Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

基于客票数据的城市轨道交通车站客流控制决策研究

城市轨道交通大客流控制是保证运行秩序和乘客安全的客运组织管控手段,目前由运营人员根据经验进行大客流辨识和客流控制决策的模式具有一定的主观性和滞后性。基于自动售检票系统(AFC)历史客票数据,分析车站大客流的发展规律,基于实时客票数据和列车运行实绩,获取进站客流的实时聚集数量及其空间分布情况,提出的辅助决策方法能够基于客票数据确定车站客流控制等级和控制时机,具备较好的精确性和前瞻性。     

单斜岩质地层重式挡墙抗滑移合理性设计

基于西南山地较为常见的单斜岩质地层上修建重力式挡墙的情况,通过对水平基底、倾斜基底、锚杆基础、台阶基础、加大埋置深度、台阶和锚杆联合基础六种基础处理方式进行经济技术对比,分析各种方案的优缺点,提出了合理化的基础抗滑移设计方案.     

长丰县城乡公交需求和现状一体化分析

为了进一步加强城乡经济社会的协调发展,同时缩短城乡差距,加强综合交通网络,并提高城市和农村地区的综合交通运输网络,城乡公交一体化便是公共交通的主流发展。文章在深入安徽省合肥市长丰县实地调研的基础上,探究了长丰县公交一体化的发展状况,为长丰经济发展助力。     

Measuring community reaction to urban transportation impacts using Von Neumann‐Morgenstern utility theory

This paper attempts to measure the impacts of urban transportation system improvements or changes on the community. The community's perceptions of the impacts are represented by its utilities (or disutilities) over various ranges of values of the multiple attributes representing these impacts. The utility technique used in the evaluation is based upon von Neumann‐Morgenstern (vN‐M, 1947) Utility Theory, and is applied using Raiffa's (1970) Fractile Method.

The paper specifically applies the technique to model the perceptions of five subgroups within a community to the impact of a new light rail transit system that is being incorporated in the transportation system of the City of Calgary.

Results of the modeling indicate explicitly how the community changes its perception over ranges of values of the attributes evaluated. Biases of various subgroups within the community over these attributes are also shown. Statistical tests indicate that aggregated utility perceptions can represent the utility perceptions of the individual subgroups quite reasonably.     

液力变矩器反求设计与内流场数值计算

采用反求设计方法建立了液力变矩器三维模型.建立了液力变矩器涡轮内流场物理数学模型,利用Fluent软件进行了相应的数值计算.分析了涡轮流道内流体速度、压力及压力损失情况,阐述了流场形成机理,为液力变矩器优化设计提供了理论依据.     

A note on the use of correlation coefficients for assessing goodness-of-fit in spatial interaction models

The use of correlation coefficients to evaluate the accuracy of spatial interaction models is inappropriate unless such models have been fitted using least squares techniques. In other cases the correlation involves an implicit intercept value and a regression coefficient that may significantly modify the interaction model's estimates. Researchers have not acknowledged the role of these two parameters when the correlation is used. A generalized root mean square error is proposed as an alternative indicator of accuracy that may be used with any model.     

Flexural gravity wave generation by initial disturbances in the presence of current

The effect of uniform current on the generation of flexural gravity waves resulting from initial disturbances at a point was analyzed in two dimensions. The problem was formulated as an initial boundary value problem under the assumptions of the linearized theory of water waves. By direct application of the Laplace transform and then the Fourier transform, explicit expressions for the velocity potential and free surface elevation were obtained in integral forms; these were evaluated asymptotically for large distances and times by the application of the method of the stationary phase to obtain the far field behavior of the surface elevations in specific cases. Simple numerical computations were performed to illustrate the effect of uniform current on the surface elevation, wavelength, phase velocity, and group velocity of the flexural gravity waves and on the far field behavior of the progressive waves in two different cases, namely, when there is an initial depression concentrated at the origin and an initial impulse concentrated at the origin.     

TRANSVAGINAL COLOR DOPPLER STUDY OF UTEROPLACENTAL CIRCULATION IN NORMAL EARLY PREGNANCY

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汽车转向泵恒流量控制的计算分析

通过模拟汽车转向泵恒流量控制的工作原理，给出合理的流量控制过程的理论分析方法，并计算分析转向泵的流量控制特性，确定其影响因素，同时也分析了令很多工程技术人员费解的两个流量控制现象。