Traffic intersections are incredibly dangerous for drivers and pedestrians. Statistics from both Canada and the U.S. show a high number of fatalities and serious injuries related to crashes at intersections. In Canada...Traffic intersections are incredibly dangerous for drivers and pedestrians. Statistics from both Canada and the U.S. show a high number of fatalities and serious injuries related to crashes at intersections. In Canada, during 2019, the National Collision Database shows that 28% of traffic fatalities and 42% of serious injuries occurred at intersections. Likewise, the U.S. National Highway Traffic Administration (NHTSA) found that about 40% of the estimated 5,811,000 accidents in the U.S. during the year studied were intersection-related crashes. In fact, a major survey by the car insurance industry found that nearly 85% of drivers could not identify the correct action to take when approaching a yellow traffic light at an intersection. One major reason for these accidents is the “yellow light dilemma,” the ambiguous situation where a driver should stop or proceed forward when unexpectedly faced with a yellow light. This situation is even further exacerbated by the tendency of aggressive drivers to inappropriately speed up on the yellow just to get through the traffic light. A survey of Canadian drivers conducted by the Traffic Injury Research Foundation found that 9% of drivers admitted to speeding up to get through a traffic light. Another reason for these accidents is the increased danger of making a left-hand turn on yellow. According to the National Highway Traffic Safety Association (NHTSA), left turns occur in approximately 22.2% of collisions—as opposed to just 1.2% for right turns. Moreover, a study by CNN found left turns are three times as likely to kill pedestrians than right turns. The reason left turns are so much more likely to cause an accident is because they take a driver against traffic and in the path of oncoming cars. Additionally, most of these left turns occur at the driver’s discretion—as opposed to the distressingly brief left-hand arrow at busy intersections. Drive Safe Now proposes a workable solution for reducing the number of accidents occurring during a yellow light at intersections. We believe this fairly simple solution will save lives, prevent injuries, reduce damage to public and private property, and decrease insurance costs.展开更多
The development of vehicle integrated photovoltaics-powered electric vehicles (VIPV-EV) significantly reduces CO<sub>2</sub> emissions from the transport sector to realize a decarbonized society. Although ...The development of vehicle integrated photovoltaics-powered electric vehicles (VIPV-EV) significantly reduces CO<sub>2</sub> emissions from the transport sector to realize a decarbonized society. Although long-distance driving of VIPV-EV without electricity charging is expected in sunny regions, driving distance of VIPV-EV is affected by climate conditions such as solar irradiation and temperature rise of PV modules. In this paper, detailed analytical results for effects of climate conditions such as solar irradiation and temperature rise of PV modules upon driving distance of the VIPV-EV were presented by using test data for Toyota Prius and Nissan Van demonstration cars installed with high-efficiency InGaP/GaAs/InGaAs 3-junction solar cell modules with a module efficiency of more than 30%. The temperature rise of some PV modules studied in this study was shown to be expressed by some coefficients related to solar irradiation, wind speed and radiative cooling. The potential of VIPV-EV to be deployed in 10 major cities was also analyzed. Although sunshine cities such as Phoenix show the high reduction ratio of driving range with 17% due to temperature rise of VIPV modules, populous cities such as Tokyo show low reduction ratio of 9%. It was also shown in this paper that the difference between the driving distance of VIPV-EV driving in the morning and the afternoon is due to PV modules’ radiative cooling. In addition, the importance of heat dissipation of PV modules and the development of high-efficiency PV modules with better temperature coefficients was suggested in order to expand driving range of VIPV-EV. The effects of air-conditioner usage and partial shading in addition to the effects of temperature rise of VIPV modules were suggested as the other power losses of VIPV-EV.展开更多
Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model ba...Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model based on grey relation degree analysis to calibrate risk coefficients of DSF model. To solve the optimum solution, a genetic algorithm is employed. Finally, the DSF model is verified through a real-world driving experiment. Results show that the DSF model is consistent with driver's hazard perception and more sensitive than TTC. Moreover, the proposed DSF model offers a novel way for criticality assessment and decision-making of advanced driver assistance systems and intelligent connected vehicles.展开更多
Building on the various manifestations of the forces latent in the quantum vacuum of spacetime such as Hawking’s radiation and Unruh temperature, we resolve a major paradox connected to an immensely important proposa...Building on the various manifestations of the forces latent in the quantum vacuum of spacetime such as Hawking’s radiation and Unruh temperature, we resolve a major paradox connected to an immensely important proposal by NASA scientists for constructing a practically fuelless spacecraft. In a nutshell, preliminary laboratory work shows that NASA’s electromagnetic drive project is viable and several experiments and measurements show it is real. Yet the proposal violates a fundamental principle of classical mechanics, namely Newton’s third law. The resolution of this paradox is quite straight forward in principle. It is simply the case that although the proposal seems to be based on classical mechanics and classical thinking it is only superficially so. Deep at the roots, the EM drive proposal of NASA is not classical physics but rather based on the vacuum forces of quantum cosmology and the theory of dark energy density of the universe. In fact the proposal is deeply linked to Hawking’s radiation and Unruh temperature, which is explained in some detail in the main body of the present short paper within the frame work of E-infinity Cantorian spacetime theory and D. Gross’ Heterotic superstring theory. In short the quintessence of our explanation is to regard the EM drive as a quasi electromagnetic cavity with an effective event horizon akin to that of a Hawking black hole emitting radiation causing ultimately the needed thrust to push the spacecraft forwards. In addition and by invoking fractal spacetime self similarity we show that a spacecraft will be subject to another cosmic thrust on the large scale of the entire cosmos.展开更多
Driving pressure(ΔP)is a core therapeutic component of mechanical ventilation(MV).Varying levels ofΔP have been employed during MV depending on the type of underlying pathology and severity of injury.However,ΔP lev...Driving pressure(ΔP)is a core therapeutic component of mechanical ventilation(MV).Varying levels ofΔP have been employed during MV depending on the type of underlying pathology and severity of injury.However,ΔP levels have also been shown to closely impact hard endpoints such as mortality.Considering this,conducting an in-depth review ofΔP as a unique,outcome-impacting therapeutic modality is extremely important.There is a need to understand the subtleties involved in making sureΔP levels are optimized to enhance outcomes and minimize harm.We performed this narrative review to further explore the various uses ofΔP,the different parameters that can affect its use,and how outcomes vary in different patient populations at different pressure levels.To better utilizeΔP in MV-requiring patients,additional large-scale clinical studies are needed.展开更多
In order to realize further stability of a stack-type thermoelectric power generating module (i.e. no electrical connections inside), flexible materials of metal springs and/or rods having restoring forces were instal...In order to realize further stability of a stack-type thermoelectric power generating module (i.e. no electrical connections inside), flexible materials of metal springs and/or rods having restoring forces were installed between lower-temperature-sides of thermoelectric elements. These flexible materials were expected to play three important roles of interpolating different thermal expansions of the module components, enlarging heat removal area and penetration of any media through themselves. Then, a low-boiling-point medium (i.e. NOVEC manufactured by 3M Japan Ltd.) was also applied for a high-speed direct heat removal via its phase change from the lower-temperature-sides of the thermoelectric elements in the proposing stack-type thermoelectric power generating module. No electrical disconnections inside the module were confirmed for more than 9 years of use, indicating further module stability. The power generating density was improved to about 120 mW·m-2 with SUS304 springs having 0.7 mm diameter. Increasing power generating density can be expected in terms of suitable selection of flexible metal with high Vickers hardness, cavities control on the spring surface, more vigorous multiphase flow with adding powders to the medium and optimization of the module configurations according to numerical simulations.展开更多
Exploitation of sustainable energy sources requires the use of unique conversion and storage systems,such as solar panels,batteries,fuel cells,and electronic equipment.Thermal load management of these energy conversio...Exploitation of sustainable energy sources requires the use of unique conversion and storage systems,such as solar panels,batteries,fuel cells,and electronic equipment.Thermal load management of these energy conversion and storage systems is one of their challenges and concerns.In this article,the thermal management of these systems using thermoelectric modules is reviewed.The results show that by choosing the right option to remove heat from the hot side of the thermoelectric modules,it will be a suitable local cooling,and the thermoelectric modules increase the power and lifespan of the system by reducing the spot temperature.Thermoelectric modules were effective in reducing panel temperature.They increase the time to reach a temperature above 50℃ in batteries by 3 to 4 times.Also,in their integration with fuel cells,they increase the power density of the fuel cell.展开更多
Understanding the trajectories and driving mechanisms behind land use/land cover(LULC)changes is essential for effective watershed planning and management.This study quantified the net change,exchange,total change,and...Understanding the trajectories and driving mechanisms behind land use/land cover(LULC)changes is essential for effective watershed planning and management.This study quantified the net change,exchange,total change,and transfer rate of LULC in the Jinghe River Basin(JRB),China using LULC data from 2000 to 2020.Through trajectory analysis,knowledge maps,chord diagrams,and standard deviation ellipse method,we examined the spatiotemporal characteristics of LULC changes.We further established an index system encompassing natural factors(digital elevation model(DEM),slope,aspect,and curvature),socio-economic factors(gross domestic product(GDP)and population),and accessibility factors(distance from railways,distance from highways,distance from water,and distance from residents)to investigate the driving mechanisms of LULC changes using factor detector and interaction detector in the geographical detector(Geodetector).The key findings indicate that from 2000 to 2020,the JRB experienced significant LULC changes,particularly for farmland,forest,and grassland.During the study period,LULC change trajectories were categorized into stable,early-stage,late-stage,repeated,and continuous change types.Besides the stable change type,the late-stage change type predominated the LULC change trajectories,comprising 83.31% of the total change area.The period 2010-2020 witnessed more active LULC changes compared to the period 2000-2010.The LULC changes exhibited a discrete spatial expansion trend during 2000-2020,predominantly extending from southeast to northwest of the JRB.Influential driving factors on LULC changes included slope,GDP,and distance from highways.The interaction detection results imply either bilinear or nonlinear enhancement for any two driving factors impacting the LULC changes from 2000 to 2020.This comprehensive understanding of the spatiotemporal characteristics and driving mechanisms of LULC changes offers valuable insights for the planning and sustainable management of LULC in the JRB.展开更多
Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning frame...Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.展开更多
We analyzed the characteristics and trends of land-use change in and near the coastal zone of the Yangtze River Delta(YRD) during five periods(1995, 2000 2005, 2010, and 2015) using remotely sensed Landsat imagery. Us...We analyzed the characteristics and trends of land-use change in and near the coastal zone of the Yangtze River Delta(YRD) during five periods(1995, 2000 2005, 2010, and 2015) using remotely sensed Landsat imagery. Using automatic supervised classification combined with visual interpretation, we obtained land-use information for five study areas(Nantong, Shanghai, Jiaxing, Ningbo, and Zhoushan). Significant land-use changes have occurred in this area between 1995 and 2015, characterized in particular by large reductions in cultivated land and rapid increases in urbanized land. In addition, land reclamation was very active in this period as an effective supplement to the increased demand for land development: since 1995, 1622 km^2 of land was reclaimed from near-coastal regions in the study area. This increase in urbanization was jointly driven by population, economic, transportation, and policy factors. Urban areas expanded from the center outward in concentric rings, with infrastructure guiding the radial expansion of development along transportation corridors, thus forming a network of connections. Due to the influence of national land regulation policies, the expansion rate of development in the YRD gradually diminished after 2010. This indicates that the area's resource and environmental carrying capacity has reached a saturation stage in which urbanization has transitioned from broad and incremental expansion to the intensive use of land resources.展开更多
In wireless sensor network, the primary design is to save the energy consumption as much as possible while achieving the given task. Most of recent researches works have only focused on the individual layer issues and...In wireless sensor network, the primary design is to save the energy consumption as much as possible while achieving the given task. Most of recent researches works have only focused on the individual layer issues and ignore the importance of inter working between different layers in a sensor network. In this paper, we use a cross-layer approach to propose an energy-efficient and extending the life time of the sensor network. This protocol which uses routing in the network layer, and the data scheduling in MAC layer. The main ob-jective of this paper is to provide a possible and flexible approach to solve the conflicts between the require-ments of large scale, long life-time, and multi-purpose wireless sensor networks. This OEEXLM module gives better performance compared to all other existing protocols. The performance of OEEXLM module compared with S-MAC and directed diffusion protocol.展开更多
The purpose of this short but difficult paper is to revisit the mathematical foundations of both General Relativity (GR) and Gauge Theory (GT) in the light of a modern approach to nonlinear systems of ordinary or part...The purpose of this short but difficult paper is to revisit the mathematical foundations of both General Relativity (GR) and Gauge Theory (GT) in the light of a modern approach to nonlinear systems of ordinary or partial differential equations, using new methods from Differential Geometry (D.C. Spencer, 1970), Differential Algebra (J.F. Ritt, 1950 and E. Kolchin, 1973) and Algebraic Analysis (M. Kashiwara, 1970). The main idea is to identify the differential indeterminates of Ritt and Kolchin with the jet coordinates of Spencer, in order to study Differential Duality by using only linear differential operators with coefficients in a differential field K. In particular, the linearized second order Einstein operator and the formal adjoint of the Ricci operator are both parametrizing the 4 first order Cauchy stress equations but cannot themselves be parametrized. In the framework of Homological Algebra, this result is not coherent with the vanishing of a certain second extension module and leads to question the proper origin and existence of gravitational waves. As a byproduct, we also prove that gravitation and electromagnetism only depend on the second order jets (called elations by E. Cartan in 1922) of the system of conformal Killing equations because any 1-form with value in the bundle of elations can be decomposed uniquely into the direct sum (R, F) where R is a section of the Ricci bundle of symmetric covariant 2-tensors and the EM field F is a section of the vector bundle of skew-symmetric 2-tensors. No one of these purely mathematical results could have been obtained by any classical approach. Up to the knowledge of the author, it is also the first time that differential algebra in a modern setting is applied to study the specific algebraic feature of most equations to be found in mathematical physics, particularly in GR.展开更多
文摘Traffic intersections are incredibly dangerous for drivers and pedestrians. Statistics from both Canada and the U.S. show a high number of fatalities and serious injuries related to crashes at intersections. In Canada, during 2019, the National Collision Database shows that 28% of traffic fatalities and 42% of serious injuries occurred at intersections. Likewise, the U.S. National Highway Traffic Administration (NHTSA) found that about 40% of the estimated 5,811,000 accidents in the U.S. during the year studied were intersection-related crashes. In fact, a major survey by the car insurance industry found that nearly 85% of drivers could not identify the correct action to take when approaching a yellow traffic light at an intersection. One major reason for these accidents is the “yellow light dilemma,” the ambiguous situation where a driver should stop or proceed forward when unexpectedly faced with a yellow light. This situation is even further exacerbated by the tendency of aggressive drivers to inappropriately speed up on the yellow just to get through the traffic light. A survey of Canadian drivers conducted by the Traffic Injury Research Foundation found that 9% of drivers admitted to speeding up to get through a traffic light. Another reason for these accidents is the increased danger of making a left-hand turn on yellow. According to the National Highway Traffic Safety Association (NHTSA), left turns occur in approximately 22.2% of collisions—as opposed to just 1.2% for right turns. Moreover, a study by CNN found left turns are three times as likely to kill pedestrians than right turns. The reason left turns are so much more likely to cause an accident is because they take a driver against traffic and in the path of oncoming cars. Additionally, most of these left turns occur at the driver’s discretion—as opposed to the distressingly brief left-hand arrow at busy intersections. Drive Safe Now proposes a workable solution for reducing the number of accidents occurring during a yellow light at intersections. We believe this fairly simple solution will save lives, prevent injuries, reduce damage to public and private property, and decrease insurance costs.
文摘The development of vehicle integrated photovoltaics-powered electric vehicles (VIPV-EV) significantly reduces CO<sub>2</sub> emissions from the transport sector to realize a decarbonized society. Although long-distance driving of VIPV-EV without electricity charging is expected in sunny regions, driving distance of VIPV-EV is affected by climate conditions such as solar irradiation and temperature rise of PV modules. In this paper, detailed analytical results for effects of climate conditions such as solar irradiation and temperature rise of PV modules upon driving distance of the VIPV-EV were presented by using test data for Toyota Prius and Nissan Van demonstration cars installed with high-efficiency InGaP/GaAs/InGaAs 3-junction solar cell modules with a module efficiency of more than 30%. The temperature rise of some PV modules studied in this study was shown to be expressed by some coefficients related to solar irradiation, wind speed and radiative cooling. The potential of VIPV-EV to be deployed in 10 major cities was also analyzed. Although sunshine cities such as Phoenix show the high reduction ratio of driving range with 17% due to temperature rise of VIPV modules, populous cities such as Tokyo show low reduction ratio of 9%. It was also shown in this paper that the difference between the driving distance of VIPV-EV driving in the morning and the afternoon is due to PV modules’ radiative cooling. In addition, the importance of heat dissipation of PV modules and the development of high-efficiency PV modules with better temperature coefficients was suggested in order to expand driving range of VIPV-EV. The effects of air-conditioner usage and partial shading in addition to the effects of temperature rise of VIPV modules were suggested as the other power losses of VIPV-EV.
基金Projects(51475254,51625503)supported by the National Natural Science Foundation of ChinaProject(MCM20150302)supported by the Joint Project of Tsinghua and China Mobile,ChinaProject supported by the joint Project of Tsinghua and Daimler Greater China Ltd.,Beijing,China
文摘Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model based on grey relation degree analysis to calibrate risk coefficients of DSF model. To solve the optimum solution, a genetic algorithm is employed. Finally, the DSF model is verified through a real-world driving experiment. Results show that the DSF model is consistent with driver's hazard perception and more sensitive than TTC. Moreover, the proposed DSF model offers a novel way for criticality assessment and decision-making of advanced driver assistance systems and intelligent connected vehicles.
文摘Building on the various manifestations of the forces latent in the quantum vacuum of spacetime such as Hawking’s radiation and Unruh temperature, we resolve a major paradox connected to an immensely important proposal by NASA scientists for constructing a practically fuelless spacecraft. In a nutshell, preliminary laboratory work shows that NASA’s electromagnetic drive project is viable and several experiments and measurements show it is real. Yet the proposal violates a fundamental principle of classical mechanics, namely Newton’s third law. The resolution of this paradox is quite straight forward in principle. It is simply the case that although the proposal seems to be based on classical mechanics and classical thinking it is only superficially so. Deep at the roots, the EM drive proposal of NASA is not classical physics but rather based on the vacuum forces of quantum cosmology and the theory of dark energy density of the universe. In fact the proposal is deeply linked to Hawking’s radiation and Unruh temperature, which is explained in some detail in the main body of the present short paper within the frame work of E-infinity Cantorian spacetime theory and D. Gross’ Heterotic superstring theory. In short the quintessence of our explanation is to regard the EM drive as a quasi electromagnetic cavity with an effective event horizon akin to that of a Hawking black hole emitting radiation causing ultimately the needed thrust to push the spacecraft forwards. In addition and by invoking fractal spacetime self similarity we show that a spacecraft will be subject to another cosmic thrust on the large scale of the entire cosmos.
文摘Driving pressure(ΔP)is a core therapeutic component of mechanical ventilation(MV).Varying levels ofΔP have been employed during MV depending on the type of underlying pathology and severity of injury.However,ΔP levels have also been shown to closely impact hard endpoints such as mortality.Considering this,conducting an in-depth review ofΔP as a unique,outcome-impacting therapeutic modality is extremely important.There is a need to understand the subtleties involved in making sureΔP levels are optimized to enhance outcomes and minimize harm.We performed this narrative review to further explore the various uses ofΔP,the different parameters that can affect its use,and how outcomes vary in different patient populations at different pressure levels.To better utilizeΔP in MV-requiring patients,additional large-scale clinical studies are needed.
文摘In order to realize further stability of a stack-type thermoelectric power generating module (i.e. no electrical connections inside), flexible materials of metal springs and/or rods having restoring forces were installed between lower-temperature-sides of thermoelectric elements. These flexible materials were expected to play three important roles of interpolating different thermal expansions of the module components, enlarging heat removal area and penetration of any media through themselves. Then, a low-boiling-point medium (i.e. NOVEC manufactured by 3M Japan Ltd.) was also applied for a high-speed direct heat removal via its phase change from the lower-temperature-sides of the thermoelectric elements in the proposing stack-type thermoelectric power generating module. No electrical disconnections inside the module were confirmed for more than 9 years of use, indicating further module stability. The power generating density was improved to about 120 mW·m-2 with SUS304 springs having 0.7 mm diameter. Increasing power generating density can be expected in terms of suitable selection of flexible metal with high Vickers hardness, cavities control on the spring surface, more vigorous multiphase flow with adding powders to the medium and optimization of the module configurations according to numerical simulations.
文摘Exploitation of sustainable energy sources requires the use of unique conversion and storage systems,such as solar panels,batteries,fuel cells,and electronic equipment.Thermal load management of these energy conversion and storage systems is one of their challenges and concerns.In this article,the thermal management of these systems using thermoelectric modules is reviewed.The results show that by choosing the right option to remove heat from the hot side of the thermoelectric modules,it will be a suitable local cooling,and the thermoelectric modules increase the power and lifespan of the system by reducing the spot temperature.Thermoelectric modules were effective in reducing panel temperature.They increase the time to reach a temperature above 50℃ in batteries by 3 to 4 times.Also,in their integration with fuel cells,they increase the power density of the fuel cell.
基金partly funded by the National Key Research and Development Program of China(NK2023190801)the National Foreign Experts Program of China(G2023041024L)the Key Scientific Research Program of Shaanxi Provincial Education Department,China(21JT028)。
文摘Understanding the trajectories and driving mechanisms behind land use/land cover(LULC)changes is essential for effective watershed planning and management.This study quantified the net change,exchange,total change,and transfer rate of LULC in the Jinghe River Basin(JRB),China using LULC data from 2000 to 2020.Through trajectory analysis,knowledge maps,chord diagrams,and standard deviation ellipse method,we examined the spatiotemporal characteristics of LULC changes.We further established an index system encompassing natural factors(digital elevation model(DEM),slope,aspect,and curvature),socio-economic factors(gross domestic product(GDP)and population),and accessibility factors(distance from railways,distance from highways,distance from water,and distance from residents)to investigate the driving mechanisms of LULC changes using factor detector and interaction detector in the geographical detector(Geodetector).The key findings indicate that from 2000 to 2020,the JRB experienced significant LULC changes,particularly for farmland,forest,and grassland.During the study period,LULC change trajectories were categorized into stable,early-stage,late-stage,repeated,and continuous change types.Besides the stable change type,the late-stage change type predominated the LULC change trajectories,comprising 83.31% of the total change area.The period 2010-2020 witnessed more active LULC changes compared to the period 2000-2010.The LULC changes exhibited a discrete spatial expansion trend during 2000-2020,predominantly extending from southeast to northwest of the JRB.Influential driving factors on LULC changes included slope,GDP,and distance from highways.The interaction detection results imply either bilinear or nonlinear enhancement for any two driving factors impacting the LULC changes from 2000 to 2020.This comprehensive understanding of the spatiotemporal characteristics and driving mechanisms of LULC changes offers valuable insights for the planning and sustainable management of LULC in the JRB.
基金the financial support of the National Key Research and Development Program of China(2020AAA0108100)the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Shanghai Gaofeng and Gaoyuan Project for University Academic Program Development for funding。
文摘Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.
基金supported by China-ASEAN maritime cooperation fund: Comparative Study of Holocene Sedimentary Evolution of the Yangtze River Delta and the Red River Deltathe Natural Science Foundation of Shandong Province, China (No. ZR2014DQ020)+1 种基金China Geological Survey Project (No. DD20160145)the National Natural Science Foundation of China (Nos. 41706074 and 41506107)
文摘We analyzed the characteristics and trends of land-use change in and near the coastal zone of the Yangtze River Delta(YRD) during five periods(1995, 2000 2005, 2010, and 2015) using remotely sensed Landsat imagery. Using automatic supervised classification combined with visual interpretation, we obtained land-use information for five study areas(Nantong, Shanghai, Jiaxing, Ningbo, and Zhoushan). Significant land-use changes have occurred in this area between 1995 and 2015, characterized in particular by large reductions in cultivated land and rapid increases in urbanized land. In addition, land reclamation was very active in this period as an effective supplement to the increased demand for land development: since 1995, 1622 km^2 of land was reclaimed from near-coastal regions in the study area. This increase in urbanization was jointly driven by population, economic, transportation, and policy factors. Urban areas expanded from the center outward in concentric rings, with infrastructure guiding the radial expansion of development along transportation corridors, thus forming a network of connections. Due to the influence of national land regulation policies, the expansion rate of development in the YRD gradually diminished after 2010. This indicates that the area's resource and environmental carrying capacity has reached a saturation stage in which urbanization has transitioned from broad and incremental expansion to the intensive use of land resources.
文摘In wireless sensor network, the primary design is to save the energy consumption as much as possible while achieving the given task. Most of recent researches works have only focused on the individual layer issues and ignore the importance of inter working between different layers in a sensor network. In this paper, we use a cross-layer approach to propose an energy-efficient and extending the life time of the sensor network. This protocol which uses routing in the network layer, and the data scheduling in MAC layer. The main ob-jective of this paper is to provide a possible and flexible approach to solve the conflicts between the require-ments of large scale, long life-time, and multi-purpose wireless sensor networks. This OEEXLM module gives better performance compared to all other existing protocols. The performance of OEEXLM module compared with S-MAC and directed diffusion protocol.
文摘The purpose of this short but difficult paper is to revisit the mathematical foundations of both General Relativity (GR) and Gauge Theory (GT) in the light of a modern approach to nonlinear systems of ordinary or partial differential equations, using new methods from Differential Geometry (D.C. Spencer, 1970), Differential Algebra (J.F. Ritt, 1950 and E. Kolchin, 1973) and Algebraic Analysis (M. Kashiwara, 1970). The main idea is to identify the differential indeterminates of Ritt and Kolchin with the jet coordinates of Spencer, in order to study Differential Duality by using only linear differential operators with coefficients in a differential field K. In particular, the linearized second order Einstein operator and the formal adjoint of the Ricci operator are both parametrizing the 4 first order Cauchy stress equations but cannot themselves be parametrized. In the framework of Homological Algebra, this result is not coherent with the vanishing of a certain second extension module and leads to question the proper origin and existence of gravitational waves. As a byproduct, we also prove that gravitation and electromagnetism only depend on the second order jets (called elations by E. Cartan in 1922) of the system of conformal Killing equations because any 1-form with value in the bundle of elations can be decomposed uniquely into the direct sum (R, F) where R is a section of the Ricci bundle of symmetric covariant 2-tensors and the EM field F is a section of the vector bundle of skew-symmetric 2-tensors. No one of these purely mathematical results could have been obtained by any classical approach. Up to the knowledge of the author, it is also the first time that differential algebra in a modern setting is applied to study the specific algebraic feature of most equations to be found in mathematical physics, particularly in GR.