General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Revealing the Uncertainty and Absolute Certainty Principles in the Kinetics of Objects Formation

The paper presents some examples revealing the uncertainty and absolute certainty principles in kinetics of objects formation that are different in their physical nature and in space scales: sub-stances of microcosm, nanoparticles and mesostructures, astrophysical and cosmological objects. Under the proposed kinetic approach, the uncertainty principle covers a wider spectrum of processes of approaching to equilibrium and object formation, than the absolute certainty principle. It refers, in particular, to nano-range-of-problems and mesoscopics as well as to cosmology. Both principles predict formation of objects that are not well-known or, at least, well-described so far. Among these are neutron-rich super-heavy and giant nuclei, biologic and organic-silicon mesoobjects, cosmological objects with the sizes considerably exceeding the size of a light sphere.

Multivariate Objective Analysis of Wind and Height Fields in the Tropics

The commollly used objective analysis scheme(Scheme-A) for the analysis Of wind and geopotential height smoothen the divergent component of the wind which is rather important in the tropics,specifically over convective regions.To overcome this deficiellcy, a new analysis SCheme in which divergent component is included in the statistical model of the wind forecast errors,has been proposed by Daley(1985).Following this scheme,a new set of correlahon functions of forecast errors for the indian region during monsoon season which are suitable for analysing the tropical wind are obtained.This analysis scheme(Scheme--B) as well as Scheme-A were used to make analyses for the period from 4 July to & July 1979(12 GMT) at 850,700 and 200 hpa levels over an area bounded by l.875'N to 39.375'N and 41.250'E to 108.750'E and subsequently divergent component,velocity potential are computed for both schemes.Results from both these schemes show that in the monsoon depression region the velocity potential and divergence have increased in the later case(Scheme-B).This suggests that the divergent component has been enhanced in Scheme-B and that the objechve of this study is realized to some extent.

Some Experiments with Multivariate Objective Analysis Scheme of Heights and Winds Using Optimum Interpolation

A two-dimensional, multitvariate objective analysis scheme for simultaneous analysis of geopotential height and wind fields has been developed over Indian and adjoining region for use in numerical weather prediction. The height-height correlations calculated using daily data of four July months (1976-1979), are used to derive the other autocorrelations and cross-correlations assuming geostropic relationship. A Gaussian function is used to model the autocorrelation function. Since the scheme is multivariate the regression coefficients (weights) are matrix.Near the equator, the geostrophic approximation relating mass and wind is decoupled in a way similar to Bergman (1979). The objective analyses were made over Indian and adjoining region for 850, 700, 500, 300 and 200 hPa levels for the period from 4 July to 8 July 1979, 12 GMT. The analyses obtained using multivariate optimum interpolation scheme depict the synoptic situations satisfactorily. The analyses were also compared with the FGGE analyses (from ECMWF) and also with the station observations by computing the root mean square (RMS) errors and the RMS errors are comparable with those obtained in other similar studies.

Mathematical Analysis of Nipah Virus Infections Using Optimal Control Theory

The optimal use of intervention strategies to mitigate the spread of Nipah Virus (NiV) using optimal control technique is studied in this paper. First of all we formulate a dynamic model of NiV infections with variable size population and two control strategies where creating awareness and treatment are considered as controls. We intend to find the optimal combination of these two control strategies that will minimize the cost of the two control measures and as a result the number of infectious individuals will decrease. We establish the existence for the optimal controls and Pontryagin’s maximum principle is used to characterize the optimal controls. The numerical simulation suggests that optimal control technique is much more effective to minimize the infected individuals and the corresponding cost of the two controls. It is also monitored that in the case of high contact rate, controls have to work for longer period of time to get the desired result. Numerical simulation reveals that the spread of Nipah virus can be controlled effectively if we apply control strategy at early stage.

Undergraduate Business English Course Goals and Teaching Principles in the New Period

With the continuous acceleration of the global informatization process, many universities in China have set up a businessEnglish course. However, because the positioning of this subject is not clear and accurate, and the corresponding teaching require-ments are also different, it has led to a variety of university courses for this subject, so the teaching strategies are also not the same.Due to the particularity and importance of university business English, this paper combines the actual conditions of contemporarystudent development and the development needs of the society to define the objectives of the business English curriculum, andgives teaching principles and curriculum objectives that some college business English education should be followed.

一种新的面向对象Landsat-7 SLC-off影像插值修复算法

针对影像修复中基于规则窗口选择的相似像元不一定满足实际地物分布的问题,提出一种新的面向对象的像元插值法对ETM+SLC-off数据进行修复。首先对辅助影像进行多尺度分割,获取分割对象,然后将所获得的分割对象与待修复影像进行空间叠加,当待修复像元所在的分割对象中存在有效像元时,将同时利用所在分割对象区域中的有效像元及辅助影像中相应对象区域的像元进行插值;反之,使用辅助影像中相应对象区域的像元计算初步的待修复像元值,获取2幅影像间的局部最小二乘回归参数,对初步的待修复像元值应用回归参数得到最终待修复像元值。最后将其与全局直方图匹配法进行对比,并对修复结果进行定性与定量评价。实验结果表明,该方法修复精度更高,能够修复更多的空间细节信息,具有一定的可用性。

基于SuperMap Objects的等值线绘制方法研究与实现

利用SuperMap Objects组件式二次开发,运用GIS分析功能通过空间内插法IDW(距离反比权值插值)插值获取栅格数据,在此基础上根据指定的取值范围生成等值线,阐述在地图中生成等值线的原理与方法。

Multiple Factorial Analysis of Symbolic Data

This document presents an extension of the multiple factorial analysis to symbolic data and especially to space data. The analysis makes use of the characteristic coding method to obtain active individuals and the reconstitutive coding method for additional individuals in order to conserve the variability of assertion objects. Traditional analysis methods of the main components are applied to coded objects. Certain interpretation aids are presented after the coding process. This method was applied to poverty data.

A New method for selecting multi-scale road network objects

Aimed at solving the problems of road network object selection at any unknown scale, the existing methods on object selection are integrated and extended in this paper, and a new object interpolation method is proposed, which reflects the inheritable and transferable characteristics of related information among multi-scale representation objects, and takes the attribute effects into account. Then the basic idea, the overall framework and the technical flow of the interpolation are put forward, at the samet：me synthetical weight function of the interpolation method is defined and described. The method and technical strategies of object selection are extended, and the key problems are solved, including the dejign of the objective quantitative and structural selections based on the weight values, the interpolation experiment strategies and technical flows, the result of the test shows that the object interpolation method not only inherits the objects at smaller scales, but also takes the attribute effect into account when deriving objects from larger scales according to the road importance, which is a guarantee to objective selection of the road objects at middle scales.

Sensitivity analysis of composite laminated plates with bonding imperfection in Hamilton system

Sensitivity analysis of composite laminated plates with bonding imperfection is carried out based on the radial point interpolation method （RPIM） in a Hamilton system. A set of hybrid governing equations of response and sensitivity quantities is reduced using the spring-layer model and the modified Hellinger-Reissner （H-R） variational principle. The analytical method （AM）, the semi-analytical method （SAM）, and the finite difference method （FDM） are used for sensitivity analysis based on the reduced set of hybrid governing equations. A major advantage of the hybrid governing equations is that the convolution algorithm is avoided in sensitivity analysis. In addition, sensitivity analysis using this set of hybrid governing equations can obtain response values and sensitivity coefficients simultaneously, and accounts for bonding imperfection of composite laminated plates.

Development of Computer Network of CNTIEC Management Information System

LAN, WAN and MIS are developing quickly in China and foreign countries nowadays.The development of IF system has went through 3 stages with 7 development processes. The higstage of information integration highway has reached us and some other developed countries. Thecentral government, ministries and commissions in China have stated the engineering design on thissubject. China National Tobacco Import & Export Corporation (CNTIEC) brought a developmentproject forward. The general goals of this mission are: (a) to increaae the working efficiency ofCNTIEC by using modern information technology; (b) to incresdr the success rate in managementdecision making; (c) to heighten the management level to the high technology of information automation. The design should have a pod beginning and the whole design should be carried outin several steps. The management principle of information system is centsral management and distributed usage. CNTIEC's management can get a new stage by achieveng a scienific management.The management personnel can exert their activity to the full by changing the way of the work.Besides, it can realize personnel resource exploiting and concept transforming.

Migration of Magnetotelluric Data in Two——Dimensional Model

Since the wave equation of magnetoteiluric (MT)field is similar to the one of seismic , the migration techniques used in seismic can be applied to MT data . In this paper we make use of the principle of reflector mapping (i. e. U/D imaging principle ) to image MT data . That is, the MT wavefield observed on the surface of the earth can be resolved into upgoing and downgoing waves , the waves are extrapolated downward by the phase - shift method or the phase - shift plus interpolation (PSPI )method . Conductivity interfaces of the medium could be found by using the time coincidence of the upgoing and downgoing waves . Theoretical calculations show that the migration technique of MT data presented here is very effective . It can not only enhance the lateral resolution of MT data , but also obtain the visual image of subsurface interfaces . As compared with the conventional 2 - D inversion , this procedure is more simple in calculation and can be easily put into practice on a personal computer and is able to obtain the MT depth section , which is similar to seismic section .

基于Object控件的组成原理仿真系统

研究在硬件仿真系统中的面向对象技术,使用Object控件开发通用型组成原理实验仿真系统,系统设计采用分层结构和面向对象的设计思想,克服了以往组成原理仿真软件通用性差和功能少的缺点,用户既可使用该系统进行模块内部的设计,又可利用封装好的模块控件进行高级设计。该系统采用可视化的图形界面,具有良好的扩充性。

On Boundaries of Cosmos

This paper establishes asymptotic time dependences of characteristic sizes of astrophysical and cosmological objects. These dependences are obtained on the basis of uncertainty principle applied in cosmic scales in approximation of spherical symmetry in Euclidean geometry. The proposed analytical approach makes it possible to determine spatial boundaries of the uniformity of matter distribution in the Universe, and a size of cosmic sphere which contains numerous groups of interacting universes.

Object pose and surface material recognition using a single-time-of-flight camera

We propose an approach for recognizing the pose and surface material of diverse objects,leveraging diffuse reflection principles and data fusion.Through theoretical analysis and the derivation of factors influencing diffuse reflection on objects,the method concentrates on and exploits surface information.To validate the feasibility of our theoretical research,the depth and active infrared intensity data obtained from a single time-of-flight camera are initially combined.Subsequently,these data undergo processing using feature extraction and lightweight machine-learning techniques.In addition,an optimization method is introduced to enhance the fitting of intensity.The experimental results not only visually showcase the effectiveness of our proposed method in accurately detecting the positions and surface materials of targets with varying sizes and spatial locations but also reveal that the vast majority of the sample data can achieve a recognition accuracy of 94.8%or higher.

Objectives and Principles Announced for 1994 International Year of the Family

The United Nations has proclaimed 1994 as the International Year of the Family and has defined its objectives to stimulate local, national and international actions as part of a sustained longterm effort to: a. Increase awareness of family issues among Governments as well as in the private sector. IYF would serve to highlight the importance of families; increase a better understanding of their unctions and problems; promote nowledge of the economic, social and emographic processes affecting

基于Kriging插值代理模型的轴流式止回阀多目标优化

基于Kriging插值代理模型,对轴流式止回阀的各项性能进行综合优化,具体的优化目标为:降低正向流阻;减小阀芯振动;提升止回性能。通过试验设计方案找到影响轴流式止回阀正向流阻的主要结构参数因素,并以其作为优化对象,通过Kriging插值法拟合主要结构参数对应的性能样本点,在保证拟合精度的情况下,使用NSGA-II遗传算法同时对3个主要结构参数进行多目标优化,得到了三目标Pareto前沿,经过权衡不同因素对性能指标的影响大小,最终得到了综合性能最优的结构参数为:阀瓣丰满度系数α_(1)=2.199,阀芯长度L=386.322 mm,阀芯半径R=113.997 mm。其对应的止回阀性能为:正向出口流量Q=161.839 kg/s,正向出口流速v=3.30235 m/s,止回阀进口压力p=97632.2287 Pa。相比优化之前,阀门正向流阻减小了1.2%,阀芯振动降低了0.24%,止回性能提升了2.3%。

图书馆阅读推广的基本原则与层级目标——兼论各级目标的评估

图书馆阅读推广类型多样,活动主体的理念与能力存在差异,导致阅读推广价值取向多样化。图书馆学应当对阅读推广基本原则有清晰的定位,并确立由阅读推广基本原则派生的服务目标。文章将图书馆阅读推广的目标自下而上分为五个层级:公众满意的阅读推广、可持续发展的阅读推广、促进阅读与学习的阅读推广、包容性服务的阅读推广和促进社会公平正义的阅读推广,并讨论了不同层级目标的评估问题。

基于OBE教育理念的“食品工程原理”课程教改与实践

依托OBE教育理念,围绕食品科学与工程专业工程认证的毕业要求,逐一分解课程目标,将课程目标与毕业要求一一对应,构建了以学生为中心、以成果为导向的理论知识、实践技能、综合素养“三位一体”的“食品工程原理”课程教学体系,从理论知识、实验教学、课程设计、学科竞赛等逐层递进,探索了适应学生认知水平的工程类课程的教学模式和评价方式,全方位培养学生解决复杂工程问题的能力,为推进食品科学与工程专业工程认证打下基础。