Road boundary detection and tracking for structured and unstructured roads using a 2D lidar sensor

Road boundaries can give useful information for evaluating safe vehicle paths in intelligent vehicles. Much previous research has studied road boundary detection, using different types of sensors such as vision, radar, and lidar. Lidar sensors, in particular, show advantages for road boundary extraction including high resolution and wide field of view. However, none of the previous studies examined the problem of detecting road boundaries when roads could be either structured or unstructured. In this study, we developed a road boundary detection and tracking algorithm using lidar sensing for both structured and unstructured roads. The algorithm extracts road features as line segments in polar coordinates relative to the lidar sensor. The extracted road features are then tracked with respect to a vehicle’s local coordinates using a nearest neighbor filter. The proposed algorithm accurately detected the road boundaries regardless of the road type.     

基于有色Petri网的车身控制系统建模方法

针对总线式车身控制系统的特点,提出一种新的建模方法.通过分析,指出车身控制系统属于离散事件系统,进而选择带测试弧的有色Petri网作为工具,描述系统对象之间的逻辑关系.仿真结果表明,该建模方法能够保证系统的控制逻辑正确,且形式简单规范,有助于提高车身控制系统软件的开发效率.     

CG125发动机活塞连杆曲轴改进分析

改进CG125发动机气道和燃烧室形状,在保证动力性提高的同时,也会导致活塞连杆曲轴温度和强度负荷增加。采用有限元模拟分析,计算出活塞连杆曲轴改进前后的应力和活塞温度变化,通过改进活塞形状,保证了改进后发动机活塞热负荷状况良好,同时提高了活塞连杆曲轴强度。     

驿宛高速公路路堑高边坡监测与稳定性评价

结合驿宛高速公路一段路堑边坡,介绍了以监测锚杆受力情况判断边坡潜在滑移面和评价边坡稳定性这一新方法,并在工程中应用.同时,运用FIAC软件对边坡的稳定性进行了数值模拟计算,通过现场监测和数值模拟,判定边坡稳定状态,分析变形发展原因,并对支护效果作出评价.     

多抗甲素对淋巴细胞免疫功能的影响

应用3H－TdR及14C－UR参入淋巴细胞的双标记方法，在体外培养条件下，研究多抗甲素对人淋巴细胞DNA及RNA合成功能的影响。结果表明，在多抗甲素的浓度为0．1～10mg／L时，可显著增强淋巴细胞DNA及RNA的合成功能；当多抗甲素的浓度增至50～100mg／L时，对淋巴细胞合成DNA及RNA的能力呈现抑制作用，3H及14C标记物的参入计数减少。多抗甲素对淋巴细胞DNA及RNA合成功能的影响呈现双相作用。     

CLINICAL AND EXPERIMENTAL STUDY OF DL-TETRAHYDROPALMATINE EFFECT IN THE TREATMENT OF SUPRAVENTRICULAR ARRHYTHMIA

DI-THPisanalkaloidisolatedfromcorydalisturtschaninoviiYanhusuo.AlthoughalargenumberofreportsthatsupportedtheoryofCa2 channelblockersincediscoveringofitsexperimentalanti-arrhythmicaction'in1985,clinicallyanti-arrhythmicapplicationhasnotbeenreportedbynow.ThereforeweobserveditsefficacyandsafetyintreatmentofSVPB,andstudieditselectrophysiologicmechanisminrabbits.MATERIALSANDMETHODS1ClinicalDataandMethod'1.1ObjectThestudyinvolvesthepatientswithsinusrhythmsSVPBswhoneededtreatmentandhad…     

考虑出行者不同理性程度的拥堵交通流分配方法

为研究出行者感知偏好对交通分配结果的影响,本文构建了微观路径选择模型,提出拥堵条件下受路段通行能力限制的交通分配算法。引入出行者决策过程中的后悔和无差别化阈值,考虑出行时间和排队时间的心理感知差异,构建不同理性程度下的路径选择概率模型。在集计水平上,考虑当前路段及其上下游路段通行能力限制、路段车辆空间排队和溢出,提出路段车流量流入、流出的修正方法。采用增量加载分配方法,研究路段车辆的消散特性,再现了从个体路径决策到宏观路网状态的演化过程。基于Nguyen-Dupuis仿真网络,比较不同算法下各路段的拥堵车辆和各路段车辆流入、流出情况。结果表明：出行者个人偏好感知会显著影响拥堵路段的成本函数,是出行者路径选择的关键因素,但是出行者个人偏好对非拥堵路段的车辆流入、流出影响较小;考虑个体偏好的交通分配方法能降低路网的平均饱和度。本文提出的考虑有限理性的拥堵交通分配方法可应用于拥堵路网的交通诱导,有利于促进道路资源的合理利用。     

考虑流凌效应的大跨径梁桥最大悬臂施工状态作用响应分析

内蒙古包树黄河特大桥工程在黄河凌汛期恰好处于最大悬臂施工阶段,为保证其安全度汛,对此种不利工况进行作用响应分析及安全性验算.采用计算土弹簧刚度来模拟桩-土摩阻效应,并采用Maxwell模型以模拟墩顶新型粘滞阻尼器的墩梁位移效应,建立了该桥最大悬臂施工阶段数值仿真模型.在流凌期间实测流冰荷载、洪水荷载及风载等作用组合下,计算分析了该桥最大悬臂阶段桥墩和主梁的线形变化和受力特性.结果表明,流冰荷载单独作用对该桥最大悬臂阶段桥墩和主梁线形和内力影响有限,同时在各荷载工况下桥墩及主梁线形和内力均满足桥梁监控要求.     

Fault diagnosis for singular stochastic systems

This paper studies the fault diagnosis of singular stochastic systems. The probability distribution of output is measured by probability density functions (PDFs), which are modeled by a square root B-spline expansion. An adaptive nonlinear observer is proposed to estimate the size of the fault occurring in systems. Furthermore, the linear matrix inequality (LMI) approach is applied to establish sufficient conditions for the existence of the observer. Finally, the simulation results are given to indicate the method for diagnosing the fault.