This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
To further investigate the forming mechanism and springback characteristics of strips under multi-square punch forming (MSPF) considering partial-unloading effects, a series of concave form ing tests of strips are con...To further investigate the forming mechanism and springback characteristics of strips under multi-square punch forming (MSPF) considering partial-unloading effects, a series of concave form ing tests of strips are conducted on the MSPF machine. This paper aims to reveal the physical mecha nism of the elastic-plastic deformation in the MSPF process considering the effect of the forming ap proaches, and derive appropriate mathematical interpretations. The theoretical model is firstly estab lished to analyse the concave forming mechanism and springback characteristics of the strip, and its accuracy is then validated by experimental data. The forming history and load evolutions are depicted to explore the required forming capacity through the proposed analytical method. Besides, the paramet ric studies are carried out to discuss their effects on the springback of the strip. The results suggest that the deformation paths of the strip are influenced by the forming approach, and the springback of the strip in convex forming is larger than that in concave forming.展开更多
To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed...To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.展开更多
The complexity and applicability of three relative car-following models are investigated and they are the optimal velocity model （OVM）,the generalized force model （GFM） and the full velocity difference model （FVD...The complexity and applicability of three relative car-following models are investigated and they are the optimal velocity model （OVM）,the generalized force model （GFM） and the full velocity difference model （FVDM）.The vehicle trajectory data used is collected from the digital pictures obtained at a 30-storey building near Ⅰ-80 freeway.Three different calibrating methods are used to estimate the model parameters and to study the relationships between model complexity and applicability from overall,inter-driver and intra-driver analysis.Results of the three methods of the OVM,GFM and FVDM show that the complexity and applicability are not consistent and the complicated models are not always superior to the simple ones in modeling car-following.The findings of this study can provide useful information for car-following behavior modeling.展开更多
The damage or loss of urban road manhole covers may cause great risk to residents＇ lives and property if they cannot be discovered in time. Most existing research recommendations for solving this problem are difficul...The damage or loss of urban road manhole covers may cause great risk to residents＇ lives and property if they cannot be discovered in time. Most existing research recommendations for solving this problem are difficult to implement. This paper proposes an algorithm that combines the improved Hough transform and image comparison to identify the damage or loss of the manhole covers in complicated surface conditions by using existing urban road video images. Focusing on the pre-processed images, the edge contour tracking algorithm is applied to find all of the edges. Then with the improved Hough transformation, color recognition and image matching algorithm, the manhole cover area is found and the change rates of the manhole cover area are calculated. Based on the threshold of the change rates, it can be determined whether there is potential damage or loss in the manhole cover. Compared with the traditional Hough transform, the proposed method can effectively improve the processing speed and reduce invalid sampling and accumulation. Experimental results indicate that the proposed algorithm has the functions of effective positioning and early warning in the conditions of complex background, different perspectives, and different videoing time and conditions, such as when the target is partially covered.展开更多
A framework of real time face tracking and recognition is presented, which integrates skin color based tracking and PCA/BPNN (principle component analysis/back propagation neural network) hybrid recognition techni...A framework of real time face tracking and recognition is presented, which integrates skin color based tracking and PCA/BPNN (principle component analysis/back propagation neural network) hybrid recognition techniques. The algorithm is able to track the human face against a complex background and also works well when temporary occlusion occurs. We also obtain a very high recognition rate by averaging a number of samples over a long image sequence. The proposed approach has been successfully tested by many experiments, and can operate at 20 frames/s on an 800 MHz PC.展开更多
[Objective] The paper is to construct the logistics tracking management system of tropical agricultural products based on supply chain.[Method] With tropical agricultural products in Hainan as study object,based on lo...[Objective] The paper is to construct the logistics tracking management system of tropical agricultural products based on supply chain.[Method] With tropical agricultural products in Hainan as study object,based on logistics supply chain files and electronic tag coding of agricultural products,cold chain temperature and humidity monitoring,vehicle transportation positioning,data exchange of XML Web services and role-based permission dynamic allocation,the multi-level multi-permission and multi-role logistics tracking management system of tropical agricultural products has been established.[Result] The system constructs information exchange platform for various links of logistics supply chain of tropical agricultural products,which realizes the entire quality monitoring and information tracing of agricultural products,thus enhancing the competitiveness of supply chain in company.[Conclusion] The system has good application and extension prospect.展开更多
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
文摘To further investigate the forming mechanism and springback characteristics of strips under multi-square punch forming (MSPF) considering partial-unloading effects, a series of concave form ing tests of strips are conducted on the MSPF machine. This paper aims to reveal the physical mecha nism of the elastic-plastic deformation in the MSPF process considering the effect of the forming ap proaches, and derive appropriate mathematical interpretations. The theoretical model is firstly estab lished to analyse the concave forming mechanism and springback characteristics of the strip, and its accuracy is then validated by experimental data. The forming history and load evolutions are depicted to explore the required forming capacity through the proposed analytical method. Besides, the paramet ric studies are carried out to discuss their effects on the springback of the strip. The results suggest that the deformation paths of the strip are influenced by the forming approach, and the springback of the strip in convex forming is larger than that in concave forming.
基金supported in part by the National Natural Science Foundation of China(No.12032012)the Key Discipline Construction Project of Colleges and Universities in Jiangsu Province.
文摘To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.
基金The National Basic Research Program of China(973Program)(No.2012CB725402)the National Natural Science Foundation of China(No.51478113)
文摘The complexity and applicability of three relative car-following models are investigated and they are the optimal velocity model （OVM）,the generalized force model （GFM） and the full velocity difference model （FVDM）.The vehicle trajectory data used is collected from the digital pictures obtained at a 30-storey building near Ⅰ-80 freeway.Three different calibrating methods are used to estimate the model parameters and to study the relationships between model complexity and applicability from overall,inter-driver and intra-driver analysis.Results of the three methods of the OVM,GFM and FVDM show that the complexity and applicability are not consistent and the complicated models are not always superior to the simple ones in modeling car-following.The findings of this study can provide useful information for car-following behavior modeling.
基金The Natural Science Fundation of Education Department of Anhui Province(No.KJ2012B051)
文摘The damage or loss of urban road manhole covers may cause great risk to residents＇ lives and property if they cannot be discovered in time. Most existing research recommendations for solving this problem are difficult to implement. This paper proposes an algorithm that combines the improved Hough transform and image comparison to identify the damage or loss of the manhole covers in complicated surface conditions by using existing urban road video images. Focusing on the pre-processed images, the edge contour tracking algorithm is applied to find all of the edges. Then with the improved Hough transformation, color recognition and image matching algorithm, the manhole cover area is found and the change rates of the manhole cover area are calculated. Based on the threshold of the change rates, it can be determined whether there is potential damage or loss in the manhole cover. Compared with the traditional Hough transform, the proposed method can effectively improve the processing speed and reduce invalid sampling and accumulation. Experimental results indicate that the proposed algorithm has the functions of effective positioning and early warning in the conditions of complex background, different perspectives, and different videoing time and conditions, such as when the target is partially covered.
文摘A framework of real time face tracking and recognition is presented, which integrates skin color based tracking and PCA/BPNN (principle component analysis/back propagation neural network) hybrid recognition techniques. The algorithm is able to track the human face against a complex background and also works well when temporary occlusion occurs. We also obtain a very high recognition rate by averaging a number of samples over a long image sequence. The proposed approach has been successfully tested by many experiments, and can operate at 20 frames/s on an 800 MHz PC.
文摘[Objective] The paper is to construct the logistics tracking management system of tropical agricultural products based on supply chain.[Method] With tropical agricultural products in Hainan as study object,based on logistics supply chain files and electronic tag coding of agricultural products,cold chain temperature and humidity monitoring,vehicle transportation positioning,data exchange of XML Web services and role-based permission dynamic allocation,the multi-level multi-permission and multi-role logistics tracking management system of tropical agricultural products has been established.[Result] The system constructs information exchange platform for various links of logistics supply chain of tropical agricultural products,which realizes the entire quality monitoring and information tracing of agricultural products,thus enhancing the competitiveness of supply chain in company.[Conclusion] The system has good application and extension prospect.
