Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass center.To improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is proposed.In the paper,time to lane crossing(TLC)is introduced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source.The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory.In addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field function.The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably.Finally,the proposed control strategy is verified by the HiL test.It provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.

想象可供性视角下的“量化自我”研究——以运动应用程序Keep为例

在量化自我的数据生成过程中,以Keep为代表的自我追踪技术有着“自我可读写”这一基本可供性,但用户个体对自我追踪技术的使用、对自我数据的解释偏离了技术的设计愿景,使想象可供性得以生发。一方面用户对数据进行再语境化,这丰富了主体生命叙事;另一方面用户借时空定位、衡量比较为数据赋予意义,进行自我确认。从对抗功绩社会的角度而言,生命叙事可供性与自我确认可供性体现了技术意义上的“世俗化”效果。

一个基于Keeping Up with the Joneses的随机内生增长模型

本文建立了一个基于Keeping up with the Joneses的随机内生增长模型,利用"伪双状态变量"法得到了均衡时的最优消费、最优经济增长率和最优福利,讨论了相对消费对它们的影响.

Suggestions of keeping L2 motivation

How will we keep the motivation during the second language as long as we can,which confuses us,though what the L2 motivation is and how it is developed have been discussed by the psychologists,educators,etc.The aim of this passage is to clarify the basic content of motivation,including the definition,classification,importance,etc.how the current situation is in senior high students’English learning motivation,what should be done to keep such motivation.In the following part,it will be read that the introduction,the chapter stating the content and classification of(L2)motivation,the chapter analyzing the necessity and state of L2 motivation at senor high,the chapter offering approach to keep that motivation,and the conclusion.All of them use the comparison,explanation and cites.

Three-dimensional formation keeping of multi-UAV based on consensus

Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.

Genetic Model for Fresh-keeping Character in Sweet Corn

This study was conducted to investigate the genetic regularity of indexes related to freshness keeping and its molecular basis by acquiring 6 generations （P1, P2, F1, B1, B2 and F2） of an inbred line T3 with long freshness period × an inbred line T15 with short freshness period in sweet corn. The genetic analysis of the indexes was performed by major gene＋polygene mixed genetic model combined with the genetic analysis combining six generations.The results showed that the decreasing rate of the postharvest sugar content in the T3 was controlled by two pairs of additive-dominante-epistatic major genes＋additive-dominant polygenes; each segregating generation was affected by its major genes, the heritability of major genes and polygene in the B1 generation was 74.63% and 17.67%, respectively; the heritability of major gene and potygene in the B2 was 91.98% and 0,00%, respectively; and the heritability of major gene and polygene inthe F2 was 82.67%, and 12.93%, respectively.

Concept Design,Modeling and Station-keeping Attitude Control of an Earth Observation Platform

The stratosphere airship provides a unique and promising platform for earth observation. Researches on the project design and control scheme for earth observation platforms are still rarely documented. Nonlinear dynamics, model uncertainties, and external disturbances contribute to the difficulty in maneuvering the stratosphere airship. A key technical challenge for the earth observation platform is station keeping, or the ability to remain fixed over a geo-location. This paper investigates the conceptual design, modeling and station-keeping attitude control of the near-space earth observation platform. A conceptual design of the earth observation platform is presented. The dynamics model of the platform is derived from the Newton-Euler formulation, and the station-keeping control system of the platform is formulated. The station-keeping attitude control approach for the platform is proposed. The multi-input multi-output nonlinear control system is decoupled into three single-input single-output linear subsystems via feedback linearization, the attitude controller design is carried out on the new linear systems using terminal sliding mode control, and the global stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the designed control system is simulated by using the variable step Runge-Kutta integrator. Simulation results show that the control system tracks the commanded attitude with an error of zero, which verify the effectiveness and robustness of the designed control system in the presence of parametric uncertainties. The near-space earth observation platform has several advantages over satellites, such as high resolution, fast to deploy, and convenient to retrieve, and the proposed control scheme provides an effective approach for station-keeping attitude control of the earth observation platform.

Formation Feedback Applied to Behavior-Based Approach to Formation Keeping

Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.

Direct adaptive control for lane keeping in intelligent vehicle systems

In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.

Design of House Keeping System for a Certain Micro Satellite

This paper presents the design of hardware and software of the house keeping system for a certain micro satellite. The system uses micro electronic technique, large scale integrated circuits, processors and computers which has the advantages of strong function, high flexibility and reliability, It satisfies the requirements for efficient performance,light weight, small volume,and low consumption of power for micro satellite.

End-to-end learning for high-precision lane keeping via multi-state model

High-precision lane keeping is essential for the future autonomous driving.However,due to the imbalanced and inaccurate datasets collected by human drivers,current end-to-end driving models have poor lane keeping the effect.To improve the precision of lane keeping,this study presents a novel multi-state model-based end-to-end lane keeping method.First,three driving states will be defined:going straight,turning right and turning left.Second,the finite-state machine(FSM)table as well as three kinds of training datasets will be generated based on the three driving states.Instead of collecting the dataset by human drivers,the accurate dataset will be collected by the high-performance path following controller.Third,three sets of parameters based on 3DCNN-LSTM model will be trained for going straight,turning left and turning right,which will be combined with FSM table to form a multi-state model.This study evaluates the multi-state model by testing it on five tracks and recording the lane keeping error.The result shows the multi-state model-based end-to-end method performs the higher precision of lane keeping than the traditional single end-to-end model.

3D Track-keeping Method for Autonomous Underwater Vehicle

In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.

The Integrated Study on Agritainment and the Industrial Economy of Keeping Good Health and Caring for the Senior

Based on the development prospect of the industry of keeping in good health and caring for the senior and practical exploration on the Lishui Citys construction of "Health Blessed Land" in Yangtze River Delta, the position, function and facing problems of agritainment in the system of industrial economy of keeping in good health and caring for the senior in Lishui City. From the view of the industry integration, this paper puts forward the new strategies of developing agritainment in terms of design concepts at the top level, guarantee conditions in the government, layout strategies stressing on resources, target assessment focusing on nourishing of life, the basic promoting connotation.

AN INTRODUCTION TO KEEPING-FIT MASSAGE(1)

Massage,called Anmo (pressing andrubbing) in ancient times,is a non-drugtherapy,characterized by its simplicity,con-venience,cheapness and effectiveness,whichhas been used as one of the effectivekeeping-fit measures since thausands ofyears ago.With gradual improvement of people’sliving standard,the problem of health carehas been put on the agenda,receiving a wideattention from the medical circle.SinceChina has a long history of civilization,scholars of successive ages have left to ournation ample valuable knowledge of healthcare.Among many theories I am much infavour of the keeping fit idea,the“

青年群体Keep奖牌消费行为的意义建构研究

本文运用深入访谈法,对微信朋友圈和小红书等社交平台寻找到的8位Keep奖牌拥有者进行半结构式访谈,旨在了解青年群体选择Keep奖牌消费的原因。研究可知,青年群体在Keep奖牌的获取过程中产生了基于追求自我认同的强者证明、基于情感具象表达的浪漫粘合剂、基于悦己型消费理念的生活调味品和“粉丝效应”下的周边收集四种不同类型的消费符号。不同于以往的符号消费理论对消费者的被动角色理解,在Keep奖牌消费过程中,消费主体依据自身需求对其符号积极定义,回到运动本身来解释Keep奖牌的特殊性——必不可少的身体运动过程。

Influence of hydroxypropyl methylcellulose edible coating on fresh-keeping and storability of tomato

The effect of application of cellulose-based edible coating, hydroxypropyl methylcellulose (HPMC) to mature-green tomatoes on the firmness and color was investigated. Tomatoes were stored at 20℃ for up to 18 days. Firmness decreased as storage time increased in all treatments. However, application of HPMC edible coating delayed softening of tomatoes during 18 days of storage at 20℃ . At days 7, 13 and 18,the firmness of tomatoes coated with HPMC was significantly ( P ≤ 0.05) greater than the firmness of uncoated tomatoes. The study also confirmed that HPMC coatings could significantly (P≤0.05) delay the changes in color of tomatoes stored at 20℃ . The ripening of tomatoes from the pink stage to the red stage was successfully retarded. HPMC coating could extend the shelf life of fresh tomatoes. The retardation of the rate of loss of firmness could reduce the economic loss that would result from spoilage by mechanical injury during transportation of tomatoes.

KEEPING-FIT MOXIBUSTION(6)

Among the traditional Chinese tech-niques of health preservation,keeping-fitmoxibustion is a unique and effective onefor achieving longevity.Generally,moxibustion consists of burning or fumingcertain drugs on certain points to effect awarming or heating stimulation andconsequently,to treat diseases,strengthenthe body and achieve longavity as well.

Fresh keeping techniques for purple cabbage

The cold storage period of purple cabbage packaged with the respirat ory cling film may last 150 days at 2℃by dipping the root with 200×iprodione. Normal temperature storage and quick-freezing storage(-18℃) are not suitable for purple cabbage.

Housekeeping Service Industry Presents Super Opportunities for Investment

With the improvement in peoples’material life,the accelerated aging of China’s population and the implementation of the third-child policy,the market scale of China’s housekeeping service industry has been increasing rapidly in recent years.The housekeeping service has become a necessity for some families,and such demand is breeding a trillion-level market.According to data from Tianyancha,the corporate names of more than 1.93 million enterprises which are still in operation include the word“housekeeping”in their scope of operation.In addition,according to a CCTV report,since June this year,housekeeping service orders,including disinfection,cleaning and washing services,have increased by 600%from last year.

Effects of Using Different Percentages of Fenugreek Flour to Improve the Sensory, Rheological Properties and Keeping Quality in Maize Dough to Produces Gluten-free Breads

Adding different percentages 1%, 3% and 5% of fenugreek flour depending on maize flour base to gluten free bread recipe for making tanoor bread was used to improve the tanoor bread quality, in term of sensory properties like volume, crust, color, symmetry, bake uniformity, texture, grain, aroma and taste. Also some rheological properties like gelatinization temperature and maximum viscosity of dough with bread keeping quality were used. The aim of this work is to produce suitable bread with maintaining the bread quality by selecting the suitable percentage to produce gluten free bread for people who suffering from celiac diseases and its contribution to health benefits. Significant differences were observed by using 5% of fenugreek flour in term of gelatinization temperature, maximum viscosity, breed keeping quality and volume. While using 1% of fenugreek flour significantly improved symmetry value, bread texture, crumb color, aroma and taste.