This work conducts a systematic experimental evaluation of the state-of-the-art Reference Aware Model Predictive Controller (RA-MPC) for autonomous vehicles. The RA-MPC is a path-tracking controller, that maximizes tr...
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This work conducts a systematic experimental evaluation of the state-of-the-art Reference Aware Model Predictive Controller (RA-MPC) for autonomous vehicles. The RA-MPC is a path-tracking controller, that maximizes tracking accuracy and comfort. The controller uses a kinematic vehicle model with a nonlinear curvature response table that adapts the steering response online to the vehicle and operating conditions. The adaptiveness and robustness of the controller are analyzed by evaluating the performance on a highway truck, loaded and empty mining trucks, and a city bus. Moreover, highway-like and city-like scenarios are performed using the exact same implementation and parameter settings for all vehicles. The controller and model adaption achieved a very good path tracking performance in all experiments, deviating at most 25 cm from the reference path. Authors
In this paper, we report on the installation of a multipath-resistant underwater acoustic positioning system developed by our team for real-time distance measurement between structures at breakwater construction sites...
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In this work,a numerical study of the effects of soil-structure interaction(SSI)and granular material-structure interaction(GSI)on the nonlinear response and seismic capacity of flat-bottomed storage silos is conducte...
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In this work,a numerical study of the effects of soil-structure interaction(SSI)and granular material-structure interaction(GSI)on the nonlinear response and seismic capacity of flat-bottomed storage silos is conducted.A series of incremental dynamic analyses(IDA)are performed on a case of large reinforced concrete silo using 10 seismic *** IDA results are given by two average IDA capacity curves,which are represented,as well as the seismic capacity of the studied structure,with and without a consideration of the SSI while accounting for the effect of *** curves are used to quantify and evaluate the damage of the studied silo by utilizing two damage indices,one based on dissipated energy and the other on displacement and dissipated *** cumulative energy dissipation curves obtained by the average IDA capacity curves with and without SSI are presented as a function of the base shear,and these curves allow one to obtain the two critical points and the different limit states of the *** is observed that the SSI and GSI significantly influence the seismic response and capacity of the studied structure,particularly at higher levels of ***,the effect of the SSI reduces the damage index of the studied structure by 4%.
The contribution addresses the challenge of transforming a general recipe, which lacks knowledge about specific production resources, into a plant-specific master recipe in the process industry. The authors propose an...
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The ultra-multipole permanent magnet synchronous motor (PMSM) is effective for achieving a high power density for electric vehicle traction motors. However, position detection sensors, such as the resolver for driving...
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Purpose: This study introduces the Digital Maturity Assessment Model (DMAM), a model tailored to assess the digital maturity of SMEs, tracing its development from addressing business challenges to establishing a compa...
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This paper explores the innovative application of Quantum Convolutional Neural Networks (QCNN) in the classification of the MNIST fashion dataset. Quantum computing presents novel opportunities for enhancing machine l...
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Healthcare infrastructure in the emerging economies is largely concentrated in their urban areas, and the burgeoning rural population is usually deprived of quality medical care. Telemedicine systems are expected to b...
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Extreme events are unusual and rare large-amplitude fluctuations can occur unexpectedly in nonlinear dynamical systems. Events above the extreme event threshold of the probability distribution of a nonlinear process c...
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Extreme events are unusual and rare large-amplitude fluctuations can occur unexpectedly in nonlinear dynamical systems. Events above the extreme event threshold of the probability distribution of a nonlinear process characterize extreme events. Different mechanisms for the generation of extreme events and their prediction measures have been reported in the literature. Based on the properties of extreme events, such as those that are rare in the frequency of occurrence and extreme in amplitude, various studies have shown that extreme events are both linear and nonlinear in nature. Interestingly, in this Letter, we report on a special class of extreme events which are nonchaotic and nonperiodic. These nonchaotic extreme events appear in between the quasiperiodic and chaotic dynamics of the system. We report the existence of such extreme events with various statistical measures and characterization techniques.
Pooling operations, such as average pooling, strided convolution, and max pooling, have become fundamental components of convolutional neural networks (CNNs) due to their ability to capture local features, expand rece...
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