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A vehicle adaptive cruise control algorithm based on simulating driver's multi-objective decision making

Qiche Gongcheng/Automotive Engineering 2015年第6期37卷 667-673页

作者： Gao, Zhenhai Yan, Wei Li, Hongjian Hu, Zhencheng Jilin University State Key Laboratory of Automobile Simulation and Control Changchun130022 China China FAW Group Corporation R&D Center Changchun130011 China

According to the distance and relative velocity between host vehicle and preceding vehicle, the adaptive cruise control (ACC) system concurrently considers three correlated and contradictory performance indicators of driving safety between vehicles, longitudinal dynamics characteristics and the comfort performance of driver and occupants to achieve the control for maintaining safe inter-vehicle distance. Aiming at this multi-objective coordinated control problem, the behavior characteristics of real driver in inter-vehicle distance control are simulated under the framework of dynamic output feedback control and four indicators of safety, handiness, comfort and efficiency are set up based on the driving state and control variables of vehicle. Then a dynamic coordinated control mechanism for above-mentioned performance indicators is proposed based on invariant set and quadratic boundedness theory and a set of inter-vehicle distance control algorithms for ACC system are worked out. Finally simulations on three typical operation conditions (following and the cut-out and cut-in of preceding vehicle) are conducted to verify the feasibility and effectiveness of the proposed algorithms in safe inter-vehicle distance maintenance and multi-performance indicators coordination. ©, 2015, SAE-China. All right reserved.

关键词： Adaptive cruise control

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Overview of KAGrA : data transfer and management

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Progress of Theoretical and Experimental Physics 2023年第10期2023卷

作者： Akutsu, T Ando, M Arai, K Arai, Y Araki, S Araya, A Aritomi, N Asada, H Aso, Y Bae, S Bae, Y Baiotti, L Bajpai, r Barton, M A Cannon, K Cao, Z Capocasa, E Chan, M Chen, C Chen, K Chen, Y Chiang, C-Y Chu, H Chu, Y-K Eguchi, S Enomoto, Y Flaminio, r Fujii, Y Fujikawa, Y Fukunaga, M Fukushima, M Gao, d Ge, G Ha, S Hagiwara, A Haino, S Han, W-B Hasegawa, K Hattori, K Hayakawa, H Hayama, K Himemoto, Y Hiranuma, Y Hirata, N Hirose, E Hong, Z Hsieh, B Huang, G-Z Huang, H-Y Huang, P Huang, Y-C Huang, Y Hui, d C Y Ide, S Ikenoue, B Imam, S Inayoshi, K Inoue, Y Ioka, K Ito, K Itoh, Y Izumi, K Jeon, C Jin, H-B Jung, K Jung, P Kaihotsu, K Kajita, T Kakizaki, M Kamiizumi, M Kanda, N Kang, G Kawaguchi, K Kawai, N Kawasaki, T Kim, C Kim, J Kim, J C Kim, W S Kim, Y-M Kimura, N Kita, N Kitazawa, H Kobayashi, Y Kojima, Y Kokeyama, K Komori, K Kong, A K H Kotake, K Kozakai, C Kozu, r Kumar, r Kume, J Kuo, C Kuo, H-S Kuromiya, Y Kuroyanagi, S Kusayanagi, K Kwak, K Lee, H K Lee, H W Lee, r Leonardi, M Li, K L Lin, L C-C Lin, C-Y Lin, F-K Lin, F-L Lin, H L Liu, G C Luo, L-W Majorana, E Marchio, M Michimura, Y Mio, N Miyakawa, O Miyamoto, A Miyazaki, Y Miyo, K Miyoki, S Mori, Y Morisaki, S Moriwaki, Y Nagano, K Nagano, S Nakamura, K Nakano, H Nakano, M Nakashima, r Nakayama, Y Narikawa, T Naticchioni, L Negishi, r Quynh, L Nguyen Ni, W-T Nishizawa, A Nozaki, S Obuchi, Y Ogaki, W Oh, J J Oh, K Oh, S H Ohashi, M Ohashi, T Ohishi, N Ohkawa, M Ohta, H Okutani, Y Okutomi, K Oohara, K Ooi, C Oshino, S Otabe, S Pan, K Pang, H Parisi, A Park, J Arellano, F E Peña Pinto, I Sago, N Saito, S Saito, Y Sakai, K Sakai, Y Sakuno, Y Sasaki, Y Sato, S Sato, T Sawada, T Sekiguchi, T Sekiguchi, Y Shao, L Shibagaki, S Shimizu, r Shimoda, T Shimode, K Shinkai, H Shishido, T Shoda, A Somiya, K Son, E J Sotani, H Sugimoto, r Suresh, J Suzuki, T Tagoshi, H Takahashi, H Takahashi, r Takamori, A Takano, S Takeda, H Takeda, M Tanaka, H Tanaka, K Tanaka, T Tanioka, S Martin, E N Tapia San Telada, S Tomaru, T Tomigami, Y Tomura, T Travasso, F Trozzo, L Tsang, T Ts Gravitational Wave Science Project National Astronomical Observatory of Japan (NAOJ) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Advanced Technology Center National Astronomical Observatory of Japan (NAOJ) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Research Center for the Early Universe (RESCEU) The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research (ICRR) KAGRA Observatory The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa City Chiba 277-8582 Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1 Yayoi Bunkyo-ku Tokyo 113-0032 Japan Department of Mathematics and Physics Hirosaki University 3 Bunkyo-cho Hirosaki City Aomori 036-8561 Japan Kamioka Branch National Astronomical Observatory of Japan (NAOJ) 238 Higashi-Mozumi Kamioka-cho Hida City Gifu 506-1205 Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information (KISTI) 245 Daehak-ro Yuseong-gu Daejeon 34141 Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 Beon-gil Yuseong-gu Daejeon 34047 Korea International College Osaka University 1-1 Machikaneyama-cho Toyonaka City Osaka 560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Department of Astronomy Beijing Normal University No. 19 Xinjiekou Street Beijing 100875 China Department of Applied Physics Fukuoka University 8-19-1 Nanakuma Jonan Fukuoka City Fukuoka 814-0180 Japan Department of Physics Tamkang University No. 151 Yingzhuan Rd. Danshui Dist. New Taipei City 25137 Taiwan Department of Physics and Institute of Astronomy Nation

KAGrA is a newly built gravitational wave observatory, a laser interferometer with a 3 km arm length, located in Kamioka, Gifu prefecture, Japan. In this article, we describe the KAGrA data management system, i.e., recording of data, transfer from the KAGrA experiment site to computing resources, as well as data distribution to tier sites, including international sites in Taiwan and Korea. The amount of KAGrA data exceeded 1.0 PiB and increased by about 1.5 TB per day during operation in 2020. Our system has succeeded in data management, and has achieved performance that can withstand observations after 2023, that is, a transfer rate of 20 MB s-1or more and file storage of sufficient capacity for petabyte class. We also discuss the sharing of data between the global gravitational-wave detector network with other experiments, namely LIGO and Virgo. The latency, which consists of calculation of calibrated strain data and transfer time within the global network, is very important from the view of multi-messenger astronomy using gravitational waves. real-time calbrated data delivered from the KAGrA detector site and other detectors to our computing system arrive with about 4–15 seconds of latency. These latencies are sufficiently short compared to the time taken for gravitational wave event search computations. We also established a high-latency exchange of offline calibrated data that was aggregated with a better accuracy compared with real-time data.

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Kinematic visual servoing based regulation of quadrotors on a predefined marker

Kinematic visual servoing based regulation of quadrotors on ...

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IEEE International Conference on robotics and Biomimetics

作者： Kai Wang Penghong Lin R&D Department Dajiang Innovation Technology Co. Ltd Control and Simulation Center Harbin Institute of Technology

ISBN: (纸本)9781467396769

The visual servoing based regulation of quadrotors has been an attractive topic over the past decade, and a lot of controllers are proposed for this challenging problem. The regulation controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming the position of the quadrotor with reference to the marker has been accurately recovered with an independent observer/estimator. Therefore the rigorous regulation stability cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the regulation of quadrotors by embedding a novel adaptive estimator into this new controller to estimate the position of the quadrotor online. It is proved by Lyapunov theory that the proposed adaptive PBVS controller gives rise to the asymptotic regulation and the convergence of the estimated position to the actual one. An experiment is conducted to validate the effectiveness of the proposed controller.

关键词： Cameras Kinematics Visual servoing Visualization Estimation Asymptotic stability

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Investigation of Topologies and Control Strategies of Fuel Cell Vehicles

Investigation of Topologies and Control Strategies of Fuel C...

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2015 International Conference on Advances in Mechanical Engineering and Industrial Informatics(AMEII 2015)

作者： Nan Xu Yuanjian Zhang Zicheng Fu di Zhao Liang Chu Feikun Zhou State Key Laboratory of Automotive Simulation and Control Jilin University China FAW Group Corporation R&D Center

This paper mainly provide the discussion of the topologies applied in the fuel cell vehicles and related control strategy. The fuel cell vehicles acquires power from the fuel cell stack or from multi power sources like fuel cell stack and battery, so there are quite a few topologies can be applied in the fuel cell vehicle. According to the different topologies, there are many control strategies can be made use of to make sure the fuel cell vehicle can operate in a smooth and high efficiency state.

关键词： Fuel Cell Vehicle Topologies Control Strategies

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Optimal Control of Gearshift in Automatic Mechanical Transmission

Optimal Control of Gearshift in Automatic Mechanical Transmi...

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2015 International Conference on Automation,Mechanical Control and Computational Engineering(AMCCE 2015)

作者： Liying Miao Xiusheng Cheng Zhonghua Liu Xuesong Li Xi Liu State Key Laboratory of Automotive Simulation and Control Jilin University China FAW Co. Ltd R&D Center

ISBN: (纸本)9781510803084

In order to solve the problems existed in gearshift process of automatic mechanical transmission(AMT), the control strategy base on fuzzy control was presented with regarding of engine running state and clutch engaging state. The wet clutch target pressure of shifting process was determined by the fuzzy controller. According to the error of target pressure and actual pressure, a wet clutch pressure intelligent control arithmetic base on radial Basis Function Neural Network(rBFNN) was designed to realize accuracy control of clutch pressure. The vehicle gear shifting experiment was conducted to verify the control strategy.

关键词： AMT wet clutch pressure control fuzzy control

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Analysis on Fluid Characteristics of Friction Plate in Wet Multi-plate Clutch Based on Computational Fluid dynamics

Analysis on Fluid Characteristics of Friction Plate in Wet M...

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2015 International Conference on Automation,Mechanical Control and Computational Engineering(AMCCE 2015)

作者： Liying Miao Xiusheng Cheng Zhonghua Liu Xuesong Li Chuanfang Zhang State Key Laboratory of Automotive Simulation and Control Jilin University China FAW Co. Ltd R&D Center

ISBN: (纸本)9781510803084

In order to study the fluid characteristics of wet clutch in the process of engagement, the flow characteristics of radial oil grooves between the friction plates were simulated by Fluent, and the different entrance flow rates and different entrance temperature of heat exchanger performance were also discussed. The simulation results were compared with the test results, showing that the accuracy of the simulation calculation method. The calculation results can be used to study and optimal design the friction characteristics of the wet clutch.

关键词： flow characteristic convective heat transfer wet multi-plate clutch simulation analysis

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radiative Cooling of the Thermally Isolated System in KAGrA Gravitational Wave Telescope

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Journal of Physics: Conference Series 2021年第1期1857卷

作者： T. Akutsu M. Ando K. Arai Y. Arai S. Araki A. Araya N. Aritomi Y. Aso S.-W. Bae Y.-B. Bae L. Baiotti r. Bajpai M. A. Barton K. Cannon E. Capocasa M.-L. Chan C.-S. Chen K.-H. Chen Y.-r. Chen H.-Y. Chu Y.-K. Chu S. Eguchi Y. Enomoto r. Flaminio Y. Fujii M. Fukunaga M. Fukushima G.-G. Ge A. Hagiwara S. Haino K. Hasegawa H. Hayakawa K. Hayama Y. Himemoto Y. Hiranuma N. Hirata E. Hirose Z. Hong B.-H. Hsieh G.-Z. Huang P.-W. Huang Y.-J. Huang B. Ikenoue S. Imam K. Inayoshi Y. Inoue K. Ioka Y. Itoh K. Izumi K. Jung P. Jung T. Kajita M. Kamiizumi N. Kanda G.-W. Kang K. Kawaguchi N. Kawai T. Kawasaki C. Kim J. Kim W. Kim Y.-M. Kim N. Kimura N. Kita H. Kitazawa Y. Kojima K. Kokeyama K. Komori A. K. H. Kong K. Kotake C. Kozakai r. Kozu r. Kumar J. Kume C.-M. Kuo H.-S. Kuo S. Kuroyanagi K. Kusayanagi K. Kwak H.-K. Lee H.-W. Lee r.-K. Lee M. Leonardi C.-Y. Lin F.-L. Lin L. C.-C. Lin G.-C. Liu L.-W. Luo M. Marchio Y. Michimura N. Mio O. Miyakawa A. Miyamoto Y. Miyazaki K. Miyo S. Miyoki S. Morisaki Y. Moriwaki K. Nagano S. Nagano K. Nakamura H. Nakano M. Nakano r. Nakashima T. Narikawa r. Negishi W.-T. Ni A. Nishizawa Y. Obuchi W. Ogaki J. J. Oh S.-H. Oh M. Ohashi N. Ohishi M. Ohkawa K. Okutomi K. Oohara C.-P. Ooi S. Oshino K.-C. Pan H.-F. Pang J. Park F. E. Peiia Arellano I. Pinto N. Sago S. Saito Y. Saito K. Sakai Y. Sakai Y. Sakuno S. Sato T. Sato T. Sawada T. Sekiguchi Y. Sekiguchi S. Shibagaki r. Shimizu T. Shimoda K. Shimode H. Shinkai T. Shishido A. Shoda K. Somiya E. J. Son H. Sotani r. Sugimoto T. Suzuki H. Tagoshi H. Takahashi r. Takahashi A. Takamori S. Takano H. Takeda M. Takeda H. Tanaka K. Tanaka T. Tanaka S. Tanioka E. N. Tapia San Martin S. Telada T. Tomaru Y. Tomigami T. Tomura F. Travasso L. Trozzo T. T. L. Tsang K. Tsubono S. Tsuchida T. Tsuzuki d. Tuyenbayev N. Uchikata T. Uchiyama A. Ueda T. Uehara K. Ueno G. Ueshima F. Uraguchi T. Ushiba M. H. P. M. van Putten H. Vocca J. Wang C.-M. Wu H.-C. Wu S.-r. Wu W.-r. Xu T. Yamada K. Yamamoto T. Yamamoto K. Yokogawa J. Yokoyama T. Yokozawa T. Yoshioka H. Yuzurihar National Astronomical Observatory of Japan (NAOJ) 2-21-1 Osawa Mitaka-City Tokyo 181-8588 Japan Research Center for the Early Universe (RESCEU) The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research (ICRR) The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa-City Chiba 277-8582Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 OhoTsukuba-City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1Yayoi Bunkyo-ku Tokyo 113-0032Japan Kamioka Branch National Astronomical Observatory of Japan (NAOJ) 238 Higashi-Mozumi Kamioka-cho Hida-City Gifu Pref. Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka-City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information (KISTI) 245 Daehak-ro Yuseong-gu Daejeon 34141 South Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 beon-gil Yuseong-gu Daejeon 34047 South Korea Graduate School of Science Osaka University 1-1 Machikaneyama-cho Toyonaka-City Osaka560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba-City Ibaraki 305-0801 Japan Institute for Gravitational Research University of Glasgow Kelvin Building G12 8QQ UK Department of Applied Physics Fukuoka University Fukuoka Jonan Nanakuma 814-0180 Japan Department of Physics Tamkang university No.151 Yingzhuan Rd. Danshui Dist. New Taipei-City 25137 Taiwan Department of Physics the Center for High Energy and High Field Physics National Central University No. 300 Zhongda Road Zhongyi District Taiyuan-City 320 Taiwan Institute of Astronomy National Tsing Hua University No. 101 Section 2 Kuang-Fu Road Hsinchu 30013 Taiwan Department of Physics National Tsing Hua University No. 101 Section 2

radiative cooling of the thermally isolated system is investigated in KAGrA gravitational wave telescope. KAGrA is a laser interferometer-based detector and main mirrors constituting optical cavities are cool down to 20K to reduce noises caused by the thermal fluctuation. The mirror is suspended with the multi-stage pendulum to isolate any vibration. Therefore, this mirror suspension system has few heat links to reduce vibration injection. Thus, this system is mainly cooled down with thermal radiation. In order to understand the process of radiative cooling of the mirror, we analyzed cooling curve based on mass and specific heat. As a result, it was newly found that a cryogenic part called 'cryogenic duct-shield' seems to have large contribution in the beginning of the mirror cooling. This finding will help to design new cooling system for the next generation cryogenic gravitational wave detector.

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research on control system of piston stop-position based on electronic throttle

Research on control system of piston stop-position based on ...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Nan Xu di Zhao Xiumin Yu Zhe Xu He Chang State Key Laboratory of Automotive Simulation and Control Jilin University Changchun P. R. China China Automotive Technology and Research Center Tianjin P. R. China China FAW Group Corpration R&D Center Changchun P. R. China

The view that the piston stop-position can be controlled by lost work of engine is put forward, and the availability of lost work of engine is analyzed in this paper. The automatic stop system which is based on electronic throttle is designed and the control program of electronic throttle is completed. The experiment which is about the impact of throttle positions to piston stop-positions is carried out on a gasoline direct injection engine. The results show that piston stop-positions are more concentrated and closer to the target position by adjusting throttle positions. According to the comparison to experimental results, the frequency that the piston stops in the target position is the most, as its distribution is the most concentrative, when the electronic throttle position is 79 °. That is the ideal throttle position of the automatic stop system under the condition when the engine shutdown speed is 1300 ±50r/min and the cooling water temperature is 90 ±2 °C.

关键词： Pistons Engines Control systems Histograms Pulse width modulation Inverters Power supplies

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Target motion state estimation for vehicle-borne millimeter-wave radar

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Jilin daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2014年第6期44卷 1537-1544页

作者： Gao, Zhen-Hai Wang, Jun Tong, Jing Li, Hong-Jian Guo, Zhang-Yong Lou, Fang-Ming State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130022 China China FAW Group Corporation R&D Center Changchun130011 China

With the analysis of preceding object motion feature and vehicle-borne radar measuring principle, a novel target motion model is established in the vehicle-borne radar coordinate system. This target motion model considers the relative motion of the intertial coordinate, the vehicle coordinate and the radar coordinate system. Also other specialness of ground vehicle were taken into account in the model, such as that the motion of ground vehicle is a 2d motion because of the limitation of ground surface, the vehicle mobility is small and the tracking coordinate system is moving. The whole motion states of the preceding target, including the longitudinal and lateral velocities, the longitudinal and lateral positions were estimated by the algorithm of adaptive Kalman filter, because it was difficult to determine the statistics of the system process noise and measure noise. Finally, road experiments, in which the host car was equipped with millimeter-wave radar and the preceding car was equipped with high precision automotive testing equipments, were carried out to verify the feasibility and performance of the estimation method. The results prove that the method can provide fine estimation accuracy, better filter convergence and stability. ©, 2014, Editorial Board of Jilin University. All right reserved.

关键词： State estimation

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Electro-peroxone degradation of diethyl phthalate: Cathode selection, operational parameters, and degradation mechanisms

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Journal of hazardous materials 2016年 319卷 61-8页

作者： Meifang Hou Yaofei Chu Xiang Li Huijiao Wang Weikun Yao Gang Yu Seiichi Murayama Yujue Wang School of Ecological Technology and Engineering Shanghai Institute of Technology Shanghai 201418 China. School of Ecological Technology and Engineering Shanghai Institute of Technology Shanghai 201418 China School of Environment Beijing Key Laboratory for Emerging Organic Contaminants Control State Key Joint Laboratory of Environmental Simulation and Pollution Control Tsinghua University Beijing 100084 China. School of Environment Beijing Key Laboratory for Emerging Organic Contaminants Control State Key Joint Laboratory of Environmental Simulation and Pollution Control Tsinghua University Beijing 100084 China. Power and Industrial Systems R&D Center Toshiba Corporation Fuchu-shi Tokyo Japan. School of Environment Beijing Key Laboratory for Emerging Organic Contaminants Control State Key Joint Laboratory of Environmental Simulation and Pollution Control Tsinghua University Beijing 100084 China. Electronic address: wangyujue@***.

This study compares the degradation of diethyl phthalate (dEP) by the electro-peroxone (E-peroxone) process with three different carbon-based cathodes, namely, carbon-polytetrafluorethylene (carbon-PTFE), carbon felt, and reticulated vitreous carbon (rVC). results show that the three cathodes had different electrocatalytic activity for converting sparged O2 to H2O2, which increased in order of carbon felt, rVC, and carbon-PTFE. The in-situ generated H2O2 then reacts with sparged O3 to yield OH, which can in turn oxidize ozone-refractory dEP toward complete mineralization. In general, satisfactory total organic carbon removal yields (76.4-91.8%) could be obtained after 60min of the E-peroxone treatment with the three carbon-based cathodes, and the highest yield was obtained with the carbon-PTFE cathode due to its highest activity for H2O2 generation. In addition, the carbon-PTFE and carbon felt cathodes exhibited excellent stability over six cycles of the E-peroxone treatment of dEP solutions. Based on the intermediates (e.g., monoethyl phthalate, phthalic acid, phenolics, and carboxylic acids) identified by HPLC-UV, plausible reaction pathways were proposed for dEP mineralization by the E-peroxone process. The results of this study indicate that carbon-based cathodes generally have good electrocatalytic activity and stability for application in extended E-peroxone operations to effectively remove phthalates from water.

关键词： Electrocatalytic ozonation Electrode Hydrogen peroxide Ozone Phthalates

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