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.

THE PRINCIPLES OF LEAST ACTION OF VARIABLE MASS NONHOLONOMIC NONCONSERVATIVE SYSTEM IN NONINERTIAL REFERENCE FRAMES

This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then obtains differential equations of motion of variable mass nonholonomic nonconservative system in noninertial reference frame.

Application of the annexation principle to the study of thermodynamic properties of ternary metallic melts In-Pb-Ag and In-Bi-Sb

Based on the phase diagrams, measured activities an the annexationprinciple, the calculating models of mass action concentrations forin-Pb-Ag and In-Bi-Sb ternary metallic melts have been formulated.The results of calculation both agree with practice, and obey the lawof mass action, showing that the models formulated can reflect thestructural reality of the corresponding melts and the annexationprinciple is applicable to the them.

THE STATIONARY VALUE PROPERTY OF HAMILTON'S PRINCIPLE IN NON-HOLONOMIC SYSTEMS

This paper proves that Hanlilton's prmciple of both using the Appell-Chetaevcondition and not using the Appell-CHETAEV conditiion is the variational principle of stationary action.The relevant problems are discussed

TRANSFORMING THE CITY FOR SUSTAINABILITYThe Principles of Green Urbanism

This paper will first look at the timeline of important publications that have been published on sustainable design and have emerged from different schools of thought,to exemplify how gradually the notion of Green Urbanism evolved.It then identifies the intertwined principles for achieving Green Urbanism.

Application of annexation principle to the study of thermodynamic properties of Ag-Bi-In metallic melts

Based on the measured activities, the phase diagrams and the annexation principle, the calculating models of mass action concentrations for Ag-Bi and Ag-Bi-In melts have been formulated. The calculated results agree with practice and obey the mass action law, showing that the models formulated can reflect the structural characteristics of both melts. Meanwhile, it confirms that annexation principle is applicable to the Ag-Bi-In metallic melts. The melts involving eulectic which give rise to phase separation, and in which activities exhibit positive deviation from Raoult's law is the basic cause of melts transforming from homogeneous to heterogeneous ones.

A Universal Condition Satisfied by the Action of Electromagnetic Radiation Fields

The action (the product of radiated energy and the time of emission) of the radiation fields generated by four types of radiators, namely, short electric dipole, small magnetic dipole, travelling wave antenna and bi-conical antenna is investigated with special reference to the charge associated with the current waveform which is responsible for the radiation. The results obtained can be summarized by the order of magnitude inequality where A is the action (product of the radiated energy and the time of emission), h is the Planck constant, q is the charge associated with the current that gave rise to the radiation and e is the electronic charge. The condition is obtained when the length of the antenna and its radius are pushed to its extreme natural limits. Based on the results obtained here and elsewhere, it is suggested that this inequality is valid in general for electromagnetic radiation fields as predicted by classical electrodynamics.

Mach’s Principle, Action at a Distance and Cosmology

Hoyle and Narlikar (HN) in the 1960’s [1] 08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000E0000005F005200650066003400310031003900330036003000340034000000 -[3] 08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000E0000005F005200650066003400310031003900330036003000340037000000 developed a theory of gravitation which was completely Machian and used both retarded and advanced waves to communicate gravitational influence between particles. The advanced waves, which travel backward in time, are difficult to visualize and although they are mathematically allowed by relativistic wave equations, they never really caught on. The HN theory reduced to Einstein’s theory of gravity in the smooth fluid approximation and a transformation into the rest frame of the fluid. Hawking [4] 08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000E0000005F005200650066003400310031003900330036003000350030000000 in 1965 pointed out a possible flaw in the theory. This involved integrating out into the distant future to account for all the advanced waves which might influence the mass of a particle here and now. Hawking used infinity as his upper time limit and showed the integral was divergent. We point out that since the universe is known to be expanding, and accelerating, the upper limit in the advanced wave time integral should not be infinite but is bounded by the Cosmic Event Horizon. This event horizon He represents a barrier between future events that can be observed and those which cannot. We show that the advanced wave integral is finite when He/C, is used as the upper limit of the advanced wave integral. Hawking’s objection is no longer valid and the HN theory becomes a working theory once again.

Management of the Higher Education Institution in the Ethical Actions Context

Managing the university in the context of ethics is one of many elements in the management of this specific organization. The task of university is functioning based on universal values, mission, vision, ethical codes, and responsibility and worthy behavior towards internal and external environment. In the era of globalization and constant changes, only a modernly managed higher education institution, acting according to principles of ethics, is able to meet requirements of surroundings. Behaviors of academic community should promote ethical actions in higher education institutions. It should be noted that the reputation, prestige in higher education, should also be based on the proceedings consistent with ethics.

Application of annexation principle to the study of thermodynamic properties of Ag-Bi-In metallic melts

Based on the measured activities,the phase diagrams and the annexation principle,the calculating models of mass action concentrations for Ag-Bi and Ag-Bi-In melts have been formulated.The calculated results agree with practice and obey the mass action law,showing that the models formulated can reflect the structural characteristics of both melts.Meanwhile,it confirms that annexation principle is applicable to the Ag-Bi-In metallic melts.The melts involving eutectic which give rise to phase separation,and in which activcities exhibit positive deviation from Raoult's law is the basic cause of melts transforming from homogeneous to heterogeneous ones.

Application of annexation principle of thermodynamic property of In-Pb-Sb and In-Bi-Pb melts

Based on the principle of annexation and phase diagrams, the structural units of In Pb Sb and In Bi Pb melts were determined, and their calculating models of mass action concentrations were formulated. Calculated results agree well with practical values, which in turn show that the models deduced can reflect the structural realities of corresponding melts and the principle of annexation is applicable not only to some binary metallic melts, but also to ternary metallic melts.

Action Origin of the Cosmos

In physical information theory elementary objects are represented as correlation structures with oscillator properties and characterized by action. The procedure makes it possible to describe the photons of positive and negative charges by positive and negative real action;gravitons are represented in equal amounts by positive and negative real, i.e., virtual action, and the components of the vacuum are characterized by deactivated virtual action. An analysis of the currents in the correlation structures of photons of static Maxwell fields with wave and particle properties, of the Maxwell vacuum and of the gravitons leads to a uniform three-dimensional representation of the structure of the action. Based on these results, a basic structure consisting of a system of oscillators is proposed, which describe the properties of charges and masses and interact with the photons of static Maxwell fields and with gravitons. All properties of the elemental components of nature can thus be traced back to a basic structure of action. It follows that nature can be derived from a uniform structure and this structure of action must therefore also be the basis of the origin of the cosmos.

‘Disciplining Oneself’and‘Disciplining Others’in Social Life:On the Contemporary Significance of Confucius’s Principle of Loyalty and Reciprocity

In a moral sense,there is an essential di erence between“disciplining oneself”and“disciplining others”in that the former means one setting rules for and giving orders to oneself in regard to one’s own conduct,which are unconditionally compulsory,while the latter is exible in the sense that one’s rules and orders for oneself are not compulsory to others and cannot prohibit others from doing something.In principle,Confucius’s sayings,“do not impose upon others that which you would not wish for yourself”and“establish others in seeking to establish yourself and promote others in s eeking to promote yourself”have epitomized the line of demarcation between them.His doctrine of“not imposing upon others that which you would not wish for yourself,”though based on self-preservation and self-interest,represents a standard of conduct of highly universal value.If the overwhelming majority of a society follows it as their standard of conduct,refraining from harming others in order to protect oneself from harm,then the whole society will endure little,if not no,strife and struggle.

Heuristic Estimation of the Vacuum Energy Density of the Universe: Part II-Analysis Based on Frequency Domain Electromagnetic Radiation

In Part I of this paper, an inequality satisfied by the vacuum energy density of the universe was derived using an indirect and heuristic procedure. The derivation is based on a proposed thought experiment, according to which an electron is accelerated to a constant and relativistic speed at a distance L from a perfectly conducting plane. The charge of the electron was represented by a spherical charge distribution located within the Compton wavelength of the electron. Subsequently, the electron is incident on the perfect conductor giving rise to transition radiation. The energy associated with the transition radiation depends on the parameter L. It was shown that an inequality satisfied by the vacuum energy density will emerge when the length L is pushed to cosmological dimensions and the product of the radiated energy, and the time duration of emission is constrained by Heisenberg’s uncertainty principle. In this paper, a similar analysis is conducted with a chain of electrons oscillating sinusoidally and located above a conducting plane. In the thought experiment presented in this paper, the behavior of the energy radiated by the chain of oscillating electrons is studied in the frequency domain as a function of the length L of the chain. It is shown that when the length L is pushed to cosmological dimensions and the energy radiated within a single burst of duration of half a period of oscillation is constrained by the fact that electromagnetic energy consists of photons, an inequality satisfied by the vacuum energy density emerges as a result. The derived inequality is given by where is the vacuum energy density. This result is consistent with the measured value of the vacuum energy density, which is 5.38 × 10-10 J/m. The result obtained here is in better agreement with experimental data than the one obtained in Part I of this paper with time domain radiation.

Building Blocks of Nature

By means of a representation of the elementary objects by the Lagrange density and by the commutators of the communication relations, correlations can be formed using the Fourier transform, which under the conditions of the Hamilton principle, describes correlation structures of the elementary objects with oscillator properties. The correlation structures obtained in this way are characterized by physical information, the essential component of which is the action. The correlation structures describe the physical properties and their interactions under the sole condition of the Hamilton’s principle. The structure, the properties and the interactions of elementary objects can be led back in this way to a fundamental four dimensional structure, which is therefore in their different modifications the building block of nature. With the presented method, an alternative interpretation of elementary physical effects to quantum mechanics is obtained. This report provides an overview of the fundamentals and statements of physical information theory and its consequences for understanding the nature of elementary objects.

一类渐近3-线性Kirchhoff型方程的正基态解

采用变分方法研究了一类渐近3-线性Kirchhoff型方程.利用极小作用原理,得到非零非负解的存在性.最后利用强极大值原理,得到了一个正的基态解.

Towards the Unified Principles for Level 5 Autonomous Vehicles

The rapid advance of autonomous vehicles(AVs)has motivated new perspectives and potential challenges for existing modes of transportation.Currently,driving assistance systems of Level 3 and below have been widely produced,and several applications of Level 4 systems to specific situations have also been gradually developed.By improving the automation level and vehicle intelligence,these systems can be further advanced towards fully autonomous driving.However,general development concepts for Level 5 AVs remain unclear,and the existing methods employed in the development processes of Levels 0-4 have been mainly based on task-driven function development related to specific scenarios.Therefore,it is difficult to identify the problems encountered by high-level AVs.The essential logical and physical mechanisms of vehicles have hindered further progression towards Level 5 systems.By exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essence of driving,we put forward a coordinated and balanced framework based on the brain-cerebellum-organ concept through reasoning and deduction.Based on a mixed mode relying on the crow inference and parrot imitation approach,we explore the research paradigm of autonomous learning and prior knowledge to realize the characteristics of self-learning,self-adaptation,and self-transcendence for AVs.From a systematic,unified,and balanced point of view and based on least action principles and unified safety field concepts,we aim to provide a novel research concept and develop an effective approach for the research and development of high-level AVs,specifically at Level 5.

A new method for calculating the activity of stable compound from binary phase diagram

A new method to calculate the activity of a stable compound in a binary phase diagram was presented and discussed. According to the formula for calculating activity from the binary phase diagram, the equilibrium constant can be calculated through the mass action principle after the activities of two pure components were computed respectively. Based on that, the activity of a stable compound can be easily obtained at last. The activity of the stable compound InSb is calculated in the In-Sb binary system by using this method. The result is well consistent with another calculation value.

Application and Experiment on the Least-action Principle of Explosive Welding of Stainless Steel/Steel

In nature, many physical phenomena follow the least-action principle, which is also abided by the course of explosive welding of stainless steel/steel. The optimal welding interface can be obtained with the least explosive charge by theoretical analysis and interface test. The bonding energy can be acknowledged as the ＂action＂ in explosive welding. To minimize the bonding energy, these rules must be followed such as the lower limit of explosive charge, the upper limit of span and the explosive of critical explosion velocity. The principle of least-action is achieved in the course of explosive welding, and the interface will be optimum.

Theory of a Mach Effect Thruster II

According to Einstein, General Relativity contains the essence of Mach’s ideas. Mach’s principle can be summarized by stating that the inertia of a body is determined by the rest of the mass-energy content of the universe. Inertia here arises from mass-energy there. The latter, was a statement made by John Wheeler in his 1995 book, Gravitation and Inertia, coauthored by Ciufolini. Einstein believed that to be fully Machian, gravity would need a radiative component, an action-at-a-distance character, so that gravitational influences on a body from far away could be felt immediately. In 1960’s, Hoyle and Narlikar (HN) developed such a theory which was a gravitational version of the Absorber theory derived by Wheeler-Feynman for classical electrodynamics and later expanded upon by Davies and Narlikar for quantum electrodynamics. The HN-field equation has the same type of mass fluctuation terms as in the Woodward Mach effect thruster theory. The force equation, used to predict the thrust in our device, can be derived from the mass fluctuation. We outline a new method for deriving the force equation. We present new experimental tests of the thruster to show that the thrust seen in our device is not due to either heating or Dean Drive effects. Successful replications have been performed by groups in Austria and Canada, but their work is still pending in the peer review literature.