Model predictive driving simulator motion cueing algorithm with actuator-based constraints

The simulator motion cueing problem has been considered extensively in the literature; approaches based on linear filtering and optimal control have been presented and shown to perform reasonably well. More recently, model predictive control (MPC) has been considered as a variant of the optimal control approach; MPC is perhaps an obvious candidate for motion cueing due to its ability to deal with constraints, in this case the platform workspace boundary. This paper presents an MPC-based cueing algorithm that, unlike other algorithms, uses the actuator positions and velocities as the constraints. The result is a cueing algorithm that can make better use of the platform workspace whilst ensuring that its bounds are never exceeded. The algorithm is shown to perform well against the classical cueing algorithm and an algorithm previously proposed by the authors, both in simulation and in tests with human drivers.     

基于Vague集的路堑边坡设计方案的优选

介绍了Vague集的基本概念和Vague集多准则评价模糊决策问题,构造了其记分函数,并将该决策理论应用于路堑边坡设计方案的优选问题中.分析了影响方案优选的基本因素,给出了工程造价、边坡稳定效果、占地、施工环境、施工难度和弃方量等评价指标,阐述了各备选方案的Vague集表达方法,为路堑边坡设计方案的选择提供了新的思路.最...     

施工便道用漫水桥结构设计

为保证某漫水桥的正常通行,在考虑施工现场条件的基础上,设计了一种施工便道用漫水桥结构。介绍该漫水桥的结构设计,对其结构安全进行检算,并从桥位、桥面高程、桥型、桥台和行车道等方面总结设计思路。结果表明,该施工便道用漫水桥结构设计总体上安全可靠,将该漫水桥应用于现场施工,使用期间漫水桥结构稳定,效果良好。     

阳安铁路增建第二线山区地质选线

近年来随着我国山区铁路的大量修建,山区铁路地质选线的重要性日益凸显。阳安铁路是典型的山区铁路增建第二线项目,该项目进行地质选线对于降低后期勘察设计难度、减少投资、降低后期维护费用等方面起决定性作用。针对既有河谷线地段,增建第二线线路穿越区域性大断裂等工程地质问题,采取何种地质选线的技术原则进行研究。研究结论:(1)本次地质选线过程中,综合采用遥感解译、地质调绘、钻探、试验等勘探方法,查清沿线的工程地质条件;(2)对线位比选起决定性作用的工程地质条件主要是断层、滑坡等不良地质,线路通过断层应以大角度、简单工程通过,其余不良地质应以绕避为主;(3)在充分总结汲取山区铁路综合选线技术经验的基础上,提出地质选线、定线原则;(4)通过对阳平关至响水、西乡至石泉、石泉至池河三段线路方案的比选,得出推荐方案。     

某省道公路高边坡开裂防护设计方案比选

针对在建某省道施工过程中高边坡出现裂缝并可能发生滑坡的情况,根据现场地形和地质情况初步拟定了三个防护设计方案进行比选,在充分研究各方案的优缺点、造价和可行性后,得出了最合理、经济和可行的设计方案。     

新疆地区路面水泥稳定砂砾配合比设计研究

新疆地域辽阔，物产丰富，天然砂砾在路桥建设中被广泛应用，在路面结构中起着重要的作用，其设计对工程质量有着直接的影响。鉴于此，介绍砂砾原材料选材标准及配合比设计的相关问题，以期为新疆地区相关工程项目提供参考和借鉴。     

长昆客运专线(湖南段)综合选线设计研究

长昆客运专线湖南段是国家"四纵四横"客运专线沪昆客专的一部分,沿线所经区域环境敏感点多,地形、地质困难,岩溶、地下水系发育,选线设计方案复杂。通过对长昆客运专线湖南段选线设计中一些典型选线案例进行分析及施工运营验证,线路方案设计满足规划要求,同时防范重大工程风险、满足环保要求,做到工程经济合理。提出选线设计应符合通道内路网规划、功能定位,遵循环保选线、地质选线、规划选线、经济选线等综合选线理念,重视施工运营安全。     

Lap time optimisation of a racing go-kart

The minimum lap time optimal control problem has been solved for a go-kart model. The symbolic algebra software Maple has been used to derive equations of motion and an indirect method has been adopted to solve the optimal control problem. Simulation has been successfully performed on a full track lap with a multibody model endowed with seven degrees of freedom. Geometrical and mechanical characteristics of a real kart have been measured by a lab test to feed the mathematical model. Telemetry recorded in an entire lap by a professional driver has been compared to simulation results in order to validate the model. After the reliability of the optimal control model was proved, the simulation has been used to study the peculiar dynamics of go-karts and focus to tyre slippage dynamics, which is highly affected by the lack of differential.     

Travel mode estimation for multi-modal journey planner

For route planning and tracking, it is sometimes necessary to know if the user is walking or using some other mode of transport. In most cases, the GPS data can be acquired from the user device. It is possible to estimate user’s transportation mode based on a GPS trace at a sampling rate of once per minute. There has been little prior work on the selection of a set of features from a large number of proposed features, especially for sparse GPS data. This article considers characteristics of distribution, auto- and cross-correlations, and spectral features of speed and acceleration as possible features, and presents an approach to selecting the most significant, non-correlating features from among those. Both speed and acceleration are inferred from changes in location and time between data points. Using GPS traces of buses in the city of Tampere, and of walking, biking and driving from the OpenStreetMap and Microsoft GeoLife projects, spectral bins were found to be among the most significant non-correlating features for differentiating between walking, bicycle, bus and driving, and were used to train classifiers with a fair accuracy. Auto- and cross-correlations, kurtoses and skewnesses were found to be of no use in the classification task. Useful features were found to have a fairly large (>0.4) correlation with each other.     

机工英语教学中对学习策略培训的探索及尝试

笔者在机工英语教学实践中，根据教学对象和教学内容等要素的特征，结合对已有学习策略研究成果的分析，探索能在课堂教学过程中有效渗透的学习策略培训途径，并进行尝试。结果表明，特定教学情况下在课堂教学中有针对性地培训学习策略，有助于提高教学效率。