队列车辆碰撞严重性及车队排布策略

针对自动驾驶车辆队列发生不可避免碰撞的事故场景,研究以整体碰撞严重性达到最低为目标的车队排布策略.首先根据引发事故的障碍物是否会明显影响领航车运动,将碰撞划分为队内碰撞和队外碰撞.队列几何构型一定时,针对均质化队列发生一维碰撞过程建立理论模型,计入碰撞前车辆对前车紧急制动的感应及自车进行紧急制动的过程,计算并定义时间截...     

基于避碰声呐的远程鱼雷水下自主障碍规避算法研究

伴随着航程可达上千千米的远程鱼雷的出现,对鱼雷远程航渡过程中自主规避可能出现的障碍物提出新要求。本文以某型远程鱼雷为背景,基于模糊控制方法,提出一种基于避碰声呐的远程鱼雷自主避障算法,提出规避障碍物的规划,并通过计算模拟避碰声呐探测信息,在仿真平台上对该算法进验证,结果表明运用该算法远程鱼雷能利用自身携带的前视避碰声呐探测到障碍物,并通过障碍规避算法控制鱼雷航行规避障碍物时,本文提出的障碍规避算法可以引导鱼雷规避障碍物,到达设定的目标点。     

复杂海况下基于强化学习的USV局部路径规划方法研究（英文）

Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model's collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability.     

Local path planning method of the self-propelled model based on reinforcement learning in complex conditions

Conducting hydrodynamic and physical motion simulation tests using a large-scale self-propelled model under actual wave conditions is an important means for researching environmental adaptability of ships. During the navigation test of the self-propelled model, the complex environment including various port facilities, navigation facilities, and the ships nearby must be considered carefully, because in this dense environment the impact of sea waves and winds on the model is particularly significant. In order to improve the security of the self-propelled model, this paper introduces the Q learning based on reinforcement learning combined with chaotic ideas for the model＇s collision avoidance, in order to improve the reliability of the local path planning. Simulation and sea test results show that this algorithm is a better solution for collision avoidance of the self navigation model under the interference of sea winds and waves with good adaptability.     

胰岛素抵抗指数及高敏C-反应蛋白对急性冠脉综合征冠脉病变的预测价值

目的探讨胰岛素抵抗指数(insulin resistance index,IRI)及血清高敏C-反应蛋白(hsCRP)在急性冠脉综合征(ACS)病情及预后方面的预测价值。方法选择ACS患者171例及32例正常健康人作为对照组,分别测定各组身高、体重、甘油三酯(TG)、总胆固醇(TC)、高密度脂蛋白胆固醇(HDLc)、低密度脂蛋白胆固醇(LDLc)水平、空腹血糖(FPG)、空腹胰岛素(Fins)水平及冠脉狭窄程度,计算体重指数(BMI)、稳态模型评估法(HOMA)评估IRI(HOMA-IR)、冠脉阻塞积分(CAOS)并进行对比分析。结果 ACS患者TC、LDLc、FPG、Fins、HOMA-IR、hsCRP、CAOS积分均显著高于正常对照组,HDLc水平明显低于对照组(P<0.05)。结论 ACS患者存在明显胰岛素抵抗;IRI及hsCRP水平对不同病情ACS具有较高的预测价值;IRI及hsCRP水平在ACS病情的诊疗及预后的判断中可以作为一个很好的预测指标。     

半挂汽车列车高速紧急避障稳定性控制研究

分析了半挂汽车列车转向的特点,对其稳定性控制原理进行了研究,包括横摆角速度跟踪控制和防倾覆控制.在此基础上,建立了半挂汽车列车多体动力学模型,采用虚拟样机技术,对横摆角速度跟踪控制和防倾覆控制进行运动学与动力学仿真.结果表明,装用车辆动态控制系统后,提高了半挂汽车列车高速紧急避障时的操纵稳定性,因而,其避障行驶的极限条件大大宽松.     

基于模型预测控制无人驾驶车辆避障轨迹跟踪器设计

针对无人驾驶车辆的轨迹跟踪和避障问题,基于模型预测控制算法设计了避障轨迹跟踪控制器,实现避障和轨迹跟踪功能。在不同车速下采用Matlab和CarSim进行联合仿真试验,结果表明:设计的控制器控制性能和稳定性良好,能满足无人驾驶车辆的避障和轨迹跟踪需求。     

全自动运行信号系统设计的工程优化方案研究

城市轨道交通全自动运行系统(FAO)根据自动化等级分为GoA3有人职守的全自动运行和GoA4无人职守的全自动运行。针对全自动运行系统"中心强化管控、故障快速恢复"的功能需求特点,阐述全自动运行的核心专业——信号系统,从GoA2级向GoA4级过渡中在系统架构和功能上优化设计方案的重要性。以中心直接管控列车为出发点,重点从中央集中管控、设备安全可靠、故障快速恢复等方面,提出了采用双活中心、全电子联锁、集雷达与视频分析技术于一体的智能探测设备的优化建议,为提高全自动运行系统的可靠性、稳定性提供参考。     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

钻孔咬合桩在深基坑围护工程中的应用

钻孔咬合桩作为地下工程的新型围护结构,在我国建筑领域已逐渐被采用,并发展、成熟。咬合桩适用于不同地质条件下的施工,具有地层扰动小、抗渗能力强、造价低、施工速度快等优点。针对钻孔咬合桩的成桩工艺,施工过程中首先需要摸清地质水文情况;重点控制孔口定位精度、成孔垂直度、确保咬合厚度满足设计要求;严格控制超缓凝混凝土缓凝剂的掺量、缓凝时间、坍落度。利用咬合桩机成功处理地下障碍物,可解决SMW工法桩机、灌注桩钻机及顶管机遇地下障碍物无法通过的难题,取得较好的经济效益和社会效益。