展望燃料电池电动车

本文在职回顾蓄电池电动车的发展简史之后,分析和判断来自各方面的信息,从技术上的可行性、氢原料选择、市场准入、政府政策、电动机及其控制系统等各个角度进行综合考虑,认为最具有发展前景的当属质子交换膜燃料电池电动车。     

Improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty using worst-case scenarios

Previous work by the authors focused on obstacle avoidance in large, high-speed autonomous ground vehicles within unknown and unstructured environments. This work resulted in a nonlinear model predictive control based algorithm that simultaneously optimises both the speed and steering commands. The algorithm can exploit the dynamic limits of the vehicle to navigate it to a target position as quickly as possible without compromising safety. In the algorithm, a model of the vehicle is used explicitly to predict and optimise future actions, but in practice the model parameter values are not known exactly. Thus, in this paper, the robustness of the algorithm to parametric uncertainty is evaluated. It is first demonstrated that using nominal parameter values in the algorithm leads to safety issues in 24% of the evaluated scenarios with the considered parametric uncertainty distributions. To improve the algorithm's robustness, a novel double-worst-case formulation is developed that simultaneously accounts for the robust satisfaction of the two safety requirements of high-speed obstacle avoidance: collision-free and no-wheel-lift-off. Results from simulations with stratified random scenarios and worst-case scenarios show that the double-worst-case formulation renders the algorithm robust to all uncertainty realisations tested. The trade-off between robustness and the task completion performance is also quantified.     

国外潜射巡航导弹的发射技术

文章阐述了潜载水下发射巡航导弹的重要性，详细研究了世界上主要的几种潜载巡航导弹水下发射技术，介绍了潜载巡航导弹水下发射技术的发燕尾服动态及方向。     

Vehicle aesthetics and their impact on the pedestrian environment

Cars are designed to appeal to the buyer’s self-image, many of them evoking an impression of speed and power. Such an impression conflicts both with the aesthetic language of suburban architecture, and the needs of pedestrians. The research described in this report was conceived as a preliminary investigation of how members of the public view the aesthetic impact of cars in the residential street environment, particularly from the pedestrian’s point of view. The results suggested that people use two distinct sets of criteria when evaluating the motor car and the residential environment in visual terms. When asked to ‘match’ different models of car with different street scenes, respondents avoided referring to abstract visual qualities such as shape, colour and texture, but concentrated instead on the owners: the imagined driver and the imagined householder. The problem of visual harmony was reduced to one of social and cultural harmony. Could the imagined householder be expected to drive this or that car? However, SUVs were singled out as visually intrusive because they blocked the pedestrian’s view. Members of one of the groups, boys aged 11–12, found it difficult to visualise the impact of cars on pedestrians at all, or even to question vehicle design from the pedestrian’s point of view. They just wanted to be in the driving seat.     

分散自律调度集中试验验收方法探讨

主要介绍了成都铁路局遂渝线FZy-CTC分散自律调度集中系统的试验验收方法、具体内容及步骤，对围绕分散自律调度集中系统本身特点进行的试验及验收内容进行了详细的介绍，为将来新建的分散自律调度集中系统的验收提供了可参考的方法。     

GPS-RTK在水下地形测量中的应用

RTK(Real Ti me Kinematic)定位技术是GPS定位技术的一项飞跃,文章通过工程实例,介绍了GPS-RTK在水下测量中的应用,对其作业流程和关键技术问题进行了分析,得出了一些有益的结论。     

A framework for user- and system-oriented optimisation of fuel efficiency and traffic flow in Adaptive Cruise Control

Fully automated vehicles could have a significant share of the road network traffic in the near future. Several commercial vehicles with full-range Adaptive Cruise Control (ACC) systems or semi-autonomous functionalities are already available on the market. Many research studies aim at leveraging the potential of automated driving in order to improve the fuel efficiency of vehicles. However, in the vast majority of those, fuel efficiency is isolated to the driving dynamics between a single follower-leader pair, hence overlooking the complex nature of traffic. Consequently fuel efficiency and the efficient use of the roadway capacity are framed as conflicting objectives, leading to fuel-economy control models that adopt highly conservative driving styles.This formulation of the problem could be seen as a user-optimal approach, where in spite of delivering savings for individual vehicles, there is the side-effect of the deterioration of traffic flow. An important point that is overlooked is that the inefficient use of roadway capacity gives rise to congested traffic and traffic breakdowns, which in return increases energy costs within the system. The optimisation methods used in these studies entail high computational costs and, therefore, impose a strict constraint on the scope of problem.In this study, the use of car-following models and the limitation of the search space of optimal strategies to the parameter space of these is proposed. The proposed framework enables performing much more comprehensive optimisations and conducting more extensive tests on the collective impacts of fuel-economy driving strategies. The results show that, as conjectured, a “short-sighted” user-optimal approach is unable to deliver overall fuel efficiency. Conversely, a system-optimal formulation for fuel efficient driving is presented, and it is shown that the objectives of fuel efficiency and traffic flow are in fact not only non-conflicting, but also that they could be viewed as one when the global benefits to the network are considered.     

Estimation of the response of a deeply immersed cylinder to the shock wave generated by an underwater explosion

The work presented in this paper is focused on the development of a simplified method to study the structural response of a deeply immersed cylinder subjected to the primary shock wave generated by an underwater explosion. The proposed analytical model is based on the string-on-foundation method initially developed by Hoo Fatt and Wierzbicki, who converted the two dimensional boundary value problem of a cylindrical shell to an equivalent one-dimensional problem of a plastic string on a plastic foundation. This method has already been extended by the authors to study the shock wave response of an unstiffened cylinder immersed in shallow water. The present work focuses on deep-immersed cylinders subjected to both high hydrostatic pressure and explosion shock wave. The elastic deformation energy of the cylinder under hydrostatic pressure is first calculated and used to determine the initial conditions of the dynamic problem. Cylinder deflection and plastic deformation energy are then calculated for various immersion depths. When confronted to numerical results, the proposed model appears to underestimate the increase of deflection and absorbed energy with the immersion depth. A thorough analysis of the results post-processed from Ls-Dyna/USA finite element simulations highlights a new mechanism which is due to the action of hydrostatic pressure that continues to push inward the immersed cylinder. In order to improve the analytical model, a correction factor on the hydrostatic pressure is introduced but it is finally concluded that a new mechanism dedicated to the late action of the hydrostatic pressure still needs to be developed.     

Shared versus private mobility: Modeling public interest in autonomous vehicles accounting for latent attitudes

Emerging autonomous vehicles (AVs) and shared mobility systems per se will transform urban passenger transportation. Coupled together, shared AVs (SAVs) can facilitate widespread use of shared mobility services by providing flexible public travel modes comparable to private AV. Hence, it may be conjectured that future urban mobility is likely an on-demand service and AV private ownership is unappealing. Nonetheless, it is still unclear what observable and latent factors will drive public interest in (S)AVs, the answer to which will have important implications on transportation system performance. This paper aims to jointly model public interest in private AVs and multiple SAV configurations (carsharing, ridesourcing, ridesharing, and access/egress mode) in daily and commute travels with explicit treatment of the correlations across the (S)AV types. To this end, multivariate ordered outcome models with latent variables are employed, whereby latent attitudes and preferences describing traveler safety concern about AV, green travel pattern, and mobility-on-demand savviness are accounted for using structural and measurement equations. Drawing from a stated preference survey in the State of Washington, important insights are gained into the potential user groups based on the socio-economic, built environment, and daily/commute travel behavior attributes. Key policies are also offered to promote public interest in (S)AVs by scrutinizing the marginal effects of the latent variables.     

Distributed model predictive control for vessel train formations of cooperative multi-vessel systems

Recently, the cooperative control of multiple vessels has been gaining increasing attention because of the potential robustness, reliability and efficiency of multi-agent systems. In this paper, we propose the concept of Cooperative Multi-Vessel Systems (CMVSs) consisting of multiple coordinated autonomous vessels. We in particular focus on the so-called Vessel Train Formation (VTF) problem. The VTF problem considers not only cooperative collision avoidance, but also grouping of vessels. An MPC-based approach is proposed for addressing the VTF problem. A centralized and a distributed formulation based on the Alternating Direction of Multipliers Method (ADMM) are investigated. The distributed formulation adopts a single-layer serial iterative architecture, which gains the benefits of reduced communication requirements and robustness against failures. The impacts of information updating sequences and responsibility parameters are discussed. We furthermore analyze the scalability of the proposed method. Simulation experiments of a CMVS navigating from different terminals in the Port of Rotterdam to inland waterways are carried out to illustrate the effectiveness of our method. The proposed method successfully steers the vessels from different origins to form a vessel train. Due to the effective communication, vessels can timely respond to the velocity changes that others make. After the formation is formed, the distances between vessels become constant. The results show the potential to use CMVSs for inland shipping with enhanced safety.