting” via nano-scale sliding, which does not induce covalent bond scission, a frontier-electron, “f-electron,” of the naked-activated-charge source is crucial to electron transfer among the naked-activated-charge sources. Here, we configure naked-activated-charge-source models, naked-activated-mechano-anion, and naked-activated-mechano-cation, which are produced by mechanical energy induced heterogeneous covalent bond scission, as well as naked-activated-mechano-radicals that are produced by homogeneous covalent bond scission. Regarding “soft contacting” among naked-activated-charge sources in a vacuum, f-electron can be transferred from a donor to an acceptor if the energy level of the donor is higher than that of the acceptor. The net amount of the normalized transferred-f-electrons is obtained by adopting settings in which the average energy level of the naked-activated-charge sources (as the donors) is higher than that of the sources employed as acceptors. Thus, the surfaces comprising the donors and acceptors will exhibit positive and negative net surface charges, respectively. We conclude that net surface charges depend on the average energy level of naked-activated-charge sources. Further, we observe that the alignment of polyethylene (PE)-polyvinyl chloride (PVC)-polytetrafluoroethylene (PTFE) to the average energy level is identical to that of the triboelectric series.     

Effect of Newtonian heating/cooling on free convection in an annular permeable region in the presence of heat source/sink

The influence of Newtonian heating/cooling in the presence of heat source/sink has been investigated on laminar free convective flow in a vertical annular permeable region. The mathematical model for the problem has been considered as a boundary value problem consisting of two simultaneous ordinary differential equations. The boundary value problem has been transformed to nondimensional form. This has given rise to a number of parameters representing both geometrical and physical features of the problem. Closed‐form analytical solutions of the governing equations have been obtained for two different cases of internal heat generation/absorption. To assess the effects of governing parameters on the fluid velocity and temperature, a number of profiles of these field variables have been presented. The efficacy of the distinct processes on the field variables has been discussed extensively. The main outcome obtained in this study is that the velocity as well as temperature is enhanced in the case of the Newtonian heating while the opposite behavior occurs in the Newtonian cooling for both cases of source and sink. Furthermore, the influence of the governing parameters has been shown on the skin friction, volume flow rate, and the Nusselt number.     

Radiation and slip effects on MHD Maxwell nanofluid flow over an inclined surface with chemical reaction

The numerical solutions of the upper-convected Maxwell (UCM) nanofluid flow under the magnetic field effects over an inclined stretching sheet has been worked out. This model has the tendency to elaborate on the characteristics of “relaxation time” for the fluid flow. Special consideration has been given to the impact of nonlinear velocity slip, thermal radiation and heat generation. To study the heat transfer, the modified Fourier and Fick's laws are incorporated in the modeling process. The mass transfer phenomenon is investigated under the effects of chemical reaction, Brownian motion and thermophoresis. With the aid of the similarity transformations, the governing equations in the ordinary differential form are determined and then solved through the MATLAB's package “bvp4c” numerically. This study also brings into the spotlight such crucial physical parameters, which are inevitable for describing the flow and heat transfer behavior. This has been done through graphs and tables with as much precision and exactitude as is possible. The ascending values of the magnetic parameter, the Maxwell parameter and the angle of the inclined stretching sheet cause decay in the dimensionless velocity while an assisting behavior of the thermal and concentration buoyancy parameters is noticed.