Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle ...
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Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE
The report describes the design of a symmetrical dipole radiator with a matching reactive loop. The possibility of broadband matching and obtaining the maximum directivity is investigated. The possibility of matching ...
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Software is a crucial component in the communication systems,and its security is of paramount ***,it is susceptible to different types of attacks due to potential ***,significant time and effort is required to fix suc...
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Software is a crucial component in the communication systems,and its security is of paramount ***,it is susceptible to different types of attacks due to potential ***,significant time and effort is required to fix such *** propose an automated program repair method based on controlled text generation ***,we utilize a fine-tuned language model for patch generation and introduce a discriminator to evaluate the generation process,selecting results that contribute most to vulnerability ***,we perform static syntax analysis to expedite the patch verification *** effectiveness of the proposed approach is validated using QuixBugs and Defects4J datasets,demonstrating significant improvements in generating correct patches compared to other existing methods.
In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, whi...
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Many multiagent system applications necessitate each agent to separately visit a specific location in space at a particular moment in time (i.e., spatiotemporal points). To this end, we propose a finite-time distribut...
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This paper considers the equilibrium-free stability and performance analysis of discrete-time nonlinear systems. We consider two types of equilibrium-free notions. Namely, the universal shifted concept, which consider...
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Smart cities need energy and water to develop sustainably and meet economic, social, and environmental goals. These two systems depend actually on each other and are examined as a water-energy nexus. Cyber security is...
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This paper explores the nexus between sustainable business models, education and technology, addressing pressing challenges in economic, social, and environmental spheres. On one hand, education is identified as a key...
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Technologies that providemechanical assistance arerequired inthemdicalfeld,such asimplants that regenerate tssuethroughelongation and *** ofthe challenges is to develop actuators that combinethe benefits ofhigh axiale...
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Technologies that providemechanical assistance arerequired inthemdicalfeld,such asimplants that regenerate tssuethroughelongation and *** ofthe challenges is to develop actuators that combinethe benefits ofhigh axialextension at lowpressures,modularity,multifunction,and load bearing capabilities into one design while maintaining their shape and *** such a challenge wll provide implants with enhanced capacity for mechanical assistance to induce *** introduce two novel actuators(M2H)built of stacked Hyperelastic Balloning Membrane Actuators(HBMAs)that can be realized using helical and toroidal *** restraining the HBMA expansion deterministicallyusing a semisoft exoskeleton,the actuatorsors areendoweded withh axial extension and radial expansion *** actuatorsare thus built of modules that canconfiguured different therapeutical needs and multifunctionality,to provideanatomically congruent *** desigl,fabricationtestin;and numerical and experimental validation ofthe *** can aaxiallyind6 in their helicaland toroidal configurations at input pressuresas low as 26 and 24 kPa,*** the axial module is used separately,its extension capacity reaches>170%.The M2H-HBMAs can perform independent and simultaneousxpansion and extension motions with negligible intraluminaldeformation as well as stand at least 1kg of axial force without *** M2H-HBMAs overcome the limitations ofhyperexpanding machines that show low resistance to *** envisage M2H-HBMAs as promising tools to perform tisueregeneration procedures.
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