Improved Car-Following Model Considering Modified Backward Optimal Velocity and Velocity Difference with Backward-Looking Effect

In this paper, a new traffic flow model called the forward-backward velocity difference (FBVD) model based on the full velocity difference model is proposed to investigate the backward-looking effect by applying a modified backward optimal velocity using generalized backward maximum speed. The FBVD model belongs to the family of microscopic models that consider spatiotemporally continuous formulations. Neutral stability conditions of the discrete car-following model are derived using the linear stability theory. The stability analysis results prove that the modified backward optimal velocity has a significant positive effect in stabilizing the traffic flow. Through nonlinear analysis, a kink-antikink solution is derived from the modified Korteweg-de Vries equation of the FBVD model to explain traffic congestion of the model. The validity of this theoretical model is checked using numerical results, according to which traffic jams were found to have been significantly diminished by the introduction of the modified backward optimal velocity.

Optimal two-iteration sculling compensation mathematical framework for SINS velocity updating

A new two-iteration sculling compensation mathematical framework is provided for modern-day strapdown inertial navigation system（SINS） algorithm design that utilizes a new concept in velocity updating. The principal structure of this framework includes twice sculling compensation procedure using incremental outputs from the inertial system sensors during the velocity updating interval. Then, the moderate algorithm is designed to update the velocity parameter. The analysis is conducted in the condition of sculling motion which indicates that the new mathematical framework error which is smaller than the conventional ones by at least two orders is far superior. Therefore, a summary is given for SINS software which can be designed with the new mathematical framework in velocity updating.

Effect of Relative Velocity on the Optimal Velocity Model

In this letter, an improved optimal velocity model was proposed that assumes the effect of relative velocity deceases with the increment of gap between successive cars. Numerical simuation was carried out to test whether this model could depict the braking process correctly. The simuation results show good agreement with observed data.

Re-adhesion control strategy based on the optimal slip velocity seeking method

In the railway industry, re-adhesion control plays an important role in attenuating the slip occurrence due to the low adhesion condition in the wheel-rail inter- action. Braking and traction forces depend on the normal force and adhesion coefficient at the wheel-rail contact area. Due to the restrictions on controlling normal force, the only way to increase the tractive or braking effect is to maximize the adhesion coefficient. Through efficient uti- lization of adhesion, it is also possible to avoid wheel-rail wear and minimize the energy consumption. The adhesion between wheel and rail is a highly nonlinear function of many parameters like environmental conditions, railway vehicle speed and slip velocity. To estimate these unknown parameters accurately is a very hard and competitive challenge. The robust adaptive control strategy presented in this paper is not only able to suppress the wheel slip in time, but also maximize the adhesion utilization perfor- mance after re-adhesion process even if the wheel-rail contact mechanism exhibits significant adhesion uncer- tainties and/or nonlinearities. Using an optimal slip velocity seeking algorithm, the proposed strategy provides a satisfactory slip velocity tracking ability, which was demonstrated able to realize the desired slip velocity without experiencing any instability problem. The control torque of the traction motor was regulated continuously to drive the railway vehicle in the neighborhood of the opti- mal adhesion point and guarantee the best traction capacity after re-adhesion process by making the railway vehicle operate away from the unstable region. The results obtained from the adaptive approach based on the second- order sliding mode observer have been confirmed through theoretical analysis and numerical simulation conducted in MATLAB and Simulink with a full traction model under various wheel-rail conditions.

Optimal Guidance Law to Maximize Terminal Velocity for Missiles with Impact Angle Constraint

In this paper,an optimal guidance law for missiles with impact angle and miss distance constraints is proposed to achieve the maximal terminal velocity. The normal acceleration command that includes the timevarying coefficients is introduced to satisfy the desired impact angle as well as zero miss distance according to the geometric relation and relative motion parameters between missile and target. The problem is formulated as an optimal control problem by defining the angle of velocity error and flight-path angle as state variables and maximizing a performance index of the terminal velocity. The analytical form of the proposed guidance law is obtained as the solution of the optimal control problem combining optimal control theory and numerical value computation method. Nonlinear simulations of various situations demonstrate the performance and feasibility of the proposed optimal guidance law.

Velocity anticipation in the optimal velocity model

In this paper, the velocity anticipation in the optimal velocity model （OVM） is investigated. The driver adjusts the velocity of his vehicle by the desired headway, which depends on both instantaneous headway and relative velocity. The effect of relative velocity is measured by a sensitivity function. A specific form of the sensitivity function is supposed and the involved parameters are determined by the both numerical simulation and empirical data. It is shown that inclusion of velocity anticipation enhances the stability of traffic flow. Numerical simulations show a good agreement with empirical data. This model provides a better description of real traffic, including the acceleration process from standing states and the deceleration process approaching a stopped car.

Linear Stability and Nonlinear Analysis of an Extended Optimal Velocity Model Considering the Speed Limit

In this paper, an extended car-following model is proposed based on an optimal velocity model (OVM), which takes the speed limit into consideration. The model is analyzed by using the linear stability theory and nonlinear analysis method. The linear stability condition shows that the speed limit can enlarge the stable region of traffic flow. By applying the reductive perturbation method, the time-dependent Ginzburg-Landau (TDGL) equation and the modified Korteweg-de Vries (mKdV) equation are derived to describe the traffic flow near the critical point. Furthermore, the relation between TDGL and mKdV equations is also given. It is clarified that the speed limit is essentially equivalent to the parameter adjusting of the driver’s sensitivity.

Detailed string stability analysis for bi-directional optimal velocity model

The class of bi-directional optimal velocity models can describe the bi-directional looking effect that usually exists in the reality and is even enhanced with the development of the connected vehicle technologies. Its combined string stability condition can be obtained through the method of the ring-road based string stability analysis. However, the partial string stability about traffic fluctuation propagated backward or forward was neglected, which will be analyzed in detail in this work by the method of transfer function and its H∞ norm from the viewpoint of control theory. Then, through comparing the conditions of combined and partial string stabilities, their relationships can make traffic flow be divided into three distinguishable regions, displaying various combined and partial string stability performance. Finally, the numerical experiments verify the theoretical results and find that the final displaying string stability or instability performance results from the accumulated and offset effects of traffic fluctuations propagated from different directions.

Improvements on particle swarm optimization algorithm for velocity calibration in microseismic monitoring

In this paper, we apply particle swarm opti- mization （PSO）, an artificial intelligence technique, to velocity calibration in microseismic monitoring. We ran simulations with four 1-D layered velocity models and three different initial model ranges. The results using the basic PSO algorithm were reliable and accurate for simple models, but unsuccessful for complex models. We propose the staged shrinkage strategy （SSS） for the PSO algorithm. The SSS-PSO algorithm produced robust inversion results and had a fast convergence rate. We investigated the effects of PSO＇s velocity clamping factor in terms of the algorithm reliability and computational efficiency. The velocity clamping factor had little impact on the reliability and efficiency of basic PSO, whereas it had a large effect on the efficiency of SSS-PSO. Reassuringly, SSS-PSO exhibits marginal reliability fluctuations, which suggests that it can be confidently implemented.

CO_(2) emission control in new CM car-following model with feedback control of the optimal estimation of velocity difference under V2X environment

A new coupled map car-following model in this paper is proposed by considering the influence of the difference of the estimated optimal speed based on the coupled map(CM)car-following model under V2X environment.The stability of the new model is analyzed by applying the control theory,and the conditions are obtained for the stability of the traffic system.And the two scenes of vehicle stopping once and four times have been simulated.The simulation results show that the control term considered with optimal estimation of speed difference can effectively improve the stability of vehicle running and reduce CO_(2) emissions in the CM car-following model.

Fundamental Properties and Optimal Gains of a Steady-State Velocity Measured <i>α</i>-<i>β</i>Tracking Filter

This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filter. We first derive the stability condition and steady-state predicted errors as fundamental properties of the VM-α-β filter. The optimal gains for representative motion models are then derived from the Kalman filter equations. Theoretical and numerical analyses verify that VM-α-β filters with these optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the conditions under which the predicted errors of the VM-α-β filters are less than those of conventional α-β filters. Moreover, numerical simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic situations, even when the accuracy of the position/velocity measurements is the same.

Design and Structure Optimization of Plenum Chamber with Airfoil Baffle to Improve Its Outlet Velocity Uniformity in Heat Setting Machines

The plenum chamber of a heat setting machine is a key structure for distributing hot air to different air channels.Its outlet velocity uniformity directly determines the heating uniformity of textiles,significantly affecting the heat setting performance.In a traditional heat setting machine,the outlet airflow maldistribution of the plenum chamber still exists.In this study,a novel plenum chamber with an airfoil baffle was established to improve the uniformity of the velocity distribution at the outlet in a heat setting machine.The structural influence of the plenum chamber on the velocity distribution was investigated using a computational fluid dynamics program.It was found that a chamber with a smaller outlet partition thickness had a better outlet velocity uniformity.The structural optimization of the plenum chamber was conducted using the particle swarm optimization algorithm.The outlet partition thickness,the transverse distance and the longitudinal distance of the optimized plenum chamber were 20,686.2 and 274.6 mm,respectively.Experiments were carried out.The experimental and simulated results showed that the optimized plenum chamber with an airfoil baffle could improve the outlet velocity uniformity.The air outlet velocity uniformity index of the optimized plenum chamber with an airfoil baffle was 4.75%higher than that of the plenum chamber without an airfoil baffle and 5.98%higher than that of the conventional chamber with a square baffle in a commercial heat setting machine.

Traffic Dynamics and Congested Phases Derived from an Extended Optimal-Velocity Model

Dynamics is studied for one-dimensional single-lane traffic flow by means of an extended optimal-velocity model with continuously varied bottleneck strength for nonlinear roads. Two phases exist in this model such as free flow and wide moving jam states in the systems having relatively small values of the bottleneck strength parameter. In addition to the two phases, locally congested phaseappears as the strength becomes prominent. Jam formation occurs with the similar mechanism to the boomerang effect as well as the pinch one in it. Wide scattering of the flow-density relation in fundamental diagram is found in the congested phase.

Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm

Underwater robot is a new research field which is emerging quickly in recent years.Previous researches in this field focus on Remotely Operated Vehicles(ROVs),Autonomous Underwater Vehicles(AUVs),underwater manipulators,etc.Fish robot, which is a new type of underwater biomimetic robot,has attracted great attention because of its silence in moving and energy efficiency compared to conventional propeller-oriented propulsive mechanism. However,most of researches on fish robots have been carried out via empirical or experimental approaches,not based on dynamic optimality.In this paper,we proposed an analytical optimization approach which can guarantee the maximum propulsive velocity of fish robot in the given parametric conditions.First,a dynamic model of 3-joint(4 links)carangiform fish robot is derived,using which the influences of parameters of input torque functions,such as amplitude,frequency and phase difference,on its velocity are investigated by simulation.Second,the maximum velocity of the fish robot is optimized by combining Genetic Algorithm(GA)and Hill Climbing Algorithm(HCA).GA is used to generate the initial optimal parameters of the input functions of the system.Then,the parameters are optimized again by HCA to ensure that the final set of parameters is the'near'global optimization.Finally,both simulations and primitive experiments are carried out to prove the feasibility of the proposed method.

Configuration optimization of high velocity arc spraying gun

In order to improve the in-flight characteristics of the atomizing droplets during high velocity wire arc spraying (HVAS), some changes have been operated on the original design of the HVAS gun configuration. A comparative study was carried out to investigate the microstructure and properties of the coatings produced by the original design spraying gun and the modified one, using 3Cr13 wires of 3 mm in diameter. The characteristics of their jets were examined during spraying. The results indicate that, the included angle between the two wires and the distance from the nozzle to the meeting point of the two vires may have a strong influence on the characteristics of the in-flight droplets and then the coatings. The jet divergence is found to be lower than that of the original one (about 12° against 25°). By modified gun, the adhesion strength, the microhardness and porosity of the coating deposited by modified gun are increased by 39% and 9% respectively. And the porosity of the coatings is decreased by 57%.

The Velocity Measurement of Two-phase Flow Based on Particle Swarm Optimization Algorithm and Nonlinear Blind Source Separation

In order to overcome the disturbance of noise,this paper presented a method to measure two-phase flow velocity using particle swarm optimization algorithm,nonlinear blind source separation and cross correlation method.Because of the nonlinear relationship between the output signals of capacitance sensors and fluid in pipeline,nonlinear blind source separation is applied.In nonlinear blind source separation,the odd polynomials of higher order are used to fit the nonlinear transformation function,and the mutual information of separation signals is used as the evaluation function.Then the parameters of polynomial and linear separation matrix can be estimated by mutual information of separation signals and particle swarm optimization algorithm,thus the source signals can be separated from the mixed signals.The two-phase flow signals with noise which are obtained from upstream and downstream sensors are respectively processed by nonlinear blind source separation method so that the noise can be effectively removed.Therefore,based on these noise-suppressed signals,the distinct curves of cross correlation function and the transit times are obtained,and then the velocities of two-phase flow can be accurately calculated.Finally,the simulation experimental results are given.The results have proved that this method can meet the measurement requirements of two-phase flow velocity.

耗散粒子动力学的优化修正Velocity Verlet算法

在Groot和Warren耗散粒子动力学的修正VelocityVerlet算法的基础上引入优化方法获得一个简单的计算λ的表达式,提出一种自洽获取该值的优化修正VelocityVerlet算法.模拟结果表明,这种通过优化来获得参数的修正VerlocityVerler算法具有运算量小、温度稳定的优点,可以在耗散粒子动力学模拟中使用.

Herrmann Method of Analyzing Structure Design Velocity Field

The shape optimization is studied by adopting the domain integrated method which is based on the calculus of variations during the shape design sensitivity analysis. A new method of improving the efficiency of the design velocity field analysis and the quality of the finite element method (FEM) mesh is put forward. The sensitivity analysis which is based on the calculus of variations is used in the shape optimization. The design velocity field is solved by Herrmann method. An example shows that both the quality of the FEM mesh and the efficiency of the computing of the design velocity field are improved by Herrmann method. So the effect and the efficiency of the shape optimization are guaranteed. If using sensitivity analysis which is based on the calculus of variations in the shape optimization, the sensitivity analysis can be a relatively independent module. The efficiency of computing the design velocity field and the quality of mesh will be improved by using Herrmann method.

Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

Most researches focus on the regenerative braking system design in vehicle components control and braking torque distribution,few combine the connected vehicle technologies into braking velocity planning.If the braking intention is accessed by the vehicle-to-everything communication,the electric vehicles(EVs)could plan the braking velocity for recovering more vehicle kinetic energy.Therefore,this paper presents an energy-optimal braking strategy(EOBS)to improve the energy efficiency of EVs with the consideration of shared braking intention.First,a double-layer control scheme is formulated.In the upper-layer,an energy-optimal braking problem with accessed braking intention is formulated and solved by the distance-based dynamic programming algorithm,which could derive the energy-optimal braking trajectory.In the lower-layer,the nonlinear time-varying vehicle longitudinal dynamics is transformed to the linear time-varying system,then an efficient model predictive controller is designed and solved by quadratic programming algorithm to track the original energy-optimal braking trajectory while ensuring braking comfort and safety.Several simulations are conducted by jointing MATLAB and CarSim,the results demonstrated the proposed EOBS achieves prominent regeneration energy improvement than the regular constant deceleration braking strategy.Finally,the energy-optimal braking mechanism of EVs is investigated based on the analysis of braking deceleration,battery charging power,and motor efficiency,which could be a guide to real-time control.

Signal processing method for shear wave velocity measurement

Soil shear wave velocity （SWV） is an important parameter in geotechnical engineering. To measure the soil SWV, three methods are generally used in China, including the single-hole method, cross-hole method and the surface-wave technique. An optimized approach based on a correlation function for single-hole SWV measurement is presented in this paper. In this approach, inherent inconsistencies of the artificial methods such as negative velocities, and too-large and too-small velocities, are eliminated from the single-hole method, and the efficiency of data processing is improved. In addition, verification using the cross-hole method of upper measuring points shows that the proposed optimized approach yields high precision in signal processing.