Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control

This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy. © 2013 Copyright Taylor and Francis Group, LLC.

The vibrations of bubbles and balloons

Bubbles and balloons are two examples of structures that feature a pressure difference across the skin, a thin, tensioned membrane, and a doubly curved interface surface. While mathematical models have been formulated for bubble vibrations, no such model exists for balloon vibrations. This paper reviews a model of bubble vibrations, and compares its predicted natural frequencies and modeshapes to those of a rubber balloon. It is shown that the bubble model consistently underpredicts the balloon's natural frequencies, and it is concluded that the nonlinear elasticity present in the balloon skin accounts for this result.

Frames, biases, and rational decision-making in the human brain.

Human choices are remarkably susceptible to the manner in which options are presented. This so-called "framing effect" represents a striking violation of standard economic accounts of human rationality, although its underlying neurobiology is not understood. We found that the framing effect was specifically associated with amygdala activity, suggesting a key role for an emotional system in mediating decision biases. Moreover, across individuals, orbital and medial prefrontal cortex activity predicted a reduced susceptibility to the framing effect. This finding highlights the importance of incorporating emotional processes within models of human choice and suggests how the brain may modulate the effect of these biasing influences to approximate rationality.

Optimisation of passive and semi-active heavy vehicle suspensions

An investigation into the potential for reducing road damage by optimising the design of heavy vehicle suspensions is described. In the first part of the paper two simple mathematical models are used to study the optimisation of conventional passive suspensions. Simple modifications are made to the steel spring suspension of a tandem axle trailer and it is found experimentally that RMS dynamic tyre forces can be reduced by 15% and theoretical road damage by 5.2%. A mathematical model of an air-sprung articulated vehicle is validated, and its suspension is optimised according to the simple models. This vehicle generates about 9% less damage than the leaf-sprung vehicle in the unmodified state and it is predicted that, for the operating conditions examined, the road damage caused by this vehicle can be reduced by a further 5.4%. Finally, it is shown experimentally that computer-controlled semi-active dampers have the potential to reduce road damage by a further 5-6%, compared to an air suspension with optimum passive damping. © Copyright 1994 Society of Automotive Engineers, Inc.

Interaction between heavy vehicles and roads

This paper discusses road damage caused by heavy commercial vehicles. Chapter 1 presents some important terminology and a brief historical review of road construction and vehicle-road interaction, from ancient times to the present day. The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in Chapter 2. Attention is also given to the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response. Chapter 3 reviews the effects on road damage of vehicle features which can be studied without consideration of vehicle dynamics. These include gross vehicle weight, axle and tire configurations, tire contact conditions and static load sharing in axle group suspensions. The dynamic tire forces generated by heavy vehicles are examined in Chapter 4. The discussion includes their simulation and measurement, their principal characteristics, the effects of tires and suspension design on dynamic forces, and the potential benefits of using advanced suspensions for minimizing dynamic tire forces. Chapter 5 discusses methods for estimating the effects of dynamic tire forces on road damage. The two main approaches are either to examine the statistics of the forces themselves; or to calculate the response of a pavement model to the forces, and to calculate the resulting wear using a material damage model. The issues involved in assessing vehicles for 'road friendliness' are discussed in Chapter 6. Possible assessment methods include measuring strains in an instrumented pavement traversed by the vehicle, measuring dynamic tire forces, or measuring vehicle parameters such as the 'natural frequency' and 'damping ratio'. Each of these measurements involves different assumptions and analysis methods for converting the results into some measure of road damage. Chapter 7 includes a summary of the main conclusions of the paper and recommendations for tire and suspension design, road design and construction, and for vehicle regulations.

Physical connection and disconnection control based on hot melt adhesives

Physical connection and disconnection control has practical meanings for robot applications. Compared to conventional connection mechanisms, bonding involving a thermal process could provide high connection strength, high repeatability, and power-free connection maintenance, etc. In terms of disconnection, an established bond can be easily weakened with a temperature rise of the material used to form the bond. Hot melt adhesives (HMAs) are such material that can form adhesive bonds with any solid surfaces through a thermally induced solidification process. This paper proposes a novel control method for automatic connection and disconnection based on HMAs. More specifically, mathematical models are first established to describe the flowing behavior of HMAs at higher temperatures, as well as the temperature-dependent strength of an established HMA bond. These models are then validated with a specific type of HMA in a minimalistic robot setup equipped with two mechatronic devices for automated material handling. The validated models are eventually used for determining open parameters in a feedback controller for the robot to perform a pick-and-place task. Through a series of trials with different wooden and aluminum parts, we evaluate the performance of the automatic connection and disconnection methods in terms of speed, energy consumption, and robustness. © 1996-2012 IEEE.

Double synaptic weight neuron theory and its application

In this paper, a novel mathematical model of neuron-Double Synaptic Weight Neuron (DSWN)(l) is presented. The DSWN can simulate many kinds of neuron architectures, including Radial-Basis-Function (RBF), Hyper Sausage and Hyper Ellipsoid models, etc. Moreover, this new model has been implemented in the new CASSANN-II neurocomputer that can be used to form various types of neural networks with multiple mathematical models of neurons. The flexibility of the DSWN has also been described in constructing neural networks. Based on the theory of Biomimetic Pattern Recognition (BPR) and high-dimensional space covering, a recognition system of omni directionally oriented rigid objects on the horizontal surface and a face recognition system had been implemented on CASSANN-II neurocomputer. In these two special cases, the result showed DSWN neural network had great potential in pattern recognition.

农业污染物在多孔介质中迁移的研究进展

为有效地预测和控制农业污染物对土壤及地下水资源的污染 ,需要建立相应的数学模型。在数学模型的应用中 ,模型参数的确定是关键。本文简要回顾了农业污染物在多孔介质迁移模型研究的进展 ,指出了各自的适用条件及存在的问题。

装备维修规划的多目标优化模型和求解算法

为有效地刻画和求解军事装备系统的维修规划问题,建立了一个以维修费用和任务能力为目标的约束优化模型,提出了一种求解装备维修规划问题的多目标禁忌搜索算法。模型考虑了维修器材和工时两种费用指标,并在数质量评估的基础上通过二次回归方程来分层评估装备系统的任务能力指标。算法采用两阶段搜索策略,第一阶段从维修数量下限出发,以任务能力为演化目标进行搜索,直至找到一个可行解;第二阶段以任务能力/维修费用比为演化目标进行搜索,不断改善整个非支配解集。实验表明,算法能够求解型号≥500种,数量≥45000的大规模问题,模型和算法求解的质量也在实际应用中得到了验证。

螺旋桨驱动UUV推进系统研究

为了实现水下机器人(UUV,Unmanned Underwater Vehicle)的高精度控制,深入研究了螺旋桨驱动UUV推进系统各个环节运行机理,并建立了它们各自的数学模型,包括PWM模块、直流永磁电机、螺旋桨、舵的数学模型。多功能仿真试验和湖试试验的系统响应曲线基本吻合,一方面表明本文建立的推进系统模型的正确性,另一方面体现了在多功能仿真平台上调试的控制策略和控制器参数具有很大的可信度。

西峰油田特低渗透油藏渗流机理及开发对策研究

Micro-pore-throat, micro-fracture and low permeability are the most obvious characters of Xifeng ultra-low permeability reservoir, and threshold pressure gradient and medium deformation during the period of oilfield developing results non-linear seepage feature of the formation liquid flowing in the porous medium underground. It is impossible to solve some problems in the ultra-low permeability reservoir development by current Darcy filtration theory and development techniques. In the view of the characters of ultra-low permeability and powerful-diagenesis and fracture up-growth, the paper quantitatively characterizes of through-going scope for reservoir parameters together with some materials such as similarity field outcrop, rock core, drilling, well logging and production dynamic, which provides geological base for further development adjustment. Based on the displacement experiment of different kinds of seepage fluid and oil-water two phases, this paper proves the relationship between threshold pressure gradient and formation permeability in experiment and theory, which is power function and its index is about -1. The variation rule and the mechanism of oil-water two phases threshold pressure gradient are studied. At the same time, based on the experiment of medium deformation, the variation rule of formation physical property parameters and the deformation mechanism are researched, and the influential factors on the medium deformation are analyzed systematically. With elastic unsteady filtration theory, nonlinear mathematical models of the steady and unsteady flow of single phase as well as horizontal well flow and oil-water two phases flow are deduced with the influence of nonlinear factors including threshold pressure gradient and media deformation. The influences of nonlinear factors upon well deliverability and reservoir pressure distribution as well as the saturation variation pattern of oil-water front are analyzed. By means of the researches such as reasonable well pattern, reasonable well array ration, artificial fracture length optimization advisable water flood timing and feasibility of advanced water flooding, it is necessary to find out effective techniques in order to improve development result of this kind of reservoir. This research result develops and improves on low-velocity nonlinear seepage theory, and offers ways to study similar kind of reservoir; it is meaningful to the development of the ultra-low permeability oil and gas reservoir.

油藏动态模型和剩余油分布模式

This paper belong to national "973" technological project undertaken by Shengli Oilfield. Work area is composed of turbidite reservoir of S212 and delta reservoir of S283 of Sheng2 unit in Shengtuo Oilfield that has a 36 years water injection development history. Change of the macroscopic, microscopic and filterational parameters and its mechanism have been studied in the 4 water-cut stages i.e. the primary, moderate, high and supper-high stage by using multi-disciplinary theories and approaches, computer techniques and physical simulation comprehensively. Dynamic reservoir models to different water-cut stages have been established. The study of forming mechanism and distribution of residual oil revealed the main types and spatial distribution of residual oil in different water-cut stages and the distribution mode has also been built up. Macroscopic, microscopic and filterational parameters selecting principle, optimizing and selecting standard, matching standard and laws and related database of various dynamic parameters in different water-cut stages have been established, which laid good basis for revealing reservoir macroscopic, microscopic and filterational parameters' dynamic change and residual oil distribution. The study indicated that in general, the macroscopic, microscopic and filterational parameters will slowly increase and become better in both shallow turbidite and delta reservoirs with the increasing of water cut, but different reservoirs have their own characteristics and change laws. Parameters of I~2 unit, whose petrophysical properties are better, increase more quickly than 8~3, whose petrophysical properties are more unfavorable. The changes was relatively quickly in high water-cut stage, while relatively slowly from primary to moderate and from high to supper-high water-cut stage. This paper firstly put forward that reservoir macroscopic, microscopic and filterational parameters are controlled by dynamic geological function of reservoir fluid, which is considered the major reason of reservoir parameters' dynamic changes and residual oil formation and distribution during reservoir development. Physical simulation of filterational parameters verified that forming mechanism and distribution of residual oil in different water-cut stages are also controlled by dynamic geological function of reservoir fluid. The idea of fluid geological function during reservoir development developed the theory of development geology, and has important practical values. This paper firstly constructed dynamic geological and mathematical models and five modes of residual oil distribution in Shengtuo Oilfield, and achieved four-dimensional forecast of residual oil distribution in different watercut stages. Dynamic changes and mechanism of macroscopic, microscopic and fliterational parameters of reservoir and their change process have been revealed. Forecast of residual oil distribution has been achieved by computers. This paper established the related theories, approaches and techniques for residual oil study, characterization and in different water-cut stages, and realized dynamic forecast of residual oil. It gained remarkable economic benefit and social effect in guiding field development. These theories and techniques had important meaningfulness for residual oil prediction in the terrestrial faulted basins not only in Shengli Oilfield but also in the east of China. Furthermore, this study has developed the theory of development geology.

花岗岩风化土微观结构及其工程地质特性研究

Saprolite is the residual soil resulted from completely weathered or highly weathered granite and with corestones of parent rock. It is widely distributed in Hong Kong. Slope instability usually happens in this layer of residual soil and thus it is very important to study the engineering geological properties of Saprolite. Due to the relic granitic texture, the deformation and strength characteristics of Saprolite are very different from normal residual soils. In order to investigate the effects of the special microstructure on soil deformation and strength, a series of physical, chemical and mechanical tests were conducted on Saprolite at Kowloon, Hong Kong. The tests include chemical analysis, particle size analysis, mineral composition analysis, mercury injection, consolidation test, direct shear test, triaxial shear test, optical analysis, SEM & TEM analysis, and triaxial shear tests under real-time CT monitoring.Based on the testing results, intensity and degree of weathering were classified, factors affecting and controlling the deformation and strength of Saprolite were identified, and the interaction between those factors were analyzed.The major parameters describing soil microstructure were introduced mainly based on optical thin section analysis results. These parameters are of importance and physical meaning to describe particle shape, particle size distribution (PSD), and for numerical modeling of soil microstructure. A few parameters to depict particle geometry were proposed or improved. These parameters can be used to regenerate the particle shape and its distribution. Fractal dimension of particle shape was proposed to describe irregularity of particle shapes and capacity of space filling quantitatively. And the effect of fractal dimension of particle shape on soil strength was analyzed. At the same time, structural coefficient - a combined parameter which can quantify the overall microstructure of rock or soil was introduced to study Saprolite and the results are very positive. The study emphasized on the fractal characteristics of PSD and pore structure by applying fractal theory and method. With the results from thin section analysis and mercury injection, it was shown that at least two fractal dimensions Dfl(DB) and Df2 (Dw), exist for both PSD and pore structure. The reasons and physical meanings behind multi-fractal dimensions were analyzed. The fractal dimensions were used to calculate the formation depth and weathering rate of granite at Kowloon. As practical applications, correlations and mathematical models for fractal dimensions and engineering properties of soil were established. The correlation between fractal dimensions and mechanical properties of soil shows that the internal friction angle is mainly governed by Dfl 9 corresponding to coarse grain components, while the cohesion depends on Df2 , corresponding to fine grain components. The correlations between the fractal dimension, friction angle and cohesion are positive linear.Fractal models of PSD and pore size distribution were derived theoretically. Fragmentation mechanism of grains was also analyzed from the viewpoint of fractal. A simple function was derived to define the theoretical relationship between the water characteristic curve (WCC) and fractal dimension, based on a number of classical WCC models. This relationship provides a new analytical tool and research method for hydraulic properties in porous media and solute transportation. It also endues fractal dimensions with new physical meanings and facilitates applications of fractal dimensions in water retention characteristics, ground water movement, and environmental engineering.Based on the conclusions from the fractal characteristics of Saprolite, size effect on strength was expressed by fractal dimension. This function is in complete agreement with classical Weibull model and a simple function was derived to represent the relationship between them.In this thesis, the phenomenon of multi-fractal dimensions was theoretically analyzed and verified with WCC and saprolite PSD results, it was then concluded that multi-fractal can describe the characteristics of one object more accurately, compared to single fractal dimension. The multi-fractal of saprolite reflects its structural heterogeneity and changeable stress environment during the evolution history.

Insight into permeability of protein through microcapsule membranes

The objective of this paper is to analyze the characteristics of protein permeability in alainate-polylysine-alginate (APA) and alginate-chitosan-alginate (ACA) microcapsules by mathematical models based on the balance of chemical potential. The comparison between calculated results and experimental data shows that the models can describe the process of protein diffusion from microcapsule and protein release into microcapsule successfully. The influences of membrane composition on the permeability of ACA microcapsule have been investigated and analyzed. The effect of resistance on the mass transfer is further analyzed theoretically with the aid of mathematical modeling. (c) 2005 Elsevier B.V. All rights reserved.

Analysing energy detector diversity receivers for spectrum sensing

The analysis of energy detector systems is a well studied topic in the literature: numerous models have been derived describing the behaviour of single and multiple antenna architectures operating in a variety of radio environments. However, in many cases of interest, these models are not in a closed form and so their evaluation requires the use of numerical methods. In general, these are computationally expensive, which can cause difficulties in certain scenarios, such as in the optimisation of device parameters on low cost hardware. The problem becomes acute in situations where the signal to noise ratio is small and reliable detection is to be ensured or where the number of samples of the received signal is large. Furthermore, due to the analytic complexity of the models, further insight into the behaviour of various system parameters of interest is not readily apparent. In this thesis, an approximation based approach is taken towards the analysis of such systems. By focusing on the situations where exact analyses become complicated, and making a small number of astute simplifications to the underlying mathematical models, it is possible to derive novel, accurate and compact descriptions of system behaviour. Approximations are derived for the analysis of energy detectors with single and multiple antennae operating on additive white Gaussian noise (AWGN) and independent and identically distributed Rayleigh, Nakagami-m and Rice channels; in the multiple antenna case, approximations are derived for systems with maximal ratio combiner (MRC), equal gain combiner (EGC) and square law combiner (SLC) diversity. In each case, error bounds are derived describing the maximum error resulting from the use of the approximations. In addition, it is demonstrated that the derived approximations require fewer computations of simple functions than any of the exact models available in the literature. Consequently, the regions of applicability of the approximations directly complement the regions of applicability of the available exact models. Further novel approximations for other system parameters of interest, such as sample complexity, minimum detectable signal to noise ratio and diversity gain, are also derived. In the course of the analysis, a novel theorem describing the convergence of the chi square, noncentral chi square and gamma distributions towards the normal distribution is derived. The theorem describes a tight upper bound on the error resulting from the application of the central limit theorem to random variables of the aforementioned distributions and gives a much better description of the resulting error than existing Berry-Esseen type bounds. A second novel theorem, providing an upper bound on the maximum error resulting from the use of the central limit theorem to approximate the noncentral chi square distribution where the noncentrality parameter is a multiple of the number of degrees of freedom, is also derived.