AASHTO’s guideline for geometric design of highways and similar guidelines require that roadside areas on the inside of horizontal curves be cleared of high objects to provide stopping sight distance. The guidelines ...AASHTO’s guideline for geometric design of highways and similar guidelines require that roadside areas on the inside of horizontal curves be cleared of high objects to provide stopping sight distance. The guidelines have analytical models for determining the extent of clearance, known as the horizontal sightline offset or clearance offset, for simple curves. Researchers in the past have developed analytical models for clearance offsets for spiraled and reverse curves. Very few researchers developed analytical models for available sight distances for compound curves. Still missing are models for horizontal sightline offsets and locations of the offsets for compound curves. The objective of this paper is to present development of analytical models and charts for determining horizontal sightline offsets and their locations for compound curves. The paper considers curves whose component arcs are individually shorter than stopping sight distance. The resulting models and the charts have been verified with accurate values determined using graphical methods. The models and the charts will find application in geometric design of highway compound curves.展开更多
A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary...A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary treatment before discharging into the LA River. We will gain a better understanding of the water quality in the LA River and the nitrate load in the watershed system by examining the influence of waste water treatment plants (WWTPs). The goal of this study is to pinpoint the exact source of nitrate in the LA River using the isotope signatures. We have selected sampling locations both upstream and downstream of the WWTP. This serves to monitor nitrate levels, aiding in the assessment of treatment plant effectiveness, pinpointing nitrate pollution sources, and ensuring compliance with environmental regulations. The research explores the isotopic composition of NO3 in relation to atmospheric nitrogen and Vienna Standard Mean Ocean Water, shedding light on the contributions from various sources such as manure, sewage, soil organic nitrogen, and nitrogen fertilizers. Specifically, there is a change in the δ15NAir value between the dry and wet seasons. The isotope values in the Tillman WWTP sample changed between dry and wet seasons. Notably, the presence of nitrate originating from manure and sewage is consistent across seasons, emphasizing the significant impact of anthropogenic and agricultural activities on water quality. This investigation contributes to the broader understanding of nitrogen cycling in urban water bodies, particularly in the context of wastewater effluent discharge. The findings hold implications for water quality management and highlight the need for targeted interventions to mitigate the impact of nitrogen-containing compounds on aquatic ecosystems. Overall, the study provides a valuable framework for future research and environmental stewardship efforts aimed at preserving the health and sustainability of urban water resources. This data informs decisions regarding additional treatment or mitigation actions to safeguard downstream water quality and ecosystem health.展开更多
This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
针对超宽带(ultra wide band,UWB)定位中影响定位精度的非视距(non line of sight,NLoS)传播误差问题,提出了一种基于Kalman滤波的NLoS误差二次消除方法.该方法利用NLoS误差与测量误差之间的相互独立性,借助Kalman滤波将NLoS误差从总误...针对超宽带(ultra wide band,UWB)定位中影响定位精度的非视距(non line of sight,NLoS)传播误差问题,提出了一种基于Kalman滤波的NLoS误差二次消除方法.该方法利用NLoS误差与测量误差之间的相互独立性,借助Kalman滤波将NLoS误差从总误差中单独分离出来,对其进行实时估计,并将该NLoS误差估计值作为NLoS误差辨别及测距值修正的依据.通过Kalman滤波对到达时间(time of arrival,TOA)测距值进行二次估计、鉴别及修正以提高TOA测距精度,从而实现室内复杂环境下的UWB精准实时定位.仿真实验结果表明:该方法不仅能够对NLoS误差实现良好的跟踪估计,对视距(line of sight,LoS)/NLoS环境转变也具有较强的灵敏感知能力,同时NLoS误差测距值在应用该方法后的定位性能逼近于LoS环境下的理想状态.展开更多
文摘AASHTO’s guideline for geometric design of highways and similar guidelines require that roadside areas on the inside of horizontal curves be cleared of high objects to provide stopping sight distance. The guidelines have analytical models for determining the extent of clearance, known as the horizontal sightline offset or clearance offset, for simple curves. Researchers in the past have developed analytical models for clearance offsets for spiraled and reverse curves. Very few researchers developed analytical models for available sight distances for compound curves. Still missing are models for horizontal sightline offsets and locations of the offsets for compound curves. The objective of this paper is to present development of analytical models and charts for determining horizontal sightline offsets and their locations for compound curves. The paper considers curves whose component arcs are individually shorter than stopping sight distance. The resulting models and the charts have been verified with accurate values determined using graphical methods. The models and the charts will find application in geometric design of highway compound curves.
文摘A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary treatment before discharging into the LA River. We will gain a better understanding of the water quality in the LA River and the nitrate load in the watershed system by examining the influence of waste water treatment plants (WWTPs). The goal of this study is to pinpoint the exact source of nitrate in the LA River using the isotope signatures. We have selected sampling locations both upstream and downstream of the WWTP. This serves to monitor nitrate levels, aiding in the assessment of treatment plant effectiveness, pinpointing nitrate pollution sources, and ensuring compliance with environmental regulations. The research explores the isotopic composition of NO3 in relation to atmospheric nitrogen and Vienna Standard Mean Ocean Water, shedding light on the contributions from various sources such as manure, sewage, soil organic nitrogen, and nitrogen fertilizers. Specifically, there is a change in the δ15NAir value between the dry and wet seasons. The isotope values in the Tillman WWTP sample changed between dry and wet seasons. Notably, the presence of nitrate originating from manure and sewage is consistent across seasons, emphasizing the significant impact of anthropogenic and agricultural activities on water quality. This investigation contributes to the broader understanding of nitrogen cycling in urban water bodies, particularly in the context of wastewater effluent discharge. The findings hold implications for water quality management and highlight the need for targeted interventions to mitigate the impact of nitrogen-containing compounds on aquatic ecosystems. Overall, the study provides a valuable framework for future research and environmental stewardship efforts aimed at preserving the health and sustainability of urban water resources. This data informs decisions regarding additional treatment or mitigation actions to safeguard downstream water quality and ecosystem health.
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
文摘针对超宽带(ultra wide band,UWB)定位中影响定位精度的非视距(non line of sight,NLoS)传播误差问题,提出了一种基于Kalman滤波的NLoS误差二次消除方法.该方法利用NLoS误差与测量误差之间的相互独立性,借助Kalman滤波将NLoS误差从总误差中单独分离出来,对其进行实时估计,并将该NLoS误差估计值作为NLoS误差辨别及测距值修正的依据.通过Kalman滤波对到达时间(time of arrival,TOA)测距值进行二次估计、鉴别及修正以提高TOA测距精度,从而实现室内复杂环境下的UWB精准实时定位.仿真实验结果表明:该方法不仅能够对NLoS误差实现良好的跟踪估计,对视距(line of sight,LoS)/NLoS环境转变也具有较强的灵敏感知能力,同时NLoS误差测距值在应用该方法后的定位性能逼近于LoS环境下的理想状态.
