Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

集成电路测试系统的竞争冒险

在集成电路测试领域,因客观存在的通道传输延迟而导致集成电路测试系统对交流参数测量准确度降低是不可避免的。尽管时域反射技术的应用在一定程度上解决了这一问题,但是仍然无法完全解决传输延迟所带来的所有问题。论文以泰瑞达J750EX集成电路测试系统为平台,通过实验证实数字通道在传输延迟修正后存在逻辑异常的现象,并分析其发生的原因。     

不确定环境下多机器人的动态编队控制

提出了一种不确定环境下多机器人的动态编队控制方法．通过队形参数矩阵确立多机器人之间的相对 位置关系,将全局队形控制问题转化为跟随机器人离轴点对虚机器人（与领航机器人运动方向一致,且对领航机器 人保持期望的相对距离和观测方位角）离轴点的跟踪．基于建立的跟随机器人和领航机器人之间的误差跟踪系统模 型设计相应控制律实现队形保持,并提出了防止机器人与障碍物及其它机器人碰撞的避障策略．仿真结果表明了所 提方法的可行性和有效性．     

Full perimeter obstacle contact sensor based on flex sensors

This paper presents an obstacle contact sensor system that can detect both the contact state and the direction of contact parallel to the movement plane of a mobile system carrying the sensor. This sensor system is based on a regular- or irregular-shaped ring surrounding the mobile system’s perimeter, connected to the mobile system’s body by a set of soft springs and also coupled mechanically to a set of four flex sensors measuring the relative displacement and direction of the ring when contacting an obstacle. The set of flex sensors is connected to a low-cost electronic module that implements a data acquisition block and a fuzzy processing block, delivering a value representing the estimated contact zone of the ring. Some experiments show how this detection system effectively reduces the sensor count needed for full coverage of the mobile system’s perimeter. Despite the kind of output implemented in the experiments, the contact force can also be estimated.     

Collective motion in non-reciprocal swarms

This paper studies a non-reciprocal swarm model that consists of a group of mobile autonomous agents with an attraction-repulsion function governing the interaction of the agents. The function is chosen to have infinitely large values of repulsion for vanishing distance between two agents so as to avoid occurrence of collision. It is shown analytically that under the detailed balance condition in coupling weights, all the agents will aggregate and eventually form a cohesive cluster of finite size around the weighted center of the swarm in a finite time. Moreover, the swarm system is completely stable, namely, the motion of all agents converge to the set of equilibrium points. For the general case of non-reciprocal swarms without the detailed balance condition, numerical simulations show that more complex self-organized oscillations can emerge in the swarms. The effect of noise on collective dynamics of the swarm is also examined with a white Gaussian noise model.     

选举策略在分布式系统死锁避免中的应用

将单机系统或集中式系统中的死锁避免策略移植到分布式需要面临并发性和冲突问题的解决。本文通过分析二阶段锁的机制,引入了一种应用选举策略来幽雅地解决分布式系统中死锁避免所碰到问题的算法。     

基于NS3-gym框架的智能干扰规避系统设计与实现

多智能体构建的无线通信网络在受到外部恶意干扰时,智能体需要与环境进行大量交互来学习干扰规律和优化抗干扰策略。为了有效模拟和验证智能体与外部干扰环境的学习交互过程,需要构建智能干扰规避仿真系统。提出了一种基于NS3-gym框架的智能干扰规避系统,NS3模拟智能通信网络场景并将感知到的网络状态数据作为智能体的输入,智能体对输入数据进行学习分析得到干扰规避决策,并通过gym与NS3之间的交互将其返回到NS3中的仿真网络进行抗干扰策略部署。NS3-gym框架提供了NS3和OpenAI gym之间进行信息交互的接口。在Ubuntu20.04系统下搭建了智能干扰规避系统的仿真平台,分别验证了Q学习算法以及WoLF-PHC算法在扫频干扰、贪婪随机策略干扰、跟随干扰、随机干扰四种场景下的抗干扰性能。仿真结果证明了所提系统架构与仿真平台的正确性和有效性。     

A rear-end collision risk assessment model based on drivers’ collision avoidance process under influences of cell phone use and gender—A driving simulator based study

Driver’s collision avoidance performance has a direct link to the collision risk and crash severity. Previous studies demonstrated that the distracted driving, such as using a cell phone while driving, disrupted the driver’s performance on road. This study aimed to investigate the manner and extent to which cell phone use and driver’s gender affected driving performance and collision risk in a rear-end collision avoidance process. Forty-two licensed drivers completed the driving simulation experiment in three phone use conditions: no phone use, hands-free, and hand-held, in which the drivers drove in a car-following situation with potential rear-end collision risks caused by the leading vehicle’s sudden deceleration. Based on the experiment data, a rear-end collision risk assessment model was developed to assess the influence of cell phone use and driver’s gender. The cell phone use and driver’s gender were found to be significant factors that affected the braking performances in the rear-end collision avoidance process, including the brake reaction time, the deceleration adjusting time and the maximum deceleration rate. The minimum headway distance between the leading vehicle and the simulator during the rear-end collision avoidance process was the final output variable, which could be used to measure the rear-end collision risk and judge whether a collision occurred. The results showed that although cell phone use drivers took some compensatory behaviors in the collision avoidance process to reduce the mental workload, the collision risk in cell phone use conditions was still higher than that without the phone use. More importantly, the results proved that the hands-free condition did not eliminate the safety problem associated with distracted driving because it impaired the driving performance in the same way as much as the use of hand-held phones. In addition, the gender effect indicated that although female drivers had longer reaction time than male drivers in critical situation, they were more quickly in braking with larger maximum deceleration rate, and they tended to keep a larger safety margin with the leading vehicle compared to male drivers. The findings shed some light on the further development of advanced collision avoidance technologies and the targeted intervention strategies about cell phone use while driving.     

Incentives for quality improvement efforts coordination in supply chains with partial cost allocation contract

In this paper, we consider quality improvement efforts coordination in a two-stage decentralised supply chain with a partial cost allocation contract. The supply chain consists of one supplier and one manufacturer, both of which produce defective products. Two kinds of failure cost occur within the supply chain: internal and external. The supplier and the manufacturer determine their individual quality levels to maximise their own profits. We propose a partial cost allocation contract, under which the external failure cost is allocated between the manufacturer and the supplier at different rates based on information derived from failure root cause analysis. If the quality levels of the supplier and the manufacturer are observable, we show that the partial cost allocation contract coordinates the supply chain, provided that the failure root cause analysis does not erroneously identify the manufacturer’s fault as the supplier’s, and the supplier does not take responsibility for the manufacture’s fault. In the single moral hazard model, where only the quality level of the supplier is unobservable, the optimal share rates require the supplier to take some responsibility for the manufacture’s fault. However, in the double moral hazard model, where quality levels of the supplier and the manufacturer are unobservable to each other, the optimal share rates require the supplier not to take responsibility for the manufacturer’s fault. It is noted that the root cause analysis conducted by the manufacturer may have its disadvantage in attributing the fault to the supplier when both sides are at fault. We also propose a contract based on the dual root cause analysis to reduce the supplier’s penalty cost. Numerical results illustrate that the partial cost allocation contract satisfies the fairness criterion compared with the traditional cost allocation contract.     

高通量筛查和安全评估结合评价乳制品包装安全风险

目的 以乳制品包装为研究对象,建立一套科学评价食品接触材料安全风险的方法,全面评价食品接触材料在接触食品过程中带来的食品安全风险。方法 采用非靶向高通量筛查检测技术全面筛查食品模拟物中的重金属和有机物,根据权威数据库和物质毒理学资料进行危害评估,参考欧盟和美国膳食暴露量计算方法进行暴露评估,结合评估结果计算风险系数,最终表征食品接触材料的安全风险。结果 抽取了市面上的塑料、金属、涂料及复合包装等不同材质的乳制品包装进行检测,检出铜、铬、锰和锡等元素,以及有意添加物（如单体、溶剂、抗氧剂、光引发剂、爽滑剂、增塑剂等）、非有意添加物质（如抗氧剂降解产物、寡聚物等）。采用暴露评估和危害评估方法分别表征检出物的膳食暴露和健康指导值,安全风险评估风险系数分布在0.007%～9.4%之间,安全风险较低。结论 建立的食品接触材料安全评价方法是一种有效评价食品接触材料安全风险的方法,该方法具有一定的通用性,企业、行业和政府部门等可用于识别食品接触材料的安全风险,为减少和排除安全风险提供科学依据。