For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,t...For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,the algorithms that provide driver intent belong to two categories:those that use physics based models with some type of filtering,and machine learning based approaches.In this paper we employ barrier functions(BF)to decide driver intent.BFs are typically used to prove safety by establishing forward invariance of an admissible set.Here,we decide if the“target”vehicle is violating one or more possibly fictitious(i.e.,non-physical)barrier constraints determined based on the context provided by the road geometry.The algorithm has a very small computational footprint and better false positive and negative rates than some of the alternatives.The predicted intent is then used by a control barrier function(CBF)based collision avoidance system to prevent unnecessary interventions,for either an autonomous or human-driven vehicle.展开更多
In order to reflect the influence of the drivers＇ characteristic differences on intersection capacity under a mixed traffic flow, a driver correction coefficient for the intersection capacity calculation according to...In order to reflect the influence of the drivers＇ characteristic differences on intersection capacity under a mixed traffic flow, a driver correction coefficient for the intersection capacity calculation according to the driver＇s visual characteristics is proposed. First, the parameters of the driver＇s visual characteristics at some real roads, including gaze fixation distribution, mean fixation duration, visual angle distribution and some other parameters at intersections, are collected. Then, the relationship between the traffic flow rate at intersections and the parameters of driver eye movements are established. The analytical results indicate that when the traffic flow is unsaturated, the parameters of driver eye movements change relatively little; however, when the traffic flow is saturated, the parameters of driver eye movements change drastically. Finally, the saturation-flow-rate model is modified according to the parameters of driver eye movements; thus, a capacity model of intersections considering the driver＇s visual characteristics is obtained.展开更多
This paper aims to discuss the real intention behind Caesar’s two British expeditions and the evidence against the conquest theory.In Commentarii de Bello Gallico,Caesar claimed that he invaded Britain because he wou...This paper aims to discuss the real intention behind Caesar’s two British expeditions and the evidence against the conquest theory.In Commentarii de Bello Gallico,Caesar claimed that he invaded Britain because he would like to teach the Britons a lesson for aiding the Gauls.Most modern scholars disagree that Caesar’s true intention is what Caesar has said,so they come up with their own theories.Ranzani says Caesar’s expedition is for glory,while Deutsch argues that Caesar’s expeditions are for pearls.Mitchell suggests that Caesar went to Britain for tin,while Ranzani,Schadee,Raaflaub,and Riggsby all come up with the theory of Caesar’s military and political gains.Brady is one of the few scholars who believe in what Caesar has said-to punish the Gauls.Moreover,Brady also considers Caesar’s expeditions a success since he does not think Caesar’s true goal is to conquer Britain.展开更多
The glutathione-S-transferase genes mainly the GSTM1 and GSTT1 alleles are responsible for the synthesis of detoxication enzymes that can remove toxic substances. The objective of this study is to seek changes in the ...The glutathione-S-transferase genes mainly the GSTM1 and GSTT1 alleles are responsible for the synthesis of detoxication enzymes that can remove toxic substances. The objective of this study is to seek changes in the genetic polymorphism of glutathione-S-transferase GSTM1 and GSTT1 in motorcycle drivers exposed to BTEX. Our study group consists of 60 motorcycle drivers including 30 professional and 30 non-professional. Blood samples were preleveled from the study population in the EDTA tubes and DNA was extracted by the phenol/chloroform method. The PCR technique was used to determine the presence or absence of genes. Our results showed that the percentage of GSTM1 null genotype has a statistically significant difference (P = 0.02), while the percentage of GSTT1 null genotype was non-significant (P = 0.76) between the two groups. The percentage of deletion of both genes is higher in professional than non-professional motorcycle drivers. Air pollution in Cotonou by BTEX seems to influence the deletion of the GSTM1 and GSTT1 genes at a higher percentage among professional than non-professional motorcycle drivers.展开更多
Intellectual capital(IC)has become a universal performance indicator for the socioeconomic development of countries and regions.Based on a review ofnational intellectualcapital(NIC)and regional intellectualcapital(RIC...Intellectual capital(IC)has become a universal performance indicator for the socioeconomic development of countries and regions.Based on a review ofnational intellectualcapital(NIC)and regional intellectualcapital(RIC)evaluation literature,we used the regional intellectualcapitalindicator(RICI)as a model for China’s RIC evaluation to indirectly understand China’s potential economic growth drivers.Specifically,we collected statisticaldata of31 provinces(including municipalities and autonomous regions)in China from 2004 to 2016to measure RICI and analyze its dynamic characteristics from temporal and spatial perspectives.In this paper,Delphi analysis was used to construct RICI model,and cluster analysisand exploratory spatial data analysis were used to analyze the temporal and spatial characteristics of RICI in China.The results showedthat RICI,which represents China’s overall economic growth drivers,increases annuallyand is consistent with economic developmentlevelduring the study period.Regarding the geo-spatial space,RICI follows the trend of“high in the east and low in the west”,gradually decreasing from eastern to western China.ForRIC structure,the shape of the radar chart of IC structure located in the eastern coastal areas is usually biased towards strong external relational capital,while that in western China is generally biased towards structural capital.For spatial correlation,China’s RICI has dependence on geographical adjacent space and economic space.Our research can provide policy suggestions for the sustainable development of regional economy from an IC perspective.展开更多
This research aims to quantify driver ride comfort due to changes in damper characteristics between comfort mode and sport mode,considering the vehicle’s inertial behavior.The comfort of riding in an automobile has b...This research aims to quantify driver ride comfort due to changes in damper characteristics between comfort mode and sport mode,considering the vehicle’s inertial behavior.The comfort of riding in an automobile has been evaluated in recent years on the basis of a subjective sensory evaluation given by the driver.However,reflecting driving sensations in design work to improve ride comfort is abstract in nature and difficult to express theoretically.Therefore,we evaluated the human body’s effects while driving scientifically by quantifying the driver’s behavior while operating the steering wheel and the behavior of the automobile while in motion using physical quantities.To this end,we collected driver and vehicle data using amotion capture system and vehicle CAN and IMU sensors.We also constructed a three-dimensional musculoskeletal mathematical model to simulate driver movements and calculate the power and amount of energy per unit of time used for driving the joints and muscles of the human body.Here,we used comfort mode and sport mode to compare damper characteristics in terms of hardness.In comfort mode,damper characteristics are soft and steering stability is mild,but vibration from the road is not easily transmitted to the driver making for a lighter load on the driver.In sport mode,on the other hand,damper characteristics are hard and steering stability is comparatively better.Still,vibration from the road is easily transmitted to the driver,whichmakes it easy for a load to be placed on the driver.As a result of this comparison,it was found that a load was most likely to be applied to the driver’s neck.This result in relation to the neck joint can therefore be treated as an objective measure for quantifying ride comfort.展开更多
文摘For autonomous vehicles and driver assist systems,path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers.In the literature,the algorithms that provide driver intent belong to two categories:those that use physics based models with some type of filtering,and machine learning based approaches.In this paper we employ barrier functions(BF)to decide driver intent.BFs are typically used to prove safety by establishing forward invariance of an admissible set.Here,we decide if the“target”vehicle is violating one or more possibly fictitious(i.e.,non-physical)barrier constraints determined based on the context provided by the road geometry.The algorithm has a very small computational footprint and better false positive and negative rates than some of the alternatives.The predicted intent is then used by a control barrier function(CBF)based collision avoidance system to prevent unnecessary interventions,for either an autonomous or human-driven vehicle.
基金The National Natural Science Foundation of China (No.50708019)Huo Yingdong Education Foundation(No.104010)Jiangsu Qing Lan Project
文摘In order to reflect the influence of the drivers＇ characteristic differences on intersection capacity under a mixed traffic flow, a driver correction coefficient for the intersection capacity calculation according to the driver＇s visual characteristics is proposed. First, the parameters of the driver＇s visual characteristics at some real roads, including gaze fixation distribution, mean fixation duration, visual angle distribution and some other parameters at intersections, are collected. Then, the relationship between the traffic flow rate at intersections and the parameters of driver eye movements are established. The analytical results indicate that when the traffic flow is unsaturated, the parameters of driver eye movements change relatively little; however, when the traffic flow is saturated, the parameters of driver eye movements change drastically. Finally, the saturation-flow-rate model is modified according to the parameters of driver eye movements; thus, a capacity model of intersections considering the driver＇s visual characteristics is obtained.
文摘This paper aims to discuss the real intention behind Caesar’s two British expeditions and the evidence against the conquest theory.In Commentarii de Bello Gallico,Caesar claimed that he invaded Britain because he would like to teach the Britons a lesson for aiding the Gauls.Most modern scholars disagree that Caesar’s true intention is what Caesar has said,so they come up with their own theories.Ranzani says Caesar’s expedition is for glory,while Deutsch argues that Caesar’s expeditions are for pearls.Mitchell suggests that Caesar went to Britain for tin,while Ranzani,Schadee,Raaflaub,and Riggsby all come up with the theory of Caesar’s military and political gains.Brady is one of the few scholars who believe in what Caesar has said-to punish the Gauls.Moreover,Brady also considers Caesar’s expeditions a success since he does not think Caesar’s true goal is to conquer Britain.
文摘The glutathione-S-transferase genes mainly the GSTM1 and GSTT1 alleles are responsible for the synthesis of detoxication enzymes that can remove toxic substances. The objective of this study is to seek changes in the genetic polymorphism of glutathione-S-transferase GSTM1 and GSTT1 in motorcycle drivers exposed to BTEX. Our study group consists of 60 motorcycle drivers including 30 professional and 30 non-professional. Blood samples were preleveled from the study population in the EDTA tubes and DNA was extracted by the phenol/chloroform method. The PCR technique was used to determine the presence or absence of genes. Our results showed that the percentage of GSTM1 null genotype has a statistically significant difference (P = 0.02), while the percentage of GSTT1 null genotype was non-significant (P = 0.76) between the two groups. The percentage of deletion of both genes is higher in professional than non-professional motorcycle drivers. Air pollution in Cotonou by BTEX seems to influence the deletion of the GSTM1 and GSTT1 genes at a higher percentage among professional than non-professional motorcycle drivers.
基金This research received financial support from the National Social Science Foundationof China(13AJY004).
文摘Intellectual capital(IC)has become a universal performance indicator for the socioeconomic development of countries and regions.Based on a review ofnational intellectualcapital(NIC)and regional intellectualcapital(RIC)evaluation literature,we used the regional intellectualcapitalindicator(RICI)as a model for China’s RIC evaluation to indirectly understand China’s potential economic growth drivers.Specifically,we collected statisticaldata of31 provinces(including municipalities and autonomous regions)in China from 2004 to 2016to measure RICI and analyze its dynamic characteristics from temporal and spatial perspectives.In this paper,Delphi analysis was used to construct RICI model,and cluster analysisand exploratory spatial data analysis were used to analyze the temporal and spatial characteristics of RICI in China.The results showedthat RICI,which represents China’s overall economic growth drivers,increases annuallyand is consistent with economic developmentlevelduring the study period.Regarding the geo-spatial space,RICI follows the trend of“high in the east and low in the west”,gradually decreasing from eastern to western China.ForRIC structure,the shape of the radar chart of IC structure located in the eastern coastal areas is usually biased towards strong external relational capital,while that in western China is generally biased towards structural capital.For spatial correlation,China’s RICI has dependence on geographical adjacent space and economic space.Our research can provide policy suggestions for the sustainable development of regional economy from an IC perspective.
文摘This research aims to quantify driver ride comfort due to changes in damper characteristics between comfort mode and sport mode,considering the vehicle’s inertial behavior.The comfort of riding in an automobile has been evaluated in recent years on the basis of a subjective sensory evaluation given by the driver.However,reflecting driving sensations in design work to improve ride comfort is abstract in nature and difficult to express theoretically.Therefore,we evaluated the human body’s effects while driving scientifically by quantifying the driver’s behavior while operating the steering wheel and the behavior of the automobile while in motion using physical quantities.To this end,we collected driver and vehicle data using amotion capture system and vehicle CAN and IMU sensors.We also constructed a three-dimensional musculoskeletal mathematical model to simulate driver movements and calculate the power and amount of energy per unit of time used for driving the joints and muscles of the human body.Here,we used comfort mode and sport mode to compare damper characteristics in terms of hardness.In comfort mode,damper characteristics are soft and steering stability is mild,but vibration from the road is not easily transmitted to the driver making for a lighter load on the driver.In sport mode,on the other hand,damper characteristics are hard and steering stability is comparatively better.Still,vibration from the road is easily transmitted to the driver,whichmakes it easy for a load to be placed on the driver.As a result of this comparison,it was found that a load was most likely to be applied to the driver’s neck.This result in relation to the neck joint can therefore be treated as an objective measure for quantifying ride comfort.
