Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle an...
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Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the inevitable uncertainties associated with pedestrians' predicted trajectories due to their unobserved states (e.g., intent), existing deep reinforcement learning (DRL) algorithms for crowd navigation often neglect these uncertainties when using predicted trajectories to guide policy learning. This omission limits the usability of predictions when diverging from ground truth. This work introduces an integrated prediction and planning approach that incorporates the uncertainties of predicted pedestrian states in the training of a model-free DRL algorithm. A novel reward function encourages the AV to respect pedestrians' personal space, decrease speed during close approaches, and minimize the collision probability with their predicted paths. Unlike previous DRL methods, our model, designed for AV operation in crowded spaces, is trained in a novel simulation environment that reflects realistic pedestrian behaviour in a shared space with vehicles. Results show a 40% decrease in collision rate and a 15% increase in minimum distance to pedestrians compared to the state of the art model that does not account for prediction uncertainty. Additionally, the approach outperforms model predictive control methods that incorporate the same prediction uncertainties in terms of both performance and computational time, while producing trajectories closer to human drivers in similar scenarios. IEEE
The presence of long-range interactions is crucial in distinguishing between abstract complex networks and wave *** photonics,because electromagnetic interactions between optical elements generally decay rapidly with ...
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The presence of long-range interactions is crucial in distinguishing between abstract complex networks and wave *** photonics,because electromagnetic interactions between optical elements generally decay rapidly with spatial distance,most wave phenomena are modeled with neighboring interactions,which account for only a small part of conceptually possible ***,we explore the impact of substantial long-range interactions in topological *** demonstrate that a crystalline structure,characterized by long-range interactions in the absence of neighboring ones,can be interpreted as an overlapped *** overlap model facilitates the realization of higher values of topological invariants while maintaining bandgap width in photonic topological *** breaking of topology-bandgap tradeoff enables topologically protected multichannel signal processing with broad *** practically accessible system parameters,the result paves the way to the extension of topological physics to network science.
We consider a power system whose electric demand pertaining to freshwater production is high(high freshwater electric demand),as in the Middle East,and investigate the tradeoff of storing freshwater in tanks versus st...
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We consider a power system whose electric demand pertaining to freshwater production is high(high freshwater electric demand),as in the Middle East,and investigate the tradeoff of storing freshwater in tanks versus storing electricity in batteries at the day-ahead operation *** storing freshwater and storing electricity increase the actual electric demand at valley hours and decrease it at peak hours,which is generally beneficial in term of cost and ***,to what extent?We analyze this question considering three power systems with different generation-mix configurations,i.e.,a thermal-dominated mix,a renewable-dominated one,and a fully renewable *** generation-mix configurations are inspired by how power systems may evolve in different countries in the Middle *** production uncertainty is compactly modeled using chance *** draw conclusions on how both storage facilities(freshwater and electricity)complement each other to render an optimal operation of the power system.
Grid-forming (GFM) control has emerged as a promising solution to the challenges posed by the increasing reliance on inverter-based resources (IBRs). However, unlike in a battery-based IBR, the implementation of GFM i...
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Under perfect competition,marginal pricing results in short-term efficiency and the subsequent right short-term price ***,the main reason for the adoption of marginal pricing is not the above,but investment cost *** i...
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Under perfect competition,marginal pricing results in short-term efficiency and the subsequent right short-term price ***,the main reason for the adoption of marginal pricing is not the above,but investment cost *** is,the fact that the profits obtained by infra-marginal technologies(technologies whose production cost is below the marginal price)allow them just to recover their investment *** the other hand,if the perfect competition assumption is removed,investment over-recovery or under-recovery generally occurs for infra-marginal technologies.
Delay/disruption tolerant networking(DTN) is proposed as a networking architecture to overcome challenging space communication characteristics for reliable data transmission service in presence of long propagation del...
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Delay/disruption tolerant networking(DTN) is proposed as a networking architecture to overcome challenging space communication characteristics for reliable data transmission service in presence of long propagation delays and/or lengthy link disruptions. Bundle protocol(BP) and Licklider Transmission Protocol(LTP) are the main key technologies for DTN. LTP red transmission offers a reliable transmission mechanism for space networks. One of the key metrics used to measure the performance of LTP in space applications is the end-to-end data delivery delay, which is influenced by factors such as the quality of spatial channels and the size of cross-layer packets. In this paper, an end-to-end reliable data delivery delay model of LTP red transmission is proposed using a roulette wheel algorithm, and the roulette wheel algorithm is more in line with the typical random characteristics in space networks. The proposed models are validated through real data transmission experiments on a semi-physical testing platform. Furthermore, the impact of cross-layer packet size on the performance of LTP reliable transmission is analyzed, with a focus on bundle size, block size, and segment size. The analysis and study results presented in this paper offer valuable contributions towards enhancing the reliability of LTP transmission in space communication scenarios.
Droplet microfluidics enable high-throughput screening,sequencing,and formulation of biological and chemical systems at the *** devices are generally fabricated in a soft polymer such as polydimethylsiloxane(PDMS).How...
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Droplet microfluidics enable high-throughput screening,sequencing,and formulation of biological and chemical systems at the *** devices are generally fabricated in a soft polymer such as polydimethylsiloxane(PDMS).However,developing design masks for PDMS devices can be a slow and expensive process,requiring an internal cleanroom facility or using an external ***,we present the first complete droplet-based component library using low-cost rapid prototyping and electrode *** fabrication method for droplet microfluidic devices costs less than$12 per device and a full design-build-test cycle can be completed within a *** microfluidic components for droplet generation,re-injection,picoinjection,anchoring,fluorescence sensing,and sorting were built and *** devices are biocompatible,low-cost,and *** show its ability to perform multistep workflows,these components were used to assemble droplet"pixel"arrays,where droplets were generated,sensed,sorted,and anchored onto a grid to produce images.
Across the world, the lack of proper healthcare resources in rural areas significantly impacts the physical and economic well-being of individuals living there. There is a need for multi-faceted solutions to help alle...
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The maximum power transfer capability (MPTC) of phase-locked loop (PLL)-based grid-following inverters is often limited under weak-grid conditions due to passivity violations caused by operating-point-dependent contro...
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This paper proposes an empirical wavelet transform(EWT)based method for identification and analysis of sub-synchronous oscillation(SSO)modes in the power system using phasor measurement unit(PMU)*** phasors from PMUs ...
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This paper proposes an empirical wavelet transform(EWT)based method for identification and analysis of sub-synchronous oscillation(SSO)modes in the power system using phasor measurement unit(PMU)*** phasors from PMUs are preprocessed to check for the presence of *** the presence is established,the signal is decomposed using EWT and the parameters of the mono-components are estimated through Yoshida *** superiority of the proposed method is tested using test signals with known parameters and simulated using actual SSO signals from the Hami Power Grid in Northwest *** show the effectiveness of the proposed EWT-Yoshida method in detecting the SSO and estimating its parameters.
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