scholarly journals Lane-Merging Strategy for a Self-Driving Car in Dense Traffic Using the Stackelberg Game Approach

Electronics ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 894
Author(s):  
Kyoungtae Ji ◽  
Matko Orsag ◽  
Kyoungseok Han
Keyword(s):  
Stackelberg Game ◽  
Heavy Traffic ◽  
The Self ◽  
Optimal Decision ◽  
Test Results ◽  
Human Driver ◽  
Self Driving Cars ◽  
Sufficient Space ◽  
Test Scenarios ◽  
Merging Strategy

This paper presents the lane-merging strategy for self-driving cars in dense traffic using the Stackelberg game approach. From the perspective of the self-driving car, in order to make sufficient space to merge into the next lane, a self-driving car should interact with the vehicles in the next lane. In heavy traffic, where the possible actions of the vehicle are pretty limited, it is possible to conjecture the driving intentions of the vehicles from their behaviors. For example, by observing the speed changes of the human-driver in the next lane, the self-driving car can estimate its driving intention in real time, much in the same way of a human driver. We use the principle of Stackelberg competition to make the optimal decision for the self-driving car based on the predicted reaction of the interacting vehicles in the next lane. In this way, according to the traffic circumstances, a self-driving car can decide whether to merge or not. In addition, by limiting the number of interacting vehicles, the computational burden is manageable enough to be implemented in production vehicles. We verify the efficiency of the proposed method through the case studies for different test scenarios, and the test results show that our approach is closer to the human-like decision-making strategy, as compared to the conventional rule-based method.

scholarly journals Optimal Decision-Making to Charge Electric Vehicles in Heterogeneous Networks: Stackelberg Game Approach

Energies ◽  
2019 ◽  
Vol 12 (2) ◽  
pp. 325 ◽  
Author(s):  
Shijun Chen ◽  
Huwei Chen ◽  
Shanhe Jiang
Keyword(s):  
Electric Vehicles ◽  
Heterogeneous Networks ◽  
Demand Uncertainty ◽  
Stackelberg Game ◽  
Optimal Solution ◽  
Stackelberg Equilibrium ◽  
Optimal Decision ◽  
Charging Station ◽  
Simulation Results ◽  
Grid Operators

Electric vehicles (EVs) are designed to improve the efficiency of energy and prevent the environment from being polluted, when they are widely and reasonably used in the transport system. However, due to the feature of EV’s batteries, the charging problem plays an important role in the application of EVs. Fortunately, with the help of advanced technologies, charging stations powered by smart grid operators (SGOs) can easily and conveniently solve the problems and supply charging service to EV users. In this paper, we consider that EVs will be charged by charging station operators (CSOs) in heterogeneous networks (Hetnet), through which they can exchange the information with each other. Considering the trading relationship among EV users, CSOs, and SGOs, we design their own utility functions in Hetnet, where the demand uncertainty is taken into account. In order to maximize the profits, we formulate this charging problem as a four-stage Stackelberg game, through which the optimal strategy is studied and analyzed. In the Stackelberg game model, we theoretically prove and discuss the existence and uniqueness of the Stackelberg equilibrium (SE). Using the proposed iterative algorithm, the optimal solution can be obtained in the optimization problem. The performance of the strategy is shown in the simulation results. It is shown that the simulation results confirm the efficiency of the model in Hetnet.

Investigating the vibrational behaviour of a rotating two-blade propeller by using a self-tracking method

2018 ◽  
Vol 233 (3) ◽  
pp. 835-847 ◽  
Author(s):  
Mohammad-Reza Ashory ◽  
Farhad Talebi ◽  
Heydar R Ghadikolaei ◽  
Morad Karimpour
Keyword(s):  
Natural Frequency ◽  
Measurement Errors ◽  
Mode Shapes ◽  
Model Parameters ◽  
Test Results ◽  
Modal Assurance Criterion ◽  
Tracking Method ◽  
Strong Resemblance ◽  
Test Scenarios ◽  
Good Agreement

This study investigated the vibrational behaviour of a rotating two-blade propeller at different rotational speeds by using self-tracking laser Doppler vibrometry. Given that a self-tracking method necessitates the accurate adjustment of test setups to reduce measurement errors, a test table with sufficient rigidity was designed and built to enable the adjustment and repair of test components. The results of the self-tracking test on the rotating propeller indicated an increase in natural frequency and a decrease in the amplitude of normalized mode shapes as rotational speed increases. To assess the test results, a numerical model created in ABAQUS was used. The model parameters were tuned in such a way that the natural frequency and associated mode shapes were in good agreement with those derived using a hammer test on a stationary propeller. The mode shapes obtained from the hammer test and the numerical (ABAQUS) modelling were compared using the modal assurance criterion. The examination indicated a strong resemblance between the hammer test results and the numerical findings. Hence, the model can be employed to determine the other mechanical properties of two-blade propellers in test scenarios.

Physiotherapists are knowledgeable about sport-related concussion

2021 ◽  
pp. 1-8
Author(s):  
Wesam Saleh A. Al Attar ◽  
Mohamed A. Husain
Keyword(s):  
Preventive Measures ◽  
The Self ◽  
American Football ◽  
Average Score ◽  
Test Results ◽  
Management Guidelines ◽  
Case Identification ◽  
Bachelors Degree ◽  
Doctor Of Philosophy ◽  
Post Hoc

PURPOSE: Sport-related concussions (SRC) are common, especially in rugby (3.00 incidents per 1000 athletic exposures) and American football (0.08 per 1000 athletic exposures). Physiotherapists should be aware of how to assess and manage cases with SRC. The purpose of this study was to assess the knowledge of SRC among physiotherapists. METHODS: The self-administered survey consisted of 16 questions related to physiotherapists’ knowledge in managing SRC patients, case identification, and preventive measures. Countries were divided into regions based on World Physiotherapy regions. Data were analysed using a one-way Analysis of Variance (ANOVA) with Tamhane’s T2 post hoc test. RESULTS: A total of 276 male (53.4 %) and 241 female (46.6%) physiotherapists participated. The survey scores ranged from 40%to 100%, with an average score of 62.7%. A master’s degree was the highest educational qualification (46.4%) recorded. There was a difference in the score based on participant qualifications (Welch’s F (4, 58.37) = 15.03, p <  0.001). Participants with a Doctor of Philosophy (PhD) degree (73.8±14.6%) or a fellowship (73.0±19.5%) or a masters’ degree (MSc) (62.7±18.5%) obtained greater scores than participants holding a bachelors’ degree (56.7±13.8%, p <  0.001). Furthermore, there was no difference in the survey score based on participants’ region (Welch’s F (4, 143.3) = 0.08, p = 0.988). CONCLUSIONS: The results suggested that many physiotherapists worldwide are aware of the current SRC assessment and management guidelines.

scholarly journals Microgrids: The agria test location

2010 ◽  
Vol 14 (3) ◽  
pp. 747-758 ◽  
Author(s):  
Aleksandra Krkoleva ◽  
Verica Taseska ◽  
Natasa Markovska ◽  
Rubin Taleski ◽  
Vesna Borozan
Keyword(s):  
Treatment Process ◽  
Low Voltage ◽  
Waste Water Treatment ◽  
Test Results ◽  
Design Development ◽  
Water Treatment Process ◽  
Western Balkan Region ◽  
Pig Farm ◽  
Balkan Region ◽  
Test Scenarios

The paper presents the pilot Microgrid in Macedonia, developed within the framework of the MOREMICROGRIDS (EU EP6 projecet, contract No. SES6-019864) project. This Microgrid is the first of its kind being developed in the Western Balkan region and serves as pilot site for introduction and examination of the Microgrids concept in non European Union conditions. The test network consists of a part of the low voltage grid, located on a pig farm. The main electricity source for the Microgrid is a small biogas plant, which uses the biogas produced by a waste water treatment process. The paper addresses the Microgrid design, development of test scenarios and test results from the pilot location.

scholarly journals COMPARATIVE GEOMETRICAL INVESTIGATIONS OF HAND-HELD SCANNING SYSTEMS

2016 ◽  
Vol XLI-B5 ◽  
pp. 507-514 ◽  
Author(s):  
T. P. Kersten ◽  
H.-J. Przybilla ◽  
M. Lindstaedt ◽  
F. Tschirschwitz ◽  
M. Misgaiski-Hass
Keyword(s):  
Applied Sciences ◽  
Laser Scanning ◽  
Reference Data ◽  
Test Results ◽  
University Of Applied Sciences ◽  
Humboldt University ◽  
Comprehensive Test ◽  
Structure Sensor ◽  
Scanning Systems ◽  
Test Scenarios

An increasing number of hand-held scanning systems by different manufacturers are becoming available on the market. However, their geometrical performance is little-known to many users. Therefore the Laboratory for Photogrammetry & Laser Scanning of the HafenCity University Hamburg has carried out geometrical accuracy tests with the following systems in co-operation with the Bochum University of Applied Sciences (Laboratory for Photogrammetry) as well as the Humboldt University in Berlin (Institute for Computer Science): DOTProduct DPI-7, Artec Spider, Mantis Vision F5 SR, Kinect v1 + v2, Structure Sensor and Google’s Project Tango. In the framework of these comparative investigations geometrically stable reference bodies were used. The appropriate reference data were acquired by measurement with two structured light projection systems (AICON smartSCAN and GOM ATOS I 2M). The comprehensive test results of the different test scenarios are presented and critically discussed in this contribution.

Construction Technology Research of RC Beams Strengthened with Prestressed CFRP Plates

2011 ◽  
Vol 268-270 ◽  
pp. 659-663
Author(s):  
Hua Chen ◽  
Kan Kang ◽  
Lang Ni Deng
Keyword(s):  
Crack Resistance ◽  
Concrete Beams ◽  
High Strength ◽  
The Self ◽  
Bending Test ◽  
Construction Technology ◽  
Rc Beams ◽  
Test Results ◽  
Technology Research ◽  
Flexural Capacity

The method of applying prestress to CFRP plates can make full use of the characteristics of high-strength, enhance the force properties, prevent peeling damage and reduce the strain lag. Construction technology of prestressed CFRP plates strengthening reinforcement concrete beams was introduce in this paper, and bending test of 6 reinforcement concrete beams strengthened with prestressed CFRP plates were carried out based on the self-developed prestressed CFRP plates supporting anchorages. The test results indicate that the flexural capacity and crack resistance capacity can be increased compared with non-prestressed CFRP plates, and the construction technology can be adopted in practical projects.

Future Blockchain Technology for Autonomous Applications/Autonomous Vehicle

2022 ◽  
pp. 1027-1038
Author(s):  
Arnab Kumar Show ◽  
Abhishek Kumar ◽  
Achintya Singhal ◽  
Gayathri N. ◽  
K. Vengatesan
Keyword(s):  
Autonomous Vehicles ◽  
New Technology ◽  
Autonomous Vehicle ◽  
The Self ◽  
Third Party ◽  
Traffic Information ◽  
Online Transactions ◽  
The Third ◽  
Blockchain Technology ◽  
Self Driving Cars

The autonomous industry has rapidly grown for self-driving cars. The main purpose of autonomous industry is trying to give all types of security, privacy, secured traffic information to the self-driving cars. Blockchain is another newly established secured technology. The main aim of this technology is to provide more secured, convenient online transactions. By using this new technology, the autonomous industry can easily provide more suitable, safe, efficient transportation to the passengers and secured traffic information to the vehicles. This information can easily gather by the roadside units or by the passing vehicles. Also, the economical transactions can be possible more efficiently since blockchain technology allows peer-to-peer communications between nodes, and it also eliminates the need of the third party. This chapter proposes a concept of how the autonomous industry can provide more adequate, proper, and safe transportation with the help of blockchain. It also examines for the possibility that autonomous vehicles can become the future of transportation.

A Precast Road Panel Structure for Heavy Vehicles

2014 ◽  
Vol 627 ◽  
pp. 257-261
Author(s):  
Hu Qi ◽  
Yun Gui Li ◽  
Kang Liu
Keyword(s):  
Heavy Traffic ◽  
Test Results ◽  
Heavy Vehicles ◽  
Experiment Research ◽  
Structure System ◽  
Vehicle Routes

A composite precast road panel structure system suitable for heavy vehicles is put forward, which combined by two layers of composite stagger-jointed road panel. Experiment research are adopted to study the proposed road panel structure and common road panel structure respectively. In order to research the proposed road panel structure performance under heavy vehicles, five different cases are studied in experiment each which different vehicle routes. The test results show that the proposed one can reduce 24.2% to 46.4% ( an average of 35% ) of the subgrade stress in five cases so as to reduce the subgrade damage under driving heavy traffic.

Conflicting Visions of Jonah – or Rather Diversity?

2006 ◽  
Vol 23 (1) ◽  
pp. 45-59
Author(s):  
Mercedes García Bachmann
Keyword(s):  
Latin America ◽  
Gender Studies ◽  
Latin American ◽  
The Self ◽  
Biblical Text ◽  
Congregational Life ◽  
American Perspective ◽  
God's Grace ◽  
Sufficient Space

AbstractIn conversation with a proposal that the book of Jonah was written as a reaction to the two apparently contradictory wisdom sayings of Proverbs 13:21 and Psalm 25:8, this paper reviews the book of Jonah in light of the two maxims from a Latin American perspective. Noting the element of surprise throughout the book, the author gives a contextual interpretation to the change of Jonah's appearance from dove (a passive character) to wolf (an enraged character) willing to die rather than witness God's mercy. As a missionary concern, the author parallels the anger of "Christian continent" (Latin America) against God's mercy for "outsiders" and the continent's self-righteousness with Jonah's enraged character. The self-righteousness is so strong that churches and congregations would rather die than open God's grace to others (Jonah 4). The paper concludes by stating that gender studies have alerted us to the danger of employing either/or (rather than both/and) and hierarchical (rather than egalitarian) categories and interpretations that do not leave sufficient space for diversity, both in the biblical text and in congregational life today.

scholarly journals Laboratory investigation of self-healing properties on geosynthetic clay liners with flaw

2015 ◽  
Vol 41 (1) ◽  
pp. 53-58 ◽  
Author(s):  
Guang-Wei Zhang ◽  
Hu-Yuan Zhang ◽  
Jin-Fang Wang ◽  
Lang Zhou ◽  
Ping Liu ◽  
...  
Keyword(s):  
Hydraulic Conductivity ◽  
The Self ◽  
Distilled Water ◽  
Self Healing ◽  
Test Results ◽  
Geosynthetic Clay Liners ◽  
Clay Liners ◽  
Order Of Magnitude ◽  
Flexible Wall ◽  
Research Findings

Abstract The objective of this paper is to evaluate the self- healing properties of a commercially-available geosynthetic clay liner (GCL) using flexible-wall permeameter. The GCLs are produced by the same factory, but the contents of bentonite are different. Also the hydraulic conductivities (HC) of GCLs with no defect are different. In this study, specimens were completely saturated under the backpressure of 20 kPa before the test. Permeability tests were performed on GCL specimens with penetrating flaw and also on specimens permeated with distilled water and CaCl2 solutions. The test results were presented and discussed. Experimental results showed that the GCL with penetrating flaw did not exhibit complete self-healing in the case of flaw. After 120 days, the hydraulic conductivity increased by approximately an order of magnitude. In addition, CaCl2 solutions had a significant influence on the hydraulic conductivity. The research findings might be of interest to researchers and engineers who design liners for landfills and other liquid containment facilities

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