An improved car-following model with consideration of the lateral effect and its feedback control research

A car-following model is presented, in which the effects of non-motor vehicles on adjacent lanes are taken into ac- count. A control signal including the velocity differences between the following vehicle and the target vehicle is introduced according to the feedback control theory. The stability condition for the new model is derived. Numerical simulation is used to demonstrate the advantage of the new model including the control signal; the results are consistent with the analytical ones

Efficient and rapid accuracy estimation of the Earth's gravitational field from next-generation GOCE Follow-On by the analytical method

Firstly, a new analytical error model of the cumulative geoid height using the three-dimensional diagonal tensors of satellite gravity gradiometry （SGG） is introduced based on the variance-covariance matrix principle. Secondly, a study for the requirements demonstration on the next-generation GOCE Follow-On satellite gravity gradiometry system is developed using different satellite orbital altitudes and measurement accuracies of satellite gravity gradiometer by the new analytical error model of SGG. The research results show that it is preferable to design satellite orbital altitudes of 300 km–400km and choose the measurement accuracies of 10-13/s2 –10-15/s2 from satellite gravity gradiometer. Finally, the complementarity of the four-stage satellite gravity missions, including past CHAMP, current GRACE, and GOCE, and next-generation GOCE Follow-On, is contrastively demonstrated for precisely recovering the Earth’s full-frequency gravitational field with high spatial resolution.

Leader-following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

We study the leader-following consensus stability and stabilization of networked multi-teleoperator systems with interval time-varying communication delays. With the construction of a suitable Lyapunov–Krasovskii functional and the utilization of the reciprocally convex approach, novel delay-dependent consensus stability and stabilization conditions for the systems are established in terms of linear matrix inequalities, which can easily be solved by various effective optimization algorithms. One illustrative example is given to illustrate the effectiveness of the proposed methods.

Enhancing of nominal characteristic trajectory following control for motion systems

The goal of this paper is to enhance a practical nominal characteristic trajectory following(NCTF) controller that is specifically designed for two-mass point-to-point positioning systems. A nominal characteristics trajectory contained in the NCTF controller acts as movement/motion reference and a compensator is utilized to force the object to detect and follow the reference/desired trajectory. The object must follow and track closely and should be as fast as possible. The NCTF controller is designed with two different intelligent based compensator approaches which are fuzzy logic and extended minimal resource allocation network. The proposed controller which is NCTF are compared with the conventional proportional integral compensator. Then the results of simulation are discussed for the positioning performances. The inertia variations due to the effect of the design parameters are also assessed to see the robustness of controllers. The results show that the NCTF control method designed from an intelligent based compensator has a better positioning performance in terms of percentage of overshoot, settling time, and steady state error than the classical based compensator.

Dynamic Path Following Control of a Ground Ackerman Steering Robot to Avoid a Collision

A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global path following module.The elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic environment.The collision avoidance is realized by the proposed cost function and speed control law.The global path following process is achieved by pure pursuit.Experiments show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.

A new learning algorithm with reference-following variables

A learning algorithm is presented for the learning of neural networks, in which the learning trajectory is convergence without any over-learning by changing of topological construction of the algorithm near any local minimum points of learning error. Because the topological construction is not convergent for some functions by usual BP method near some local minimum points, there is an over-learning phenomenon. To avoid the over-learning phenomenon, reference-following variables are used to change the topological construction of this algorithm. The theoretical analysis and the simulation results indicate that the proposed method is simple and useful.

A Data-Driven Car-Following Model Based on the Random Forest

The car-following models are the research basis of traffic flow theory and microscopic traffic simulation. Among the previous work, the theory-driven models are dominant, while the data-driven ones are relatively rare. In recent years, the related technologies of Intelligent Transportation System (ITS) re- presented by the Vehicles to Everything (V2X) technology have been developing rapidly. Utilizing the related technologies of ITS, the large-scale vehicle microscopic trajectory data with high quality can be acquired, which provides the research foundation for modeling the car-following behavior based on the data-driven methods. According to this point, a data-driven car-following model based on the Random Forest (RF) method was constructed in this work, and the Next Generation Simulation (NGSIM) dataset was used to calibrate and train the constructed model. The Artificial Neural Network (ANN) model, GM model, and Full Velocity Difference (FVD) model are em- ployed to comparatively verify the proposed model. The research results suggest that the model proposed in this work can accurately describe the car- following behavior with better performance under multiple performance indicators.

利用解析法有效快速估计将来GRACE Follow-On地球重力场的精度

本文首次利用解析法有效快速估计了将来GRACE(Gravity Recovely and Climate Experiment)Follow-On地球重力场的精度.第一,基于功率谱原理分别建立了新的GRACE Follow-On卫星激光干涉星间测量系统星间速度、GPS接收机轨道位置和轨道速度以及加速度计非保守力误差影响累计大地水准面的单独和联合解析误差模型.第二,利用提出的GRACE卫星关键载荷匹配精度指标和美国喷气推进实验室(JPL)公布的GRACE Level1B实测精度指标的一致性,以及估计的GRACE累计大地水准面精度和德国波兹坦地学研究中心(GFZ)公布的EIGEN-GRACE02S地球重力场模型实测精度的符合性,验证了本文建立的解析误差模型是可靠的.第三,论证了GRACE Follow-On卫星不同关键载荷匹配精度指标和轨道高度对地球重力场精度的影响.在360阶处,利用轨道高度250 km、星间距离50 km、星间速度误差1×10^(-9)m/s、轨道位置误差3×10^(-5)m、轨道速度误差3×10^(-8)m/s和非保守力误差3×10^(-13)m/s^2,基于联合解析误差模型估计累计大地水准面的精度为1.231×10^(-1)m.本文的研究不仅为当前GRACE和将来GRACE Follow-On地球重力场精度的有效快速确定提供了理论基础和计算保证,同时对国际将来GRAIL(Gravity Recovery and Interior Laboratory)月球卫星重力测量计划的成功实施具有重要的参考意义.

基于GRACE Follow-On卫星重力梯度法精确反演地球重力场

由于GRACE Follow-On双星系统等效于基线长为星间距离的一维水平重力梯度仪，因此本文基于GRACE Follow—On卫星重力梯度法开展了精确和快速反演下一代地球重力场的可行性论证研究．研究结果表明：第一，基于GRACE Follow-On卫星重力梯度法（GFO-SGGM），利用卫星轨道参数（轨道高度250km、星间距离50km、轨道倾角89°、轨道离心率0．001）、关键载荷测量精度（星间距离10^-6m、星间速度10^-7m·s^-1、星间加速度10^-10 m·s^-2、轨道位置10^-3m、轨道速度10^-6m·s^-1、非保守力10^-11 m·s^-2）、观测时间30天和采样间隔10s反演了120阶地球重力场，在120阶处累计大地水准面精度为9．331×10^-4m．第二，在120阶内，利用将来GRACE Follow—On双星反演地球重力场精度较现有GRACE双星平均提高61倍，因此GRACE Follow-On卫星重力梯度法是进一步提高地球重力场反演精度的优选方法．第三，下一代GRACE Follow—On计划较当前GRACE计划的优点如下：轨道高度更低（200-300km）、载荷精度更高（10^-7～10^-9m·s^-1）和星间距离更短（50--100km）．

插值公式、相关系数和采样间隔对GRACE Follow-On星间加速度精度的影响

本文基于星间加速度法开展了插值公式、相关系数和采样间隔对GRACE Follow-On星间加速度精度影响的研究.模拟结果表明:1)适当增加数值微分公式的插值点数可有效提高插值精度.基于9点Newton插值公式,星间加速度的插值误差为4.401×10-13 m.s-2,分别基于7点、5点和3点插值公式,插值误差增加了1.192倍、6.912倍和274.029倍.2)适当增大相关系数可有效降低星间加速度的误差.基于相关系数0.99,星间加速度方差为3.777×10-24 m2.s-4,分别基于相关系数0.90、0.70、0.50和0.00,方差增加了9.780倍、22.404倍、26.217倍和26.820倍.3)随着采样间隔增大,星间加速度方差逐渐降低,但卫星观测值的空间分辨率也同时降低,因此合理选取采样间隔有利于地球重力场精度的提高.4)基于9点Newton插值公式、相关系数(K波段测量系统星间距离和星间速度0.85、GPS轨道位置和轨道速度0.95、星载加速度计非保守力0.90)和采样间隔10s,利用预处理共轭梯度迭代法,精确和快速反演了120阶GRACE Follow-On地球重力场,在120阶处累计大地水准面精度为4.602×10-4 m.

基于残余星间速度法精确和快速反演下一代GRACE Follow-On地球重力场

基于新型残余星间速度法(RIRM)反演了120阶GRACE Follow-On地球重力场.第一,由于GPS定轨精度相对较低,通过将激光干涉测距仪的高精度残余星间速度(测量精度10-7 m·s-1)引入残余轨道速度差分矢量的视线分量构建了新型RIRM观测方程.第二,基于2点、4点、6点和8点RIRM公式对比论证了最优的插值点数.如果相关系数和采样间隔一定,随着插值点数的增加,卫星观测值的信号量被有效加强,而卫星观测值的误差量也同时增加.因此,6点RIRM公式是提高下一代地球重力场精度的较优选择.第三,相关系数对地球重力场精度的影响在不同频段表现为不同特性.随着相关系数的逐渐增大,地球长波重力场精度逐渐降低,而地球中长波重力场精度逐渐升高.第四,基于6点RIRM公式,通过30天观测数据和采样间隔5s,分别利用星间速度和残余星间速度观测值,在120阶次处反演下一代GRACE Follow-On累计大地水准面精度为1.638×10-3 m和1.396×10-3 m.研究结果表明:(1)残余星间速度观测量较星间速度对地球重力场反演精度更敏感;(2)GRACE FollowOn地球重力场精度较GRACE至少高10倍.

基于Leader-Follower和一致性理论的多机器鱼避障控制研究

主要研究了多机器鱼队形控制的主要方法,提出了一种基于Leader-Follower框架和一致性理论的多机器鱼避障控制方法。分别分析了多机器鱼在无障碍环境和运动到障碍物区域时的队形运动。这种方法结合了Leader-Follower法和一致性理论的优点,能更好地实现多机器鱼在遇到障碍物后实现避障,从而完成整个系统的队形控制。最后仿真结果验证了该方法的可行性。

Singularity of Some Software Reliability Models and Parameter Estimation Method

According to the principle, “The failure data is the basis of software reliability analysis”, we built a software reliability expert system (SRES) by adopting the artificial intelligence technology. By reasoning out the conclusion from the fitting results of failure data of a software project, the SRES can recommend users “the most suitable model” as a software reliability measurement model. We believe that the SRES can overcome the inconsistency in applications of software reliability models well. We report investigation results of singularity and parameter estimation methods of experimental models in SRES.

Transverse Vibration and Stability Analysis of Circular Plate Subjected to Follower Force and Thermal Load

Transverse vibration and stability analysis of circular plate subjected to follower force and thermal load are analyzed.Based on the thin plate theory in involving the variable temperature,the differential equation of transverse vibration for the axisymmetric circular plate subjected to follower force and thermal load is established.Then,the differential equation of vibration and corresponding boundary conditions are discretized by the differential quadrature method.Meanwhile,the generalized eigenvalue under three different boundary conditions are calculated.In this case,the change curve of the first order dimensionless complex frequency of the circular plate subjected to the follower force in the different conditions with the variable temperature coefficient and temperature load is analyzed.The stability and corresponding critical loads of the circular plate subjected to follower force and thermal load with simply supported edge,clamped edge and free edge are discussed.The results provide theoretical basis for improving the dynamic stability of the circular plate.

A 3D Nonhydrostatic Compressible Atmospheric Dynamic Core by Multi-moment Constrained Finite Volume Method

A 3D compressible nonhydrostatic dynamic core based on a three-point multi-moment constrained finite-volume (MCV) method is developed by extending the previous 2D nonhydrostatic atmospheric dynamics to 3D on a terrainfollowing grid. The MCV algorithm defines two types of moments: the point-wise value (PV) and the volume-integrated average (VIA). The unknowns (PV values) are defined at the solution points within each cell and are updated through the time evolution formulations derived from the governing equations. Rigorous numerical conservation is ensured by a constraint on the VIA moment through the flux form formulation. The 3D atmospheric dynamic core reported in this paper is based on a three-point MCV method and has some advantages in comparison with other existing methods, such as uniform third-order accuracy, a compact stencil, and algorithmic simplicity. To check the performance of the 3D nonhydrostatic dynamic core, various benchmark test cases are performed. All the numerical results show that the present dynamic core is very competitive when compared to other existing advanced models, and thus lays the foundation for further developing global atmospheric models in the near future.

Application of singular perturbation method in analyzing traffic density waves

Car following model is one of microscopic models for describing traffic flow. Through linear stability analysis, the neutral stability lines and the critical points are obtained for the different types of car following models and two modified models. The singular perturbation method has been used to derive various nonlinear wave equations, such as the Kortewegde-Vries （KdV） equation and the modified Korteweg-de-Vries （mKdV） equation, which could describe different density waves occurring in traffic flows under certain conditions. These density waves are mainly employed to depict the formation of traffic jams in the congested traffic flow. The general soliton solutions are given for the different types of car following models, and the results have been used to the modified models efficiently.

不同溶洞处治措施对桩基承载特性的影响研究

为探究不同溶洞处治措施对岩溶发育区桩基承载特性的影响,通过有限元软件建立溶洞-桩-岩土体耦合作用模型,对比分析溶洞高度变化情况下,2种不同的溶洞处治措施(回填法和钢护筒跟进法)对桩基承载特性的影响。结果表明:随着溶洞高度增加,2种处治措施下桩基竖向承载力都呈降低趋势;溶洞高度小于10 m时,不同处治措施对桩基竖向承载力影响可忽略,溶洞高度大于10 m则需考虑处治措施对桩基竖向承载力的影响;在回填法处治的溶洞范围内,桩身轴力降幅较大,桩侧摩阻力增加显著,在钢护筒跟进法处治的溶洞中桩身轴力与桩侧摩阻力则基本不变;与钢护筒跟进法相比,回填法更有利于发挥桩侧摩阻力;溶洞高度增加时,2种处治措施下桩侧摩阻力比重均逐渐减小,桩端阻力比重逐渐增大,达到桩基极限承载力时,回填法处治后的溶洞较钢护筒跟进法桩端阻力占整体比例更小。

Progress in satellite gravity recovery from implemented CHAMP,GRACE and GOCE and future GRACE Follow-On missions

Firstly, the Earth＇s gravitational field from the past Challenging Minisatellite Payload （CHAMP） mission is determined using the energy conservation principle, the combined error model of the cumulative geoid height influenced by three instrument errors from the current Gravity Recovery and Climate Experiment （GRACE） and future GRACE Follow-On missions is established based on the semi-analytical method, and the Earth＇s gravitational field from the executed Gravity Field and Steady-State Ocean Circulation Explorer （GOCE） mission is recovered by the space-time-wise approach. Secondly, the cumulative geoid height errors are 1.727 × 10^-1 m, 1.839 × 10^-1 m and 9.025 × 10^ -2 m at degrees 70,120 and 250 from the implemented three-stage satellite gravity missions consisting of CHAMP, GRACE and GOCE, which preferably accord with those from the existing earth gravity field models involving EIGEN-CHAMP03S, EICEN-GRACE02S and GO_CONS GCF 2 DIR R1. The cumulative geoid height error is 6.847 × 10 ^-2 m at degree 250 from the future GRACE Follow-On mission. Finally, the complementarity among the four-stage satellite gravity missions including CHAMP, GRACE, GOCE and GRACE Follow-On is demonstrated contrastively.

基于图和流体扰动算法的多无人车编队及避障研究

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

肝移植术后患者随访清单的构建

目的构建肝移植术后患者随访清单,为医护人员完善随访提供有效支持。方法采用文献回顾、半结构式访谈及专家小组讨论构建肝移植术后患者随访清单初稿;采用德尔菲法进行2轮专家函询对清单内容修订后形成随访清单终稿。对10例肝移植术后患者使用构建的随访清单进行面对面随访,并选取6名参与随访的护士进行访谈,对清单内容进行评价和完善。结果肝移植术后患者随访清单包括生理状况及日常生活指导、心理状况及信息支持、医疗服务和社会支持4项一级指标、15项二级指标及51项三级指标。2轮专家函询的积极系数分别为93.75%、100%,专家权威系数为0.93、0.94;2轮一、二、三级指标的肯德尔和谐系数分别为0.317、0.146、0.209和0.265、0.248、0.217(均P<0.05)。访谈的护患双方均认为随访清单内容合理全面,具有较强的专业性和临床实用性。结论构建的肝移植术后患者随访清单结构合理,内容较全面,能为肝移植术后患者出院随访方案的制订与实施提供参考。