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    Electric vehicle charging situation awareness for charging station ultra-short-term load forecast
    SHI Yiwei1 (史一炜), LIU Zeyu1 (刘泽宇), FENG Donghan1∗ (冯冬涵), ZHOU Yun1∗ (周 云), ZHANG Kaiyu2 (张开宇), LI Hengjie3 (李恒杰)
    J Shanghai Jiaotong Univ Sci    2023, 28 (1): 28-38.   DOI: 10.1007/s12204-023-2566-2
    Abstract242)      PDF(pc) (1518KB)(987)       Save
    Electric vehicles (EVs) are expected to be key nodes connecting transportation–electricity–communication networks. Advanced automotive electronics technologies enhance EVs’ perception, computing, and communication capacity, which in turn can boost the operational efficiency of intelligent transportation systems (ITSs). EVs couple the ITS to the power system, providing a promising solution to charging congestion and transformer overload via navigation and forecasting approaches. This study proposes a privacy-preserving EV charging situation awareness framework and method to forecast the ultra-short-term load of charging stations. The proposed method only relies on public information from commercial service providers. In the case study, data are powered by the Baidu LBS cloud and EV-SGCC platform, and the experiment is conducted within an area of Pudong New District in Shanghai. Based on the results, the charging load of charging stations can be adequately forecasted more than 1 min ahead with low communication and computing power requirements. This research provides the basis for further studies on operation optimization and electricity market transaction of charging stations.
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    Review on Corrosion Characteristics of Porous Titanium Alloys Fabricated by Additive Manufacturing
    GAI Xin, (盖欣), BAI Yun (白芸), LI Shujun (李述军), WANG Liao (王燎), AI Songtao (艾松涛), HAO Yulin (郝玉琳), YANG Rui (杨锐), DAI Kerong (戴尅戎)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 416-430.   DOI: 10.1007/s12204-021-2314-4
    Abstract280)      PDF(pc) (1891KB)(596)       Save
    Porous titanium and its alloys have been considered as promising implants owing to their low elastic  modulus and capability to provide channels for bone growth. Currently, additive manufacturing (3D printing)  techniques have been successfully applied to produce porous titanium alloys owing to the advantages of controllable  and precise fabrication. Considering the safety aspect, an understanding of corrosion in porous titanium alloys  and the corresponding mechanisms is important for their long-term application in the human body. In this  paper, the recent progress in improving the corrosion properties of porous titanium alloys fabricated via 3D  printing techniques is reviewed. The effects of pore type, porosity, electrolyte, and modification of the material  on the corrosion properties of porous titanium alloys are introduced and discussed. In addition, the limitations of  traditional methods for measuring the corrosion performance of porous titanium alloys were analysed. Perspectives  for evaluating and improving the corrosion performance of porous titanium alloys using new methods are provided. 
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    Intelligent-Assist Algorithm for Remote Shared-Control Driving Based on Game Theory
    QIAO Bangjun∗ (乔邦峻), LI Huanghe (李黄河), WU Xiaodong (吴晓东)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 615-625.   DOI: 10.1007/s12204-021-2351-z
    Abstract173)      PDF(pc) (759KB)(362)       Save
    Contemporary autonomous-driving technology relies on good environmental-perception systems and high-precision maps. For unknown environments or scenarios where perception fails, a human-in-the-loop remote-driving system can effectively complement common solutions, although safety remains an issue for its application. A haptic shared-control algorithm based on non-cooperative game theory is presented in this paper. The algorithm generates collision-free reference paths with model predictive control and predicts the driver’s path using a two-point preview model. Man-machine torque interaction is modeled as a Nash game, and the assist system’s degree of intervention is regulated in real time, according to assessments of collision risk and the driver’s concentration. Simulations of several representative scenarios demonstrate how the proposed method improves driving safety, while respecting driver decisions.
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    Biomechanical Analysis of Personalised 3D-Printed Clavicle Plates of Different Materials to Treat Midshaft Clavicle Fractures
    CHENG Rongshan, (程荣山), JIANG Ziang, (蒋子昂), DIMITRIOU Dimitris, GONG Weihua, (龚伟华), TSAI Tsung-Yuan, (蔡宗远)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 259-266.   DOI: 10.1007/s12204-021-2291-7
    Abstract354)      PDF(pc) (1656KB)(320)       Save
    This study was aimed at comparing the biomechanical performance of personalised 3D-printed clavicle  plates of different materials to treat midshaft clavicle fractures with the finite element (FE) method. The FE  model of a fractured clavicle with a personalised 3D-printed clavicle plate and screws was constructed. Three  types of materials were simulated, including stainless steel, titanium alloy, and magnesium alloy. Two loading  conditions (axial compression and inferior bending) were applied at the distal end of the clavicle to simulate arm  abduction. Plate stiffness, peak stress, and bone strain at the clavicle fracture site were measured and compared.  The stiffness of the stainless steel clavicle plate was significantly greater than that of the titanium alloy clavicle  plate. The stiffness of the magnesium alloy clavicle plate was similar to that of the intact clavicle; peak stress  of the magnesium alloy clavicle plate was the lowest; thus, it had less stress-shielding effects on bone formation.  The magnesium alloy clavicle plate was more likely to form bone by distributing proper strain at the clavicle  fracture site. According to the influence of different materials on the tensile strength, magnesium alloy clavicle  plates might be preferred owing to their bionic stiffness in the treatment of patients with a low risk of falling. For  patients who engage in contact sports, a titanium alloy clavicle plate might be more suitable.
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    UAV Task Allocation for Hierarchical Multiobjective Optimization in Complex Conditions Using Modified NSGA-III with Segmented Encoding
    JIN Yudong (靳宇栋), FENG Jiabo (冯家波), ZHANG Weijun (张伟军)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 431-445.   DOI: 10.1007/s12204-021-2269-5
    Abstract441)      PDF(pc) (2668KB)(314)       Save
    With the recent boom in unmanned aerial vehicle (UAV) technology, many UAV applications involving complex and risky tasks in military and civilian fields have emerged, such as military strikes and disaster monitoring. Task allocation for UAVs is the process of planning the division of work among UAVs, controlled from ground stations by human operators. This study formulates the UAV task-allocation problem as an extended traveling salesman problem and presents a novel UAV task-allocation model for complex air concentration monitoring tasks. Then, an optimized non-dominated sorting genetic algorithm III (NSGA-III) based on a twin-exclusion mechanism, hierarchical objective-domination operator, and segmented gene encoding (i.e., NSGA-III-TEHOD) is developed to solve complex task-allocation problems involving multiple UAVs, hierarchical objectives, obstacles, and ambient wind. The algorithm is tested in several simulations, and the results demonstrate that the new algorithm outperforms NSGA-III, non-dominated sorting genetic algorithm II (NSGA-II), and genetic algorithm (GA) in terms of efficiency of global convergence and early maturation prevention and is available for the hierarchical objective-optimization problems.

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    Using a Patient-Specific 3D-Printed Surgical Guide for High Tibial Osteotomy: A Technical Note
    JIANG Xu, (江旭), XIE Kai (谢凯), LI Bo (李波), HU Xumin (胡旭民), WU Haishan (吴海山), GAO Liangbin (高梁斌), WANG Liao (王燎), YAN Mengning (严孟宁)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 339-345.   DOI: 10.1007/s12204-021-2302-8
    Abstract296)      PDF(pc) (1004KB)(293)       Save
    Patient-specific instrumentation (PSI) enables a more accurate alignment of the lower limbs in a high  tibial osteotomy (HTO) than in traditional surgery; however, the current design of commercial PSIs is not perfect.  Therefore, we designed a new patient-specific surgical guide to improve the accuracy of the osteotomy and verified  its reliability through a clinical operation. Here, we describe a patient with isolated medial-compartment bilateral  knee osteoarthritis, accompanied by a varus deformity of the proximal tibia. The patient was treated with HTO  using a patient-specific 3D-printed surgical guide. We concluded that the patient-specific 3D-printed surgical  guide improved the accuracy of the osteotomy and the alignment of the lower limb. 
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    Eye Robotic System for Vitreoretinal Surgery
    DAI Qianlin (代倩琳), XU Mengqiao (徐梦乔), SUN Xiaodong (孙晓东), XIE Le∗ (谢叻)
    J Shanghai Jiaotong Univ Sci    2022, 27 (1): 1-6.   DOI: 10.1007/s12204-021-2369-2
    Abstract538)      PDF(pc) (1040KB)(260)       Save
    Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery, due to its requirements of high accuracy and delicate operation under blurred vision environment. Therefore, robot-assisted ophthalmic surgery is a potential and efficient solution. Based on that consideration, a novel master-slave system for vitreoretinal surgery is realized. A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented. The forward and inverse kinematics are analyzed for the controller implementation. Then, algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation accuracy. Finally, experiments on an eye model are conducted. The results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy, demonstrating the feasibility of this system.
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    Numerical Study on Separation of Circulating Tumor Cell Using Dielectrophoresis in a Four-Electrode Microfluidic Device
    WANG Yukuna (王雨坤), DING Xiantingb (丁显廷), ZHANG Zhinana (张执南)
    J Shanghai Jiaotong Univ Sci    2023, 28 (4): 391-.   DOI: 10.1007/s12204-022-2459-9
    Abstract217)      PDF(pc) (1462KB)(232)       Save
    This numerical study proposes a cell sorting technique based on dielectrophoresis (DEP) in a microfluidic chip. Under the joint effect of DEP and fluid drag, white blood cells and circulating tumor cells are separated because of different dielectric properties. First, the mathematical models of device geometry, single cell, DEP force, electric field, and flow field are established to simulate the cell motion. Based on the simulation model, important boundary parameters are discussed to optimize the cell sorting ability of the device. A proper matching relationship between voltage and flow rate is then provided. The inlet and outlet conditions are also investigated to control the particle motion in the flow field. The significance of this study is to verify the cell separating ability of the microfluidic chip, and to provide a logistic design for the separation of rare diseased cells.
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    Lightweight Method for Vehicle Re-identification Using Reranking Algorithm Based on Topology Information of Surveillance Network
    ZOU Yue (邹 悦), LI Lin (李 霖), YANG Xubo (杨旭波)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 577-586.   DOI: 10.1007/s12204-021-2347-8
    Abstract271)      PDF(pc) (1353KB)(231)       Save
    As an emerging visual task, vehicle re-identification refers to the identification of the same vehicle across multiple cameras. Herein, we propose a novel vehicle re-identification method that uses an improved ResNet-50 architecture and utilizes the topology information of a surveillance network to rerank the final results. In the training stage, we apply several data augmentation approaches to expand our training data and increase their diversity in a cost-effective manner. We reform the original RestNet-50 architecture by adding non-local blocks to implement the attention mechanism and replacing part of the batch normalization operations with instance batch normalization. After obtaining preliminary results from the proposed model, we use the reranking algorithm, whose core function is to improve the similarity scores of all images on the most likely path that the vehicle tends to appear to optimize the final results. Compared with most existing state-of-the-art methods, our method is lighter, requires less data annotation, and offers competitive performance.
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    Medical Application of 3D Printing:A Powerful Tool for Personalised Treatment
    DAI Kerong (戴尅戎), XU Feng (许锋)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 257-258.   DOI: 10.1007/s12204-021-2290-8
    Abstract527)      PDF(pc) (86KB)(226)       Save
    We are in an era of technological revolutions promoting personalised healthcare. Advances in medical imaging techniques with 3D imaging software and 3D printing have allowed healthcare professionals to view and document various geometrical structures in a brand-new way, enabling them to make meaningful 3D measurements more accurately by generating both virtual and physical models used for preoperative planning,physician-patient communication, and fabrication of surgical guides, instruments, and implants[1-5]. With improvements in cost-effectiveness, efficiency, and mechanical properties, 3D printing technologies have become a powerful tool for physicians to meet clinical requirements. Furthermore, biological tissues made from 3D printing may eventually provide patients with required human organs in the future[6-7].
    Although both medical communities and socialmedia spare no effort to highlight the prospects of 3D printing technologies in healthcare and popularise this innovative new method through Web-based approaches to promote its application in personalised treatment, to date, not a single healthcare organisation has yet released new technologies, disseminated findings in peerreviewed
    literature, or clarified the role and aims of 3D printing in healthcare. This, in turn, has left much of the current research and development to medical device companies, expecting them to meet individual clinical requests. Therefore, at present and in the future, it is critical to have a clear understanding of the clinical implementation of 3D printing for both traditional and personalised healthcare.
    The first step in the entire 3D printing process starts with medical imaging, in which professionals with expertise
    in radiology and imaging processing have conducted many investigations to identify and quantify patient-specific anatomical areas and geometrical structures before designing and manufacturing personalised medical models, surgical guides, medical instruments,
    and devices using 3D printing[8-11]. It must be noted that 3D printing usually starts with conventional clinical images, and errors cannot be avoided with several more complex steps involved in image processing. Traditionally,medical images have been acquired in radiology departments by trained radiologists using special software packages. With the help of commercial medical imaging processing software, such as MIMICS,Analyze, and MeDraw, many physicians from different specialties, with little engineering background, are able to perform these analyses by themselves and develop their preoperative planning software tailored to special
    medical treatments. Understandably, the development of software tailored to 3D printing needed in medicine could accelerate and promote its popularity in clinical practice.
    Organised by Journal of Shanghai Jiao Tong University (Science), this special issue, authored by a group of physicians and engineers with diverse and interdisciplinary backgrounds and insights, is intended to introduce their research topics in the most hotly debated areas where medical 3D printing is used in patient care,especially focusing on medical and dental applications.
    The issue also presents some related topics about imaging generation and processing, material properties, and biomechanics, among others. However, it is difficult to cover all the 3D printing fundamentals.
    In the current special issue, some interesting studies provide details regarding how to apply 3D printing to medical or dental personalised healthcare, which could be invaluable for physicians who would like to find their own methods of developing personalised routines by applying 3D printing in daily practice. The issue also includes some dedicated studies that focus
    on imaging and software applications, which are indispensable for those who are eager to enter the field of pre-processing in 3D printing. Last but not least, some studies discussing material properties and biomechanics with in-depth insights regarding the safety and reliability of 3D printing technology in the manufacturing of medical devices can be found in this issue. As authors
    and advocates of personalised treatment, we are interested in promoting 3D printing from its current niche applications to more widespread use in the medical community. Thus, this special issue also includes studies on some of these niche applications. Since 3D printing technology is now growing at an exponential rate, it is definitely a very challenging task to organise issues on 3D printing in personalised patient care. In this issue, we attempt to inspire our readers by choosing some clinical examples in several representative areas to show how 3D printing positively influences personalised healthcare.
    There is no doubt that 3D printing is truly one of the leading technologies of the 21st century and praised as a key feature of the fourth industrial revolution. We hope this special issue could provide essential information to help you understand the role that 3D printing plays in personalised patient care with the purpose of improving clinical outcomes and quality of life for patients in China and around the world. Finally, we genuinely hope that people with lofty ideals from both medical and engineering fields who are interested in 3D printing technologies notice this special issue and join us to enter the field with your meaningful contributions.
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    Camera-Radar Fusion Sensing System Based on Multi-Layer Perceptron
    YAO Tong (姚 彤), WANG Chunxiang(王春香), QIAN Yeqiang(钱烨强)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 561-568.   DOI: 10.1007/s12204-021-2345-x
    Abstract345)      PDF(pc) (1189KB)(217)       Save
    Environmental perception is a key technology for autonomous driving. Owing to the limitations of a single sensor, multiple sensors are often used in practical applications. However, multi-sensor fusion faces some problems, such as the choice of sensors and fusion methods. To solve these issues, we proposed a machine learning-based fusion sensing system that uses a camera and radar, and that can be used in intelligent vehicles. First, the object detection algorithm is used to detect the image obtained by the camera; in sequence, the radar data is preprocessed, coordinate transformation is performed, and a multi-layer perceptron model for correlating the camera detection results with the radar data is proposed. The proposed fusion sensing system was verified by comparative experiments in a real-world environment. The experimental results show that the system can effectively integrate camera and radar data results, and obtain accurate and comprehensive object information in front of intelligent vehicles.
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    Novel Data Placement Algorithm for Distributed Storage System  Based on Fault-Tolerant Domain
    SHI Lianxing (石连星), WANG Zhiheng (王志恒), LI Xiaoyong (李小勇)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 463-470.   DOI: 10.1007/s12204-020-2253-5
    Abstract276)      PDF(pc) (1240KB)(206)       Save
    The 3-replica redundancy strategy is widely used to solve the problem of data reliability in large-scale distributed storage systems. However, its storage capacity utilization is only 33%. In this paper, a data placement algorithm based on fault-tolerant domain (FTD) is proposed. Owing to the fine-grained design of the FTD, the data reliability of systems using two replicas is comparable to that of current mainstream systems using three replicas, and the capacity utilization is increased to 50%. Moreover, the proposed FTD provides a new concept for the design of distributed storage systems. Distributed storage systems can take FTDs as the units for data placement, data migration, data repair and so on. In addition, fault detection can be performed independently and concurrently within the FTDs.

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    Intelligent Connected Vehicle as the New Carrier Towards the Era of Connected World
    ZHUANG Hanyang (庄瀚洋), QIAN Yeqiang (钱烨强), YANG Ming(杨 明)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 559-560.  
    Abstract363)      PDF(pc) (83KB)(179)       Save
    Human beings have been kept pursuing of higher efficiency and better safety to move people and things around since thousands of years ago. In modern soci-ety, vehicles are therefore invented and utilized to boost the speed and enhance the safety. In recent years, rapid development of information technology has brought hu-man into a new era of connected world. Internet and smartphones have made it extremely easy to get ac-cess to anyone from anywhere any time. In this back-ground, intelligent connected vehicles (ICVs) have been proposed and investigated. In the similar manner as the smartphones, ICVs are expected to be the next gener-ation carrier for people to get connected to the world. ICVs are equipped with novel sensors, controllers, and actuators to understand the environment, make decisions, and take actions, respectively. The word “intelligent” indicates that the vehicle should be able to handle unexpected events on the road. The word “connected” means that the information of each vehicle should be shared and considered globally. Full auton-omy and full connection are the ultimate goals of ICV industry. Unfortunately, we are still far away from this goal; therefore, continuous efforts shall be made to step further to this destination. As the ICV consists of multiple subsystems and is across different disciplines, the overall improvement re-quires the innovation in each aspect. Under this cir-cumstance, the Special Issue on Intelligent Connected Vehicle at Journal of Shanghai Jiao Tong University (Science) has been organized to broaden the perspec-tive, promote the interdisciplinary collaboration, and report the state-of-the-art works.
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    Fabrication and Performance Investigation of Karma Alloy Thin Film Strain Gauge
    LEI Peng (雷鹏), ZHANG Congchun (张丛春), PANG Yawen (庞雅文), YANG Shenyong (杨伸勇), ZHANG Meiju (张梅菊)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 454-462.   DOI: 10.1007/s12204-021-2315-3
    Abstract333)      PDF(pc) (1164KB)(176)       Save
    Karma alloy thin film strain gauges were fabricated on alumina substrates by magnetron sputtering. The electrical properties of strain gauges annealed at different temperatures were then tested. The surface morphology and phase structure of the Karma alloy thin films were analyzed using X-ray diffraction and scanning electron microscopy. The effect of the annealing temperature on the performance of the Karma alloy thin film strain gauge was also investigated. As the annealing temperature increased, it was found that the resistivity of the thin films decreased, whereas the temperature coefficient of resistance (TCR) of the thin films increased. A Karma alloy thin film strain gauge was annealed at 200 °C, thereby obtaining a gauge factor of 1.7 and a corresponding TCR of 64.8 × 10-6 K-1. The prepared Karma alloy thin film strain gauge had a lower TCR than other strain gauges at room temperature. This result can provide a reference for the preparation and application of Karma alloy thin film strain gauges in specific scenarios.
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    Sealing Performance of Pressure-Adaptive Seal
    LI Yuanfeng (李元丰), WANG Yiling (王怡灵), ZHANG Wanxin∗ (张万欣), LIU Jinian (刘冀念), MA Jialu (马加炉)
    J Shanghai Jiaotong Univ Sci    2022, 27 (6): 747-756.   DOI: 10.1007/s12204-022-2510-x
    Abstract470)      PDF(pc) (2268KB)(176)       Save
    A pressure-adaptive seal is developed to meet the demands of quick assembling and disassembling for an individual protection equipment in aerospace. The analysis model, which reflects the main characteristics of the seal structure, is built based on the finite element method and the Roth’s theory of rubber seal, and verified by the prototype test. The influences of precompression ratio, hardness of the sealing ring rubber, and friction coefficient on the sealing performance are investigated by variable parameter method. Results show that the model can describe the essential characteristics of the pressure-adaptive seal structure, which has good follow-up to the cavity pressure to achieve the purpose of pressure self-adaptive. The leakage rate correlates negatively with the precompression ratio of the sealing ring and the hardness of the sealing ring material, while is positively related to the friction coefficient between the sealing ring and the sealing edge. The maximum contact stress on sealing surface has negative correlation with the precompression ratio of the sealing ring, and positive correlation with the hardness of the seal ring material. The damage risk of the sealing ring increases with the increases of the precompression ratio of sealing ring, hardness of sealing ring material, and friction coefficient.
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    Meso-Scale Tearing Mechanism Analysis of Flexible Fabric Composite for Stratospheric Airship via Experiment and Numerical Simulation
    CHEN Yonglin (陈永霖), YANG Weidong (杨伟东), XIE Weicheng (谢炜程), WANG Xiaoliang (王晓亮), FU Gongyi∗ (付功义)
    J Shanghai Jiaotong Univ Sci    2022, 27 (6): 873-884.   DOI: 10.1007/s12204-022-2431-8
    Abstract130)      PDF(pc) (4194KB)(175)       Save
    Stratospheric airships are controllable lighter-than-air aircraft and have great potential application in surveillance and communication. The envelopes, one of the main structures of a stratospheric airship, are generally made of flexible fabric composites to be lightweight, high strength, capable of containing lifting gas, and resistant to the harsh stratospheric environment. The composites, however, are prone to tearing. Hence, their tearing behavior has attracted great attention. This paper explores the meso-scale tearing mechanism of an envelope and the temperature influence on its tear strength via experiment and numerical simulation. Biaxial tear tests were conducted on cruciform specimens, which were contacted with liquids (cold alcohol or hot water) at different temperatures including -25, 20, 50, 80 °C. The specimens’ tear stresses were measured and the meso-scale tearing behavior was captured with a microscope. Besides, a novel finite element analysis model based on truss and spring elements was established to simulate the tearing behavior. It was found that the simulation result has a relative agreement with the tests. The simulation results show that the maximum tear stress of the envelope drops by 39.62% as the temperature rises from -60 °C to 80 °C and the tensile properties of yarns and matrix account for stress concentration around a crack tip. This work deeply reveals the meso-scale tearing mechanism of the envelope and provides a valuable reference for exploring tearing properties of flexible fabric composites.
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    Developing High-Precision Maps for Automated Driving in China: Legal Obstacles and the Way to Overcome Them
    ZHANG Taolue∗ (张韬略), TU Huizhao (涂辉招), QIU Wei (邱 炜)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 658-669.   DOI: 10.1007/s12204-021-2355-8
    Abstract261)      PDF(pc) (285KB)(160)       Save
    A high-precision map (HPM) is the key infrastructure to realizing the function of automated driving (AD) and ensuring its safety. However, the current laws and regulations on HPMs in China can lead to serious legal compliance problems. Thus, proper measures should be taken to remove these barriers. Starting with a complete view of the current legal obstacles to HPMs in China, this study first explains why these legal obstacles exist and the types of legal interests they are trying to protect. It then analyzes whether new technology could be used as an alternative to resolve these concerns. Factors such as national security, AD industry needs, and personal data protection, as well as the ?exibility of applying technology, are discussed and analyzed hierarchically for this purpose. This study proposes that China should adhere to national security and AD industry development, pass new technical regulations that redefine the scope of national security regarding geographic information in the field of HPMs, and establish a national platform under the guidance and monitoring of the government to integrate scattered resources and promote the development of HPMs via crowdsourcing. Regarding the legal obstacles with higher technical plasticity, priority should be given to technical solutions such as “available but invisible” technology. Compared with the previous research, this study reveals the current legal barriers in China that have different levels of relevance to national security and different technical plasticity. It also proposes original measures to remove them, such as coordinating national security with the development of the AD industry, reshaping the boundary of national security and industrial interests, and giving priority to technical solutions for legal barriers that have strong technical plasticity.
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    Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles
    SHEN Qiyue (沈琦越), WANG Bing (王 冰), WANG Chunxiang∗ (王春香)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 722-730.   DOI: 10.1007/s12204-021-2362-9
    Abstract387)      PDF(pc) (1546KB)(154)       Save
    Tractor-trailer vehicles, which are composed of a car-like tractor towing a passive trailer, have been widely deployed in the transportation industry, and trajectory planning is a critical step in enabling such a system to drive autonomously. Owing to the properties of being highly nonlinear and nonholonomic with complex dynamics, the tractor-trailer system poses great challenges to the development of motion-planning algorithms. In this study, an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer vehicle. The indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality, obstacle-free trajectory using quintic polynomial spline, speed pro?le optimization, forward simulation, and properly designed cost functions. Simulations under di?erent driving scenarios and trajectories with di?erent driving requirements are conducted to validate the performance of the proposed framework.
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    Multi-Object Tracking Strategy of Autonomous Vehicle Using Modified Unscented Kalman Filter and Reference Point Switching
    WANG Muyuan∗ (王木塬), WU Xiaodong (吴晓东)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 607-614.   DOI: 10.1007/s12204-021-2350-0
    Abstract337)      PDF(pc) (1070KB)(153)       Save
    In this study, a multi-object tracking (MOT) scheme based on a light detection and ranging sensor was proposed to overcome imprecise velocity observations in object occlusion scenarios. By applying real-time velocity estimation, a modified unscented Kalman filter (UKF) was proposed for the state estimation of a target object. The proposed method can reduce the calculation cost by obviating unscented transformations. Additionally, combined with the advantages of a two-reference-point selection scheme based on a center point and a corner point, a reference point switching approach was introduced to improve tracking accuracy and consistency. The state estimation capability of the proposed UKF was verified by comparing it with the standard UKF in single-target tracking simulations. Moreover, the performance of the proposed MOT system was evaluated using real traffic datasets.
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    Travel Intention of Electric Vehicle Sharing based on Theory of Multiple Motivations
    BAO Lewen (鲍乐雯), MIAO Rui, ∗ (苗 瑞), CHEN Zhihua (陈志华), ZHANG Bo (张 博), GUO Peng (郭 鹏), MA Yuze (马宇泽)
    J Shanghai Jiaotong Univ Sci    2023, 28 (1): 1-9.   DOI: 10.1007/s12204-023-2563-5
    Abstract458)      PDF(pc) (467KB)(152)       Save
    Determining the travel intention of residents with shared electric vehicles (EVs) is significant for promoting the development of low-carbon transportation, considering that common problems such as high idle rate and lack of attractiveness still exist. To this end, a structural equation model (SEM) based on the theory of multiple motivations is proposed in this paper. First, the influencing motivations for EV sharing are divided into three categories: consumer-driven, program-driven, and enterprise-driven motivations. Then, the intentions of residents in Shanghai to travel with shared EVs are obtained through a survey questionnaire. Finally, an SEM is constructed to analyze quantitatively the impact of different motivations on the travel intention. The results show that consumer-driven motivations with impact weights from 0.14 to 0.63 have the overwhelming impact on travel intention, compared to program-driven motivations with impact weights from ?0.14 to 0.15 and enterprise-driven motivations with impact weights from 0.02 to 0.06. In terms of consumer-driven motivations, the weight of green travel awareness is the highest. The implications of these results on the policy to enable large-scale implementation of shared EVs are discussed from the perspectives of the resident, enterprise, and government.
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    Bearing Incipient Fault Detection Method Based on Stochastic Resonance with Triple-Well Potential System
    LIU Ziwen (刘子文), XIAO Lei (肖雷), BAO Jinsong (鲍劲松), TAO Qingbao (陶清宝)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 482-487.   DOI: 10.1007/s12204-020-2238-4
    Abstract374)      PDF(pc) (926KB)(150)       Save
    Bearing incipient fault characteristics are always submerged in strong background noise with weak fault characteristics, so that the incipient fault is hard to detect. Stochastic resonance (SR) is accepted to be an effective way to detect the incipient; however, output saturation may occur if bistable SR is adopted. In this paper, a bearing incipient fault detection method is proposed based on triple-well potential system and SR mechanism. The achievement of SR highly replays on the nonlinear system which is adopted a triple-well potential function in this paper. Therefore, the parameters in the nonlinear system are optimized by particle swarm optimization algorithm, and the objective of optimization is to maximize the signal-to-noise ratio of the fault signal. After optimization, the optimal system parameters are obtained thereby the resonance effect is generated and the bearing incipient fault characteristic is enhanced. The proposed method is validated by simulation verification and engineering application. The results show that the method is effective to detect an incipient signal from heavy background noise and can obtain better outputs compared with bistable SR.

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    Accuracy Assessment of a Novel Radiographic Method to Evaluate Guided Bone Regeneration Outcomes Using a 3D-Printed Model
    SHI Junyu (史俊宇), LI Yuan (李元), ZHANG Xiao (张枭), ZHANG Xiaomeng (张晓梦), LAI Hongchang (赖红昌)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 284-289.   DOI: 10.1007/s12204-021-2294-4
    Abstract359)      PDF(pc) (966KB)(143)       Save
    The aim of this study was to evaluate the accuracy and reproducibility of a morphological contour  interpolation (MCI) based segmentation method for the volumetric measurement of bone grafts around implants.  Three 3D-printed models (one with a cylinder and two with a geometrically-complex form) were fabricated to  simulate implant placement with a simultaneous guided bone regeneration (GBR) procedure. All models were  scanned using a cone beam computed tomography (CBCT) instrument with the same parameters. The true  volumes of the bone grafts in the models were assessed using computer-aided calculation (controls). For the test  measurements, both manual and MCI-based methods were used. A comparison between the measured and true  volumes was performed to evaluate the accuracy. The coefficients of variation of repeated measurements were  calculated to evaluate the reproducibility. In addition, the execution time was recorded and a comparison between  the two methods was performed. The high accuracy of the MCI-based method was found with differences between  the measured value and actual volume, which never exceeded 7.3%. Excellent reproducibility was shown, with  coefficients of variation never exceeding 1.1%. A shorter execution time was observed for the MCI-based method  than for the manual method. Within the confines of this study, the MCI-based method may be suitable for  volumetric measurements of grafted bone around implants.
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    Clinical Observation of 3D Printing Technology in Insoles for Flexible Flatfoot Patients
    WANG Yitian (王一天), JIANG Wenbo (姜闻博), GAN Yaokai, (干耀恺), YU Yang (于洋), DAI Kerong, (戴尅戎)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 398-403.   DOI: 10.1007/s12204-021-2311-7
    Abstract357)      PDF(pc) (567KB)(141)       Save
    Flatfoot is defined as the flattening of the medial arch of the foot, and it is classified into flexible  flatfoot and rigid flatfoot based on whether the flattening of the medial arch of the foot can be reset when  standing on toes. The insole is the most basic and common treatment, which is relatively cheaper and easier to  adopt. Three-dimensional (3D) printing, an emerging technology characterized by high machining accuracy and  use of various materials, can be utilised in personalised insoles, which have good application prospects. Further  research on the clinical effects of 3D-printed insoles is still needed. In this study, 64 cases of 3D-printed insoles  were clinically observed. The results showed that 3D-printed insoles had statistically positive effects in treating  flatfoot (P = 0.000 17), and with adjustment and adaptation, their comfort and clinical effect can be improved.  This study provides an empirical reference for further large-scale clinical control research. 
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    Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality
    JING Mengjie (荆梦杰), CUI Zhixin(崔志鑫), FU Hang (傅航), CHEN Xiaojun (陈晓军)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 290-297.   DOI: 10.1007/s12204-021-2295-3
    Abstract431)      PDF(pc) (3888KB)(139)       Save
    Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive  abdominal surgery, where deformable soft tissue is modelled and simulated. The mass-spring model (MSM)  and finite element method (FEM) are common methods used in the simulation of soft tissue deformation. However,  MSM has an issue concerning accuracy, while FEM has a problem with efficiency. To achieve higher accuracy and  efficiency at the same time, we applied a co-rotational FEM in the simulation of a kidney with a tumour inside,  achieving a real-time and accurate deformation simulation. In addition, we set a multi-model representation for  mechanical simulation and visual rendering. The implicit Euler method and conjugate gradient method were  adopted for setting and solving the linear system. For a realistic simulation of surgery, constraints outside the  kidney and between the kidney and tumour were set with two series of mechanical properties for the two models.  Experiments were conducted to validate the accuracy and real-time performance.
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    High-Speed Fault-Tolerant Finite Impulse Response Digital Filter on Field Programmable Gate Array
    WU Tao (吴焘)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 554-558.   DOI: 10.1007/s12204-020-2214-z
    Abstract319)      PDF(pc) (720KB)(139)       Save
    Some fast finite impulse response (FIR) filters use a large number of look-up tables (LUTs) to configure distributed random-access memories (RAMs) and save registers. The distributed RAMs store 2M precomputed sums of M permuted operands in order to simplify the accumulation, which lays similarity to the solution of Boolean satisfiability (SAT) problem. In this work, a high-speed fault-tolerant FIR digital filter on field programmable gate array (FPGA) is proposed for hardware implementation. A shift register and an RAM are used to arrange the data flow. Generally, an N-tap digital filter only requires N embedded multipliers on FPGA. The better performance is due to high-radix words and low-latency operations. A 32-tap 8-bit FIR digital filter enjoys a throughput of 9.17MB/s, taking 109 ns to calculate one convolution. In addition, a fault-tolerant scheme by majority logic is used to correct real-time errors within digital filters.

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    Integrated Hydraulic-Driven Wearable Robot for Knee Assistance
    ZHAO Yafei (赵亚飞), HUANG Chaoyi (黄超逸), ZOU Yuging(邹玉莹), ZOUKehan(邹可涵), zoU Xiaogang(邹笑阳), XUE .Jiaqi(薛嘉琦), LI Xiaoting(李晓婷), KOH Keng Huat, WANG Xiaojun(王小军), LAI Wai Chiu King(赖伟超), HU Yong(胡勇), XI Ning(席宁), WANG Zheng(王峥)
    J Shanghai Jiaotong Univ Sci    2023, 28 (3): 289-295.   DOI: 10.1007/s12204-023-2602-2
    Abstract335)      PDF(pc) (1156KB)(139)       Save
    Age-related diseases can lead to knee joint misfunction, making knee assistance necessary through the use of robotic wearable braces. However, existing wearable robots face challenges in force transmission and human motion adaptation, particularly among the elderly. Although soft actuators have been used in wearable robots, achieving rapid response and motion control while maintaining portability remains challenging. To address these issues, we propose a soft-robotic knee brace system integrated with multiple sensors and a direct-drive hydraulic actuation system. This approach allows for controlled and rapid force output on the portable hydraulic system. The multi-sensor feedback structure enables the robotic system to collaborate with the human body through human physiological signal and body motion information. The human user tests demonstrate that the knee robot provides assistive torques to the knee joint by being triggered by the electromyography signal and under human motion control.
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    Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera
    ZHUANG Hanyang (庄瀚洋), ZHOU Xuejun (周学军), WANG Chunxiang (王春香), QIAN Yuhan (钱宇晗)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 569-576.   DOI: 10.1007/s12204-021-2346-9
    Abstract264)      PDF(pc) (1242KB)(137)       Save
    High-definition (HD) maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems. A complete ground orthophoto is usually used as the base image to construct the HD map. The ground orthophoto is obtained through inverse perspective transformation and image mosaicing. During the image mosaicing, multiple consecutive orthophotos are stitched together using pose information and image registration. In this study, wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image overlapping. In the orthophoto wavelet transform, high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local details. Experimental results show that the accuracy of the orthophotos generated using this method is improved.
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    COVID-19 Interpretable Diagnosis Algorithm Based on a Small Number of Chest X-Ray Samples
    BU Ran (卜冉), XIANG Wei∗ (向伟), CAO Shitong (曹世同)
    J Shanghai Jiaotong Univ Sci    2022, 27 (1): 81-89.   DOI: 10.1007/s12204-021-2393-2
    Abstract343)      PDF(pc) (1470KB)(132)       Save
    The COVID-19 medical diagnosis method based on individual’s chest X-ray (CXR) is achieved difficultly in the initial research, owing to difficulties in identifying CXR data of COVID-19 individuals. At the beginning of the study, infected individuals’ CXRs were scarce. The combination of artificial intelligence (AI) and medical diagnosis has been advanced and popular. To solve the difficulties, the interpretability analysis of AI model was used to explore the pathological characteristics of CXR samples infected with COVID-19 and assist in medical diagnosis. The dataset was expanded by data augmentation to avoid overfitting. Transfer learning was used to test different pre-trained models and the unique output layers were designed to complete the model training with few samples. In this study, the output results of four pre-trained models in three different output layers were compared, and the results after data augmentation were compared with the results of the original dataset. The control variable method was used to conduct independent tests of 24 groups. Finally, 99.23% accuracy and 98% recall rate were obtained, and the visual results of CXR interpretability analysis were displayed. The network of COVID-19 interpretable diagnosis algorithm has the characteristics of high generalization and lightweight. It can be quickly applied to other urgent tasks with insufficient experimental data. At the same time, interpretability analysis brings new possibilities for medical diagnosis.
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    Influence of Thermal Modification on Al-Si Coating of Hot-Stamped 22MnB5 Steel: Microstructure, Phase Transformation, and Mechanical Properties
    WANG Qiongyan (王琼燕), LIN Wenhu (林文虎),LI Fang∗ (李芳), SHEN Chen (沈忱), HUA Xueming (华学明)
    J Shanghai Jiaotong Univ Sci    2021, 26 (6): 747-756.   DOI: 10.1007/s12204-021-2267-7
    Abstract299)      PDF(pc) (3340KB)(127)       Save
    The hot-stamped steel with ultrahigh strength is a promising material for the fabrication of automotivecomponents. However, the coating on the sheet surface leads to a softening problem in the welded joint. Instead ofthe costly coating removal process, heat treatment is an economical and effective method for the diffusion process,which can decrease the Al concentration in the coating. In this study, a preheating treatment was carried out onAl-Si-coated 22MnB5 hot-stamped steels for the homogeneity of Al, followed by laser welding and hot stamping.The effects of the preheating on the microstructure and mechanical properties of the laser-welded joints wereinvestigated. With the preheating treatment, the Al-Si coating transformed into an Fe-Al intermetallic compoundand the difference in Al content between the coating and substrate was reduced. The Al content in the weld ofthe specimen with the preheating treatment was reduced, compared with that without the preheating treatment.The amount of δ-ferrite in the weld after laser welding was reduced largely. The distribution of long-bland-likesegregation was changed to a fine and uniform distribution. With the preheating treatment, the tensile strengthof the welded joint was significantly improved and comparable to that of the decoated joint. In conclusion, thepreheating treatment before the welding is an effective method to suppress the formation of δ-ferrite and improvethe mechanical properties of the welded joint.
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    Curvature Adaptive Control Based Path Following for Automatic Driving Vehicles in Private Area
    SHI Qiang (师 强), ZHANG Jianlin (张建林), YANG Ming∗ (杨 明)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 690-698.   DOI: 10.1007/s12204-021-2359-4
    Abstract463)      PDF(pc) (1349KB)(123)       Save
    Path following refers to traveling along the desired path with automatic steering control, which is a crucial technology for automatic driving vehicles. Roads in private areas are highly irregular, resulting in a large curvature variation, which reduces the control accuracy of the path following. A curvature adaptive control (CAC) based path-following method was proposed to solve the problem mentioned above. Speci?cally, CAC takes advantage of the complementary characteristics in response to the path curvature ?uctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature ?uctuation. With CAC, the quantitative indices of the path curvature ?uctuation and control accuracy were constructed. The model between the path curvature ?uctuation and a dynamic parameter was identi?ed using the quantitative index of the control accuracy as the optimization target. The experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature ?uctuation improved by the CAC. In addition, CAC is easy to deploy and requires low demand for hardware resources.
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    Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements
    YANG Tao (杨 涛), ZHAO Jiankang∗ (赵健康)
    J Shanghai Jiaotong Univ Sci    2022, 27 (3): 281-297.   DOI: 10.1007/s12204-022-2441-6
    Abstract208)      PDF(pc) (2619KB)(122)       Save
    Although advances in research into autonomous underwater vehicles (AUVs) have been made to extend their working depth and endurance, underwater experiments and missions remain to be restricted by the positioning performance of AUVs. With the Global Navigation Satellite System (GNSS) precluded due to the rapid attenuation of radio signals in underwater environments, acoustic positioning methods serve as an effective substitution. A long-range continuous and precise positioning solution for AUVs in deep ocean is proposed in this study, relying on acoustic signals from beacons at the same depth and aided by onboard inertial sensors. A signal system is investigated to provide time of arrival (TOA) estimation in a resolution of milliseconds. Without pre-knowledge or local measurement of the accurate sound speed, an AUV is enabled to continuously locate its horizontal position based on rough ranges estimated by an iterative least square (ILS) based algorithm. For better accuracy and robustness, range deviations are compensated with a reference point of known position and outliers in the trajectory are eliminated by an implementation of the extended Kalman filter (EKF) coupled with the state-acceptance filter. The solution is evaluated in simulation experiments with environmental information measured on the spot, providing an average position error from ground truth below 10 m with a standard deviation below 5 m.
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    Early Detection Methods of Deep Tissue Pressure Injuries: A Systematic Review
    JIA Jingyil (贾菁怡),LI Zhengyi1,2 (李正裔),PENG Linjing1 (彭琳晶),YAO Yifeil* (姚怡飞)
    J Shanghai Jiaotong Univ Sci    2023, 28 (4): 526-.   DOI: 10.1007/s12204-022-2518-2
    Abstract126)      PDF(pc) (552KB)(120)       Save
    Deep tissue pressure injuries (DTPIs) have witnessed a growing prevalence in hospitals and other health care units especially among individuals with pathological conditions that give rise to restricted mobility, impaired sensation, and reduced tissue tolerance. The etiology of DTPIs has been a subject of controversy, to which several explanatory models have been proposed, including direct mechanical insult, ischemia-reperfusion, lymphatic occlusion, and inflammatory cytokines. In line with these pathophysiological scenarios, ultrasound, subepidermal moisture detection, and biomarker technologies have been proposed as potential early detection methods of DTPIs. This paper provides a systematic review involving these three methods. The conclusion is that combining and implementing these methods at different time periods during DTPIs development and progression respectively is likely to be the most universal, effective and promising way for DTPIs diagnosis.
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    Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control
    ZHANG Lulu (章露露), DONG Xiangxiang (董祥祥), YAO Lixiu (姚莉秀), CAI Yunze (蔡云泽)
    J Shanghai Jiaotong Univ Sci    2021, 26 (4): 446-453.   DOI: 10.1007/s12204-021-2283-7
    Abstract365)      PDF(pc) (481KB)(119)       Save
    Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

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    Advances in Medicine-Engineering Crossover in Automated Anesthesia
    XU Tianyi (徐天意), XIA Ming (夏明), JIANG Hong (姜虹)
    J Shanghai Jiaotong Univ Sci    2022, 27 (2): 137-143.   DOI: 10.1007/s12204-021-2329-x
    Abstract293)      PDF(pc) (156KB)(118)       Save
    Medicine-engineering crossover refers to the cross-fertilization of multiple disciplines to meet clinical needs through various means, including engineering, which greatly promotes medical development. In the development of anesthesiology, improvements in anesthesia equipment and continuous innovation of anesthesia technology are all closely related to the integration of medicine and engineering. In recent years, the exploration and development of automated anesthesia equipment has led to closer integration of medicine, engineering, and other disciplines, including the development of robots in anesthesia, automated monitoring and alarm technology,automated perioperative management, and remote anesthesia. Herein, the current status of applications and development of medicine-engineering crossover in the field of automated anesthesia are discussed.
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    Automatic Removal of Multiple Artifacts for Single-Channel Electroencephalography
    ZHANG Chenbei (张晨贝), SABOR Nabil, LUO Junwen (罗竣文), PU Yu (蒲 宇), WANG Guoxing (王国兴), LIAN Yong∗ (连 勇)
    J Shanghai Jiaotong Univ Sci    2022, 27 (4): 437-451.   DOI: 10.1007/s12204-021-2374-5
    Abstract257)      PDF(pc) (2934KB)(117)       Save
    Removing different types of artifacts from the electroencephalography (EEG) recordings is a critical step in performing EEG signal analysis and diagnosis. Most of the existing algorithms aim for removing single type of artifacts, leading to a complex system if an EEG recording contains different types of artifacts. With the advancement in wearable technologies, it is necessary to develop an energy-efficient algorithm to deal with different types of artifacts for single-channel wearable EEG devices. In this paper, an automatic EEG artifact removal algorithm is proposed that effectively reduces three types of artifacts, i.e., ocular artifact (OA), transmission- line/harmonic-wave artifact (TA/HA), and muscle artifact (MA), from a single-channel EEG recording. The effectiveness of the proposed algorithm is verified on both simulated noisy EEG signals and real EEG from CHB- MIT dataset. The experimental results show that the proposed algorithm effectively suppresses OA, MA and TA/HA from a single-channel EEG recording as well as physical movement artifact.
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    Stochastic Model Predictive Control Approach to Autonomous Vehicle Lane Keeping
    ZHANG Chenzhi (张晨之), ZHUANG Cheng (庄 诚), ZHENG Xueke (郑学科), CAI Runze (蔡润泽), LI Mian (李 冕)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 626-633.   DOI: 10.1007/s12204-021-2352-y
    Abstract300)      PDF(pc) (702KB)(117)       Save
    In real-world scenarios, the uncertainty of measurements cannot be handled effciently by traditional model predictive control (MPC). A stochastic MPC (SMPC) method for handling the uncertainty of states in autonomous driving lane-keeping scenarios is presented in this paper. A probabilistic system is constructed by considering the variance of states. The probabilistic problem is then transformed into a solvable deterministic optimization problem in two steps. First, the cost function is separated into mean and variance components. The mean component is calculated online, whereas the variance component can be calculated offline. Second, Cantelli’s inequality is adopted for the deterministic reformulation of constraints. Consequently, the original probabilistic problem is transformed into a quadratic programming problem. To validate the feasibility and effectiveness of the proposed control method, we compared the SMPC controller with a traditional MPC controller in a lane-keeping scenario. The results demonstrate that the SMPC controller is more effective overall and produces smaller steady-state distance errors.
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    Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios
    WANG Liang (王 亮), WANG Bing (王 冰), WANG Chunxiang∗ (王春香)
    J Shanghai Jiaotong Univ Sci    2021, 26 (5): 731-738.   DOI: 10.1007/s12204-021-2363-8
    Abstract310)      PDF(pc) (2199KB)(117)       Save
    In urban driving scenarios, owing to the presence of multiple static obstacles such as parked cars and roadblocks, planning a collision-free and smooth path remains a challenging problem. In addition, the path-planning problem is mostly non-convex, and contains multiple local minima. Therefore, a method for combining a sampling-based method and an optimization-based method is proposed in this paper to generate a collision-free path with kinematic constraints for urban scenarios. The sampling-based method constructs a search graph to search for a seeding path for exploring a safe driving corridor, and the optimization-based method constructs a quadratic programming problem considering the desired state constraints, continuity constraints, driving corridor constraints, and kinematic constraints to perform path optimization. The experimental results show that the proposed method is able to plan a collision-free and smooth path in real time when managing typical urban scenarios.
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    Ant Colony Algorithm Path Planning Based on Grid Feature Point Extraction
    LI Erchao∗ (李二超), QI Kuankuan (齐款款)
    J Shanghai Jiaotong Univ Sci    2023, 28 (1): 86-99.   DOI: 10.1007/s12204-023-2572-4
    Abstract229)      PDF(pc) (1196KB)(114)       Save
    Aimed at the problems of a traditional ant colony algorithm, such as the path search direction and field of view, an inability to find the shortest path, a propensity toward deadlock and an unsmooth path, an ant colony algorithm for use in a new environment is proposed. First, the feature points of an obstacle are extracted to preprocess the grid map environment, which can avoid entering a trap and solve the deadlock problem. Second, these feature points are used as pathfinding access nodes to reduce the node access, with more moving directions to be selected, and the locations of the feature points to be selected determine the range of the pathfinding field of view. Then, based on the feature points, an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution, an improved heuristic function is used to enhance the guiding role of the path search, and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm. Third, a Bezier curve is used to smooth the shortest path obtained. Finally, using grid maps with a different complexity and different scales, a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.
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    Physical Characterization of Ionic Liquid-Modified Polyvinyl Alcohol and Sodium Thiocyanate Polymer Electrolytes for Electrochemical Double-Layer Capacitor Application
    AZEMTSOP Manfo Theodore , MEHRA Ram Mohan , KUMAR Yogesh , GUPTA Meenal
    J Shanghai Jiaotong Univ Sci    2023, 28 (2): 161-171.   DOI: 10.1007/s12204-021-2397-y
    Abstract352)      PDF(pc) (1140KB)(113)       Save
    Novel gel polymer electrolytes (GPEs) composed of polyvinyl alcohol (PVA) and sodium thiocyanate were developed via a solution casting technique. An ionic liquid (IL), 1-ethyl-3-methyl-imidazolium tricyanomethanide ([EMIM][TCM]), was doped into a polymer–salt complex system (PVA + NaSCN) to further enhance the conductivity. IL-doped polymer electrolyte (ILDPE) films were characterized using X-ray diffraction (XRD), polarized optical microscopy (POM), Fourier-transform infrared (FTIR) spectroscopy, and conductivity measurements. XRD was performed to check the degree of crystallinity and amorphicity of the ILDPE films, and the amorphicity of GPEs increased with the increase of the IL content. POM was employed to evaluate the changes in the surface morphology due to the inclusion of salt and IL in the PVA. The compositional nature of the GPE films was examined via FTIR studies. The electrical and electrochemical properties were characterized by cyclic voltammetry and electrochemical impedance spectroscopy. The maximum conductivity for the GPE film was estimated to be 1.10 × 10-5 S/cm for 6% (mass fraction) of IL in the polymer–salt complex. The ionic transference number was approximately 0.97. An electrochemical double-layer capacitor (EDLC) was built from optimized GPE films and reduced graphene oxide-based electrodes. The specific capacitance calculated from the cyclic voltammograms of the EDLC cells was 3 F/g.
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    Research Update on Bioreactors Used in Tissue Engineering
    WANG Wenhao, (王文豪), DENG Qian(邓迁), LI Tao (李涛), LIU Yuehua (刘月华), LIU Yang (刘洋), SUN Yeye (孙叶叶), DENG Changxu (邓昌旭), ZHOU Xiaojun (周小军), MA Zhenjiang (马振江), QIANG Lei (强磊), WANG Jinwu, (王金武), DAI Kerong, (戴尅戎)
    J Shanghai Jiaotong Univ Sci    2021, 26 (3): 272-283.   DOI: 10.1007/s12204-021-2293-5
    Abstract263)      PDF(pc) (900KB)(113)       Save
    Owing to the paucity of donor organs and their acute rejection by the immune system after transplantation,  advanced organ failure is one of the major challenges faced by the medical community. Static culturing  used for synthesising tissues and organs cannot simulate the in vivo mechanical and biochemical signals; therefore,  such artificial organs fail to maintain effective functional activity following transplantation. Tissue engineering can  overcome these hurdles by successfully enabling regeneration of tissues and organs in vitro. Bioreactors are pivotal  in the development and generation of engineered biological products. They simulate the in vivo microenvironment  of tissue growth while also providing various mechanical stimuli and biochemical signals to stem cells to effectively  generate transplantable organs or tissues. Various designs and types of bioreactors, their applications, and future  research prospects are summarised, which promote functional tissue engineering.
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