水下潜器改进S面控制及控制系统仿真(英文)

S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However, it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed. It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters. A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.     

Research on visual autonomous navigation indoor for unmanned aerial vehicle

The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments.     

Up‐to‐the‐minute information as we drive—how it can help road users and traffic management

Road transport of today has a substantial need for a better information system. The European research programmes PROMETHEUS and DRIVE offer the prospect of new techniques and strategies. The role of information in road transport is analysed from the viewpoint of the individual drivers and from the viewpoint of the traffic manager. All necessary information must be brought together and a complex data‐bank system for road transport should be installed. As examples of advanced information systems the concepts of the ‘Wolfsburg wave’ for in‐car speed recommendation and of the LISB field experiment in route guidance in Berlin are explained.     

Measuring crowding-related comfort in public transport

ABSTRACT

In this paper we focus on the estimation of crowding in public transport – specifically urban rail systems – and its effect on perceived comfort. It is different from similar studies in the method it employs for estimating crowding levels in vehicles. Specifically, we formulate a function of time and location, which uses only passenger embarking data to estimate the number of passengers in vehicles. Then we convert the estimated crowding values into perceived discomfort levels by trip section. Our method depends on hourly seasonality assumptions but provides good estimates of crowding in urban rail systems even when passenger alighting data is not available. We illustrate the implementation of our model with the example of the Istanbul Metro system.     

船舶法定证书安全检查缺陷案例分析

船舶法定证书是指由有关公约的一个缔约国或由代表缔约国经认可的机构，或由船旗国或由船旗国经认可的机构，经法定检验后直接签发的，包括准确和有效的日期，符合有关公约、规则规定并载明船舶、船员和设备细目的格式化证书。     

The impact of activity chaining on the duration of daily activities

There is a broad body of theoretical and empirical literature dealing with trip chaining behaviour. This paper adds to the literature while focusing on the impact of activity chaining on the duration of time spent on individual purposes. Two questions in particular are addressed: first, does an additional purpose added to a trip chain affect the duration of the activities included? Second, is there any pattern of included activities that explains differences in duration? Duration data models are employed using German data. We find evidence that the number of purposes influences duration significantly. Leisure, shopping and personal business activities are affected by the occurrence of obligatory activities (work, school/university). We cannot find any evidence that personal business or leisure activities influence the duration of shopping, whereas the opposite is supported. Therefore, in terms of daily activities, obligatory and shopping activities are superior to leisure and personal business. We conclude that activity chaining and especially the pattern of combined purposes affect the duration of activities allocated to single purposes while controlling for a wide range of other explanatory variables. The results can be used in transport and simulation models.     

用Rankine波幅函数预报高速三体／五体船主体与侧体的兴波阻力干扰

基于兴波阻力的薄船理论,作者曾提出用兰金体波幅函数(RWAF)代替实际船型的波幅函数,确定了高速双体船片体间的阻力干扰因子,从而可计算得到双体船的兴波阻力.本文将该方法用于高速三体船侧体与主体之间的兴波阻力干扰计算,以探讨主、侧体尺度及相对位置变化对于兴波阻力干扰因子τO、τOM的影响及其变化规律.基于这一研究结果,可实现用单体船阻力的实验资料,经过侧体、主体间的兴波干扰影响理论修正,来估算高速三体船的阻力;同时可用于对于最小阻力三体船片体尺度与布局之优化.     

产品平台思想——把其他行业成功的思想引入到铁道车辆制造行业

概述了在铁道车辆制造领域引入产品平台这一生产管理思想，分析了从汽车领域引入标准化加工的可能性，阐述了铁道车辆工业开始运用的情况，并介绍了一个功能强大的IT弹性开发工具，利用该工具，可允许按照用户的特殊要求，对完全参数化的车辆模型进行快速修改，并可使用标准化的程序，生产出适应用户有特殊要求的车辆。     

Design and Evaluation of Robust Cooperative Adaptive Cruise Control Systems in Parameter Space

This paper is on the design of cooperative adaptive cruise control systems for automated driving of platoons of vehicles in the longitudinal direction. Longitudinal models of vehicles with simple dynamics, an uncertain first order time constant and vehicle to vehicle communication with a communication delay are used in the vehicle modeling. A robust parameter space approach is developed and applied to the design of the cooperative adaptive cruise control system. D-stability is chosen as the robust performance goal and the feedback PD controller is designed in controller parameter space to achieve this D-stability goal for a range of possible longitudinal dynamics time constants and different values of time gap. Preceding vehicle acceleration is sent to the ego vehicle using vehicle to vehicle communication and a feedforward controller is used in this inter-vehicle loop to improve performance. Simulation results of an eight vehicle platoon of heterogeneous vehicles are presented and evaluated to demonstrate the efficiency of the proposed design method. Also, the proposed method is compared with a benchmark controller and the feedback only controller. Time gap regulation and string stability are used to assess performance and the effect of the vehicle to vehicle communication frequency on control system performance is also investigated.