基于混合A*和可变半径RS曲线的自动泊车路径优化方法

路径规划是自动泊车系统的重要组成部分,是确保泊车运动安全、缩短行车距离、提高乘坐舒适性的关键。而当前自动泊车规划系统往往面临行驶空间狭小、障碍物多、路径搜索难度大等技术挑战,同时搜索曲线半径固定容易导致路径接点处曲率不连续,增大了路径跟随控制难度和轮胎磨损程度,这些都提升了泊车路径规划的研究难度。针对以上问题,设计可变半径的Reeds-Shepp曲线,提出基于混合A^*和该曲线的自动泊车路径规划方法,通过调整曲线半径,提升其在复杂场景下路径的搜索能力和灵活性。随后,设计基于分段贝塞尔曲线和梯度下降的路径优化方法,利用其多阶导数连续的优势优化已搜索的路径曲率,并采用梯度下降来保证路径曲率大小和对障碍的规避,解决直线与圆弧相接等位置曲率变化不连续的难题。结合路径搜索与路径优化的泊车规划方法能够切实满足复杂场景下的泊车需要。最后,基于团队自主研发的PanoSim虚拟系统与MATLAB搭建联合仿真环境,针对多种自动泊车工况测试验证提出的方法。研究结果表明：调整Reeds-Shepp曲线的搜索半径进行全局路径搜索,可获得更短和更易跟随的路径,具有良好的灵活性;基于贝塞尔曲线和梯度下降法的路径优化可有效消除曲率突变点、约束路径曲率并保证对障碍的无碰撞要求。     

等惯性两区段分散输水系统在40 m级单级巨型船闸中的应用*

输水系统是船闸实现其功能的关键设施,其设计直接影响船闸工程的安全与效率。等惯性四区段出水分散输水系统是目前国内外高水头大型船闸常用的输水系统形式,但其结构复杂、建设难度大,且由于设置第二分流口而带来自身空化等问题。为解决上述问题,结合我国内河船闸特点,通过国内外工程资料分析、理论与计算分析、物理模型试验等手段,提出并验证了“闸墙长廊道+闸室中心立体分流+闸底两区段四纵支廊道出水+侧支孔+明沟消能”的等惯性两区段输水系统形式在40 m级单级巨型船闸中的适用性,为高水头大型船闸建设提供参考和依据。     

枢纽下游近坝段不同类型河段的再造床过程及其对航道条件的影响

枢纽蓄水运用改变了坝下河段的水沙条件,其中径流过程的变化,改变了不同流量级水流的水动力条件和造床能力,输沙量的改变.是引发坝下游河床调整的关键.根据三峡和丹江口下游近坝河段实测资料,分析了相对窄深.低水分汊、两岸约束很强,以及低水分汊、两岸约束很弱等3种类型河段在蓄水以后冲淤调整特点,在此基础上分析了其冲淤变化对航道条件的影响.结果表明:当河段相对窄深时,河段冲刷主要为下切;当河段为相对宽浅的低水分汊河段且河岸约束较强时,蓄水以后的冲淤变化主要体现为江心洲潍的冲淤调整、汊道深泓高程差的冲淤调整,并引起主支汊分流比的调整:当河段为较为宽浅的低水分汊河段且河岸约束相对较弱时,则冲刷调整不仅限于分流比的调整,甚至会导致大的分汊格局的调整.无论如何调整,都有可能引起新的航道问题.     

Statistical comparison of trace metal concentrations in wild mussels (Mytilus galloprovincialis) in selected sites of Galicia and Gulf of Biscay (Spain)

Concentrations of five trace metals (Cd, Hg, Pb, Cu and Zn) in wild mussels (Mytilus galloprovincialis) from the Galician and Gulf of Biscay areas in Spain were monitored from 2000 to 2004. A pool of mussel soft tissue was prepared using 50 or more individuals representing the available size range (35–60 mm) present at the sampling points (A Coruña, Pontevedra and Vigo–Galicia, NW of Spain—and Avilés, Bilbao and Santander–Gulf of Biscay). Metals were analysed by atomic absorption spectrometry, AAS, (flame–AAS: Cu and Zn; graphite furnace–AAS: Cd and Pb; flow injection-cold vapour–AAS: total Hg). Quality of the chemical analyses was assessed by participation in periodic QUASIMEME intercalibration exercises carried out from 2000 to 2004, while the present study was developed . Univariate statistical studies, Anova (Analysis of the Variance) and Principal Component Analysis (autoscaled data, Varimax rotation) were carried out. Differences between the two areas as well as certain temporal trends were found and, in general, the Gulf of Biscay samples showed higher metallic contents, mainly close to Avilés, where iron and steel factories thrown residues for years into a nearby coastal area.     

Safety modeling for two‐way left‐turn lanes and a procedure to identify two‐way left‐turn lane segments with safety concerns

In the past, two‐way left‐turn lane (TWLTL) median treatments have been frequently used in Florida to inexpensively improve traffic and safety performances. In order to identify factors that may have significant impacts on safety operations in TWLTL sections and to identify TWLTL locations that present existing and future safety concerns, a research project was carried out and results are summarized in the paper. In the research, a three‐year crash history database with crashes and section characteristics from a total of 1688 TWLTL sections all over Florida was developed and used. A negative binomial regression model was developed to determine the statistical relationship between the number of crashes per mile per year and several variables such as traffic volume, access density, posted speed, and number of lanes. In regard to the methodology, in order to identify locations with safety concerns, several steps are needed: development of real crash data distribution, determination of statistical distribution models that better represent the actual crash data, determination of percentile values for the average number of crashes, estimation of crash rates for sections with the same characteristics, estimation of critical values for the variables corresponding to the percentile values for average number of crashes, calculation of tables of critical average annual daily traffic values, and generation of a list of TWLTL locations with critical safety concerns. Results presented in the paper have been used in real applications. Copyright © 2012 John Wiley & Sons, Ltd.     

浅谈城市轨道交通建设项目水土保持防治措施

以上海市徐汇区某轨道交通工程项目为例,围绕工程及项目特点,展开分析了该类型生产项目建设的水土流失特点及防治分区特征,并对水土保持措施进行总体布局,以确保城市轨道交通项目水土保持防治措施全面有效地发挥作用.     

Carrier冷藏集装箱微电脑控制器排气压力故障排除

通过对CARRIER冷藏集装箱排气压力故障的分析,阐述修理冷藏集装箱微电脑控制器的一般分析方法、测试方法及应注意问题。     

加强高职生就业指导工作的几点思考

就业是高职院校的生命线,就业率直接关系到高职院校的生存和发展。因此必须加强高职生就业指导工作, 提高高职生就业指导工作水平。为此,应实现高职生就业指导工作的全程化、专业化、全员化。     

地下连续墙的受力状态及计算图式分析

在地下连续墙工程现场观测的基础上,对其受力状态进行了分析探讨。指出单元墙段是呈双向弯曲受力状态。因而按现行设计(单向受弯)的配筋计算应做适当的调整。在用筋总量不增加的基础上,使墙体结构设计更加合理、完善、经济、可靠。     

A practical assessment of stated preferences methods

Stated preferences data in the form of rankings, ratings and choices were collected in Santiago and discrete choice models estimated with them. The models were compared in terms of accuracy v/s the cost of obtaining the information and models. All methods produced reasonable but different models and fairly close subjective values of time. In terms of production costs the ranking method was a clear looser although the experimental design was slightly biased against it. Finally, the use of computerised interviews is highly recommended particularly for dealing with low income people.