Reference Modelof Desired Yaw Anglefor Automated Lane Changing Behavior of Vehicle

In this paper,it studies the problem of trajectory planning and tracking for lane changing behavior of vehicle in automatic highway systems. Based on the model of yaw angle acceleration with positive and negative trapezoid constraint,by analyzing the variation laws of yaw motion of vehicle during a lane changing maneuver,the reference model of desired yaw angle and yaw rate for lane changing is generated. According to the yaw angle model,the vertical and horizontal coordinates of trajectory for vehicle lane change are calculated. Assuming that the road curvature is a constant,the difference and associations between two scenarios are analyzed,the lane changing maneuvers occurred on curve road and straight road,respectively. On this basis,it deduces the calculation method of desired yaw angle for lane changing on circular road. Simulation result shows that,it is different from traditional lateral acceleration planning method with the trapezoid constraint,by applying the trapezoidal yaw acceleration reference model proposed in this paper, the resulting expected yaw angular acceleration is continuous,and the step tracking for steering angle is not needed to implement. Due to the desired yaw model is direct designed based on the variation laws of raw movement of vehicle during a lane changing maneuver, rather than indirectly calculated from the trajectory model for lane changing, the calculation steps are simplified.

Considerations of rock dilation on modeling failure and deformation of hard rocks-a case study of the mine-by test tunnel in Canada

For the compressive stress-induced failure of tunnels at depth, rock fracturing process is often closely associated with the generation of surface parallel fractures in the initial stage, and shear failure is likely to occur in the final process during the formation of shear bands, breakouts or V-shaped notches close to the excavation boundaries. However, the perfectly elastoplastic, strain-softening and elasto-brittle-plastic models cannot reasonably describe the brittle failure of hard rock tunnels under high in-situ stress conditions. These approaches often underestimate the depth of failure and overestimate the lateral extent of failure near the excavation. Based on a practical case of the mine-by test tunnel at an underground research laboratory (URL) in Canada, the influence of rock mass dilation on the depth and extent of failure and deformation is investigated using a calibrated cohesion weakening and frictional strengthening (CWFS) model. It can be found that, when modeling brittle failure of rock masses, the calibrated CWFS model with a constant dilation angle can capture the depth and extent of stress-induced brittle failure in hard rocks at a low confinement if the stress path is correctly represented, as demonstrated by the failure shape observed in the tunnel. However, using a constant dilation angle cannot simulate the nonlinear deformation behavior near the excavation boundary accurately because the dependence of rock mass dilation on confinement and plastic shear strain is not considered. It is illustrated from the numerical simulations that the proposed plastic shear strain and confinement-dependent dilation angle model in combination with the calibrated CWFS model implemented in FLAC can reasonably reveal both rock mass failure and displacement distribution in vicinity of the excavation simultaneously. The simulation results are in good agreement with the field observations and displacement measurement data.

Unsteady aerodynamics modeling for flight dynamics application

In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability

Generalized 3D Scattering Channel Model with MIMO Antenna Systems

In this paper, a generalized three-dimensional(3D) scattering channel model for macrocellular land mobile environments is considered. This model simultaneously describes angular arrival of multi-path signals in the azimuth and elevation planes in an environment where uniformly distributed scatterers are assumed to be present in hemispheroids around the base station(BS) and mobile station(MS). Using this channel model, we first derive the closed-form expression for the joint and marginal probability density functions of the angle-of-arrival and time-of-arrival measured at the BS and the MS corresponding to the azimuth and elevation angles. Next, we derive an expression for the Doppler spectral distribution caused by motion of the MSs. Furthermore, we analyze the performance of multiple-input multiple-output antenna systems numerically. The results show that the proposed 3D scattering channel model performs better than previously proposed two-dimensional(2D) models for indoor and outdoor environments. We compare the results with previous scattering channel models and measurement results to validate the generalizability of our model.

Effect of Thermal Shrinkage of Extruded Sheet on Mouthguard Thickness: Influence of Model Undercut

The effectiveness and safety of the mouthguard are greatly affected by its thickness. The aim of this study was to investigate the effect of thermal shrinkage of the extruded sheet on the mouthguard thickness depending on the amount of undercut of the model. Mouthguard sheet was used a 4.0 mm thick ethylene-vinyl acetate resin manufactured by extrusion molding. The sheets were placed in the vacuum forming machine with the sheet extrusion direction either vertical (condition V) or parallel (condition P) to the model’s centerline. The working models were three hard plaster models trimmed so that the angles of the anterior teeth to the model base were 90?, 100?, and 110? (Models A, B, and C). The sheet was softened until it sagged 15 mm, and then suction was continued for 30 s. Measurement points of the mouthguard were the incisal portion (incisal edge and labial surface) and molar portion (cusp and buccal surface). The differences in the reduction rate of the thickness due to model form and extrusion direction were analyzed using two-way ANOVA and Bonferroni’s multiple comparison tests. Differences in thickness depending on the extrusion direction of the sheet were observed in Models B and C on the labial surface and in all models on the buccal surface, and the thicknesses obtained under condition P were significantly thinner than those obtained under condition V. The thicknesses of the incisal edge and the cusp were not affected by the extrusion direction. The result of this study was suggested that the labial and buccal thickness of the mouthguard was secured by placing the sheet in the extrusion direction vertical to the model’s centerline. Furthermore, it was clarified that the presence of the undercut of the model tends to increase the influence of the extrusion direction of the sheet on the thickness of the mouthguard.

Bifurcation control of solid angle car-following model through a time-delay feedback method

In order to alleviate unstable factor-caused bifurcation and reduce oscillations in traffic flow,a feedback control with consideration of time delay is designed for the solid angle model(SAM).The stability and bifurcation condition of the new SAM is derived through linear analysis and bifurcation analysis,and then accurate range of stable region is obtained.In order to explore the mechanism of the influence of multiple parameter combinations on the stability of controlled systems,a definite integral stabilization method is provided to determine the stable interval of time delay and feedback gain.Numerical simulations are explored to verify the feasibility and effectiveness of the proposed model,which also demonstrate that feedback gain and delay are two key factors to alleviate traffic congestion in the SAM.

Analysis of dynamic features in intersecting pedestrian flows

This paper focuses on the simulation analysis of stripe formation and dynamic features of intersecting pedestrian flows.The intersecting flows consist of two streams of pedestrians and each pedestrian stream has a desired walking direction.The model adopted in the simulations is the social force model, which can reproduce the self-organization phenomena successfully. Three scenarios of different cross angles are established. The simulations confirm the empirical observations that there is a stripe formation when two streams of pedestrians intersect and the direction of the stripes is perpendicular to the sum of the directional vectors of the two streams. It can be concluded from the numerical simulation results that smaller cross angle results in higher mean speed and lower level of speed fluctuation. Moreover, the detailed pictures of pedestrians＇ moving behavior at intersections are given as well.

Development and application of a throughflow method for high-loaded axial flow compressors

In this paper, a novel engineering platform for throughflow analysis based on streamline curvature approach is developed for the research of a 5-stage compressor. The method includes several types of improved loss and deviation angle models, which are combined with the authors' adjustments for the purpose of reflecting the influences of three-dimensional internal flow in high-loaded multistage compressors with higher accuracy. In order to validate the reliability and robustness of the method, a series of test cases, including a subsonic compressor P&W 3S1, a transonic rotor NASA Rotor 1B and especially an advanced high pressure core compressor GE E^3 HPC, are conducted. Then the computation procedure is applied to the research of a 5-stage compressor which is designed for developing an industrial gas turbine. The overall performance and aerodynamic configuration predicted by the procedure, both at design- and part-speed conditions, are analyzed and compared with experimental results, which show a good agreement. Further discussion regarding the universality of the method compared with CFD is made afterwards. The throughflow method is verified as a reliable and convenient tool for aerodynamic design and performance prediction of modern high-loaded compressors. This method is also qualified for use in the further optimization of the 5-stage compressor.