Neural-network multiple models filter (NMM)-based position estimation system for autonomous vehicles

A highly accurate and reliable vehicle position estimation system is an important component of an autonomous driving system. In generally, a global positioning system (GPS) receiver is employed for the vehicle position estimation of autonomous vehicles. However, a stand-alone GPS does not always provide accurate and reliable information of the vehicle position due to frequent GPS blockages and multipath errors. In order to overcome these problems, a sensor fusion scheme that combines the data from the GPS receiver and several on-board sensors has been studied. In previous researches, a single model filter-based sensor fusion algorithm was used to integrate information from the GPS and on-board sensors. However, an estimate obtained from a single model is difficult to cover the various driving environments, including urban areas, off-road areas, and highways. Thus, a multiple models filter (MMF) has been introduced to address this limitation by adapting multiple models to a wide range of driving conditions. An adaptation of the multiple model is achieved through the use of the model probability. The MMF combines several vehicle models using the model probabilities, which indicate the suitability of the current driving condition. In this paper, we propose a vehicle position estimation algorithm for an autonomous vehicle that is based on a neural network (NN)-based MMF. The model probabilities are determined through the NN. The proposed position estimation system was evaluated through simulations and experiments. The experimental results show that the proposed position estimation algorithm is suitable for application in an autonomous driving system over a wide range of driving conditions.     

A microeconomic interpretation for the system optimal traffic assignment problem with nonadditive path cost

Using a Bergson–Samuelson welfare function, we outline a microeconomic interpretation of the effects of the non-linearity in the time/cost relationship for travellers in a congested transport network. It is demonstrated that a marginal cost traffic flow assignment following Wardrop's second principle, although it minimizes the total cost of a transport network, may reduce social welfare compared to the market equilibrium assignment based on Wardrop's first principle. A welfare-maximizing assignment model is presented and used to show that if the travellers' utility functions are linear, the assignment that maximizes social welfare will be the same as the assignment that minimizes total network cost, but if users' utility functions are non-linear (reflecting the traditional non-satiation and diminishing marginal utility axioms), the two assignments will be different. It is further shown that the effects of this non-linearity are such that a welfare-maximizing assignment will meet with less user resistance than a minimum total network cost assignment.     

Classification of Beach Erosion Vulnerability on the Yucatan Coast

Beach erosion can have important socioeconomic and environmental consequences, particularly in tropical regions where tourism is a significant source of income. Although caused by natural processes, erosion is often aggravated by disorderly anthropogenic modification of the coast and extreme events. In Yucatan, Mexico, increasing urban development and deficient coastal management strategies as well as hurricanes have affected beach stability. This has highlighted the need for adequate coastal planning and policies that ensure the protection of key coastal ecosystems, such as beaches and sand dunes. To address this, a methodology to classify the coast according to its vulnerability is presented in this work. This methodology assumes that morphological features are indicators of beach evolution and the processes driving it and that these can be associated with different levels of vulnerability. The features considered are beach width, dune vegetation, anthropogenic pressure, and shoreline orientation, which were analyzed through aerial images and a multicriteria evaluation. It was observed that the most vulnerable areas are found near the most developed parts of the coast, where narrow beaches with little dune vegetation dominate. It is expected that this index will be of use to coastal planners and decision makers, particularly in the identification of critical zones.     

Three-dimensional numerical investigation of the separation process in a vortex tube at different operating conditions

Air separators provide safe, clean, and appropriate air flow to engines and are widely used in vehicles with large engines such as ships and submarines. In this operational study, the separation process inside a Ranque–Hilsch vortex tube cleaning (cooling) system is investigated to analyze the impact of the operating gas type on the vortex tube performance; the operating gases used are air, nitrogen, oxygen, carbon dioxide and nitrogen dioxide. The computational fluid dynamic model used is equipped with a three-dimensional structure, and the steady-state condition is applied during computations. The standard k–ε turbulence model is employed to resolve nonlinear flow equations, and various key parameters, such as hot and cold exhaust thermal drops, and power separation rates, are described numerically. The results show that nitrogen dioxide creates the greatest separation power out of all gases tested, and the numerical results are validated by good agreement with available experimental data. In addition, a comparison is made between the use of two different boundary conditions, the pressure-far-field and the pressure-outlet, when analyzing complex turbulent flows inside the air separators. Results present a comprehensive and practical solution for use in future numerical studies.     

Contractual PPPs for Transport Infrastructure in Spain: Lessons from the Economic Recession

In this paper, we analyse the successes and failures of contractual public-private partnerships (PPPs) for delivering and operating transport infrastructure in Spain from the award of the first toll highway concession programme to the present. To that end, we show the risk allocation principles used in Spain and explore the evolution of the contracting approaches over the years. We found that the performance was reasonably good until the arrival of the economic crisis in 2008. Taking advantage of that, we make a review of contractual PPPs for different transport modes and assess the impact that the economic crisis has had on their business performance and the capacity of the central and regional governments to fulfil their commitments with the private sector. This analysis enabled us to identify measures that, if had been applied, would have improved the resilience of these contract during the economic crisis.     

Optimisation of active suspension control inputs for improved vehicle ride performance

A collocation-type control variable optimisation method is used in the paper to analyse to which extent the fully active suspension (FAS) can improve the vehicle ride comfort while preserving the wheel holding ability. The method is first applied for a cosine-shaped bump road disturbance of different heights, and for both quarter-car and full 10 degree-of-freedom vehicle models. A nonlinear anti-wheel hop constraint is considered, and the influence of bump preview time period is analysed. The analysis is then extended to the case of square- or cosine-shaped pothole with different lengths, and the quarter-car model. In this case, the cost function is extended with FAS energy consumption and wheel damage resilience costs. The FAS action is found to be such to provide a wheel hop over the pothole, in order to avoid or minimise the damage at the pothole trailing edge. In the case of long pothole, when the FAS cannot provide the wheel hop, the wheel is travelling over the pothole bottom and then hops over the pothole trailing edge. The numerical optimisation results are accompanied by a simplified algebraic analysis.     

很多个10年

碳纤维行李厢盖、黑色双疝气大灯、19英寸SportClassic车轮、陶瓷符合制动系统、碳纤维车门槛护板、古典金色金属漆等等,就算抛开此车配置的超强动力和各种硬件内核,单单是以上特别配件,就可以看出这不是任谁都可以拥有的版本。没错,保时捷中国十周年限量版只有10辆。你可以把它当成是一个奢侈的纪念品,和一个雄心勃勃的概念的表达。那就是对于保时捷在中国取得的成就,他们     

锂离子电池负极材料的研究进展

本文阐述了锂离子负极材料的基本特性,综述了碳类材料、硅类材料以及这两种材料形成的复合材料作为锂离子电池负极材料的研究及开发应用现状.