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.

Comparison of nonlinear modeling methods for the composite rubber clamp

The cubic stiffness force model(CSFM)and Bouc-Wen model(BWM)are introduced and compared innovatively.The unknown coefficients of the nonlinear models are identified by the genetic algorithm combined with experiments.By fitting the identified nonlinear coefficients under different excitation amplitudes,the nonlinear vibration responses of the system are predicted.The results show that the accuracy of the BWM is higher than that of the CSFM,especially in the non-resonant region.However,the optimization time of the BWM is longer than that of the CSFM.

Nonlinear wave dispersion in monoatomic chains with lumped and distributed masses:discrete and continuum models

The main objective of this paper is to investigate the influence of inertia of nonlinear springs on the dispersion behavior of discrete monoatomic chains with lumped and distributed masses.The developed model can represent the wave propagation problem in a non-homogeneous material consisting of heavy inclusions embedded in a matrix.The inclusions are idealized by lumped masses,and the matrix between adjacent inclusions is modeled by a nonlinear spring with distributed masses.Additionally,the model is capable of depicting the wave propagation in bi-material bars,wherein the first material is represented by a rigid particle and the second one is represented by a nonlinear spring with distributed masses.The discrete model of the nonlinear monoatomic chain with lumped and distributed masses is first considered,and a closed-form expression of the dispersion relation is obtained by the second-order Lindstedt-Poincare method(LPM).Next,a continuum model for the nonlinear monoatomic chain is derived directly from its discrete lattice model by a suitable continualization technique.The subsequent use of the second-order method of multiple scales(MMS)facilitates the derivation of the corresponding nonlinear dispersion relation in a closed form.The novelties of the present study consist of(i)considering the inertia of nonlinear springs on the dispersion behavior of the discrete mass-spring chains;(ii)developing the second-order LPM for the wave propagation in the discrete chains;and(iii)deriving a continuum model for the nonlinear monoatomic chains with lumped and distributed masses.Finally,a parametric study is conducted to examine the effects of the design parameters and the distributed spring mass on the nonlinear dispersion relations and phase velocities obtained from both the discrete and continuum models.These parameters include the ratio of the spring mass to the lumped mass,the nonlinear stiffness coefficient of the spring,and the wave amplitude.

Towards a semi-empirical model of the sea ice thickness based on hyperspectral remote sensing in the Bohai Sea

Sea ice thickness is one of the most important input parameters for the prevention and mitigation of sea ice disasters and the prediction of local sea environments and climates. Estimating the sea ice thickness is currently the most important issue in the study of sea ice remote sensing. With the Bohai Sea as the study area, a semiempirical model of the sea ice thickness（SEMSIT） that can be used to estimate the thickness of first-year ice based on existing water depth estimation models and hyperspectral remote sensing data according to an optical radiative transfer process in sea ice is proposed. In the model, the absorption and scattering properties of sea ice in different bands（spectral dimension information） are utilized. An integrated attenuation coefficient at the pixel level is estimated using the height of the reflectance peak at 1 088 nm. In addition, the surface reflectance of sea ice at the pixel level is estimated using the 1 550–1 750 nm band reflectance. The model is used to estimate the sea ice thickness with Hyperion images. The first validation results suggest that the proposed model and parameterization scheme can effectively reduce the estimation error associated with the sea ice thickness that is caused by temporal and spatial heterogeneities in the integrated attenuation coefficient and sea ice surface. A practical semi-empirical model and parameterization scheme that may be feasible for the sea ice thickness estimation using hyperspectral remote sensing data are potentially provided.

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine,the investigations on the mechanical responses of the pipes have attracted considerable attention.The fluid-structure interaction(FSI)between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes,especially when the pipe is highly flexible and usually undergoes large deformations.In this work,the geometrically exact model(GEM)for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton's principle.The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow.Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid,which is often encountered in practical engineering.By constructing bifurcation diagrams,oscillating shapes,phase portraits,time traces,and Poincarémaps,the dynamic responses of the curved pipe under various system parameters are revealed.The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical.The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors,including periodic and quasi-periodic motions.It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode.For a moderate value of the mass ratio,however,a third-mode flutter may occur,which is quite different from that of a straight pipe system.

Comparative Study among Different Semi-Empirical Models for Soil Salinity Prediction in an Arid Environment Using OLI Landsat-8 Data

Salt-affected soils, caused by natural or human activities, are a common environmental hazard in semi-arid and arid landscapes. Excess salts in soils affect plant growth and production, soil and water quality and, therefore, increase soil erosion and land degradation. This research investigates the performance of five different semi-empirical predictive models for soil salinity spatial distribution mapping in arid environment using OLI sensor image data. This is the first attempt to test remote sensing based semi-empirical salinity predictive models in this area: the Kingdom of Bahrain. To achieve our objectives, OLI data were standardized from the atmosphere interferences, the sensor radiometric drift, and the topographic and geometric distortions. Then, the five semi-empirical predictive models based on the Normalized Difference Salinity Index (NDSI), the Salinity Index-ASTER (SI-ASTER), the Salinity Index-1 (SI-1), the Soil Salinity and Sodicity Index-1 and Index-2 (SSSI-1 and SSSI-2), developed for slight and moderate salinity in agricultural land, were implemented and applied to OLI image data. For validation purposes, a fieldwork was organized and different important spots-locations representing different salinity levels were visited, photographed, and localized using an accurate GPS (σ ≤ ±30 cm). Based on this a priori knowledge of the soil salinity, six validation sites were selected to reflect non-saline, low, moderate, high and extreme salinity classes, descriptive statistics extracted from polygons and/or transects over these sites were used. The obtained results showed that the models based on NDSI, SI-1 and SI-ASTER all failed to detect salinity bounds for both extreme salinity (Sabkhah) and non-saline conditions. In Fact, NDSI and SI-ASTER gave respectively only 35% dS/m and 25% dS/m in extreme salinity validation site, while SI-1 and SI-ASTER indicated 38% dS/m and 39% dS/m in non-saline validation site. Therefore, these three models were deemed inadequate for the study site. However, both SSSI-1 and SSSI-2 allowed a detection of the previous salinity bounds and furthermore described similarly and correctly the urban-vegetation areas and the open-land areas. Their predicted EC is around 10% dS/m for non-saline urban soil, about 25% dS/m for low salinity urban-vegetation soil, approximately 30% to 75% dS/m, respectively, for moderate to high salinity soils. SSSI-2 based semi-empirical salinity models was able to differentiate the high salinity versus extreme salinity in areas where both exist and was very accurate to highlight the pure salt where SSSI-1 has reach saturation for both salinity classes. In conclusion, reliable salinity map was produced using the model based on SSSI-2 and OLI sensor data that allows a better characterization of the soil salinity problem in an Arid Environment.

An improved semi-empirical friction model for gas-liquid two-phase flow in horizontal and near horizontal pipes

Pressure drop and liquid hold-up are two very important fluid flow parameters in design and control of multiphase flow pipelines.Friction factors play an important role in the accurate calculation of pressure drop.Various empirical and semi-empirical closure relations exist in the literature to calculate the liquid-wall,gas-wall and interfacial friction in two-phase pipe flow.However most of them are empirical correlations found under special experimental conditions.In this paper by modification of a friction model available in the literature,an improved semiempirical model is proposed.The proposed model is incorporated in the two-fluid correlations under equilibrium conditions and solved.Pressure gradient and velocity profiles are validated against experimental data.Using the improved model,the pressure gradient deviation from experiments diminishes by about 3%;the no-slip condition at the interface is satisfied and the velocity profile is predicted in better agreement with the experimental data.

Adaptive semi-empirical model for non-contact atomic force microscopy

Non-contact atomic force microscope is a powerful tool to investigate the surface topography with atomic resolution.Here we propose a new approach to estimate the interaction between its tips and samples,which combines a semi-empirical model with density functional theory(DFT)calculations.The generated frequency shift images are consistent with the experiment for mapping organic molecules using CuCO,Cu,CuCl,and CuO_(x)tips.This approach achieves accuracy close to DFT calculation with much lower computational cost.

Atlantic blocking events in a simplified nonlinear baroclinic model for local finite-amplitude wave activity

为研究北大西洋阻高的形成机制,本文在局部有限振幅波活动(LWA)框架下进行了一系列数值实验.采用的数值模型能显式地描绘出两种重要的大气内部动力过程,即非线性纬向位涡通量和Rossby波包传播.模拟结果显示,这两种动力学过程均是形成大西洋阻高的重要机理.具体地,非线性纬向位涡通量和Rossby波包传播,分别是大西洋阻高南部和北部LWA形成的主导因子.因此,本研究综合了前人关于大西洋阻高的研究成果,为其形成机理提供了新的认识.

Simulation of a DI Diesel Engine Performance Fuelled on Biodiesel Using a Semi-Empirical 0D Model

Diesel engines have proven over the years important in terms of efficiency and fuel consumption to power generation ratio. Many research works show the potential of biodiesel as a substitute for conventional gasoil. Mainly, previous and recent researches have focused on experimental investigation of diesel engine performance fuelled by biodiesel. Researches on the mathematical description of diesel engine process running on biodiesel are scarce, and mostly about chemical and thermodynamic description of the combustion process of biodiesel rather than performance studies. This work describes a numerical investigation on the performance analysis of a diesel engine fuelled by palm oil biodiesel. The numerical investigation was made using a semi empirical 0D model based on Wiebe’s and Watson’s model which was implemented via the open access numerical calculation software Scilab. The model was validated first by comparing with experimental pressure and performance data of a one cylinder engine at rated speed and secondly by comparing with a six cylinders engine performance data at various crankshaft rotational speeds. Simulations were then made to analyze the engine performance when running on biodiesel. The calculations were made at constant combustion duration and constant coefficient of excess air. Results showed that the model matches the overall experimental data, such as the power output and peak cylinder pressure. The ignition delay was somehow underestimated by the model for the first experiment, which caused a slight gap on in cylinder pressure curve, whereas it predicted the average ignition delay fairly well for the second set of validation. The simulations of engine performance when running on biodiesel confirmed results obtained in previous experimental researches on biodiesel. The model will be further investigated for engine control when shifting to biodiesel fuel.

Salt-Affected Soil Mapping in an Arid Environment Using Semi-Empirical Model and Landsat-OLI Data

The aim of this research is to map the salt-affected soil in an arid environment using an advanced semi-empirical predictive model, Operational Land Imager (OLI) data, a digital elevation model (DEM), field soil sampling, and laboratory and statistical analyses. To achieve our objectives, the OLI data were atmospherically corrected, radiometric sensor drift was calibrated, and distortions of topography and geometry were corrected using a DEM. Then, the soil salinity map was derived using a semi-empirical predictive model based on the Soil Salinity and Sodicity Index-2 (SSSI-2). The vegetation cover map was extracted from the Transformed Difference Vegetation Index (TDVI). In addition, accurate DEM of 5-m pixels was used to derive topographic attributes (elevation and slope). Visual comparisons and statistical validation of the semi-empirical model using ground truth were undertaken in order to test its capability in an arid environment for moderate and strong salinity mapping. To accomplish this step, fieldwork was organized and 120 soil samples were collected with various degrees of salinity, including non-saline soil samples. Each one was automatically labeled using a digital camera and an accurate global positioning system (GPS) survey (σ ≤ ± 30 cm) connected in real time to the geographic information system (GIS) database. Subsequently, in the laboratory, the major exchangeable cations (Ca2+, Mg2+, Na+, K+, Cl- and SO42-), pH and the electrical conductivity (EC-Lab) were extracted from a saturated soil paste, as well as the sodium adsorption ratio (SAR) being calculated. The EC-Lab, which is generally accepted as the most effective method for soil salinity quantification was used for statistical analysis and validation purposes. The obtained results demonstrated a very good conformity between the derived soil salinity map from OLI data and the ground truth, highlighting six major salinity classes: Extreme, very high, high, moderate, low and non-saline. The laboratory chemical analyses corroborate these results. Furthermore, the semi-empirical predictive model provides good global results in comparison to the ground truth and laboratory analysis (EC-Lab), with correlation coefficient (R2) of 0.97, an index of agreement (D) of 0.84 (p < 0.05), and low overall root mean square error (RMSE) of 11%. Moreover, we found that topographic attributes have a substantial impact on the spatial distribution of salinity. The areas at a relatively high altitude and with hard bedrock are less susceptible to salinity, while areas at a low altitude and slope (≤2%) composed of Quaternary soil are prone to it. In these low areas, the water table is very close to the surface (≤1 m), and the absence of an adequate drainage network contributes significantly to waterlogging. Consequently, the intrusion and emergence of seawater at the surface, coupled with high temperature and high evaporation rates, contribute extensively to the soil salinity in the study area.

A synthetic semi-empirical physical model of secondary electron yield of metals under E-beam irradiation

Calculations of secondary electron yield（SEY） by physical formula can hardly accord with experimental results precisely. Simplified descriptions of internal electron movements in the calculation and complex surface contamination states of real sample result in notable difference between simulations and experiments. In this paper, in order to calculate SEY of metal under complicated surface state accurately, we propose a synthetic semi-empirical physical model. The processes of excitation of internal secondary electron（SE） and movement toward surface can be simulated using this model.This model also takes into account the influences of incident angle and backscattering electrons as well as the surface gas contamination. In order to describe internal electronic states accurately, the penetration coefficient of incident electron is described as a function of material atom number. Directions of internal electrons are set to be uniform in each angle. The distribution of internal SEs is proposed by considering both the integration convergence and the cascade scattering process.In addition, according to the experiment data, relationship among desorption gas quantities, sample ultimate temperature and SEY is established. Comparing with experiment results, this synthetic semi-empirical physical model can describe the SEY of metal better than former formulas, especially in the aspect of surface contaminated states. The proposed synthetic semi-empirical physical model and presented results in this paper can be helpful for further studying SE emission, and offer an available method for estimating and taking advantage of SE emission accurately.

Improvement of Bare Soil Semi-Empirical Radar Backscattering Models (Oh and Dubois) with SAR Multi-Spectral Satellite Data (X-, C- and L-Bands)

The objective of this study is to improve the performance of semi-empirical radar backscatter models, which are mainly used in microwave remote sensing (Oh 1992, Oh 2004 and Dubois). The study is based on satellite and ground data collected on bare soil surfaces during the Multispectral Crop Monitoring experimental campaign of the CESBIO laboratory in 2010 over an agricultural region in southwestern France. The dataset covers a wide range of soil (viewing top soil moisture, surface roughness and texture) and satellite (at different frequencies: X-, C- and L-bands, and different incidence angles: 24.3° to 53.3°) configurations. The proposed methodology consists in identifying and correcting the residues of the models, depending on the surface properties (roughness, moisture, texture) and/or sensor characteristics (frequency, incidence angle). Finally, one model has been retained for each frequency domain. Results show that the enhancements of the models significantly increase the simulation performances. The coefficient of correlation increases of 23% in mean and the simulation errors (RMSE) are reduced to below 2 dB (at the X and C-bands) and to 1 dB at the L-band, compared to the initial models. At the X- and C-bands, the best performances of the modified models are provided by Dubois, whereas Oh 2004 is more suitable for the L-band (r is equal to 0.69, 0.65 and 0.85). Moreover, the modified models of Oh 1992 and 2004 and Dubois, developed in this study, offer a wider domain of validity than the initial formalism and increase the capabilities of retrieving the backscattering signal in view of applications of such approaches to stronglycontrasted agricultural surface states.

Determination of Melamine by Infrared Spectroscopy Based on Nonlinear Modeling

[Objective] The aim was to develop a nonlinear model of quantitative analysis of melamine content by infrared spectroscopy and provide theoretical basis for the nondestructive detection of melamine. [Method] According to dynamics,mathematical modeling and optimization theory,linear and nonlinear models were respectively set up by taking an absorption peak of 1 550 cm-1 as characteristic absorption peak. [Result] The correlation coefficient of nonlinear model was 0.922 7 and the recovery was 96%,which showed that the nonlinear model was more accurate than linearity model with correlation coefficient of 0.904 9 and recovery of 557%. [Conclusion] It is feasible to determine melamine content by using the nonlinear model quantitatively.

Nonlinear Auto-Companding Method for Behavioral Modeling of Switched-Current Circuits

A wavelet collocation method with nonlinear auto companding is proposed for behavioral modeling of switched current circuits.The companding function is automatically constructed according to the initial error distribution obtained through approximating the input output function of the SI circuit by conventional wavelet collocation method.In practical applications,the proposed method is a general purpose approach,by which both the small signal effect and the large signal effect are modeled in a unified formulation to ease the process of modeling and simulation.Compared with the published modeling approaches,the proposed nonlinear auto companding method works more efficiently not only in controlling the error distribution but also in reducing the modeling errors.To demonstrate the promising features of the proposed method,several SI circuits are employed as examples to be modeled and simulated.

Nonlinear elastic deformation of magnesium and cobalt by Preisach-Mayergoyz model

A classic hysteretic model, Preisach-Mayergoyz model （P-M model）, was used to calculate the nonlinear elastic deformation of magnesium （Mg） and cobalt （Co）. Mg and Co samples in cylinder shape were compressively tested by uniaxial test machine to obtain their stress—strain curves with hysteretic loops. The hysteretic loops do have two properties of P-M hysteretic systems： wiping out and congruency. It is proved that P-M model is applicable for the analysis of these two metals’ hysteresis. This model was applied on Mg at room temperature and Co at 300 ℃. By the P-M model, Co and Mg nonlinear elastic deformation can be calculated based on the stress history. The simulated stress—strain curves agree well with the experimental results. Therefore, the mechanical hysteresis of these two metals can be easily predicted by the classic P-M hysteretic model.

SOLVABILITY RESULTS OF A CONDITIONAL INPUT-OUTPUT EQUATION BASED ON A TYPE OF NONLINEAR LEONTIEF MODEL

A class of nonlinear and continuous type Leontief model and its corresponding conditional input-output equation are introduced, and two basic problems under the so called positive or negative boundary assumption are presented. By approaches of nonlinear analysis some solvability results of this equation and continuous perturbation properties of the relative solution sets are obtained, and some economic significance are illustrated by the remark.

Diagnostics in generalized nonlinear models based on maximum L_q-likelihood estimation

In order to detect whether the data conforms to the given model, it is necessary to diagnose the data in the statistical way. The diagnostic problem in generalized nonlinear models based on the maximum Lq-likelihood estimation is considered. Three diagnostic statistics are used to detect whether the outliers exist in the data set. Simulation results show that when the sample size is small, the values of diagnostic statistics based on the maximum Lq-likelihood estimation are greater than the values based on the maximum likelihood estimation. As the sample size increases, the difference between the values of the diagnostic statistics based on two estimation methods diminishes gradually. It means that the outliers can be distinguished easier through the maximum Lq-likelihood method than those through the maximum likelihood estimation method.

Application of Genetic Algorithm to Solving Nonlinear Model of Aeroengines

Solving the nonlinear model of an aeroengine is converted to an optimization problem, and thus some optimization search methods can be used. An approach to solving the nonlinear model of an aeroengine by use of the genetic algorithm (GA) is developed. By comparison with N R algorithm, the accuracy of the values of initial guesses is not required for GA. Especially, the approach developed can be used when no priori knowledges of the values of initial guesses are availabe, and the convergence is improved significantly. GA properly combined with N R algorithm can increase the convergence speed.

High-Order Models of Nonlinear and Dispersive Wave in Water of Varying Depth with Arbitrary Sloping Bottom

High-order models with a dissipative term for nonlinear and dispersive wave in water of varying depth with an arbitrary sloping bottom are presented in this article. First, the formal derivations to any high order of mu(= h/lambda, depth to deep-water wave length ratio) and epsilon(= a/h, wave amplitude to depth ratio) for velocity potential, particle velocity vector, pressure and the Boussinesq-type equations for surface elevation eta and horizontal velocity vector (U) over right arrow at any given level in water are given. Then, the exact explicit expressions to the fourth order of mu are derived. Finally, the linear solutions of eta, (U) over right arrow, C (phase-celerity) and C-g (group velocity) for a constant water depth are obtained. Compared with the Airy theory, excellent results can be found even for a water depth as large as the wave legnth. The present high-order models are applicable to nonlinear regular and irregular waves in water of any varying depth (from shallow to deep) and bottom slope (from mild to steep).