Improved Ant Colony Algorithm for Vehicle Scheduling Problem in Airport Ground Service Support

Support vehicles are part of the main body of airport ground operations,and their scheduling efficiency directly impacts flight delays.A mathematical model is constructed and the responsiveness of support vehicles for current operational demands is proposed to study optimization algorithms for vehicle scheduling.The model is based on the constraint relationship of the initial operation time,time window,and gate position distribution,which gives an improvement to the ant colony algorithm(ACO).The impacts of the improved ACO as used for support vehicle optimization are compared and analyzed.The results show that the scheduling scheme of refueling trucks based on the improved ACO can reduce flight delays caused by refueling operations by 56.87%,indicating the improved ACO can improve support vehicle scheduling.Besides,the improved ACO can jump out of local optima,which can balance the working time of refueling trucks.This research optimizes the scheduling scheme of support vehicles under the existing conditions of airports,which has practical significance to fully utilize ground service resources,improve the efficiency of airport ground operations,and effectively reduce flight delays caused by ground service support.

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

Analysis of Fresh Air Volume of Air-conditioning System for Railway Vehicles

The relevant standard requirements both in domestic and abroad provide the basis for designing air-conditioning system of railway vehicles present. However, there are great differences in the fresh air volume indicators among different standards requirements, and the requirements of each vehicle procurement contracts are also different. The design of air-conditioning become difficult above these. In this paper, the fresh air volume of different type railway vehicles is analyzed from health and equipment electricity consumption according to the railway vehicles air-conditioning system standard requirements in domestic and abroad. Some advises for designing air-conditioning system of railway vehicles through the fresh air volume calculation and comparison for domestic air-conditioning system of railway vehicles was provided.

Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking

A multi-constrained model predictive control （ MPC ） algorithm for trajectory tracking of an autonomous ground vehicle is proposed and tested in this paper. First, to simplify the computa- tion, an active steering linear error model is applied in the MPC controller. Then, a control incre- ment constraint and a relaxing factor are taken into account in the objective function to ensure the smoothness of the trajectory, using a softening constraints technique. In addition, the controller can obtain optimal control sequences which satisfy both the actual kinematic constraints and the actuator constraints. The circular trajectory tracking performance of the proposed method is compared with that of another MPC controller. To verify the trajectory tracking capabilities of the designed control- ler at different desired speed, the simulation experiments are carried out at the speed of 3m/s, 5m/ s and 10m/s. The results demonstrate the MPC controller has a good speed adaptability.

Study on shift schedule saving energy of automatic transmission of ground vehicles

To improve ground vehicle efficiency, shift schedule energy saving was proposed for the ground vehicle automatic transmission by studying the function of the torque converter and transmission in the vehicular drivetrain. The shift schedule can keep the torque converter working in the high efficiency range under all the working conditions except in the low efficiency range on the left when the transmission worked at the lowest shift, and in the low efficiency range on the right when the transmission worked at the highest shift. The shift quality key factors were analysed. The automatic trans-mission's bench-test adopting this shift schedule was made on the automatic transmission's test-bed. The experimental results showed that the shift schedule was correct and that the shift quality was controllable.

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.

An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.

Modeling and control for hydraulic transmission of unmanned ground vehicle

Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is difficult to control.High pressure automatic variables bang-bang(HABB) was proposed to achieve the desired motor speed.First,the VPDVM nonlinear mathematic model was introduced,then linearized by feedback linearization theory,and the zero-dynamic stability was proved.The HABB control algorithm was proposed for VPDVM,in which the variable motor was controlled by high pressure automatic variables(HA) and the variable pump was controlled by bang-bang.Finally,simulation of VPDVM controlled by HABB was developed.Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed,load and pump speed.

An Air Route Planning Model of Unmanned Aerial Vehicles Under Constraints of Ground Safety

With the rapid growth of the number and flight time of unmanned aerial vehicles(UAVs),safety accidents caused by UAVs flight risk is increasing gradually.Safe air route planning is an effective means to reduce the operational risk of UAVs at the strategic level.The optimal air route planning model based on ground risk assessment is presented by considering the safety cost of UAV air route.Through the rasterization of the ground surface under the air route,the safety factor of each grid is defined with the probability of fatality on the ground per flight hour as the quantitative index.The air route safety cost function is constructed based on the safety factor of each grid.Then,the total cost function considering both air route safety and flight distance is established.The expected function of the ant colony algorithm is rebuilt and used as the algorithm to plan the air routes.The effectiveness of the new air route planning model is verified through the logistical distribution scenario on urban airspace.The results indicate that the new air route planning model considering safety factor can greatly improve the overall safety of air route under small increase of the total flight time.

Heat transfer and temperature evolution in underground mininginduced overburden fracture and ground fissures: Optimal time window of UAV infrared monitoring

Heat transfer and temperature evolution in overburden fracture and ground fissures are one of the essential topics for the identification of ground fissures via unmanned aerial vehicle(UAV) infrared imager. In this study, discrete element software UDEC was employed to investigate the overburden fracture field under different mining conditions. Multiphysics software COMSOL were employed to investigate heat transfer and temperature evolution of overburden fracture and ground fissures under the influence of mining condition, fissure depth, fissure width, and month alternation. The UAV infrared field measurements also provided a calibration for numerical simulation. The results showed that for ground fissures connected to underground goaf(Fissure Ⅰ), the temperature difference increased with larger mining height and shallow buried depth. In addition, Fissure Ⅰ located in the boundary of the goaf have a greater temperature difference and is easier to be identified than fissures located above the mining goaf. For ground fissures having no connection to underground goaf(Fissure Ⅱ), the heat transfer is affected by the internal resistance of the overlying strata fracture when the depth of Fissure Ⅱ is greater than10 m, the temperature of Fissure Ⅱ gradually equals to the ground temperature as the fissures’ depth increases, and the fissures are difficult to be identified. The identification effect is most obvious for fissures larger than 16 cm under the same depth. In spring and summer, UAV infrared identification of mining fissures should be carried out during nighttime. This study provides the basis for the optimal time and season for the UAV infrared identification of different types of mining ground fissures.

GeeNet:robust and fast point cloud completion for ground elevation estimation towards autonomous vehicles

Ground elevation estimation is vital for numerous applications in autonomous vehicles and intelligent robotics including three-dimensional object detection,navigable space detection,point cloud matching for localization,and registration for mapping.However,most works regard the ground as a plane without height information,which causes inaccurate manipulation in these applications.In this work,we propose GeeNet,a novel end-to-end,lightweight method that completes the ground in nearly real time and simultaneously estimates the ground elevation in a grid-based representation.GeeNet leverages the mixing of two-and three-dimensional convolutions to preserve a lightweight architecture to regress ground elevation information for each cell of the grid.For the first time,GeeNet has fulfilled ground elevation estimation from semantic scene completion.We use the SemanticKITTI and SemanticPOSS datasets to validate the proposed GeeNet,demonstrating the qualitative and quantitative performances of GeeNet on ground elevation estimation and semantic scene completion of the point cloud.Moreover,the crossdataset generalization capability of GeeNet is experimentally proven.GeeNet achieves state-of-the-art performance in terms of point cloud completion and ground elevation estimation,with a runtime of 0.88 ms.

Thermal Management of Vehicle Cabins,External Surfaces,and Onboard Electronics:An Overview

Reducing heat accumulation within vehicles and ensuring appropriate vehicular temperature levels can lead to enhanced vehicle fuel economy,range,reliability,longevity,passenger comfort,and safety.Advancements in vehicle thermal management remain key as new technologies,consumer demand,societal concerns,and government regulations emerge and evolve.This study summarizes several recent advances in vehicle thermal management technology and modeling,with a focus on three key areas:the cabin,electronics,and exterior components of vehicles.Cabin-related topics covered include methods for reducing thermal loads and improving heating,ventilation,and air-conditioning(HVAC)systems;and advancements in window glazing/tinting and vehicle surface treatments.For the thermal management of electronics,including batteries and insulated-gate bipolar transistors(IGBTs),active and passive cooling methods that employ heat pipes,heat sinks,jet impingement,forced convection,and phase-change materials are discussed.Finally,efforts to model and enhance the heat transfer of exterior vehicular components are reviewed while considering drag/friction forces and environmental effects.Despite advances in the field of vehicle thermal management,challenges still exist;this article provides a broad summary of the major issues,with recommendations for further study.

The future and technique challenges of high-speed ground effect vehicle enrolled in maritime transportation

This paper presents a high-speed ground effect vehicle(HS-GEV)used specifically for maritime transportation.Given the limitations of current vessels,including various types of watercraft and high-speed boats,in fulfilling of needs in different maritime transportation scenarios,the HS-GEV emerges as a promising solution to address unmet requirements.To efficiently accomplish maritime transportation missions with quickness and safety,several critical features are emphasized,including short take-off on water,flight maneuverability and flight stability.The key techniques required to achieve these features,as well as recent progress highlights,are introduced.Following and promoting these crucial techniques is also suggested as a future step to improve HS-GEV performance.With its predominant features,the HS-GEV holds immense application value in enhancing a high-speed maritime transportation system that aligns with the evolving needs of the real world.

Road vehicle-induced vibration control of microelectronics facilities

A hybrid control platform is investigated in this paper to mitigate microvibrations to a group of vibration-sensitive equipment installed in a microelectronics facility subject to nearby road vehicle-induced horizontal and vertical ground motions. The hybrid control platform, on which microelectronics equipment is installed, is mounted on a building floor through a series of passive mounts and controlled by hydraulic actuators in both horizontal and vertical directions. The control platform is an elastic body with significant bending modes of vibration, and a sub-optimal control algorithm is used to manipulate the hydraulic actuators with actuator dynamics included. The finite element model and the equations of motion of the coupled platform-building system are then established in the absolute coordinate to facilitate the feedback control and performance evaluation of the platform. The horizontal and vertical ground vibrations at the base of the building induced by nearby moving road vehicles are assumed to be stationary random processes. A typical three-story microelectronics building is selected as a case study. The case study shows that the vertical vibration of the microelectronics building is higher than the horizontal. The use of a hybrid control platform can effectively reduce both horizontal and vertical microvibrations of the microelectronics equipment to the level which satisfies the stringent microscale velocity requirement specified in the Bolt Beranek & Newman (BBN) criteria.

Primary safe criterion of earth-brushing flight for flying vehicle over digital surface model

In modern terrain-following guidance it is an important index for flight vehicle to cruise about safely and normally. On the basis of a constructing method of digital surface model (DSM), the definition, classification and scale analysis of an isolated obstacle threatening flight safety of terrain-following guidance are made. When the interval of vertical-and cross-sections on DSM is 12. 5 m, the proportion of isolated obstacles to the data amount of DSM model to be loaded is optimal. The main factors influencing the lowest flying height in terrain-following guidance are analyzed, and a primary safe criterion of the lowest flying height over DSM model is proposed. According to their test errors, the lowest flying height over 1:10 000 DSM model can reach 40. 5 m^45. 0 m in terrain-following guidance. It is shown from the simulation results of a typical urban district that the proposed models and methods are reasonable and feasible.

Unmanned Drug Delivery Vehicle for COVID-19 Wards in Hospitals

The prime reason for proposing the work is designing and developing a low-cost guided wireless Unmanned Ground Vehicle(UGV)for use in hospitals for assistance in contactless drug delivery in COVID-19 wards.The Robot is designed as per the requirements and technical specifications required for the healthcare facility.After a detailed survey and tests of various mechanisms for steering and structure of UGV,the best mechanism preferred for steering articulated and for body structure is hexagonal as this approach provides decent performance and stability required to achieve the objective.The UGV has multiple sensors onboard,such as a Camera,GPS module,Hydrogen,and Carbon Gas sensor,Raindrop sensor,and an ultrasonic range finder on UGV for the end-user to understand the circumferential environment and status of UGV.The data and control options are displayed on any phone or computer present in the Wi-Fi zones only if the user login is validated.ESP-32 microcontroller is the prime component utilized to establish reliable wireless communication between the user and UGV.These days,the demand for robot vehicles in hospitals has increased rapidly due to pandemic outbreaks as using this makes a contactless delivery of the medicinal drug.These systems are designed specifically to assist humans in the current situation where life can be at risk for healthcare facilities.In addition,the robot vehicle is suitable for many other applications like supervision,sanitization,carrying medicines and medical equipment for delivery,delivery of food and used dishes,laundry,garbage,laboratory samples,and additional supply.

Reduction of global effects on vehicles after IED detonations

Global effects caused by the detonation of an IED near a military vehicle induce subsequent severe acceleration effects on the vehicle occupants.Two concepts to minimize these global effects were developed,with the help of a combined method based on a scaled experimental technology and numerical simulations.The first concept consists in the optimization of the vehicle shape to reduce the momentum transfer and thus the occupant loading.Three scaled V-shaped vehicles with different ground clearances were built and compared to a reference vehicle equipped with a flat floor.The second concept,called dynamic impulse compensation(DIC),is based on a momentum compensation technique.The principal possibility of this concept was demonstrated on a scaled vehicle.In addition,the numerical simulations have been performed with generic full size vehicles including dummy models,proving the capability of the DIC technology to reduce the occupant loading.

近断层地震动引起的公路桥梁车桥分离现象的统计分析

近年来,随着我国人均汽车保有量的增加,国内交通密度增大,交通拥堵加剧,再加上重卡超载现象越来越严重,机动车辆荷载对中小跨径桥梁的影响显著增大,也提高了地震发生时桥上有车的概率;另一方面,近断层地震动具有显著的竖向效应,已有震害表明车辆与桥梁在较强的竖向地震动作用下容易产生车桥分离或碰撞的现象。因此,考虑近断层地震动作用下车辆对桥梁动力响应的影响将有助于准确评估桥梁的抗震性能。文章以一座典型的3跨连续梁桥为工程背景,采用考虑车辆与桥面动态接触或分离的模型对实际近断层地震动作用下的车桥耦合系统的动力响应进行统计分析,研究车辆对桥梁的动力放大作用、车桥分离现象及其影响规律。结果表明,在车桥不分离的情况下,考虑车辆影响在80%的工况下会减小桥梁的竖向位移响应,但随着竖向PGA的增大,车辆对桥梁的动力作用逐渐趋于不利;其次,车桥之间的动力相互作用可能导致不止一次的车桥分离,最大接触力在大多数情况下发生在首次分离与二次分离之间,最大可能达到车辆重量的7.9倍,会对桥面局部受力产生极其不利的影响,且车桥分离的时间随着车辆竖向频率的增大而增加,但这种现象与地震动的竖向PGA没有直接关系,对桥梁的竖向位移响应影响也不大。

基于图和流体扰动算法的多无人车编队及避障研究

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

高超声速飞行器热-结构试验若干关键技术

热-结构试验是高超声速飞行器研制过程中不可或缺的环节。本文在给出热-结构试验内涵与特征的基础上,结合热-结构试验典型科目介绍,呈现了热-结构试验体系总体架构,为全面了解热-结构试验提供参考;其次重点分析了当前热-结构试验中亟待突破的时变超高温热载实现、局部热载大梯度模拟以及时/频域载荷协同等7大关键技术。