Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effective...Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effectively improve the driving safety of vehicle.This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering,which mainly consists of a path planner and a robust tracking controller.A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm,which plans an evasive trajectory to bypass the obstacle and avoid crashes.The dynamic models of the AFS system,vehicle as well as the driver model are established,and based on these,a robust tracking controller is proposed,which controls the system to resist external disturbances and work in accordance with the planning trajectory.The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform.The simulation results show that it can effectively track the planning trajectory,and improve the steering stability and anti-interference performance of the vehicle.展开更多
The uncertainty influences may result in performance deterioration and instability to the steer by wire(SBW) system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustne...The uncertainty influences may result in performance deterioration and instability to the steer by wire(SBW) system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustness. In order to effectively restrain the interference and improve steering stability, this paper presents a μ synthesis robust controller based on SBW system, which considers the effect of model uncertainty and external disturbance on the system dynamics. Taking the ideal yaw rate tracking, interference suppression and excellent robustness as the control objectives, the μ synthesis robust controller is designed using linear fractional transformation theory to deal with the uncertainty. Then, it is testified through time domain and robustness simulation analysis. Simulation results show that the proposed controller can not only ensure robustness and robust stability of the system quite well, but improve handling stability of the vehicle effectively. The results of this study provide certain theoretical basis for the research and application of SBW system.展开更多
To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspen...To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspension system, which considers the effects of different steering conditions on its dynamic performance. The vehicle's vibration in the yaw, roll, pitch and vertical direction and the suspension's dynamic deflection in the steering process are taken into account for the designed H∞ robust controller, and it introduces the frequency weight function to improve the riding comfort in the specific sensitive frequency bands to human body. The proposed robust controller is testified through simulation and steering wheel angle step test. The results show that the active suspension with the designed robust controller can enhance the anti-roll capability of the vehicle, inhibit the changes of the body, and improve the riding comfort of the vehicle under steering condition. The results of this study can provide certain theoretical basis for the research and application of active suspension system.展开更多
Background:An"integrated control"strategy has been implemented within seven provinces at highest risk for schistosomiasis along Yangtze River in Peoples'Republic of China(P.R.China)since 2004.Since O nco...Background:An"integrated control"strategy has been implemented within seven provinces at highest risk for schistosomiasis along Yangtze River in Peoples'Republic of China(P.R.China)since 2004.Since O ncom elania hupensis is the only intermediate host of the blood fluke(Schistosom a japonicum),controlling the distribution of snails is considered an essential and effeaive way to reduce the risk of schistosomiasis infection.The study aimed to determine the snail area burden and annual trend among provinces with potential risk for schistosomiasis along the Yangtze River,above and below the Three Gorges Dam(TGD).Methods:This retrospective study utilized data previously collected from the National Parasitic Diseases Control Information Management System(NPDCIMS)on annual snail surveys from 2009 to 2017.Descriptive statistics were performed for analyzing the snail burden by provinces,counties,type of environmental location and year,and mapping was conducted to present the snails distribution.Results:From 2009 to 2017,the total snail infested area decreased by 4.22%,from 372253 hm^2 to 356553 hm^2 within the seven high risk provinces.The majority of snails were found in the marshland and lake regions,outside of control embankments.The total snail burden trend remained relatively stable in upstream regions above the TGD from 2010 to 2015,while the trend decreased within downstream regions during this period.In 2016 and 2017,the total snail burden trend increased in both upstream and downstream provinces,however,upstream saw a larger increase.From 2009 to 2017,there were a total of 5990 hm^2 of newly developed snail areas in the seven study provinces and the majority were concentrated in regions below the TGD,accounting for 5610 hm^2(93.70%).Conclusions:There has been a decline in total snail counts from 2009 to 2017.Meanwhile,new snail breeding areas were formed mainly within provinces downstream the TGD due to spread of snails,indicated that the oncomelanid snail would be difficult to completely eliminate.We suggest that the national schistosomiasis integrated control strategy,including mollusciding and environmental modification,will need to be enhanced significantly going forward to achieve a greater reduaion in snail burden and ultimately to achieve elimination.展开更多
Due to the good balance between high efficiency and accuracy, meta-model based optimization algorithm is an important global optimization category and has been widely applied. To better solve the highly nonlinear and ...Due to the good balance between high efficiency and accuracy, meta-model based optimization algorithm is an important global optimization category and has been widely applied. To better solve the highly nonlinear and computation intensive en- gineering optimization problems, an enhanced hybrid and adaptive meta-model based global optimization (E-HAM) is first proposed in this work. Important region update method (IRU) and different sampling size strategies are proposed in the opti- mization method to enhance the performance. By applying self-moving and scaling strategy, the important region will be up- dated adaptively according to the search results to improve the resulting precision and convergence rate. Rough sampling strategy and intensive sampling strategy are applied at different stages of the optimization to improve the search efficiently and avoid results prematurely gathering in a small design space. The effectiveness of the new optimization algorithm is verified by comparing to six optimization methods with different variables bench mark optimization problems. The E-HAM optimization method is then applied to optimize the design parameters of the practical negative Poisson's ratio (NPR) crash box in this work. The results indicate that the proposed E-HAM has high accuracy and efficiency in optimizing the computation intensive prob- lems and can be widely used in engineering industry.展开更多
A cylindrical negative Poisson's ratio(CNPR) structure based on two-dimensional double-arrow negative Poisson's ratio(NPR)structure was introduced in this paper. The CNPR structure has excellent stiffness, dam...A cylindrical negative Poisson's ratio(CNPR) structure based on two-dimensional double-arrow negative Poisson's ratio(NPR)structure was introduced in this paper. The CNPR structure has excellent stiffness, damping and energy absorption performances,and can be applied as spring, damper and energy absorbing components. In this study, the CNPR structure was used as a jounce bumper in vehicle suspension, and the load-displacement curve of NPR jounce bumper was discussed. Moreover, the influences of structural parameters and materials on the load-displacement curve of NPR jounce bumper were specifically researched. It came to the conclusion that only the numbers of cells and layers impact the hardening displacement of NPR jounce bumper. And all parameters significantly affect the structure stiffness at different displacement periods. On the other hand, the load-displacement curve of NPR jounce bumper should be in an ideal region which is difficult to be achieved applying mathematical optimization method. Therefore, a parametric design strategy of NPR jounce bumper was proposed according to the parametric analysis results. The design strategy had two main steps: design of hardening displacement and design of stiffness. The analysis results proved that the proposed method is reliable and is also meaningful for relevant structure design problem.展开更多
What is already known about this topic?The“1-3-7”approach to malaria surveillance and response was a key measure for malaria elimination in China and was first introduced into the World Health Organization(WHO)as an...What is already known about this topic?The“1-3-7”approach to malaria surveillance and response was a key measure for malaria elimination in China and was first introduced into the World Health Organization(WHO)as an international guideline for malaria surveillance and response in 2018.What is added by this report?The“1-3-7”approach was well implemented in Henan Province from 2012−2018.Over this study period,a total of 1,294 malaria cases were detected and reported,and all cases were diagnosed and reported within 1 day with 99.23%(1,284/1,294)of cases were investigated within 3 days.In addition,93.7%(1,212/1,294)of foci were investigated and vector control was implemented within 7 days at all residual non-active foci to prevent further spread.What are the implications for public health practice?The“1-3-7”controlling pattern would be an effective and approachable method for implementation especially in malaria-eliminating countries and regions,but the interval from symptom onset to diagnosis cannot be ignored.Thus,the roles and responsibilities that all actors involved in the health sector must be specified too.展开更多
Spherical nanostructures with striped patterns on the surfaces resembling the essential structures of natural virus particles were constructed through a two-step self-assembly approach of polystyrene-boligo(acrylic a...Spherical nanostructures with striped patterns on the surfaces resembling the essential structures of natural virus particles were constructed through a two-step self-assembly approach of polystyrene-boligo(acrylic acid)(PS-b-oligo-AA) and poly(γ-benzyI L-glutamate)-b-poly(ethylene glycol)(PBLG-bPEG) copolymer mixtures in solution.On the basis of difference in hydrophilicity and self-assembly properties of the two copolymers,the two-step self-assembly process is realized.It was found that PS-boligo-AA copolymers formed spherical aggregates by adding a certain amount of water into polymer solutions in the first step.In the second step,two polymer solutions were mixed and water was further added,inducing the self-assembly of PBLG-b-PEG on the surfaces of PS-b-oligo-AA spheres to form striped patterns.In-depth study was conducted for the indispensable defects of striped patterns which are dislocations and +1/2 disclinations.The influencing factors such as the mixing ratio of two copolymers and the added water content in the first step on the morphology and defects of the striped patterns were investigated.This work not only presents an idea to interpret mechanism of the cooperative self-assembly behavior,but also provides an effective approach to construct virus-like particles and other complex structures with controllable morphology.展开更多
Beam model has been used widely in computer aided engineering for mechanical systems and the simulation results largely depend on the beam model, there are great demand for beam model with high accuracy and efficiency...Beam model has been used widely in computer aided engineering for mechanical systems and the simulation results largely depend on the beam model, there are great demand for beam model with high accuracy and efficiency in simulating the mechanical system with large deformation. In this work, a new model of Timoshenko beam for large deformations is proposed to improve the accuracy and efficiency. Absolute nodal coordinate formulation and geometrically-exact beam formulation, which make the model very suitable to simulate large deformation mechanical system, are first combined in the new beam model, the governing equations are then discrete by finite element methods and numerical difficulties are well solved by applying the shape function strategy. The new beam model is then applied to simulate the mechanical systems with large deformation and the simulations based on the traditional beam model and hexahedron element were also carried out to verify the results. The results show that good precision and efficiency in simulating the mechanical systems with large deformation can be obtained by the new Timoshenko beam model at the same time. The presented new method also serves as a good foundation for other simulation of mechanical systems.展开更多
Negative Poisson's ratio(NPR) structure has outstanding performances in lightweight and energy absorption, and it can be widely applied in automotive industries. By combining the front anti-collision beam, crash b...Negative Poisson's ratio(NPR) structure has outstanding performances in lightweight and energy absorption, and it can be widely applied in automotive industries. By combining the front anti-collision beam, crash box and NPR structure, a novel NPR bumper system for improving the crashworthiness is first proposed in the work. The performances of the NPR bumper system are detailed studied by comparing to traditional bumper system and aluminum foam filled bumper system. To achieve the rapid design while considering perturbation induced by parameter uncertainties, a multi-objective robust design optimization method of the NPR bumper system is also proposed. The parametric model of the bumper system is constructed by combining the full parametric model of the traditional bumper system and the parametric model of the NPR structure. Optimal Latin hypercube sampling technique and dual response surface method are combined to construct the surrogate models. The multi-objective robust optimization results of the NPR bumper system are then obtained by applying the multi-objective particle swarm optimization algorithm and six sigma criteria. The results yielded from the optimizations indicate that the energy absorption capacity is improved significantly by the NPR bumper system and its performances are further optimized efficiently by the multi-objective robust design optimization method.展开更多
基金supported by the Research Project of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology)Ministry of Education(Grant No.2015KLMT04)the National Natural Science Foundation of China(Grant No.51375007 and 51605219)
文摘Vehicle collision avoidance system is a kind of auxiliary driving system based on vehicle active safety,which can assist the driver to take the initiative to avoid obstacles under certain conditions,so as to effectively improve the driving safety of vehicle.This paper presents a collision avoidance system for an autonomous vehicle based on an active front steering,which mainly consists of a path planner and a robust tracking controller.A path planner is designed based on polynomial parameterization optimized by simulated annealing algorithm,which plans an evasive trajectory to bypass the obstacle and avoid crashes.The dynamic models of the AFS system,vehicle as well as the driver model are established,and based on these,a robust tracking controller is proposed,which controls the system to resist external disturbances and work in accordance with the planning trajectory.The proposed collision avoidance system is testified through CarSim and Simulink combined simulation platform.The simulation results show that it can effectively track the planning trajectory,and improve the steering stability and anti-interference performance of the vehicle.
基金supported by the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(Grant Nos.SKLMT-KFKT-2014010&SKLMT-KFKT-201507)the National Natural Science Foundation of China(Grant Nos.51375007&51605219)+1 种基金the Fundamental Research Funds for the Central Universities(Grant No.NE2016002)the Natural Science Foundation of Jiangsu Province(Grant No.SBK2015022352)
文摘The uncertainty influences may result in performance deterioration and instability to the steer by wire(SBW) system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustness. In order to effectively restrain the interference and improve steering stability, this paper presents a μ synthesis robust controller based on SBW system, which considers the effect of model uncertainty and external disturbance on the system dynamics. Taking the ideal yaw rate tracking, interference suppression and excellent robustness as the control objectives, the μ synthesis robust controller is designed using linear fractional transformation theory to deal with the uncertainty. Then, it is testified through time domain and robustness simulation analysis. Simulation results show that the proposed controller can not only ensure robustness and robust stability of the system quite well, but improve handling stability of the vehicle effectively. The results of this study provide certain theoretical basis for the research and application of SBW system.
基金supported by the Fundamental Research Funds for the Central Universities(Grant No.NS2015020)
文摘To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspension system, which considers the effects of different steering conditions on its dynamic performance. The vehicle's vibration in the yaw, roll, pitch and vertical direction and the suspension's dynamic deflection in the steering process are taken into account for the designed H∞ robust controller, and it introduces the frequency weight function to improve the riding comfort in the specific sensitive frequency bands to human body. The proposed robust controller is testified through simulation and steering wheel angle step test. The results show that the active suspension with the designed robust controller can enhance the anti-roll capability of the vehicle, inhibit the changes of the body, and improve the riding comfort of the vehicle under steering condition. The results of this study can provide certain theoretical basis for the research and application of active suspension system.
基金This study was financially supported by the National Special Science and Technology Project for Major Infectious Diseases of China(No.2018ZX10101002-002,2012ZX10004-220,2016YFC1202000).
文摘Background:An"integrated control"strategy has been implemented within seven provinces at highest risk for schistosomiasis along Yangtze River in Peoples'Republic of China(P.R.China)since 2004.Since O ncom elania hupensis is the only intermediate host of the blood fluke(Schistosom a japonicum),controlling the distribution of snails is considered an essential and effeaive way to reduce the risk of schistosomiasis infection.The study aimed to determine the snail area burden and annual trend among provinces with potential risk for schistosomiasis along the Yangtze River,above and below the Three Gorges Dam(TGD).Methods:This retrospective study utilized data previously collected from the National Parasitic Diseases Control Information Management System(NPDCIMS)on annual snail surveys from 2009 to 2017.Descriptive statistics were performed for analyzing the snail burden by provinces,counties,type of environmental location and year,and mapping was conducted to present the snails distribution.Results:From 2009 to 2017,the total snail infested area decreased by 4.22%,from 372253 hm^2 to 356553 hm^2 within the seven high risk provinces.The majority of snails were found in the marshland and lake regions,outside of control embankments.The total snail burden trend remained relatively stable in upstream regions above the TGD from 2010 to 2015,while the trend decreased within downstream regions during this period.In 2016 and 2017,the total snail burden trend increased in both upstream and downstream provinces,however,upstream saw a larger increase.From 2009 to 2017,there were a total of 5990 hm^2 of newly developed snail areas in the seven study provinces and the majority were concentrated in regions below the TGD,accounting for 5610 hm^2(93.70%).Conclusions:There has been a decline in total snail counts from 2009 to 2017.Meanwhile,new snail breeding areas were formed mainly within provinces downstream the TGD due to spread of snails,indicated that the oncomelanid snail would be difficult to completely eliminate.We suggest that the national schistosomiasis integrated control strategy,including mollusciding and environmental modification,will need to be enhanced significantly going forward to achieve a greater reduaion in snail burden and ultimately to achieve elimination.
基金supported by the Research Project of State Key Laboratory of Mechanical System and Vibration(Grant Nos.MSV201507&MSV201606)the National Natural Science Foundation of China(Grant No.51375007)+3 种基金the Natural Science Foundation of Jiangsu Province(Grant No.SBK2015022352)the Fundamental Research Funds for the Central Universities(Grant No.NE2016002)the Open Fund Program of the State Key Laboratory of Vehicle Lightweight Design,P.R.China(Grant No.20130303)the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(Grant Nos.SKLMT-KFKT-2014010&SKLMT-KFKT-201507)
文摘Due to the good balance between high efficiency and accuracy, meta-model based optimization algorithm is an important global optimization category and has been widely applied. To better solve the highly nonlinear and computation intensive en- gineering optimization problems, an enhanced hybrid and adaptive meta-model based global optimization (E-HAM) is first proposed in this work. Important region update method (IRU) and different sampling size strategies are proposed in the opti- mization method to enhance the performance. By applying self-moving and scaling strategy, the important region will be up- dated adaptively according to the search results to improve the resulting precision and convergence rate. Rough sampling strategy and intensive sampling strategy are applied at different stages of the optimization to improve the search efficiently and avoid results prematurely gathering in a small design space. The effectiveness of the new optimization algorithm is verified by comparing to six optimization methods with different variables bench mark optimization problems. The E-HAM optimization method is then applied to optimize the design parameters of the practical negative Poisson's ratio (NPR) crash box in this work. The results indicate that the proposed E-HAM has high accuracy and efficiency in optimizing the computation intensive prob- lems and can be widely used in engineering industry.
基金supported by the Natural Science Foundation of Jiangsu Province(Grant No.BK20170784)Aeronautical Science Foundation of China(Granted No.2016ZA52003)
文摘A cylindrical negative Poisson's ratio(CNPR) structure based on two-dimensional double-arrow negative Poisson's ratio(NPR)structure was introduced in this paper. The CNPR structure has excellent stiffness, damping and energy absorption performances,and can be applied as spring, damper and energy absorbing components. In this study, the CNPR structure was used as a jounce bumper in vehicle suspension, and the load-displacement curve of NPR jounce bumper was discussed. Moreover, the influences of structural parameters and materials on the load-displacement curve of NPR jounce bumper were specifically researched. It came to the conclusion that only the numbers of cells and layers impact the hardening displacement of NPR jounce bumper. And all parameters significantly affect the structure stiffness at different displacement periods. On the other hand, the load-displacement curve of NPR jounce bumper should be in an ideal region which is difficult to be achieved applying mathematical optimization method. Therefore, a parametric design strategy of NPR jounce bumper was proposed according to the parametric analysis results. The design strategy had two main steps: design of hardening displacement and design of stiffness. The analysis results proved that the proposed method is reliable and is also meaningful for relevant structure design problem.
文摘What is already known about this topic?The“1-3-7”approach to malaria surveillance and response was a key measure for malaria elimination in China and was first introduced into the World Health Organization(WHO)as an international guideline for malaria surveillance and response in 2018.What is added by this report?The“1-3-7”approach was well implemented in Henan Province from 2012−2018.Over this study period,a total of 1,294 malaria cases were detected and reported,and all cases were diagnosed and reported within 1 day with 99.23%(1,284/1,294)of cases were investigated within 3 days.In addition,93.7%(1,212/1,294)of foci were investigated and vector control was implemented within 7 days at all residual non-active foci to prevent further spread.What are the implications for public health practice?The“1-3-7”controlling pattern would be an effective and approachable method for implementation especially in malaria-eliminating countries and regions,but the interval from symptom onset to diagnosis cannot be ignored.Thus,the roles and responsibilities that all actors involved in the health sector must be specified too.
基金supported by the National Natural Science Foundation of China(Nos.21234002,51303055,21474029,and51573049)Support from projects of Shanghai municipality(Nos.15QA1401400 and 13JC1402000)
文摘Spherical nanostructures with striped patterns on the surfaces resembling the essential structures of natural virus particles were constructed through a two-step self-assembly approach of polystyrene-boligo(acrylic acid)(PS-b-oligo-AA) and poly(γ-benzyI L-glutamate)-b-poly(ethylene glycol)(PBLG-bPEG) copolymer mixtures in solution.On the basis of difference in hydrophilicity and self-assembly properties of the two copolymers,the two-step self-assembly process is realized.It was found that PS-boligo-AA copolymers formed spherical aggregates by adding a certain amount of water into polymer solutions in the first step.In the second step,two polymer solutions were mixed and water was further added,inducing the self-assembly of PBLG-b-PEG on the surfaces of PS-b-oligo-AA spheres to form striped patterns.In-depth study was conducted for the indispensable defects of striped patterns which are dislocations and +1/2 disclinations.The influencing factors such as the mixing ratio of two copolymers and the added water content in the first step on the morphology and defects of the striped patterns were investigated.This work not only presents an idea to interpret mechanism of the cooperative self-assembly behavior,but also provides an effective approach to construct virus-like particles and other complex structures with controllable morphology.
基金supported by the National Natural Science Foundation of China(Grant Nos.51605219&51375007)the Natural Science Foundation of Jiangsu Province(Grant Nos.BK20160791&SBK2015022352)+3 种基金the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(Grant Nos.SKLMT-KFKT-2014010&SKLMT-KFKT-201507)the start-up research foundation for new teachers in Nanjing University of Aeronautics and Astronautics(Grant No.1002-YAH16027)the Fundamental Research Funds for the Central Universities(Grant No.NE2016002)the Open Fund Program of the State Key Laboratory of Vehicle Lightweight Design,P.R.China(Grant No.20130303)
文摘Beam model has been used widely in computer aided engineering for mechanical systems and the simulation results largely depend on the beam model, there are great demand for beam model with high accuracy and efficiency in simulating the mechanical system with large deformation. In this work, a new model of Timoshenko beam for large deformations is proposed to improve the accuracy and efficiency. Absolute nodal coordinate formulation and geometrically-exact beam formulation, which make the model very suitable to simulate large deformation mechanical system, are first combined in the new beam model, the governing equations are then discrete by finite element methods and numerical difficulties are well solved by applying the shape function strategy. The new beam model is then applied to simulate the mechanical systems with large deformation and the simulations based on the traditional beam model and hexahedron element were also carried out to verify the results. The results show that good precision and efficiency in simulating the mechanical systems with large deformation can be obtained by the new Timoshenko beam model at the same time. The presented new method also serves as a good foundation for other simulation of mechanical systems.
基金supported by the National Natural Science Foundation of China(Grant Nos.51605219&51375007)the Natural Science Foundation of Jiangsu Province(Grant Nos.BK20160791&SBK2015022352)+1 种基金the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(Grant Nos.SKLMT-KFKT-201608,SKLMTKFKT-2014010&SKLMT-KFKT-201507)the Fundamental Research Funds for the Central Universities(Grant No.NE2016002)
文摘Negative Poisson's ratio(NPR) structure has outstanding performances in lightweight and energy absorption, and it can be widely applied in automotive industries. By combining the front anti-collision beam, crash box and NPR structure, a novel NPR bumper system for improving the crashworthiness is first proposed in the work. The performances of the NPR bumper system are detailed studied by comparing to traditional bumper system and aluminum foam filled bumper system. To achieve the rapid design while considering perturbation induced by parameter uncertainties, a multi-objective robust design optimization method of the NPR bumper system is also proposed. The parametric model of the bumper system is constructed by combining the full parametric model of the traditional bumper system and the parametric model of the NPR structure. Optimal Latin hypercube sampling technique and dual response surface method are combined to construct the surrogate models. The multi-objective robust optimization results of the NPR bumper system are then obtained by applying the multi-objective particle swarm optimization algorithm and six sigma criteria. The results yielded from the optimizations indicate that the energy absorption capacity is improved significantly by the NPR bumper system and its performances are further optimized efficiently by the multi-objective robust design optimization method.