Influence of Vehicle Model Complexity in Autonomous Emergency Manoeuvre Planning

2008 ◽  
Author(s):  
Daniele Bortoluzzi ◽  
Francesco Biral ◽  
Enrico Bertolazzi ◽  
Paolo Bosetti ◽  
Fabrizio Zendri
Keyword(s):  
Control Algorithm ◽  
Computational Cost ◽  
Model Complexity ◽  
Critical Conditions ◽  
Vehicle Model ◽  
Reduced Order ◽  
Evasive Manoeuvre ◽  
Horizon Planning ◽  
The Mathematical Model

In this paper the effectiveness of an optimal reference manoeuvre is analysed w.r.t. the complexity of the vehicle model used within the optimal control algorithm. The optimal reference manoeuvre is computed by means of a Nonlinear Receding Horizon planning (NRHP) strategy which is based on a simplified vehicle model. The reference manoeuvre is tracked by a controller implemented on a low level faster loop. The system is able to perform autonomously lane change and obstacle avoidance manoeuvres by tracking the computed reference one. The quality of the performed manoeuvres depends on the reference manoeuvre and consequently on the vehicle model used by the NRHP. For manoeuvres with low or mild lateral accelerations reduced order models might yield realistic and reliable reference manoeuvres. However, critical conditions (e.g. evasive manoeuvre) require a manoeuvre planner able to catch highly non-linear vehicle dynamics that characterizes such situations. On the other hand, being the NRHP computational cost generally high and related to the number of equations of the mathematical model, a trade-off between computational efficiency and model complexity is required. The work analyses the reference manoeuvres produced by two vehicle models of increasing complexity used as reference within the NRHP. Optimal planner performance evaluation on evasive manoeuvre in critical conditions will be presented with simulations results.

Driving Torsion Scans with Wavefront Propagation

2020 ◽  
Author(s):  
Yudong Qiu ◽  
Daniel Smith ◽  
Chaya Stern ◽  
mudong feng ◽  
Lee-Ping Wang
Keyword(s):  
Potential Energy ◽  
Force Field ◽  
Degrees Of Freedom ◽  
Computational Cost ◽  
Initial Guess ◽  
Field Development ◽  
Force Field Development ◽  
Wavefront Propagation ◽  
Open Source Software Package

<div>The parameterization of torsional / dihedral angle potential energy terms is a crucial part of developing molecular mechanics force fields.</div><div>Quantum mechanical (QM) methods are often used to provide samples of the potential energy surface (PES) for fitting the empirical parameters in these force field terms.</div><div>To ensure that the sampled molecular configurations are thermodynamically feasible, constrained QM geometry optimizations are typically carried out, which relax the orthogonal degrees of freedom while fixing the target torsion angle(s) on a grid of values.</div><div>However, the quality of results and computational cost are affected by various factors on a non-trivial PES, such as dependence on the chosen scan direction and the lack of efficient approaches to integrate results started from multiple initial guesses.</div><div>In this paper we propose a systematic and versatile workflow called \textit{TorsionDrive} to generate energy-minimized structures on a grid of torsion constraints by means of a recursive wavefront propagation algorithm, which resolves the deficiencies of conventional scanning approaches and generates higher quality QM data for force field development.</div><div>The capabilities of our method are presented for multi-dimensional scans and multiple initial guess structures, and an integration with the MolSSI QCArchive distributed computing ecosystem is described.</div><div>The method is implemented in an open-source software package that is compatible with many QM software packages and energy minimization codes.</div>

Research of H∞ Robust Control for the Giant Die Forging Hydraulic Press’s Synchronous Control System under the Uncertainty Coefficient

2012 ◽  
Vol 190-191 ◽  
pp. 819-824 ◽  
Author(s):  
Ying Jian Deng ◽  
Zhong Wei Liu
Keyword(s):  
Control System ◽  
Robust Control ◽  
Control Algorithm ◽  
Hydraulic Press ◽  
National Defense ◽  
Synchronous Control ◽  
Performance Quality ◽  
System Synchronization ◽  
Uncertainty Coefficient

The giant hydraulic die press is our country national defense and the infrastructure essential equipment, the synchronous control system is the essential device to the giant forging hydraulic press, its synchronization control performance quality is good or bad will directly determine the quality of the product. This article through the proof of the theorem, gives the specific steps to achieve H∞ robust control algorithm. The simulation results show that: this control strategy has good inhibition to the change of system parameters, robustness is very strong, can well eliminate the system synchronization error.

Increasing the mobility of a high-speed tracked vehicle based on a controlled skid algorithm

2020 ◽  
pp. 29-33
Author(s):  
S. V. Kondakov ◽  
O.O. Pavlovskaya ◽  
I.D. Ivanov ◽  
A.R. Ishbulatov
Keyword(s):  
Mathematical Model ◽  
Dynamic Stability ◽  
Simulation Modeling ◽  
Automatic System ◽  
High Speed ◽  
Control Algorithm ◽  
Loss Of Stability ◽  
Tracked Vehicle ◽  
Hydrostatic Transmission ◽  
The Mathematical Model

A method for controlling the curvilinear movement of a high-speed tracked vehicle in a skid without loss of stability is proposed. The mathematical model of the vehicle is refined. With the help of simulation modeling, a control algorithm is worked out when driving in a skid. The effectiveness of vehicle steering at high speed outside the skid is shown. Keywords: controlled skid, dynamic stability, steering pole displacement, hydrostatic transmission, automatic system, fuel supply. [email protected]

scholarly journals Intelligent Routing Control for MANET Based on Reinforcement Learning

2018 ◽  
Vol 232 ◽  
pp. 04002
Author(s):  
Fang Dong ◽  
Ou Li ◽  
Min Tong
Keyword(s):  
Reinforcement Learning ◽  
Control Algorithm ◽  
Rapid Development ◽  
Selection Strategy ◽  
Performance Simulation ◽  
Multiple Parameters ◽  
Intelligent Routing ◽  
Routing Control ◽  
The Cost

With the rapid development and wide use of MANET, the quality of service for various businesses is much higher than before. Aiming at the adaptive routing control with multiple parameters for universal scenes, we propose an intelligent routing control algorithm for MANET based on reinforcement learning, which can constantly optimize the node selection strategy through the interaction with the environment and converge to the optimal transmission paths gradually. There is no need to update the network state frequently, which can save the cost of routing maintenance while improving the transmission performance. Simulation results show that, compared with other algorithms, the proposed approach can choose appropriate paths under constraint conditions, and can obtain better optimization objective.

Evaluation of Uncertainty for the Determination of Magnesium Oxide Content in Limestone by the Atomic Absorption Spectrometry

2014 ◽  
Vol 707 ◽  
pp. 283-288
Author(s):  
Xiang Dong Wen ◽  
Zheng Zhou ◽  
Wen Yang Pan ◽  
Mei Shao
Keyword(s):  
Atomic Absorption Spectrometry ◽  
Atomic Absorption ◽  
Magnesium Oxide ◽  
Influence Factors ◽  
Absorption Spectrometry ◽  
Oxide Content ◽  
Standard Solution ◽  
The Mathematical Model

According to GB/T3286.1-2012(The determination of calcium oxide and magnesium oxide content in limestone and dolomite), the mathematical model of magnesium oxide content determination in limestone by atomic absorption spectrometry was established. The various uncertainty factors of different elements for a sample were discussed and compared in the testing process. The confidence interval for the measurement result was (0.74±0.03)%,k=2 in uncertainty evaluation .The results showed that the variability of working curve and accuracy of standard solution volume for working curve were main influence factors of uncertainty. It could effectively reduce the uncertainty from the perspective of the main factors,and improve the quality of analysis.

scholarly journals Research on the Influencing Factors of "Scale Veins" of Single Point Incremental Forming Workpieces Surface

2015 ◽  
Vol 9 (1) ◽  
pp. 1025-1032
Author(s):  
Shi Pengtao ◽  
Li Yan ◽  
Yang Mingshun ◽  
Yao Zimeng
Keyword(s):  
Surface Quality ◽  
Incremental Forming ◽  
Single Point ◽  
Spindle Speed ◽  
Experimental Results ◽  
Feed Speed ◽  
Single Point Incremental Forming ◽  
Machining Parameters ◽  
The Mathematical Model

To furthermore optimize the machining parameters and improve the surface quality of the workpieces manufactured by single point incremental forming method, the formation mechanism of the sacle veins on the metal incremental froming workpieces was studied through experiment method. The influence principle of the spindle speed, the feed speed and the material of tip of tools on the length of scale veins was obtained through analyzing the experimental results and building the mathematical model among the length of scale veins were feed speed and spindle speed through measuring the roughness of surfaces and observing the appearance of the forming workpieces. The experimental results showed that, the spindle speed, the feed speed and the material of tool tips have a significant effect on the scale veins formation on the surface of forming workpieces. Therefore, an appropriate group of spindle speed and feed speed can reduce the effect of scale veins on the roughness of single point incremental forming workpieces and furthermore improve the surface quality of forming workpieces.

scholarly journals Dynamic positioning system design for “blue lady”. simulation tests

2012 ◽  
Vol 19 (Special) ◽  
pp. 57-65 ◽  
Author(s):  
Mirosław Tomera
Keyword(s):  
Dynamic Positioning ◽  
Positioning System ◽  
System Operation ◽  
Training Centre ◽  
Dynamic Positioning System ◽  
Operational Quality ◽  
The Mathematical Model ◽  
And Training ◽  
Ship Handling

ABSTRACT The dynamical positioning system is a complex control consisting of a number of components, including: filters, observers, controllers, and propeller allocation systems. The design and preliminary analysis of operational quality of system operation are usually done based on numerical simulations performed with the aid of the mathematical model of the ship. The article presents a concept of the dynamic positioning system applied to steering the training ship Blue Lady used for training captains in the ship handling research and training centre owned by the Foundation for Safety of Navigation and Environment Protection in Ilawa/Kamionka. The simulation tests performed in the numerical environment of Matlab/Simulink have proved the usability of the designed system for steering a ship at low speed.

scholarly journals The position of Green Space in Improving Beauty and Quality of sustainable Space of City

2015 ◽  
Vol 16 (SE) ◽  
pp. 269-276
Author(s):  
Mina Bakhshi
Keyword(s):  
Urban Space ◽  
Green Space ◽  
Urban Landscape ◽  
Urban Spaces ◽  
Motor Vehicles ◽  
Critical Conditions ◽  
Sustainable City ◽  
Dynamic Relationship ◽  
Environmental Instability

The ever-increasing growth of urbanization, irregular population growth, multiplicity of motor vehicles, extra use of fossil energies, expansion of constructed buildings and separation of cities from the nature, as well as the environmental instability and problems, urban views are changing from valuable ecological areas into disconnected, inefficient areas in a way that every day the nature trace gets weaker and weaker. One of the conditions of making desired urban spaces is to connect urban spaces with the nature. It seems necessary to present some ideas for strengthening this connection and directing the cities towards getting as dynamic as possible. The methods compatible with nature include green roof, green walls and green corridors designs which make a kind of dynamic relationship between cold, spiritless urban frameworks and natural frames. They are of great importance in prompting urban space quality not only as an aesthetic element but also as a vital one in air pollution critical conditions. On the other hand, the importance of green space as one of the dimensions of urban landscape is in a degree that it improves the quality and beauty of sustainable city. Therefore, the green space can be considered as one of the significant areas in the quality of urban spaces. The main aim of the present study is improving the quality and aesthetic of urban space and sustainable city through green space. This has a great help in achieving applied principles in the sustainable city landscape design. The methodology is descriptive-analytical utilizing library search, sources books, and textbooks reviewing.

Using Structural Similarity to Classify Tests in Mutation Testing

2013 ◽  
Vol 378 ◽  
pp. 546-551 ◽  
Author(s):  
Joanna Strug ◽  
Barbara Strug
Keyword(s):  
Edit Distance ◽  
Computational Cost ◽  
Structural Similarity ◽  
Mutation Testing ◽  
Effective Technique ◽  
The Cost ◽  
High Computational Cost

Mutation testing is an effective technique for assessing quality of tests provided for a system. However it suffers from high computational cost of executing mutants of the system. In this paper a method of classifying such mutants is proposed. This classification is based on using an edit distance kernel and k-NN classifier. Using the results of this classification it is possible to predict whether a mutant would be detected by tests or not. Thus the application of the approach can help to lower the number of mutants that have to be executed and so also to lower the cost of using the mutation testing.

scholarly journals Use of the mathematical model of the ignition system to analyze the spark discharge, including the destruction of spark plug electrodes

Open Physics ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 57-62 ◽  
Author(s):  
Sebastian Różowicz
Keyword(s):  
Mathematical Model ◽  
Experimental Studies ◽  
Fuel Mixture ◽  
Spark Discharge ◽  
Fuel Additives ◽  
Ignition System ◽  
Spark Plug ◽  
The Mathematical Model

Abstract The paper presents the results of analytical and experimental studies concerning the influence of different kinds of fuel additives on the quality of the spark discharge for different configurations of the ignition system. The wear of the spark plug electrode and the value of spark discharge were determined for various impurities and configurations of the air-fuel mixture.

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