This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified...
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ISBN:
(纸本)9781457710957
This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.
Visualization of highway traffic environments in virtual reality plays a key role on fidelity of simulation and validity of driving behaviors in driving simulator studies. This paper describes a procedure to replicate...
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Visualization of highway traffic environments in virtual reality plays a key role on fidelity of simulation and validity of driving behaviors in driving simulator studies. This paper describes a procedure to replicate a signalized intersection with many complex features into a driving simulator's 3-D databases through building a graphical visual database, constructing a road motion database, and creating simulated traffic. The validity of the visualization was assessed via the comparison of the drivers' speeds in the simulator and the speed data at the real intersection. It was found that both speed data follow normal distributions and have equal means for each intersection approach;however, that the speeds measured in the driving simulator have a larger variability than those measured in the field. The users' subjective evaluation results indicated that 92% subjects could recognize the simulated intersection in the driving simulator experiment. Therefore, the strategy of geo-specific environment modeling would be useful for studying driving behaviors in virtual environments.
Discrete computer simulations are quite helpful in understanding dynamic structures in complex ***,using the Mole-8.5 supercomputer and molecular dynamics simulations as a"computational microscope",we simula...
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Discrete computer simulations are quite helpful in understanding dynamic structures in complex ***,using the Mole-8.5 supercomputer and molecular dynamics simulations as a"computational microscope",we simulated the dynamic structure of a whole H1N1 influenza virion in solution for the first time at the atomic *** total,300 million atoms in a periodic cube with an edge length of 148.5 nm were *** 288 low level hybrids with 1728 C2050 GPUs and a software package developed specifically for the hardware,the simulation executed 770 ps/d with an integration time step of 1 fs,and analyzed the dynamic *** the tremendous computational power of GPUs,efficient software packages for various hardware designs,and consistent physical models,more challenging applications will be carried out in the near future.
This paper presents a novel parallel system for Rail Transit based on ACP approach (Artificial systems, Computational experiments, Parallel execution), which is proposed to address issues on safety, efficiency and rel...
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ISBN:
(纸本)9781467313971
This paper presents a novel parallel system for Rail Transit based on ACP approach (Artificial systems, Computational experiments, Parallel execution), which is proposed to address issues on safety, efficiency and reliability of their operation and optimization. Firstly, the construction of dynamic, overall and real Artificial Rail Transit systems and their demonstration are provided. Then, based on these systems, the platform, content and analysis of computational experiments and comprehensive evaluation system are researched. Finally, parallel control and management of the actual systems via parallel execution can be achieved. By Parallel Rail Transit systems, a set of recommendations and strategies of railway can be formed, which would improve the overall functionality of the trail transit system.
This paper considers the problem of stabilization and coordination for underwater vehicles using internal moving mass actuators. The underwater vehicle (UV) is modeled as a neutrally buoyant, bottom-heavy, submerged r...
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Discontinuous Galerkin（DG） method is known to have several advantages for flow simulations,in particular,in fiexible accuracy management and adaptability to mesh refinement. In the present work,the DG method is deve...
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Discontinuous Galerkin（DG） method is known to have several advantages for flow simulations,in particular,in fiexible accuracy management and adaptability to mesh refinement. In the present work,the DG method is developed for numerical simulations of both temporally and spatially developing mixing layers. For the temporally developing mixing layer,both the instantaneous fiow field and time evolution of momentum thickness agree very well with the previous results. Shocklets are observed at higher convective Mach numbers and the vortex paring manner is changed for high compressibility. For the spatially developing mixing layer,large-scale coherent structures and self-similar behavior for mean profiles are investigated. The instantaneous fiow field for a three-dimensional compressible mixing layer is also reported,which shows the development of largescale coherent structures in the streamwise direction. All numerical results suggest that the DG method is effective in performing accurate numerical simulations for compressible shear fiows.
This paper presents an augmented network model to represent urban transit *** such network model,the urban transit assignment problem can be easily modeled like a generalized traffic ***,the feasible route in such aug...
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This paper presents an augmented network model to represent urban transit *** such network model,the urban transit assignment problem can be easily modeled like a generalized traffic ***,the feasible route in such augmented transit network is then defined in accordance with the passengers＇ *** passengers＇ travel costs including walking time,waiting time,in-vehicle time and transfer time are formulated while the congestions at stations and the congestions in transit vehicles are all taken into *** the base of these,an equilibrium model for urban transit assignment problem is presented and an improved shortest path method based algorithm is also proposed to solve ***,a numerical example is provided to illustrate our approach.
In this paper,the laser short-pulse heating of solid surface is *** time fractional Cattaneo model is used as the heat conduction model and the corresponding fractional heat conduction equation with a volumetric heat ...
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In this paper,the laser short-pulse heating of solid surface is *** time fractional Cattaneo model is used as the heat conduction model and the corresponding fractional heat conduction equation with a volumetric heat source is built.
To design an energy efficient data collection scheme instead of multi-hop data relay is essential for Wireless Sensor Networks. To many proposed data gathering approaches, the long data delay is the main problem. In t...
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In this paper, the speed-regulation problem for permanent magnet synchronous motor (PMSM) system under vector control framework is studied. For the speed loop, a standard internal model controller is first designed ba...
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