Lane-following method for high speed autonomous vehicles

This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.     

Distributed support modelling for vertical track dynamic analysis

The finite length nature of rail-pad supports is characterised by a Timoshenko beam element formulation over an elastic foundation, giving rise to the distributed support element. The new element is integrated into a vertical track model, which is solved in frequency and time domain. The developed formulation is obtained by solving the governing equations of a Timoshenko beam for this particular case. The interaction between sleeper and rail via the elastic connection is considered in an analytical, compact and efficient way. The modelling technique results in realistic amplitudes of the ‘pinned–pinned’ vibration mode and, additionally, it leads to a smooth evolution of the contact force temporal response and to reduced amplitudes of the rail vertical oscillation, as compared to the results from concentrated support models. Simulations are performed for both parametric and sinusoidal roughness excitation. The model of support proposed here is compared with a previous finite length model developed by other authors, coming to the conclusion that the proposed model gives accurate results at a reduced computational cost.     

分布式量子通信网络中的身份认证方案

建立了量子身份认证模型,同时提出了一种基于四粒子GHZ态的量子相干性的身份认证方案。该方案可以应用在分布式量子通信网络中,并证明是无条件安全的。     

多语种驾驶人无纸化考试系统的设计与实现

介绍了一个基于Java Web和RMI技术的驾驶人学科无纸化考试系统的设计和实现方案。系统是针对一个城市存在多个无纸化考场的情况进行设计的，具有分布式的架构，在部署时可灵活地根据需要按集中式或分布式进行部署，系统又是一个具有多语种考试题库和考试界面，可方便地增加新的考试语种，适应了当前车管业务国际化的趋势。     

铁路贯通/自闭线单相接地故障段定位方法

研究目的:据大量的运行故障统计表明,中性点不接地系统发生单相接地故障约占系统总故障率的80％以上,本方法为了迅速定位并隔离故障区段,提高铁路贯通、自闭线的供电可靠性。研究方法:本文分析了线路发生单相接地故障时,零序电流的分布情况,基于改进的统一矩阵算法,提出一种针对铁路10 kV贯通、自闭线的故障段定位方案并加以验证。研究结果:该方案提出一种由FTU、STU和终端监控设备三个层次构成的分布式测控系统,舍去以往在电站检测零序电压、比较各出线零序电流等做法,仅使用各分段开关处的零序电流一个电量信息,根据各区段零序电流的相位和大小定位故障区段。研究结论:经过在实验室条件下的验证,该系统能在10秒内准确定位并隔离单相接地故障区段,同时也可以为故障的查找和排除提供可靠的依据。     

异步多传感器数据融合

在分布式多传感器数据融合系统中，由于每个传感器的采样周期不同以及具有不同的通信延迟，导致送入融合中心的局部航迹往往不是同步的。提出一种多传感器异步数据融合算法，该算法首先利用最小二乘实现时域融合，将航迹同步化，然后利用一种序贯的Kalman滤波方法进行融合。     

COM技术的利与弊

分布式对象技术是当今技术发展的趋势 ,作为分布式对象技术的主流技术之一 ,微软的组件对象模型COM具有极强的技术优势和竞争力。以COM为主要研究对象 ,重点阐述了COM的技术优势与局限性     

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.     

动力装置辅助系统集散控制研究

本文阐述了动力装置辅助系统计算机集散控制系统的功能原理,介绍了集散控制系统试验样机的软硬件设计及控制系统试验.该系统实现了动力装置辅助系统控制回路的管理、操作、显示的集中,同时实现了功能分散、负荷分散和危险分散,从而有利于提高辅助系统运行的安全可靠性.     

多跳水下传感器网络中的功率分配算法

水下无线传感器网络的研究越来越受到学术界的重视,其典型特点是能量和带宽有限.多数水下无线传感器网络的应用都可以归结为参数估计问题.本文针对多跳水下无线传感器网络,对递进式的分布式参数估计算法进行了性能分析.在此基础上,利用交替最小化方法得到功率分配方案,目标是在给定的均方误差性能要求下,使得网络消耗的总功率最小.