Learning User Intention in Networked Mobile Robot Control

Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.     

竖向预应力筋对连续刚构桥受力影响分析

竖向预应力筋在连续刚构桥中主要起控制腹板主拉应力的作用,根据现行规范分析了不同长度竖向预应力筋的损失比例,提出了减小竖向预应力损失的几种措施;针对目前设计中采用的滞后张拉竖向预应力筋的方法,开展了3种滞后张拉竖向预应力筋方式对连续刚构桥受力的影响分析,在此基础上提出了竖向预应力合理张拉时间的建议;建立了箱梁腹板的细部有限元模型,详细地分析了腹板在单根竖向预应力筋作用下的应力分布情况和腹板上缘出现拉应力的原因,据此提出避免上缘拉应力出现的构造措施。     

Online Delay—Evaluation Control for Networked Control Systems

This paper presented an evaluation approach of time delays for networked control systems (NCS). An improved scheme based on optimal LQG control was designed to achieve desired performance despite the uncertain delays in the system. The experimental results illustrate the effectiveness of the proposed control design and satisfactory performance of the closed-loop system.     

甲醇—异辛烷混合燃料滞燃期研究

对Curran的异辛烷详细化学动力学机理和Li的甲醇化学动力学机理进行了甲醇着火滞燃期特性对比研究,发现Curran异辛烷机理基本能反映甲醇的自燃着火过程。基于此,利用Curran异辛烷机理对甲醇—异辛烷混合燃料在初始温度为600 K~1 600 K、压力为1.0 MPa~4.0 MPa、当量比为0.3~1.5范围内的着火滞燃期特性进行了计算研究,分析燃料特性和初始条件对混合燃料滞燃期的影响。结果表明,初始温度对甲醇—异辛烷混合燃料的滞燃期影响较大,当初始温度增加时,滞燃期大幅缩短;部分掺醇混合燃料(掺醇率低于25%)中甲醇含量对燃料滞燃期的影响因温度范围的不同而不同,在850 K以下甲醇比率增加使混合燃料滞燃期延长,在850 K以上甲醇比率增加使其滞燃期缩短。     

干道协调控制相位差模型及其优化方法

通过对协调控制系统进行相位优化设计,综合考虑各路段的平均车速、车流的离散性、相交道路的转弯车流以及车辆到达的不均匀性等各种影响干道协调控制方案实施效果的主要因素后,建立了一种新的干道协调控制相位差模型.以干道控制系统的总延误与总停车次数作为相位差模型的输出,对上、下行车队在交叉口的延误规律进行了分析,并利用Matlab编程计算来实现相位差的优化.结果表明:该优化模型为解决干道协调控制相位差优化问题提供了一种新方法.     

随机选择修理工且修理延迟的可修系统的可靠性分析

研究了可随机选择修理工且修理延迟的可修系统．假定系统的寿命、延迟修理时间和修理时间均为广义指数分布．通过引进补充变量法并利用广义马尔可夫过程和拉普拉斯变换方法求出了系统的可用度、可靠度、维修频度和系统等待修理的概率等重要可靠性指标．     

模糊销售机制在航班延误损失优化中的应用

针对航空公司机票销售淡季的航班延误损失严重问题,首先,利用霍特林模型从收益管理的角度,分析模糊销售机制在航班延误损失优化中的运用。通过分析模型发现:实行模糊销售机制能够缓解航班延误对航空公司期望收益的影响。最后,利用数值模拟分析了模糊销售机制的有效性,同时发现:实行模糊销售机制并不能完全消除航班延误对期望收益的影响,在销售淡季,航班延误率越大,模糊销售机制缓解航班延误损失的效果越明显。     

On the network connectivity of platoon-based vehicular cyber-physical systems

In the past few years, vehicular ad hoc networking (VANET) has attracted significant attention and many fundamental issues have been investigated, such as network connectivity, medium access control (MAC) mechanism, routing protocol, and quality of service (QoS). Nevertheless, most related work has been based on simplified assumptions on the underlying vehicle traffic dynamics, which has a tight interaction with VANET in practice. In this paper, we try to investigate VANET performance from the vehicular cyber-physical system (VCPS) perspective. Specifically, we consider VANET connectivity of platoon-based VCPSs where all vehicles drive in platoon-based patterns, which facilitate better traffic performance as well as information services. We first propose a novel architecture for platoon-based VCPSs, then we derive the vehicle distribution under platoon-based driving patterns on a highway. Based on the results, we further investigate inter-platoon connectivity in a bi-directional highway scenario and evaluate the expected time of safety message delivery among platoons, taking into account the effects of system parameters, such as traffic flow, velocity, platoon size and transmission range. Extensive simulations are conducted which validate the accuracy of our analysis. This study will be helpful to understand the behavior of VCPSs, and will be helpful to improve vehicle platoon design and deployment.     

Border crossing delay prediction using transient multi-server queueing models

As a result of the continued increase in travel demand coupled with the need for tighter security and inspection procedures after September 11, border crossing delay has recently become a critical issue with tremendous economic and social costs. The current paper develops multi-server queuing models to estimate border crossing delay in support of a predictive traveler information system for the crossings. Two classes of multi-server models are considered: (1) models with exponential inter-arrival times and Erlang service times; and (2) a more generic model with a Batch Markovian Arrival Process (BMAP) and phase types (PH) services. As a case study, the models are developed based on real-time traffic volume and inspection time data collected at one of the major US–Canada border crossings, the Peace Bridge, and their transient solution is obtained using heuristic methods. For validation, the queueing models’ estimates are compared to the results from a detailed microscopic traffic simulation model of the Peace Bridge border crossing. The comparison shows that the transient queueing model, along its heuristic solution algorithm, is capable of predicting border crossing delay. Finally, a set of sensitivity analysis tests are conducted, and the developed models are incorporated within an optimization framework to help inform border crossing management strategies.     

ENSO指数与我国降水延时相关分析

将不同ENSO指数与我国0.5°×0.5°月降水量网格数据进行步长为0~12个月的延时相关分析,结果显示我国降水对不同的ENSO指数的响应有很大差异.选择相关性较显著及区域分布明显的Nino1+2和Nino3为ENSO代表指数,这两个指数与我国大部分地区降水呈明显的正相关,按响应程度该两指数对我国降水影响可分为东北地区、东南地区、西北北部及西南西部地区、西北东南及西南东部地区等5个区域.我国降水对ENSO代表指数响应最大时延时月份,可以分为华北北部地区、西南西部地区、全国大部地区、东南地区等4个区域.