Path-Following Based on Nonlinear Model Predictive Control with Adaptive Path Preview

This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.

A Cascading Fault Path Prediction Method for Integrated Energy Distribution Networks Based on the Improved OPA Model under Typhoon Disasters

In recent times,the impact of typhoon disasters on integrated energy active distribution networks(IEADNs)has received increasing attention,particularly,in terms of effective cascading fault path prediction and enhanced fault recovery performance.In this study,we propose a modified ORNL-PSerc-Alaska(OPA)model based on optimal power flow(OPF)calculation to forecast IEADN cascading fault paths.We first established the topology and operational model of the IEADNs,and the typical fault scenario was chosen according to the component fault probability and information entropy.The modified OPA model consisted of two layers:An upper-layer model to determine the cascading fault location and a lower-layer model to calculate the OPF by using Yalmip and CPLEX and provide the data to update the upper-layer model.The approach was validated via the modified IEEE 33-node distribution system and two real IEADNs.Simulation results showed that the fault trend forecasted by the novel OPA model corresponded well with the development and movement of the typhoon above the IEADN.The proposed model also increased the load recovery rate by>24%compared to the traditional OPA model.

Optimal path finding algorithms based on SLSD road network model

A solution to compute the optimal path based on a single-line-single-directional（SLSD）road network model is proposed.Unlike the traditional road network model,in the SLSD conceptual model,being single-directional and single-line style,a road is no longer a linkage of road nodes but abstracted as a network node.Similarly,a road node is abstracted as the linkage of two ordered single-directional roads.This model can describe turn restrictions,circular roads,and other real scenarios usually described using a super-graph.Then a computing framework for optimal path finding（OPF）is presented.It is proved that classical Dijkstra and A algorithms can be directly used for OPF computing of any real-world road networks by transferring a super-graph to an SLSD network.Finally,using Singapore road network data,the proposed conceptual model and its corresponding optimal path finding algorithms are validated using a two-step optimal path finding algorithm with a pre-computing strategy based on the SLSD road network.

Channel Measurement and Path Loss Modeling from 220 GHz to 330 GHz for 6G Wireless Communications

Terahertz(THz)communication has been envisioned as a key enabling technology for sixthgeneration(6G).In this paper,we present an extensive THz channel measurement campaign for 6G wireless communications from 220 GHz to 330 GHz.Furthermore,the path loss is analyzed and modeled by using two single-frequency path loss models and a multiplefrequencies path loss model.It is found that at most frequency points,the measured path loss is larger than that in the free space.But at around 310 GHz,the propagation attenuation is relatively weaker compared to that in the free space.Also,the frequency dependence of path loss is observed and the frequency exponent of the multiple-frequencies path loss model is 2.1.Moreover,the cellular performance of THz communication systems is investigated by using the obtained path loss model.Simulation results indicate that the current inter-site distance(ISD)for the indoor scenario is too small for THz communications.Furthermore,the tremendous capacity gain can be obtained by using THz bands compared to using microwave bands and millimeter wave bands.Generally,this work can give an insight into the design and optimization of THz communication systems for 6G.

Ribbon model based path tracking method for autonomous ground vehicles

To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly.

Non-smooth environment modeling and global path planning for mobile robots

An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.

Path following control of underactuated ships based on nonswitch analytic model predictive control

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

Numerical Method for Modeling the Constitutive Relationship of Sand under Different Stress Paths

A numerical method was used in order to establish the constitutive relationship of sands under different stress paths, Firstly, based on the numerical method modeling the constitutive law of sands, the elastoplastic constitutive relationship of sand was established for three paths： the constant proportion of principle stress path, the conventional triaxial compression （CTC） path, and the p=constant （TC） path. The yield lines of plastic volumetric strain and plastic generalized shear strain were given. Through visualization, the three dimensional surface of the stress-strain relationship in the whole stress field （p, q） obtained under the three paths was plotted. Also, by comparing the stress-strain surfaces and yield locus of the three stress paths, the differences were found to be obvious, which demonstrates that the influence of the stress paths on constitutive law was not neglected. The numerical modeling method overcame the difficulty of finding an analytical expression for plastic potential. The results simulated the experimental data with an accuracy of 90% on average, so the constitutive model established in this paper provides an effective constitutive equation for this kind of engineering, reflecting the effect of practical stress paths that occur in sands.

Combination of Ecoprofile and Least-cost Model for Eco-network Planning

The protecting requirements and functional connectivity of species in isolated habitat patches are crucial factors of eco-network planning.This study aimed to improve the method of eco-network planning for species conservation.Ecoprofiling was used to group the species by similar behavior types,namely,choice of ecosystem,area requirement,and short distance dispersal abilities.A least-cost model was used to simulate the optimal corridor location to maintain functional connectivity.A combination of ecoprofile and least-cost model was hired to develop an eco-network that promoted species conservation.A case study was also conducted in Beijing,China.In addition to the required ecosystem,habitat area is an important parameter for habitat extraction.Habitat area can remove noise habitat patches because of lacking area.Short-distance dispersal can be used to identify corridor requirements and avoid unnecessary building requirements.Species with various dispersal abilities exhibit significant differences in terms of corridor length and location requirement.Habitat isolation is the main threat for weakly mobile species,and habitat loss is the major risk of mobile species protection.Different species groups also exhibit distinct landscape pattern demands for an eco-network,and the eco-network planning based on specific species can not protect other species.We proposed that a combination of ecoprofile and least-cost model improved the efficiency of species conservation by eco-network planning.

Modeling of UAV path planning based on IMM under POMDP framework

In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.

An improved hypoplastic constitutive model of rockfill considering effect of stress path

An incrementally nonlinear hypoplastic constitutive model was introduced, which was developed without recourse to the concepts in elastoplasticity theory such as yield surface, plastic potential and the decomposition of the deformation into elastic and plastic parts. Triaxial drained tests on rockfill were conducted on a large scale triaxial apparatus under two types of stress paths, which were the stress paths of constant stress ratio and the complex stress paths with transitional features. Motivated by the effect of stress path, the Gudehus-Bauer hypoplastic model was improved by considering the parameter variations with different ratios of stress increment. Fitting parameter a presents a piecewise linear relationship with cosine of the slope angle θ determined by instantaneous stress path. The improved hypoplastic model can present peak stress increasing and volumetric strain changing from dilatancy to contractancy with the increase of transitional confining pressure σ3t and the decrease of slope angle θ of stress path. Compared with the test data, it is shown that the model is capable of fully considering the effect of stress path on rockfill.

Bi-objective path optimization of flapping airfoils based on a surrogate model

A bi-objective optimization problem for flapping airfoils is solved to maximize the time-averaged thrust coefficient and the propulsive efficiency. Design variables include the plunging amplitude, the pitching amplitude and the phase shift angle. A well defined Kriging model is used to substitute the time-consuming high fidelity model, and a multi-objective genetic algorithm is employed as the search algorithm. The optimization results show that the propulsive efficiency can be improved by reducing the plunging amplitude and the phase shift angle in a proper way. The results of global sensitivity analysis using the Sobol’s method show that both of the time-averaged thrust coefficient and the propulsive efficiency are most sensitive to the plunging amplitude, and second most sensitive to the pitching amplitude. It is also observed that the phase shift angle has an un-negligible influence on the propulsive efficiency, and has little effect on the time-averaged thrust coefficient.

Path Classification and Estimation Model Based Prognosis of Pneumatic Cylinder Lifetime

Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products has been difficult.To predict the lifetime specification of pneumatic cylinders with high reliability and long lifetime and small specimen,this paper put forward the prognosis algorithm based on the path classification and estimation（PACE） model.PACE model is based entirely on failure data instead of failure threshold.Pneumatic cylinders normally characterize with failure mechanism wear and tear.Since the minimum working pressure increases with the number of working cycles,the minimum working pressure is chosen as degradation signal.PACE model is fundamentally composed of two operations：path classification and remaining useful life（RUL） estimation.Path classification is to classify a current degradation path as belonging to one or more of previously collected exemplary degradation paths.RUL estimation is to use the resulting memberships to estimate the remaining useful life.In order for verification and validation of PACE prognostic method,six pneumatic cylinders are tested.The test data is analyzed by PACE prognostics.It is found that the PACE based prognosis method has higher prediction accuracy and smaller variance and PACE model is significantly outperform population based prognostics especially for small specimen condition.PACE model based method solved the problem of prediction accuracy for small specimen pneumatic cylinders＇ prognosis.

Path loss modelling and comparison based on the radio propagation measurement at 3.5GHz

Wideband IMT-Advanced mobile communication systems tend to operate in the high frequency bands due to a relatively large capacity available. Thus, Measurement and modelling methods of radio propaga- tion eharaeteristics are proposed for the field test of Chinese 4th generation （4G） trial system. The mea- surement system is established for 3.5GHz based on the sophistieated measurement instruments and the virtual instrument teehnology. The characteristic parameters of radio propagation sueh as path loss （PL） exponent and shadow fading standard deviation are extracted from measurement data, which result in the path loss model finally. The comparisons with other existing international models results validate our mea- surement in terms of path loss model. Based on the analysis of the existing extension model assumed for the microwave frequency at 3.5GHz, we find that the Stanford University Interim （SUI） model fits very well with the measurement result in the hotspot scenario, while the COST 231 model is closer to the mea- surement result in the suburban scenario. This result provides a measurement-based channel referenee for the development of the future IMT-Advanced systems in China.

Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot

Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.

Green development model and cultivating path for characteristic small town

In the context of the new urbanization,the characteristic town,as a new hotspot to developing rapidly to explore the industry,humanities,community integration town model,a urbanization and high-tech industry development booster,by the government and developers attention.At the same time,the green development model applies to the characteristic town of industrial upgrading and transformation,guiding the future characteristic town of green economic industry development direction.This paper studies the green development model of the characteristic town,and puts forward the implementation of the green industry through the greening industry structure,promoting green consumption and optimizing the green management.

Cybersecurity: A Statistical Predictive Model for the Expected Path Length

The object of this study is to propose a statistical model for predicting the Expected Path Length (expected number of steps the attacker will take, starting from the initial state to compromise the security goal—EPL) in a cyber-attack. The model we developed is based on utilizing vulnerability information along with having host centric attack graph. Utilizing the developed model, one can identify the interaction among the vulnerabilities and individual variables (risk factors) that drive the Expected Path Length. Gaining a better understanding of the relationship between vulnerabilities and their interactions can provide security administrators a better view and an understanding of their security status. In addition, we have also ranked the attributable variables and their contribution in estimating the subject length. Thus, one can utilize the ranking process to take precautions and actions to minimize Expected Path Length.

Statistical Model of Path Loss for Railway 5G Marshalling Yard Scenario

The railway mobile communication system is undergoing a smooth transition from the Global System for Mobile Communications-Railway(GSM-R)to the Railway 5G.In this paper,an empirical path loss model based on a large amount of measured data is established to predict the path loss in the Railway 5G marshalling yard scenario.According to the different characteristics of base station directional antennas,the antenna gain is verified.Then we propose the position of the breakpoint in the antenna propagation area,and based on the breakpoint segmentation,a large-scale statistical model for marshalling yards is established.

Calculation of the Model of Coesite Inclusions and Analysis of Their Retrometamorphic Paths

The process and path of retrometamorphism of coesite have great significance to our understanding of the P-T tracks of the exhumation of ultrahigh-pressure metamorphic rocks. Most of the coesites in the eclogite from Shima, Anhui Province, the Dabie Mountains, China, are found degraded to quartz partly or wholly, with ruptures occurring in the shells, outside which include the coesite and quartz. According to the microscopic observation, the sample of coesite inclusion is composed of garnet, quartz and coesite, based on which we have built a three-shelled composite sphere model to compute the transition of coesite. Based on the crystal growth formulas and pressure conditions of the ruptures in the garnet, we have calculated the radius of the quartz sphere, which depends on temperature, and eventually drawn the different retrometamorphic paths for different retrometamorphism rates.

Modeling and Kinematics Simulation of Hydro-mechanical Split Path Steering Device of Tracked Vehicle Based on CATIA

Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.