Uncertainty Quantification of Collaborative Detection for Self-Driving

Sharing information between connected and autonomous vehicles (CAVs) fundamentally improves the performance of collaborative object detection for self-driving. However, CAVs still have uncertainties on object detection due to practical challenges, which will affect the later modules in self-driving such as planning and control. Hence, uncertainty quantification is crucial for safety-critical systems such as CAVs. Our work is the first to estimate the uncertainty of collaborative object detection. We propose a novel uncertainty quantification method, called Double-M Quantification, which tailors a moving block bootstrap (MBB) algorithm with direct modeling of the multivariant Gaussian distribution of each corner of the bounding box. Our method captures both the epistemic uncertainty and aleatoric uncertainty with one inference pass based on the offline Double-M training process. And it can be used with different collaborative object detectors. Through experiments on the comprehensive collaborative perception dataset, we show that our Double-M method achieves more than 4X improvement on uncertainty score and more than 3% accuracy improvement, compared with the state-of-the-art uncertainty quantification methods. Our code is public on https://coperception.github.io/double-m-quantification.Comment: 6 pages, 3 figure

Laser induced arc dynamics destabilization in laser-arc hybrid welding

The interaction between laser and arc plasma is a central issue in laser-arc hybrid welding. We report a new interaction phenomenon called laser destabilizing arc dynamics in kilowatt fiber laser-TIG hybrid welding of 316L stainless steel. We found the laser action significantly oscillates the arc tail with a 1–3 kHz high frequency. Direct numerical simulation demonstrates that the destabilization mechanism is due to the high-speed oscillated metal vapor ejecting from the mesoscopic keyhole. More interestingly, the high-speed metal vapor could contrict the arc plasma by physical shielding. This provides a fundamentally different explanation from the generally adopted metal vapor ionization theory for laser constrict arc plasma phenomenon. Also, the results substantiate that the arc plasma cannot easily enter into the keyhole because of the violent metal vapor

Fabrication of fracturing fluid with cationic surfactants and carboxymethyl hydroxyethyl cellulose

Abstract The surfactant-polymer-based (S/P) fracturing fluid combines the advantages of the surfactant-based and polymer-based fracturing fluids. In this study, the synergistic tackifying of cationic surfactants and carboxymethyl hydroxyethyl cellulose and the potential application in hydraulic fracturing fluid was investigated. Firstly, cetyltrimethylammonium chloride (CTAC) and salicylic acid (SA) with a weight ratio of 4:1 were optimized as the main agent of the small molecule surfactant gel, which was then mixed with carboxymethyl 2-hydroxyethyl ether cellulose (CMHEC) and salicylic acid (SA) to obtain the S/P gel. The proppant suspension performance, gel-breaking properties, salt-resistance and thermal stability of the optimized S/P were evaluated to confirm their potential application in the hydraulic fracturing fluid. These results showed that the performance of the S/P fracturing fluid system was much better than the performance of the surfactant fracturing fluid and also the performance of polymer fracturing fluid

Influence of low-pulsed frequency on arc profile and weld formation characteristics in double-pulsed VPTIG welding of aluminium alloys

AA2219 aluminium alloy plates were processed by double pulsed variable polarity tungsten inert gas (DP-VPTIG) welding, and the influence of low-pulsed frequency on arc profile, weld appearance and penetration characteristics were investigated. An image processing algorithm was proposed for arc edge extraction and arc feature sizes acquisition. The arc energy equations in low-frequency pulse peak stage (tp) and base stage (tb) were established based on the electrical parameters. The arc profile periodically expanded in tp and shrunk in tb, resulted from the difference in arc energy of the two stages. The pulsation effects in arc profile, weld appearance and penetration, caused by the pulsed arc were observed to exhibit a decreasing trend with the increase of low-pulsed frequency (fL). The pulsation effects were obvious when fL was 0.5 Hz, then became weak and tended to disappear as fL increased above 3 Hz. The empirical correlations between fL and the pulsation effects of arc profile, weld appearance and penetration were respectively developed. It is recommended to use fL in the range of 1–2 Hz to properly exert the low-frequency pulsation effect. The results provide a valuable basis for controlling and optimizing the DP-VPTIG process in the high efficiency welding of aluminum alloy

Synthesis of barium alkylbenzene sulfonate and its behavior as a flow improver for crude oil

The low flow characteristics of heavy oil have brought many challenges to its exploitation. Looking for a cost-effective crude oil flow improver to reduce the viscosity of heavy oil is currently the most important challenge. Small-molecule crude oil flow improvers meet the above requirements and become an ideal target for oilfield heavy oil production. In this article, three kinds of barium salts of alkylbenzene sulfonates with different lengths of alkyl chains were synthesized from alkylbenzene sulfonic acid and barium hydroxide. Among them, the viscosity reduction effect of barium dodecylbenzenesulfonate (BaDBS) is best as the dosage is 900 mg/L, the viscosity reduction rate is 89.0%, and the pour point is reduced by 5 °C. Optical microscopy revealed the eutectic effect of crude oil flow improver and saturated hydrocarbon in heavy oil. FTIR and DSC were used to research the mechanism of small-molecule crude oil flow improver to reduce the viscosity of heavy oil

Synthesis of barium alkylbenzene sulfonate and its behavior as a flow improver for crude oil

The low flow characteristics of heavy oil have brought many challenges to its exploitation. Looking for a cost-effective crude oil flow improver to reduce the viscosity of heavy oil is currently the most important challenge. Small-molecule crude oil flow improvers meet the above requirements and become an ideal target for oilfield heavy oil production. In this article, three kinds of barium salts of alkylbenzene sulfonates with different lengths of alkyl chains were synthesized from alkylbenzene sulfonic acid and barium hydroxide. Among them, the viscosity reduction effect of barium dodecylbenzenesulfonate (BaDBS) is best as the dosage is 900 mg/L, the viscosity reduction rate is 89.0%, and the pour point is reduced by 5 °C. Optical microscopy revealed the eutectic effect of crude oil flow improver and saturated hydrocarbon in heavy oil. FTIR and DSC were used to research the mechanism of small-molecule crude oil flow improver to reduce the viscosity of heavy oil

Synergistic effect of octadecyl ammonium oxide and oleate amide propyl betaine and development of a foam drainage reagent for natural gas production

Betaine surfactants are used widely in oil field chemistry as well as other industrial applications, but their foaming ability is very poor so that it cannot be used in foaming. In this work, the effect of octadecyl ammonium oxide on the foam properties of oleate amide propyl betaine, a new compound foaming reagent, is studied based on foam performance. Then, a foam drainage reagent of 0.5 wt% oleate amide propyl betaine and 0.1 wt% octadecyl ammonium oxide is developed for natural gas production. Its salt resistance, methanol resistance, high temperature resistance, anti-condensate oil performance, and emulsification ability are systematically evaluated. Furthermore, the factors affecting foam performance are analyzed. The results show that the compound foaming reagent has good anti-salt, anti-methanol, and anti-condensate oil properties for meeting application requirements. The microstructures of foams derived from different reagents reveal the stability mechanism. All results reflect the fact that compounding can expand their application range in different environments to various extents, which benefits the design and use of compound surfactants

Modification of sodium dodecyl sulfate and evaluation of foaming activity

In this study, to optimize the foaming activity of sodium dodecyl sulfate (SDS), modified sodium dodecyl sulfate surfactants (MSDS-1 and MSDS-2) are prepared by using methanol and diethanol amine as modifiers by the Mannich reaction. The foaming properties and foam stability of the products are evaluated by the Ross–Miles method and the Waring blender method. The microstructures of the foams produced by three surfactants are compared. The effects of temperature, inorganic salt, methanol, and condensate oil on the foaming activity of SDS, MSDS-1, and MSDS-2 are studied. The results obtained show that the best foaming concentration of all three products is 0.5%. Compared with SDS, the temperature resistance, methanol resistance, salt resistance and anti-condensate oil performance of MSDS-1 and MSDS-2 are improved. Among them, the temperature resistance, salt resistance, and methanol resistance of the MSDS-1 solution are the best. The MSDS-2 solution has the best anti-condensate performance. Besides, the foam size becomes smaller, the foam wall thickens, and the foam stability is improved after modification. The overall performance of SDS as a foaming agent can be improved by the Mannich modification

Modification of sodium dodecyl sulfate and evaluation of foaming activity

In this study, to optimize the foaming activity of sodium dodecyl sulfate (SDS), modified sodium dodecyl sulfate surfactants (MSDS-1 and MSDS-2) are prepared by using methanol and diethanol amine as modifiers by the Mannich reaction. The foaming properties and foam stability of the products are evaluated by the Ross–Miles method and the Waring blender method. The microstructures of the foams produced by three surfactants are compared. The effects of temperature, inorganic salt, methanol, and condensate oil on the foaming activity of SDS, MSDS-1, and MSDS-2 are studied. The results obtained show that the best foaming concentration of all three products is 0.5%. Compared with SDS, the temperature resistance, methanol resistance, salt resistance and anti-condensate oil performance of MSDS-1 and MSDS-2 are improved. Among them, the temperature resistance, salt resistance, and methanol resistance of the MSDS-1 solution are the best. The MSDS-2 solution has the best anti-condensate performance. Besides, the foam size becomes smaller, the foam wall thickens, and the foam stability is improved after modification. The overall performance of SDS as a foaming agent can be improved by the Mannich modification

Synergistic effect of octadecyl ammonium oxide and oleate amide propyl betaine and development of a foam drainage reagent for natural gas production

Betaine surfactants are used widely in oil field chemistry as well as other industrial applications, but their foaming ability is very poor so that it cannot be used in foaming. In this work, the effect of octadecyl ammonium oxide on the foam properties of oleate amide propyl betaine, a new compound foaming reagent, is studied based on foam performance. Then, a foam drainage reagent of 0.5 wt% oleate amide propyl betaine and 0.1 wt% octadecyl ammonium oxide is developed for natural gas production. Its salt resistance, methanol resistance, high temperature resistance, anti-condensate oil performance, and emulsification ability are systematically evaluated. Furthermore, the factors affecting foam performance are analyzed. The results show that the compound foaming reagent has good anti-salt, anti-methanol, and anti-condensate oil properties for meeting application requirements. The microstructures of foams derived from different reagents reveal the stability mechanism. All results reflect the fact that compounding can expand their application range in different environments to various extents, which benefits the design and use of compound surfactants