Cooperative Intelligent Transport System(C-ITS)plays a vital role in the future road traffic management system.A vital element of C-ITS comprises vehicles,road side units,and traffic command centers,which produce a ma...Cooperative Intelligent Transport System(C-ITS)plays a vital role in the future road traffic management system.A vital element of C-ITS comprises vehicles,road side units,and traffic command centers,which produce a massive quantity of data comprising both mobility and service-related data.For the extraction of meaningful and related details out of the generated data,data science acts as an essential part of the upcoming C-ITS applications.At the same time,prediction of short-term traffic flow is highly essential to manage the traffic accurately.Due to the rapid increase in the amount of traffic data,deep learning(DL)models are widely employed,which uses a non-parametric approach for dealing with traffic flow forecasting.This paper focuses on the design of intelligent deep learning based short-termtraffic flow prediction(IDL-STFLP)model for C-ITS that assists the people in various ways,namely optimization of signal timing by traffic signal controllers,travelers being able to adapt and alter their routes,and so on.The presented IDLSTFLP model operates on two main stages namely vehicle counting and traffic flow prediction.The IDL-STFLP model employs the Fully Convolutional Redundant Counting(FCRC)based vehicle count process.In addition,deep belief network(DBN)model is applied for the prediction of short-term traffic flow.To further improve the performance of the DBN in traffic flow prediction,it will be optimized by Quantum-behaved bat algorithm(QBA)which optimizes the tunable parameters of DBN.Experimental results based on benchmark dataset show that the presented method can count vehicles and predict traffic flowin real-time with amaximumperformance under dissimilar environmental situations.展开更多
In this paper, the roles of infrastructure development and transportation coordination for Northeast Asian economic cooperation are discussed. It would be necessary to establish an efficient transportation network as ...In this paper, the roles of infrastructure development and transportation coordination for Northeast Asian economic cooperation are discussed. It would be necessary to establish an efficient transportation network as soon as possible. 'Hub-and-Spoke'transportation system and China-Korean peninsula railway container transportation system might be more significant for regional economic cooperation.展开更多
In the agricultural industry, the importance of transportation costs increases considerably as fuel and labor costs climb. Logistic cooperation is an important strategic alternative to reduce transportation costs and ...In the agricultural industry, the importance of transportation costs increases considerably as fuel and labor costs climb. Logistic cooperation is an important strategic alternative to reduce transportation costs and increase efficiencies. Georgia＇s ornamental industry is characterized by producers that share clients, routes and origins; however, each producer has an independent transportation system. This paper analyses a case study to determine if a transportation alliance, through a horizontal cooperation and routing junction among ornamental producers in Georgia, would reduce shipping costs, increase distribution efficiencies and reduce carbon dioxide emissions. Routing and cost analysis were conducted followed by a sensitivity analysis for each constraint. Results showed that with the use of the GIS ArcLogistics 9.3 software, transportation alliances in the ornamental industry are profitable in terms of transport efficiencies and internal and external costs. Total cost savings per shipping cycle ranged from 1.0% to 13.2%, miles driven savings ranged from 1.1% to 13.6%, total number of trucks required savings ranged from 2.5% to 10% and driving hours savings ranged from 1.0% to 18.4%. CO2 emission reductions were also achieved ranging from 1.2% to 8.4% per shipping cycle.展开更多
Land transport can no longer meet the requirements.European transport can be described by these words−crowded motorways and cities,dangerous emissions,ubiquitous traffic accidents,delays,expensive railways.Solutions a...Land transport can no longer meet the requirements.European transport can be described by these words−crowded motorways and cities,dangerous emissions,ubiquitous traffic accidents,delays,expensive railways.Solutions are being sought to transfer a large part of passengers and especially freight transport to(high-speed)rail,and efforts are moving towards electromobility,car-sharing,5G-connectivity,autonomous driving,MaaS(Mobility as a Service)-coordinated transport or hyperloop-type solutions.However,all these solutions have additional challenges and limitations.Solutions are not being searched where they really exist-in the mutual adaptation of road and rail vehicles and their deep cooperation.The ComplexTrans project shows that simply adapting the dimensions and functions of road and rail vehicles can eliminate(or at least significantly reduce)all the problems of existing land transport.The main features of the ComplexTrans system are sufficient parking spaces,reduction of urban and non-urban congestion,electric vehicles with unlimited range and cheaper than standard cars,cheaper and more accessible battery charging,“autonomous ride”,solving the overlap between passenger and freight rail transport and making it self-financing,transferring intercity freight transport to rail,replacing part of continental air transport and many others.The cost-effective and clustered individual transport and individualised public transport of the ComplexTrans system also bring very significant reductions in the risk of transmission of covid-19 and other contagious diseases during transport.展开更多
Given limited terrain adaptability,most existing multirobot cooperative transportation systems(MRCTSs)mainly work on flat pavements,restricting their outdoor applications.The connectors'finite deformation capabili...Given limited terrain adaptability,most existing multirobot cooperative transportation systems(MRCTSs)mainly work on flat pavements,restricting their outdoor applications.The connectors'finite deformation capability and the control strategies'limitations are primarily responsible for this phenomenon.This study proposes a novel MRCTS based on tracked mobile robots(TMRs)to improve terrain adaptability and expand the application scenarios of MRCTSs.In structure design,we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object(the communal payload).In addition,the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control.In the control strategy,we present a virtual leader-physical follower collaborative paradigm.The leader robot is imaginary to describe the movement of the entire system and manage the follower robots.All the TMRs in the system act as follower robots to transport the object cooperatively.Having divided the whole control structure into the leader robot level and the follower robot level,we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework.Furthermore,a control law satisfying saturation constraints is derived to ensure transportation stability.An adaptive control algorithm processes the wheelbase uncertainty of the TMR.Finally,we develop a prototype of the TMR-based MRCTS for experiments.In the trajectory tracking experiment,the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time.In the outdoor experiment,the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR's maximum load limited to 15 kg.The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.展开更多
A cooperative game theoretical approach is taken to production and transportation coordinated scheduling problems of two-machine flow-shop(TFS-PTCS problems)with an interstage transporter.The authors assume that there...A cooperative game theoretical approach is taken to production and transportation coordinated scheduling problems of two-machine flow-shop(TFS-PTCS problems)with an interstage transporter.The authors assume that there is an initial scheduling order for processing jobs on the machines.The cooperative sequencing game models associated with TFS-PTCS problems are established with jobs as players and the maximal cost savings of a coalition as its value.The properties of cooperative games under two different types of admissible rearrangements are analysed.For TFS-PTCS problems with identical processing time,it is proved that,the corresponding games areσ_(0)-component additive and convex under one admissible rearrangement.The Shapley value gives a core allocation,and is provided in a computable form.Under the other admissible rearrangement,the games neither need to beσ_(0)-component additive nor convex,and an allocation rule of modified Shapley value is designed.The properties of the cooperative games are analysed by a counterexample for general problems.展开更多
Cooperation among enterprises can bring overall and individual performance improvement,and a smooth coordination method is indispensable.However,due to the lack of customized coordination methods,cooperation in the do...Cooperation among enterprises can bring overall and individual performance improvement,and a smooth coordination method is indispensable.However,due to the lack of customized coordination methods,cooperation in the downstream oil supply chain cannot be carried out smoothly.This paper intends to propose a multi-party coordination method to promote cooperation between oil shippers and pipeline operator by optimizing oil transportation,oil substitution and pipeline pricing schemes.An integrated game-theoretic modeling and analysis approach is developed to characterize the operation behaviors of all stakeholders in the downstream oil supply chain.The proposed mixed integer nonlinear programming model constrains supply and demand capacity,transportation routes,oil substitution rules and pipeline freight levels.Logarithm transformation and price discretization are introduced for model linear approximation.Simulation experiments are carried out in the oil distribution system in South China.The results show that compared to the business-as-usual scheme,the new scheme saves transportation cost by 3.48%,increases pipeline turnover by 5.7%,and reduces energy consumption and emissions by 7.66%and 6.77%.It is proved that the proposed method improves the revenue of the whole system,achieves fair revenue distribution,and also improves the energy and environmental benefits of the oil supply chain.展开更多
In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the ...In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.展开更多
This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, whic...This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. Information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.展开更多
文摘Cooperative Intelligent Transport System(C-ITS)plays a vital role in the future road traffic management system.A vital element of C-ITS comprises vehicles,road side units,and traffic command centers,which produce a massive quantity of data comprising both mobility and service-related data.For the extraction of meaningful and related details out of the generated data,data science acts as an essential part of the upcoming C-ITS applications.At the same time,prediction of short-term traffic flow is highly essential to manage the traffic accurately.Due to the rapid increase in the amount of traffic data,deep learning(DL)models are widely employed,which uses a non-parametric approach for dealing with traffic flow forecasting.This paper focuses on the design of intelligent deep learning based short-termtraffic flow prediction(IDL-STFLP)model for C-ITS that assists the people in various ways,namely optimization of signal timing by traffic signal controllers,travelers being able to adapt and alter their routes,and so on.The presented IDLSTFLP model operates on two main stages namely vehicle counting and traffic flow prediction.The IDL-STFLP model employs the Fully Convolutional Redundant Counting(FCRC)based vehicle count process.In addition,deep belief network(DBN)model is applied for the prediction of short-term traffic flow.To further improve the performance of the DBN in traffic flow prediction,it will be optimized by Quantum-behaved bat algorithm(QBA)which optimizes the tunable parameters of DBN.Experimental results based on benchmark dataset show that the presented method can count vehicles and predict traffic flowin real-time with amaximumperformance under dissimilar environmental situations.
基金Under the auspices of the National Natural Science Foundation of China (No. 49871026) key Directional Project of Knowledge Inno
文摘In this paper, the roles of infrastructure development and transportation coordination for Northeast Asian economic cooperation are discussed. It would be necessary to establish an efficient transportation network as soon as possible. 'Hub-and-Spoke'transportation system and China-Korean peninsula railway container transportation system might be more significant for regional economic cooperation.
文摘In the agricultural industry, the importance of transportation costs increases considerably as fuel and labor costs climb. Logistic cooperation is an important strategic alternative to reduce transportation costs and increase efficiencies. Georgia＇s ornamental industry is characterized by producers that share clients, routes and origins; however, each producer has an independent transportation system. This paper analyses a case study to determine if a transportation alliance, through a horizontal cooperation and routing junction among ornamental producers in Georgia, would reduce shipping costs, increase distribution efficiencies and reduce carbon dioxide emissions. Routing and cost analysis were conducted followed by a sensitivity analysis for each constraint. Results showed that with the use of the GIS ArcLogistics 9.3 software, transportation alliances in the ornamental industry are profitable in terms of transport efficiencies and internal and external costs. Total cost savings per shipping cycle ranged from 1.0% to 13.2%, miles driven savings ranged from 1.1% to 13.6%, total number of trucks required savings ranged from 2.5% to 10% and driving hours savings ranged from 1.0% to 18.4%. CO2 emission reductions were also achieved ranging from 1.2% to 8.4% per shipping cycle.
基金This research is partly supported by project SGS-2019-001The 3-D visualisations were prepared by students of University of West Bohemia or by professional designers.
文摘Land transport can no longer meet the requirements.European transport can be described by these words−crowded motorways and cities,dangerous emissions,ubiquitous traffic accidents,delays,expensive railways.Solutions are being sought to transfer a large part of passengers and especially freight transport to(high-speed)rail,and efforts are moving towards electromobility,car-sharing,5G-connectivity,autonomous driving,MaaS(Mobility as a Service)-coordinated transport or hyperloop-type solutions.However,all these solutions have additional challenges and limitations.Solutions are not being searched where they really exist-in the mutual adaptation of road and rail vehicles and their deep cooperation.The ComplexTrans project shows that simply adapting the dimensions and functions of road and rail vehicles can eliminate(or at least significantly reduce)all the problems of existing land transport.The main features of the ComplexTrans system are sufficient parking spaces,reduction of urban and non-urban congestion,electric vehicles with unlimited range and cheaper than standard cars,cheaper and more accessible battery charging,“autonomous ride”,solving the overlap between passenger and freight rail transport and making it self-financing,transferring intercity freight transport to rail,replacing part of continental air transport and many others.The cost-effective and clustered individual transport and individualised public transport of the ComplexTrans system also bring very significant reductions in the risk of transmission of covid-19 and other contagious diseases during transport.
基金supported by the National Natural Science Foundation of China(Grant No.52175237)Beijing Municipal Science and Technology Commission,China(Grant No.Z211100004021022).
文摘Given limited terrain adaptability,most existing multirobot cooperative transportation systems(MRCTSs)mainly work on flat pavements,restricting their outdoor applications.The connectors'finite deformation capability and the control strategies'limitations are primarily responsible for this phenomenon.This study proposes a novel MRCTS based on tracked mobile robots(TMRs)to improve terrain adaptability and expand the application scenarios of MRCTSs.In structure design,we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object(the communal payload).In addition,the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control.In the control strategy,we present a virtual leader-physical follower collaborative paradigm.The leader robot is imaginary to describe the movement of the entire system and manage the follower robots.All the TMRs in the system act as follower robots to transport the object cooperatively.Having divided the whole control structure into the leader robot level and the follower robot level,we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework.Furthermore,a control law satisfying saturation constraints is derived to ensure transportation stability.An adaptive control algorithm processes the wheelbase uncertainty of the TMR.Finally,we develop a prototype of the TMR-based MRCTS for experiments.In the trajectory tracking experiment,the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time.In the outdoor experiment,the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR's maximum load limited to 15 kg.The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.
基金supported in part by the Liaoning Province Xingliao Talents Plan Project under Grant No.XLYC2006017in part by the Scientific Research Funds Project of Educational Department of Liaoning Province under Grant Nos.LG202025 and LJKZ0260。
文摘A cooperative game theoretical approach is taken to production and transportation coordinated scheduling problems of two-machine flow-shop(TFS-PTCS problems)with an interstage transporter.The authors assume that there is an initial scheduling order for processing jobs on the machines.The cooperative sequencing game models associated with TFS-PTCS problems are established with jobs as players and the maximal cost savings of a coalition as its value.The properties of cooperative games under two different types of admissible rearrangements are analysed.For TFS-PTCS problems with identical processing time,it is proved that,the corresponding games areσ_(0)-component additive and convex under one admissible rearrangement.The Shapley value gives a core allocation,and is provided in a computable form.Under the other admissible rearrangement,the games neither need to beσ_(0)-component additive nor convex,and an allocation rule of modified Shapley value is designed.The properties of the cooperative games are analysed by a counterexample for general problems.
基金partially supported by the Science Foundation of China University of Petroleum,Beijing(2462023XKBH013)the National Natural Science Foundation of China(52202405)。
文摘Cooperation among enterprises can bring overall and individual performance improvement,and a smooth coordination method is indispensable.However,due to the lack of customized coordination methods,cooperation in the downstream oil supply chain cannot be carried out smoothly.This paper intends to propose a multi-party coordination method to promote cooperation between oil shippers and pipeline operator by optimizing oil transportation,oil substitution and pipeline pricing schemes.An integrated game-theoretic modeling and analysis approach is developed to characterize the operation behaviors of all stakeholders in the downstream oil supply chain.The proposed mixed integer nonlinear programming model constrains supply and demand capacity,transportation routes,oil substitution rules and pipeline freight levels.Logarithm transformation and price discretization are introduced for model linear approximation.Simulation experiments are carried out in the oil distribution system in South China.The results show that compared to the business-as-usual scheme,the new scheme saves transportation cost by 3.48%,increases pipeline turnover by 5.7%,and reduces energy consumption and emissions by 7.66%and 6.77%.It is proved that the proposed method improves the revenue of the whole system,achieves fair revenue distribution,and also improves the energy and environmental benefits of the oil supply chain.
文摘In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.
基金Project supported by the National Natural Science Foundation of China (No. 60675043) the Science and Technology Project of Zhejiang Province of China (No. 2007C21051)
文摘This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. Information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.
