In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering th...In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.展开更多
This paper presents an efficient parallel algorithm for the shortest-path problem in interval graph for computing shortest-paths in a weighted interval graph that runs in O(n) time with n intervals in a graph. A linea...This paper presents an efficient parallel algorithm for the shortest-path problem in interval graph for computing shortest-paths in a weighted interval graph that runs in O(n) time with n intervals in a graph. A linear processor CRCW algorithm for determining the shortest-paths in an interval graphs is given.展开更多
Satellite-tracking technology has allowed scientists to make a quantum leap in the field of migration ecology. Nowadays, the basic description of migratory routes of many species of birds has been reported. However, t...Satellite-tracking technology has allowed scientists to make a quantum leap in the field of migration ecology. Nowadays, the basic description of migratory routes of many species of birds has been reported. However, the investigation of bird migration at individual level （i.e. repeatability in migratory routes and timing） still remains seldom explored. Here, we investigated repeated migratory trips of a trans-Saharan endangered migratory raptor, the Egyptian Vulture Neophron percnopterus, tracked by GPS satellite telemetry. We compared between- and within-individual variation in migratory routes and timing in order to assess the degree of repeatability （or conversely, the flexibility） in migration. To this end, we analysed a dataset of 48 trips （23 springs and 25 autumns） recorded for six adult birds during 2007-2013. Our results showed consistent migration timing at the individual level, both in spring and autumn. Interestingly, there was a high degree of flexibility in the routes followed by the same individual in different years, probably due to variations in meteorological conditions. Contrary to expectations of a faster migration in spring than in autumn owing to a time-minimization strategy for breeding, birds spent less time in autumn migration （13 ± 2 days, range = 9-18 d） than in spring migration （19 ± 3 days, range = 13-26 d）, which can be explained by differences in environmental con- ditions en route. Egyptian vultures showed a consistent clockwise loop migration through western Africa, following more easterly routes in autumn than in spring. Finally, our results provide supporting evidence of low phenotypic plasticity in timing of migration （i.e. strong endogenous control of migration） and high flexibility in routes [Current Zoology 60 （5）： 642-652, 2014].展开更多
Equivalent simplification is an effective method for solving large-scale complex problems. In this paper, the authors simplify a classic project scheduling problem, which is the nonlinear continuous time-cost tradeoff...Equivalent simplification is an effective method for solving large-scale complex problems. In this paper, the authors simplify a classic project scheduling problem, which is the nonlinear continuous time-cost tradeoff problem(TCTP). Simplifying TCTP is a simple path problem in a critical path method(CPM) network. The authors transform TCTP into a simple activity float problem and design a complex polynomial algorithm for its solution. First, the authors discover relationships between activity floats and path lengths by studying activity floats from the perspective of path instead of time.Second, the authors perform simplification and improve the efficiency and accuracy of the solution by deleting redundant activities and narrowing the duration intervals of non-redundant activities. Finally,the authors compare our method with current methods. The relationships between activity floats and path lengths provide new approaches for other path and correlative project problems.展开更多
基金Project(20180608005600843855-19)supported by the International Graduate Exchange Program of Beijing Institute of Technology,China。
文摘In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.
文摘This paper presents an efficient parallel algorithm for the shortest-path problem in interval graph for computing shortest-paths in a weighted interval graph that runs in O(n) time with n intervals in a graph. A linear processor CRCW algorithm for determining the shortest-paths in an interval graphs is given.
文摘Satellite-tracking technology has allowed scientists to make a quantum leap in the field of migration ecology. Nowadays, the basic description of migratory routes of many species of birds has been reported. However, the investigation of bird migration at individual level （i.e. repeatability in migratory routes and timing） still remains seldom explored. Here, we investigated repeated migratory trips of a trans-Saharan endangered migratory raptor, the Egyptian Vulture Neophron percnopterus, tracked by GPS satellite telemetry. We compared between- and within-individual variation in migratory routes and timing in order to assess the degree of repeatability （or conversely, the flexibility） in migration. To this end, we analysed a dataset of 48 trips （23 springs and 25 autumns） recorded for six adult birds during 2007-2013. Our results showed consistent migration timing at the individual level, both in spring and autumn. Interestingly, there was a high degree of flexibility in the routes followed by the same individual in different years, probably due to variations in meteorological conditions. Contrary to expectations of a faster migration in spring than in autumn owing to a time-minimization strategy for breeding, birds spent less time in autumn migration （13 ± 2 days, range = 9-18 d） than in spring migration （19 ± 3 days, range = 13-26 d）, which can be explained by differences in environmental con- ditions en route. Egyptian vultures showed a consistent clockwise loop migration through western Africa, following more easterly routes in autumn than in spring. Finally, our results provide supporting evidence of low phenotypic plasticity in timing of migration （i.e. strong endogenous control of migration） and high flexibility in routes [Current Zoology 60 （5）： 642-652, 2014].
基金supported by the Science and Technology Foundation of Jiangxi Provincial Department of Education in China under Grant No.GJJ161114the Natural Science Foundation of China under Grant No.71271081the Soft Science Research Base of Water Security and Sustainable Development of Jiangxi Province in China
文摘Equivalent simplification is an effective method for solving large-scale complex problems. In this paper, the authors simplify a classic project scheduling problem, which is the nonlinear continuous time-cost tradeoff problem(TCTP). Simplifying TCTP is a simple path problem in a critical path method(CPM) network. The authors transform TCTP into a simple activity float problem and design a complex polynomial algorithm for its solution. First, the authors discover relationships between activity floats and path lengths by studying activity floats from the perspective of path instead of time.Second, the authors perform simplification and improve the efficiency and accuracy of the solution by deleting redundant activities and narrowing the duration intervals of non-redundant activities. Finally,the authors compare our method with current methods. The relationships between activity floats and path lengths provide new approaches for other path and correlative project problems.
