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Smart traffic distribution in a coexistence environment of conventional and connected automated vehicles

Transportation Research Procedia 2025年 86卷 475-482页

作者： Jorge M. Bandeira Luis M. Pereira Dalila Marques Paulo Fernandes Eloísa Macedo TEMA - Centre for Mechanical Technology and Automation Department of Mechanical Engineering University of Aveiro 3810-193 Aveiro Portugal LASI - Intelligent Systems Associate Laboratory Guimarães Portugal

As automated driving technology advances, its coexistence with conventional vehicles poses challenges in managing road conflicts and considering the impact of other drivers’ decisions on network performance, especially concerning environmental factors. With such concerns in mind, this paper explores the impacts associated with smarter traffic distribution in an interurban corridor under the coexistence of automated and conventional vehicles. The minimisation of travel time and reduction of external costs associated with pollutant emissions are the main goals of proposed traffic distribution. Vehicles on the road network are classified based on driving type (automated or conventional) and propulsion type (electric, diesel, gasoline, or hybrid electric). Sequential simulations using PTV Vissim, COPERT, and MATLAB and SciPy library in Python are conducted to evaluate the effects of automated electric vehicle (AEVs) introduction in different road types (highway and urban/rural). Results show the influence of Automated Electric Vehicles (AEVs) on traffic performance varies depending on route characteristics. The implementation of intelligent traffic distribution plays a crucial role in reducing emissions costs making it possible to reduce externalities related to emission costs by up to 21 per cent. However, there is a trade-off between minimising GHG and local pollutants.

关键词： AEVs demand management roads traffic impacts microsimulation

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Modelling and Understanding the Lateral Displacement of the Bottom Hole Assembly (BHA) Under Bending Vibrations

Modelling and Understanding the Lateral Displacement of the ...

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International Conference on Artificial Intelligence in Renewable Energetic systems, IC-AIRES 2024

作者： Benmir, Nora Akroum, Hamza Doghman, Moahamed. Z. Automation Applied Laboratory Faculty of Hydrocarbons and Chemistry M’Hamed Bougara University Boumerdes Algeria Systems Engineering and Telecommunications Laboratory Faculty of Technology M’Hamed Bougara University Boumerdes Algeria Exploration Operation Department: Exploration Division SONATRACH Hassi Messaoud Ouargla Algeria Bob L. Herd Department of Petroleum Engineering Texas Tech University LubbockTX79401 United States

ISBN: (纸本)9783031803000

This technical article explores the behavior of drill string under bending vibration conditions, specifically targeting the unique challenges faced by the Bottom Hole Assembly (BHA). Undesirable oscillations during drilling operations, including axial, lateral, and torsional vibrations, can lead to complex and dynamic issues. The lateral vibration mode, with its multifaceted dynamics involving bending, buckling, and transverse motion, presents the most intricate challenges. Our research focuses on presenting three fundamental models to describe and predict drill string dynamics under bending effects. By simplifying the BHA as a cylindrical beam with fixed or rolling periodic touch points. In this article, we differentiate between three distinct cases: first, a static beam with fixed periodic touch points, excluding axial load influence;second, the inclusion of rolling touch points;and finally, fixed touch points under axial load, which will be the subject of further validation. Through simulations, we validate the novel contribution of this work, an ancient SLB expert's mathematical tool to effectively describe BHA dynamics under bending phenomena. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Drill strings

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Multi-Level Features Fusion for Zero-Shot Object Pose Estimation 26

Multi-Level Features Fusion for Zero-Shot Object Pose Estima...

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26th International Conference on Industrial technology, ICIT 2025

作者： Huang, Nanxin Xu, Chi School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9798331521950

Driven by advancements in industrial production and artificial intelligence, the need for pose estimation of new ob-jects in areas like robotic manipulation and virtual reality is increasing. We introduce a zero-shot object pose estimation approach that identifies the poses of objects excluded from the training dataset, removing the requirement for re-modeling. The method is built around a multi-level features fusion framework de-signed to enhance generalization. First, a trainable feature extraction module filters and selects multi-level features extracted by the backbone network. Unlike traditional convolutional ker-nels, we incorporate a dynamic convolution kernel to enhance the feature extraction capability. Second, in the feature fusion module, we adopt a dynamic weight generation strategy to perform weighted fusion of multi-level features. This method enhances template matching by effectively describing similarities between unseen objects (those absent from the training set) and templates, leveraging robust and adaptive feature representations to narrow the gap with seen objects. Experimental results demonstrate that our approach achieves state-of-the-art performance on two popu-lar benchmark datasets, LineMod and LineMod-Occlusion, proves that our method has better generalization than previous models. © 2025 IEEE.

关键词： Industrial robots

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Photovoltaic Data Cleaning Method Based on DBSCAN Clustering, Quartile Algorithm and Pearson Correlation Coefficient Interpolation Method 6

Photovoltaic Data Cleaning Method Based on DBSCAN Clustering...

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6th International Conference on Energy, Electrical and Power engineering, CEEPE 2023

作者： Wang, Biyuan Deng, Xingye Chen, Taowei Li, Yidong Huizhou Power Supply Bureau Guangdong Power Grid Co Guangdong China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9798350348279

The proportion of photovoltaic power generation in the global energy structure is increasing year by year. Because of its volatility and periodicity, grid-connected photovoltaic challenges the safe and stable operation of power grid. One of the ways to solve this problem is data mining. Data mining needs high-quality data support, and data cleaning is one of the important means to improve data quality. Aiming at the problem of poor quality of original PV data, this paper analyzes two typical outliers of PV data and proposes a PV output data cleaning method based on Density-Based Spatial Clustering of Applications with Noise (DBSCAN) clustering algorithm, quartile algorithm and Pearson correlation coefficient interpolation method. Comparison of DBSCAN clustering algorithm combined with the quartile method of outlier identification with the quartile method alone outlier identification, the effectiveness of the method proposed in this paper is verified. Then using the method proposed in this paper for outlier identification based on Pearson correlation coefficient interpolation and cubic spline interpolation to verify the data filling effect, the results show that Pearson correlation coefficient interpolation is superior to cubic spline interpolation. Finally, two sets of data with different data cleaning methods are substituted into the Long short-term memory (LSTM) Model to verify accuracy of the cleaning method proposed in this paper. © 2023 IEEE.

关键词： Data mining

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Distributed Active Disturbance Rejection control of Multiple Mobile Robots for Online Workload Partition

Distributed Active Disturbance Rejection Control of Multiple...

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2023 China automation Congress, CAC 2023

作者： Li, Xin Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Computer and Data Science Fuzhou University Fuzhou China

ISBN: (纸本)9798350303759

Considering the actual multi-agent coverage process, the motion trajectories are seriously affected by disturbances and noise. In this paper, a cooperative control method based on active disturbance rejection controller (ADRC) for multiple mecanum-wheeled robots (MWMR) is proposed to improve its robustness. In particular, to suppress the total disturbances during the running of each robot and reduce large computation and observation cost of high order ADRC, a reduced-order cascaded ADRC (RC-ADRC) is proposed. Moreover, distributed controller is proposed to track the expected trajectories of multiple mecanum-wheeled robots under disturbances. Compared with the proposed RC-ADRC based cooperative control scheme and PID based cooperative control one, the favorable motion trajectory tracking performance is obtained. Simulation results verify the superiority of the method. © 2023 IEEE.

关键词： controllers

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Predefined Time Attitude control for Quadrotor UAV with Output Constraints and Input Saturation

Predefined Time Attitude Control for Quadrotor UAV with Outp...

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Chinese automation Congress (CAC)

作者： Shuo Li Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time.

关键词： Backstepping automation Attitude control Simulation Autonomous aerial vehicles Stability analysis Quadrotors Lyapunov methods

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A Reinforcement Learning Based Dynamic Multi-Objective Constrained Evolutionary Algorithm for Open-Pit Mine Truck Scheduling

A Reinforcement Learning Based Dynamic Multi-Objective Const...

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2023 China automation Congress, CAC 2023

作者： Qiu, Junxiang Li, Changhe Yang, Shengxiang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan430074 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350303759

Aiming at the truck scheduling problem in the open-pit mine scenario, a truck scheduling model based on real-time ore blending is established, and an adaptive evolution algorithm for truck scheduling based on DCNSGA-III is proposed. In the established scheduling model, the real-time grade variance of the crushing plant is minimized as one of the optimization objectives, and the Q-learning algorithm is introduced to adaptively select one of the most effective operators during the search process. Experiments show that the proposed method can effectively control the grade fluctuation of the ore flow and better scheduling schemes are obtained in comparison with algorithms equipped with the traditional search operator selection methods. © 2023 IEEE.

关键词： Evolutionary algorithms

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Multi-Level Features Fusion for Zero-Shot Object Pose Estimation

Multi-Level Features Fusion for Zero-Shot Object Pose Estima...

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IEEE International Conference on Industrial technology (ICIT)

作者： Nanxin Huang Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

关键词： Training Solid modeling Convolution Service robots Pose estimation Zero shot learning Virtual reality Benchmark testing Feature extraction Robustness

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Distributed-observer-based on Longitudinal Flight control for Hypersonic Vehicle

Distributed-observer-based on Longitudinal Flight Control fo...

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第42届中国控制会议

作者： Yuehui Ji Yiming Zhao Jiaqi Chen Junjie Liu Qiang Gao School of Electrical Engineering and Automation and Tianjin Key Laboratory for Control Theory & Applications in Complicated SystemsTianjin University of Technology

An output feedback control is investigated to achieve stable tracking of velocity and altitude in hypersonic flight vehicle in the paper.A distributed observer is proposed to estimate the unmeasurable flight path angel and angle of attack through a strongly connected directed network ***,a nonlinear control is addressed on the longitudinal dynamics of a rigid hypersonic flight vehicle(HFV) with partial measurable states and the estimated *** system dynamic is divided into the altitude subsystem and the velocity *** the altitude subsystem,the backstepping design is proposed for constructing the controllers utilizing the estimated *** nonlinear dynamic inversion controller is introduced to accomplish the velocity ***,numerical simulations verify the effectiveness of the proposed control scheme in providing favorable tracking performance and exact state estimation ability.

关键词：

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Dynamic stiffness simulation analysis of hydraulic dual-parallel actuation systems using Amesim

Dynamic stiffness simulation analysis of hydraulic dual-para...

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2024 CSAA/IET International Conference on Aircraft Utility systems, AUS 2024

作者： Li, Chuandong Wu, Shuai Wei, Renlei Chen, Taiqi Qin, Mingyuan Chu, Bing Yang, Yuliang Luo, Jianing School of Automation Science and Electrical Engineering Beihang University Beijing100191 China National Key Laboratory of Aircraft Integrated Flight Control Beihang University Beijing100191 China AVIC Shenyang Aircraft Design and Research Institute Ministry of Industry and Information Technology Beijing100191 China Key Laboratory of Advanced Aircraft Systems Beihang University Ministry of Industry and Information Technology Beijing100191 China

In the field of flight control systems, actuators play a crucial role, and dynamic stiffness stands as one of the pivotal metrics to gauge their performance, reflecting the actuators' resilience to external disturbances. Hence, investigating dynamic stiffness is paramount for enhancing the overall performance of flight control systems. This study focuses on a hydraulic dual-parallel actuator system, wherein a mathematical model is established to derive the expression for dynamic stiffness. Leveraging the Amesim software, a simulation model of the parallel actuator system is constructed to conduct an in-depth analysis of its dynamic stiffness characteristics. During simulation, sinusoidal loading forces of varying frequencies are applied at the output end of the actuator system, and displacement response data is collected. Subsequently, the Fast Fourier Transform (FFT) is employed to obtain dynamic stiffness, enabling an analysis of its variations. The relationship between the system's natural frequency and dynamic stiffness is explored, along with an investigation into the primary factors influencing dynamic stiffness. Simulation results indicate that enhancing both support and connection stiffness,reducing load mass and enlarging the piston area can enhance the system's dynamic stiffness, thereby meeting the performance requirements of flight control systems. © The Institution of engineering & technology 2024.

关键词： Fast Fourier transforms

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