Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

Identification of potential sites for deep-ocean waste isolation with a geographic site-selection model

Identification of optimal sites for the isolation of waste on the abyssal seafloor was performed with two approaches: by the traditional method of map overlays of relevant attributes, and by a specially developed, automated Site-Selection Model (SSM). Five initial, Surrogate Sites, identified with the map-overlay approach, were then compared with the more rigorously produced scores from the SSM. The SSM, a process for optimization of site locations, accepts subjective, expert-based judgments and transforms them into a quantitative, reproducible, and documented product. The SSM is adaptable to any siting scenario. Forty-one factors relevant to the isolation scenario, including 21 weightable factors having a total of 123 scorable categories, have been entered into the SSM. Factors are grouped under project definition, unique environments, anthropogenic, geologic, biologic, weather, oceanographic and distance criteria. The factor scores are linked to a georeferenced database array of all factors, corresponding to 1°×1° latitude–longitude squares. The SSM includes a total of 2241 one-degree squares within 1000 n.m. of the U.S. coasts, including the western North Atlantic, the Gulf of Mexico, and the eastern North Pacific. Under a carefully weighted and scored scenario of isolation, the most favorable sites identified with the SSM are on the Hatteras and Nares Abyssal Plains in the Atlantic. High-scoring sites are also located in the Pacific abyssal hills province between the Murray and Molokai Fracture Zones. Acceptable 1° squares in the Gulf of Mexico are few and of lower quality, with the optimum location on the northern Sigsbee Abyssal Plain. Two of the five Surrogate Site locations, on the Hatteras and Sigsbee Abyssal Plains, correspond to the best SSM sites in each ocean area. Two Pacific and a second Atlantic Surrogate Site are located in low-scoring regions or excluded by the SSM. Site-selection results from the SSM, although robust, are an initial attempt to quantify the site-selection process. The SSM database exposes a significant lack of high-quality information for many areally mappable attributes on the abyssal seafloor, particularly bottom-current speed and measures of biologic productivity and flux. Terminologies and classifications of some measures, such as sediment types, suffer from parochialism and vary by ocean. Considerable research is needed even for a broad understanding of the environmental measures required to make sound societal decisions about use of the abyssal seafloor for disposal or other purposes.     

红馆，就在你身边

前段时间和国内几家权威IT媒体主编交流，他们无一例外地抱怨现在导航厂商都不投放广告，令网站的内容更新与生存倍感压力。     

Transport reviews prize

This paper reviews the provision of public transport in the Cape Town Metropolitan Area and the proposals for its future development. A vitally distinguishing characteristic of public transport in Cape Town and other South African cities is the fractured market with great discrepancies between different segments. These range from those with high incomes and preferences similar to those found in typically First World countries to a great majority living at or below minimum poverty levels with virtually no choices and a very different set of needs and preferences. Although scope for improving service levels and satisfying user needs is unlimited, in South Africa resources for transport are facing severe competition from other macrolevel social and economic imperatives, such as combating crime and addressing discrepancies in health and education needs. This situation represents a huge challenge to those responsible for planning and developing public transport strategies. Evidence is presented that current public transport services are unsustainable in terms of increasing subsidy requirements while also not effectively meeting user needs. Proposals to restructure the public transport system and to use Stated Preference techniques to identify user needs are put forward. Given the fractured market for public transport in metropolitan Cape Town, Stated Preference techniques will require innovative adaptations and different approaches to those most commonly applied elsewhere in the world and this paper provides some broad guidelines.     

Devising business strategy for railways

This paper presents a case study which tackles a general problem for railway management, namely the formulation of a strategy to improve business financial performance. This is prefaced, in Section 2, by discussion of general principles - concerning the type of information system required, investigations to be conducted and associated measurement needs. The case study, of Section 3, concerns our investigations of VicRail's total business and its constituents. The task of financial improvement is revealed from an assessment of sectors' current cost-recovery positions and the identification of system joint costs. For freight sectors, future traffic prospects, pricing possibilities and the scope for more efficient operations are then considered, and the implications traced for overall deficit reduction and the development of business strategy. The concluding section draws some general lessons for railway managements.A fuller discussion by the authors of the theoretical framework employed, and particularly of the case study application, is contained in a complimentary publication: Improving Railway Financial Performance, published by Gower in January 1985.Transmark is a subsidiary of the British Railways Board, acting as its international consultancy. The authors, who were respectively study director and manager, wish to thank Bernard Warner (an independent consultant), Richard Eccles (of Transmark) and Adrian Balkyn-Rackowe (of British Rail) for their valuable contributions. The study report, titled Rail Cost — Pricing Options, was released by the Minister in April 1981.     

软件将是导航硬件商生存之本

2008年导航市场将进入洗牌阶段。随着许多国际大品牌GARMIN、TOMTOM等都纷纷进入中国市场瓜分导航市场的这块蛋糕，中国的中、小品牌生存空间将受到挤压，甚至，许多小品牌在今年或明年将有可能会消失。那么，怎么才能继续生存并有比较好的前景呢？     

严峻问题

今年关于太平洋航线有两个不确定因素,即美国进口量增长将会大大放缓,同时美国出口量会继续增加.因此,几乎所有其他的问题都是不确定的:进口量是否会增长还是会减少?