Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

A terrain risk assessment method for military surveillance applications for mobile assets

This study proposes an analytical and flexible terrain risk assessment method for military surveillance applications for mobile assets. Considering the risk as the degree of possibility of insurgent presence, the assessment method offers an efficient evaluation of risk in the surrounding terrain for military combat operating posts or observation posts. The method is designed for unmanned aerial vehicles as the surveillance assets of choice to improve the effectiveness of their use. Starting with the area map and geographical data, the target terrain is first digitized for space representation. Then the data of nine geographical parameters are used to formulate five contributing risk factors. These factors are incorporated in an analytical framework to generate a composite map with risk scores that reveal the potential high-risk spots in the terrain. The proposed method is also applied to a real-life case study of COP Kahler in Afghanistan, which was a target for insurgent attacks in 2008. The results confirm that when evaluated with the developed method, the region that the insurgents used to approach COP Kahler has high concentration of high-risk cells.     

CO2 abatement and CH4 recovery at vehicle exhausts: Comparison and characterization of Ru powder and pellet catalysts

The catalytic conversion of CO₂ to CH₄ (Sabatier reaction) has been studied to develop an after-treatment process at vehicles exhausts. Three different formulations of Ru commercial catalysts, two in powder and one in pellets shape, were tested and characterized by means of X-ray powder diffraction, scanning electron microscopy (SEM-EDX), N₂ adsorption at −196 °C and temperature-programmed reduction (TPR).Experimental results show a high CO₂ conversion (X_CO2 = 0.96 @ T = 280 °C) for one powder catalyst formulation whereas the other one has maximum CO₂ conversion = 0.69. In both cases a high CH₄ selectivity is measured. High CO₂ conversion (X_CO2 = 0.92 @ T = 300 °C) is obtained also with pellet catalysts but only at lower GHSV values. The different behavior of the catalysts was ascribed to the different physicochemical properties and the key parameters for the application development of the process were identified. In particular, the possibility to use pellets or monolithic reactors, thus minimizing the pressure drops in the reactor, makes possible a commercial application in the treatment of vehicles exhausts.     

Model Validation for Bridge-Road-Vehicle Dynamic Interaction System

The dynamic response of highway bridges subjected to moving truckloads has been observed to be dependent on (1) dynamic characteristics of the bridge; (2) truck configuration, speed, and lane position on the bridge; and (3) road surface roughness profile of the bridge and its approach. Historically, truckloads were measured to determine the load spectra for girder bridges. However, truckload measurements are either made for a short period of time [for example, weigh-in-motion (WIM) data] or are statistically biased (for example, weigh stations) and cost prohibitive. The objective of this paper is to present results of a 3D computer-based model for the simulation of multiple trucks on girder bridges. The model is based on the grillage approach and is applied to four steel girder bridges tested under normal truck traffic. Actual truckload data collected using a discrete bridge WIM system are used in the model. The data include axle loads, truck gross weight, axle configuration, and statistical data on multiple presence (side by side or following). The results are presented as a function of the static and dynamic stresses in each girder and compared with code provisions for dynamic load factor. The study provides an alternate method for the development of live-load models for bridge design and evaluation.     

Frequency weighting for the evaluation of steering wheel rotational vibration

The human perception of rotational hand–arm vibration has been investigated by means of a test rig consisting of a rigid frame, an electrodynamic shaker unit, a rigid steering wheel, a shaft assembly, bearings and an automobile seat. Fifteen subjects were tested while seated in a driving posture. Four equal sensation tests and one annoyance threshold test were performed using sinusoidal excitation at 18 frequencies in the range from 3 to 315 Hz. In order to guarantee the generality of the equal sensation data, the four tests were defined to permit checks of the possible influence of three factors: reference signal amplitude, psychophysical test procedure and temporary threshold shift caused by the test exposure. All equal sensation tests used a reference sinusoid of 63 Hz at either 1.0 or 1.5 m/s² r.m.s. in amplitude. The four equal sensation curves were similar in shape and suggested a decrease in human sensitivity to hand–arm rotational vibration with increasing frequency. The slopes of the equal sensation curves changed at transition points of approximately 6.3 and 63 Hz. A frequency weighting, called W_s, was developed for the purpose of evaluating steering wheel rotational vibration. The proposed W_s has a slope of 0 dB per octave over the frequency range from 3 to 6.3 Hz, a slope of −6 dB per octave from 6.3 to 50 Hz, a slope of 0 dB per octave from 50 to 160 Hz and a slope of −10 dB per octave from 160 to 315 Hz. W_s provides a possible alternative to the existing W_h frequency weighting defined in International Standards Organisation 5349-1 (2001) and British Standards Institution BS 6842 (1987).

Relevance to industry

For the manufacturers of tyres, steering systems and other vehicular components the proposed W_s frequency weighting provides a more accurate representation of human perception of steering wheel rotational vibration than the W_h weighting of ISO 5349-1 and BS6842.     

利用TM图像进行干旱荒漠带牧区土地资源调查

选用TM卫片作为调查基础资料,结合地形图和局部地区大比例尺航片,完成了甘肃河西地域三个牧业县的土地利用现状调查,为遥感技术在干旱荒漠地带牧区进行土地资源调查找出了效果好、经济的方法。     

红外车辆分离子系统的设计和性能分析

在机动车磁卡收费系统中,红外车辆分离子系统是一种重要设备,它是由平行等距红外线族构成的平面检测系统,其性能直接影响收费系统的正常运转。本文介绍该子系统的设计并对系统性能进行分析,得出:子系统采取相关检测技术后,不仅能有效地抑制外界干扰、噪声,还具有抗相邻红外信号干扰能力。     

车联网中基于轨迹预测的无人机动态协同优化覆盖算法

针对城市车联网中出现的基站覆盖空洞及局部流量过载等问题,提出了一种基于车辆轨迹预测信息的动态预部署方案。首先,为了训练得到统一的seq2seq-GRU轨迹预测模型,多个携带边缘计算服务器的无人机在分布式联邦学习与区块链的架构下,去除中心聚合节点,采取改进的Raft算法,在每轮训练中根据贡献数据量的大小,选举得到节点来完成参数聚合及模型更新任务。其次,基于模型预测结果,提出了一种改进的虚拟力向导部署算法,通过各虚拟力来引导无人机进行动态地部署以提升车辆的接入率及通信质量。仿真结果表明,提出的训练架构能够加速模型的训练,部署算法在提升车辆接入率的同时提升了车辆与无人机之间的通信质量。     

软件定义车联网中缓存辅助的NOMA功率分配方案研究

由于对丰富多媒体服务的需求日益增长,车联网需要提供海量的设备连接以满足高频谱效率和低延迟的需求。软件定义网络（SDN）、缓存和非正交多址接入（NOMA）被认为是有效解决这些关键挑战的潜在技术。针对软件定义车联网,提出了一种缓存辅助的NOMA功率分配方案。首先,针对车联网中车辆总是处于高速运动状态的特点,提出了一种新的簇头选择算法,到达的道路交通将借助SDN进行预测,实现自适应车辆分簇。其次,引入了缓存辅助的NOMA方案,每个车辆在文件缓存阶段使用NOMA原理缓存和请求文件。再次,针对双Nakagami-m衰落条件下的两个簇头车辆通信场景,提出了一种最优功率分配策略,将优化问题公式化为找到每辆车的最佳功率曲线,从而最大化地在每辆车上成功解码目标文件的概率。最后,数值仿真和理论分析表明,所提缓存辅助NOMA功率分配方案,性能明显优于传统的NOMA和缓存辅助的OMA。     

车联网隐私保护研究综述

车联网是一种通过在车辆、行人、路边单元等通信实体之间构建一个网络拓扑来提供高效、安全的信息服务的网络,车联网能够有效满足人们对交通环境日益增长的需求,但由于车联网具有移动性和开放性的特点,容易遭受攻击。在众多的威胁中,车联网用户的隐私泄露可能会造成不可弥补的损失,因此车联网的隐私保护被研究者广泛关注。针对车联网的隐私保护问题展开研究,根据车联网的体系结构总结出车联网需要具备的四个基本性质,并对现有的车联网攻击模型加以分析;通过对近些年车联网隐私保护方案的调查总结对现有研究中常用的方法加以归类,然后将车联网的隐私保护研究依照保护对象分为三类,并对各方案进行了分析评价。最后对现有研究的看法和面临的挑战进行了总结,给出了对未来研究的展望。