The objective of this work is the analytical synthesis problem for marine vehicles autopilots design. Despite numerous known methods for a solution, the mentioned problem is very complicated due to the presence of an ...The objective of this work is the analytical synthesis problem for marine vehicles autopilots design. Despite numerous known methods for a solution, the mentioned problem is very complicated due to the presence of an extensive population of certain dynamical conditions, requirements and restrictions, which must be satisfied by the appropriate choice of a steering control law. The aim of this paper is to simplify the procedure of the synthesis, providing accurate steering with desirable dynamics of the control system. The approach proposed here is based on the usage of a special unified multipurpose control law structure that allows decoupling a synthesis into simpler particular optimization problems. In particular, this structure includes a dynamical corrector to support the desirable features for the vehicle＇s motion under the action of sea wave disturbances. As a result, a specialized new method for the corrector design is proposed to provide an accurate steering or a trade-off between accurate steering and economical steering of the ship. This method guaranties a certain flexibility of the control law with respect to an actual environment of the sailing;its corresponding turning can be realized in real time onboard.展开更多
The authors propose a two-stage method for recognizing driving situations on the basis of driving signals for application to a safe human interface of an in-vehicle information system. In first stage, an unknown drivi...The authors propose a two-stage method for recognizing driving situations on the basis of driving signals for application to a safe human interface of an in-vehicle information system. In first stage, an unknown driving situation is determined as stopping behavior or non-stopping behavior. In second stage, a Hidden Markov Model （HMM）-based pattern recognition method is used to model and recognize six non-stopping driving situations. The authors attempt to find the optimal HMM configuration to improve the performance of driving situation recognition. Center for Integrated Acoustic Information Research （CLAIR） in-vehicle corpus is used to evaluate the HMM-based recognition method. Driving situation categories are recognized using five driving signals. The proposed method achieves a relative error reduction rate of 30.9% compared to a conventional one-stage based HMMs.展开更多
This investigation was to evaluate the driving fatigue based on power spectral analysis of heart rate variability (HRV) under vertical vibration. Forty healthy male subjects (29.7±3.5 years) were randomly divided...This investigation was to evaluate the driving fatigue based on power spectral analysis of heart rate variability (HRV) under vertical vibration. Forty healthy male subjects (29.7±3.5 years) were randomly divided into two groups, Group A (28.8±4.3 years) and Group B (30.6±2.7 years). Group A (experiment group) was required to perform the simulated driving and Group B (control group) kept calm for 90 min. The frequency domain indices of HRV such as low frequency (0.04 0.15 Hz, LF), high frequency (0.150.4 Hz, HF), LF/HF together with the indices of hemodynamics such as blood pressure (BP) and heart rate (HR) of the subjects between both groups were calculated and analyzed after the simulated driving. There were significances of the former indices between both groups (P<0.05). All the data collected after experiment of Group A was observed the remarkable linear correlation (P<0.05) and parameters and errors of their linear regression equation were stated (α=0.05, P<0.001) in this paper, respectively. The present study investigated that sympathetic activity of the subjects enhanced after the simulated driving while parasympathetic activities decreased. The sympathovagal balance was also improved. As autonomic function indictors of HRV reflected fatigue level, quantitative evaluation of driving mental fatigue from physiological reaction could be possible.展开更多
A genetic-fuzzy HEV control strategy based on driving cycle recognition （DCR） was built. Six driving cycles were selected to represent different traffic conditions e.g. freeway, urban, suburb. A neural algorithm was...A genetic-fuzzy HEV control strategy based on driving cycle recognition （DCR） was built. Six driving cycles were selected to represent different traffic conditions e.g. freeway, urban, suburb. A neural algorithm was used for traffic condition recognition based on ten parameters of each driving cycle. The DCR was utilized for optimization of the HEV control parameters using a genetic-fuzzy approach. A fuzzy logic controller （FLC） was designed to be intelligent to manage the engine to work in the vicinity of its optimal condition. The fuzzy membership function parameters were optimized using the genetic algorithm （GA） for each driving cycle. The result is that the DCR_ fuzzy controller can reduce the fuel consumption by 1. 9%, higher than only CYC _ HWFET optimized fuzzy （0.2%） or CYC _ WVUSUB optimized fuzzy （0.7%）. The DCR_ fuzzy method can get the better result than only optimizing one cycle on the complex real traffic conditions.展开更多
An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localiza...An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.展开更多
In order to make maximum use of the EV （electric vehicle） battery, evaluating the remaining battery capacity and the power consumption is important. Evaluation method of the remaining battery capacity with accuracy ...In order to make maximum use of the EV （electric vehicle） battery, evaluating the remaining battery capacity and the power consumption is important. Evaluation method of the remaining battery capacity with accuracy has been proposed. Moreover, the evaluation method of the power consumption for traveling has been proposed. However, the power consumption for vehicle-mounted air-conditioner is 30%. It is necessary to calculate the power consumption for both traveling and air-conditioning. In this paper, the authors have constructed a mathematical model which calculates the EV power consumption for both traveling and air-conditioning. The calculated results of this model have been compared to actual traveling data. In addition, factors which have a impact on the EV power consumption have been studied. As a result, the EV power consumption is greately varied by slope resistance, acceleration resistance and required air-conditioning load. Moreover, it is clarified that the air-conditioner consumes approximately 25% to 50% of the total power consumption in a hot summer day. In addition, the acceleration and the air-conditioning load differ depending on each vehicle driver. Therefore, in order to evaluate the EV power consumption practically, it is necessary to reflect the characteristics of each vehicle driver.展开更多
基金Partially supported by Russian Foundation for Basic Research(Research project No.14-07-00083a)
文摘The objective of this work is the analytical synthesis problem for marine vehicles autopilots design. Despite numerous known methods for a solution, the mentioned problem is very complicated due to the presence of an extensive population of certain dynamical conditions, requirements and restrictions, which must be satisfied by the appropriate choice of a steering control law. The aim of this paper is to simplify the procedure of the synthesis, providing accurate steering with desirable dynamics of the control system. The approach proposed here is based on the usage of a special unified multipurpose control law structure that allows decoupling a synthesis into simpler particular optimization problems. In particular, this structure includes a dynamical corrector to support the desirable features for the vehicle＇s motion under the action of sea wave disturbances. As a result, a specialized new method for the corrector design is proposed to provide an accurate steering or a trade-off between accurate steering and economical steering of the ship. This method guaranties a certain flexibility of the control law with respect to an actual environment of the sailing;its corresponding turning can be realized in real time onboard.
文摘The authors propose a two-stage method for recognizing driving situations on the basis of driving signals for application to a safe human interface of an in-vehicle information system. In first stage, an unknown driving situation is determined as stopping behavior or non-stopping behavior. In second stage, a Hidden Markov Model （HMM）-based pattern recognition method is used to model and recognize six non-stopping driving situations. The authors attempt to find the optimal HMM configuration to improve the performance of driving situation recognition. Center for Integrated Acoustic Information Research （CLAIR） in-vehicle corpus is used to evaluate the HMM-based recognition method. Driving situation categories are recognized using five driving signals. The proposed method achieves a relative error reduction rate of 30.9% compared to a conventional one-stage based HMMs.
文摘This investigation was to evaluate the driving fatigue based on power spectral analysis of heart rate variability (HRV) under vertical vibration. Forty healthy male subjects (29.7±3.5 years) were randomly divided into two groups, Group A (28.8±4.3 years) and Group B (30.6±2.7 years). Group A (experiment group) was required to perform the simulated driving and Group B (control group) kept calm for 90 min. The frequency domain indices of HRV such as low frequency (0.04 0.15 Hz, LF), high frequency (0.150.4 Hz, HF), LF/HF together with the indices of hemodynamics such as blood pressure (BP) and heart rate (HR) of the subjects between both groups were calculated and analyzed after the simulated driving. There were significances of the former indices between both groups (P<0.05). All the data collected after experiment of Group A was observed the remarkable linear correlation (P<0.05) and parameters and errors of their linear regression equation were stated (α=0.05, P<0.001) in this paper, respectively. The present study investigated that sympathetic activity of the subjects enhanced after the simulated driving while parasympathetic activities decreased. The sympathovagal balance was also improved. As autonomic function indictors of HRV reflected fatigue level, quantitative evaluation of driving mental fatigue from physiological reaction could be possible.
文摘A genetic-fuzzy HEV control strategy based on driving cycle recognition （DCR） was built. Six driving cycles were selected to represent different traffic conditions e.g. freeway, urban, suburb. A neural algorithm was used for traffic condition recognition based on ten parameters of each driving cycle. The DCR was utilized for optimization of the HEV control parameters using a genetic-fuzzy approach. A fuzzy logic controller （FLC） was designed to be intelligent to manage the engine to work in the vicinity of its optimal condition. The fuzzy membership function parameters were optimized using the genetic algorithm （GA） for each driving cycle. The result is that the DCR_ fuzzy controller can reduce the fuel consumption by 1. 9%, higher than only CYC _ HWFET optimized fuzzy （0.2%） or CYC _ WVUSUB optimized fuzzy （0.7%）. The DCR_ fuzzy method can get the better result than only optimizing one cycle on the complex real traffic conditions.
基金Project(2020203)supported by the Weapon Research Foundation,China
文摘An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.
文摘In order to make maximum use of the EV （electric vehicle） battery, evaluating the remaining battery capacity and the power consumption is important. Evaluation method of the remaining battery capacity with accuracy has been proposed. Moreover, the evaluation method of the power consumption for traveling has been proposed. However, the power consumption for vehicle-mounted air-conditioner is 30%. It is necessary to calculate the power consumption for both traveling and air-conditioning. In this paper, the authors have constructed a mathematical model which calculates the EV power consumption for both traveling and air-conditioning. The calculated results of this model have been compared to actual traveling data. In addition, factors which have a impact on the EV power consumption have been studied. As a result, the EV power consumption is greately varied by slope resistance, acceleration resistance and required air-conditioning load. Moreover, it is clarified that the air-conditioner consumes approximately 25% to 50% of the total power consumption in a hot summer day. In addition, the acceleration and the air-conditioning load differ depending on each vehicle driver. Therefore, in order to evaluate the EV power consumption practically, it is necessary to reflect the characteristics of each vehicle driver.
