To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following...To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly.展开更多
There are defects such as the low convergence rate and premature phenomenon on the performance of simple genetic algorithms （SGA） as the values of crossover probability （Pc） and mutation probability （Pro） are fi...There are defects such as the low convergence rate and premature phenomenon on the performance of simple genetic algorithms （SGA） as the values of crossover probability （Pc） and mutation probability （Pro） are fixed. To solve the problems, the fuzzy control method and the genetic algorithms were systematically integrated to create a kind of improved fuzzy adaptive genetic algorithm （FAGA） based on the auto-regulating fuzzy rules （ARFR-FAGA）. By using the fuzzy control method, the values of Pc and Pm were adjusted according to the evolutional process, and the fuzzy rules were optimized by another genetic algorithm. Experimental results in solving the function optimization problems demonstrate that the convergence rate and solution quality of ARFR-FAGA exceed those of SGA, AGA and fuzzy adaptive genetic algorithm based on expertise （EFAGA） obviously in the global search.展开更多
Phosphorus is an essential element in agricultural production and chemical industry. However, since the risk of casualties and economic loss by mining accidents, the application of clean and safe production in phospho...Phosphorus is an essential element in agricultural production and chemical industry. However, since the risk of casualties and economic loss by mining accidents, the application of clean and safe production in phosphorus mines encounters great challenges. For this purpose, a man-machine-environment system composed of evaluation indexes was established, and the grading standards of indexes were defined. Firstly, the measurements of 39 qualitative indexes were obtained through the survey data. According to the measured values of 31 quantitative indexes, the measurements of quantitative indexes were calculated by linear measurement function(LM) and other three functions. Then the singleindex measurement evaluation matrixes were established. Secondly, the entropy weight method was used to determine the weights of each index directly. The analytic hierarchy process(AHP) was also applied to calculate the weights of index and index factor hierarchies after the established hierarchical model. The weights of system hierarchies were given by the grid-based fuzzy Borda method(GFB). The comprehensive weights were determined by the combination method of AHP and GFB(CAG). Furthermore, the multi-index comprehensive measurement evaluation vectors were obtained.Thirdly, the vectors were evaluated by the credible degree recognition(CDR) and the maximum membership(TMM)criteria. Based on the above functions, methods, and criteria, 16 combination evaluation methods were recommended.Finally, the clean and safe production grade of Kaiyang phosphate mine in China was evaluated. The results show that the LM-CAG-CDR is the most reasonable method, which can not only determine the clean and safe production grade of phosphorus mines, but also improve the development level of clean and safe mining of phosphorus mines for guidance.In addition, some beneficial suggestions and measures were also proposed to advance the clean and safe production grade of Kaiyang phosphorus mine.展开更多
This work was focused on the model-based design method of two-axis four-actuator(TAFA) fast steering mirror system(FSM), in order to improve the design efficiency. The structure and operation principle commonality of ...This work was focused on the model-based design method of two-axis four-actuator(TAFA) fast steering mirror system(FSM), in order to improve the design efficiency. The structure and operation principle commonality of normal TAFA FSM were investigated. Based on the structure and the commonality, the conditions of single-axis idea, high-frequency resonance and coupling were modeled gradually. Combining these models, a holonomic system model was established to reflect and predict the performance of TAFA FSM. A model-based design method was proposed based on the holonomic system model. The design flow and design concept of the method were described. In accordance with the method, a TAFA FSM was designed. Simulations and experiments of the FSM were done, and the results of them were compared. The compared results indicate that the holonomic system model can well reflect and predict the performance of TAFA FSM. The bandwidth of TAFA FSM is more than 250 Hz; adjust time is less than 15 ms;overshoot is less than 8%; position accuracy is better than 10 μrad; the FSM prototype can satisfy the requirements.展开更多
The electrode regulator system is a complex system with many variables, strong coupling and strong nonlinearity, while conventional control methods such as proportional integral derivative （PID） can not meet the req...The electrode regulator system is a complex system with many variables, strong coupling and strong nonlinearity, while conventional control methods such as proportional integral derivative （PID） can not meet the requirements. A robust adaptive neural network controller （RANNC） for electrode regulator system was proposed. Artificial neural networks were established to learn the system dynamics. The nonlinear control law was derived directly based on an input-output approximating method via the Taylor expansion, which avoids complex control development and intensive computation. The stability of the closed-loop system was established by the Lyapunov method. The current fluctuation relative percentage is less than ±8% and heating rate is up to 6.32 ℃/min when the proposed controller is used. The experiment results show that the proposed control scheme is better than inverse neural network controller （INNC） and PID controller （PIDC）.展开更多
A cost-based selective maintenance decision-making method was presented.The purpose of this method was to find an optimal choice of maintenance actions to be performed on a selected group of machines for manufacturing...A cost-based selective maintenance decision-making method was presented.The purpose of this method was to find an optimal choice of maintenance actions to be performed on a selected group of machines for manufacturing systems.The arithmetic reduction of intensity model was introduced to describe the influence on machine failure intensity by different maintenance actions (preventive maintenance,minimal repair and overhaul).In the meantime,a resolution algorithm combining the greedy heuristic rules with genetic algorithm was provided.Finally,a case study of the maintenance decision-making problem of automobile workshop was given.Furthermore,the case study demonstrates the practicability of this method.展开更多
The aim of this work is to explore the impact of regional transit service on tour-based commuter travel behavior by using the Bayesian hierarchical multinomial logit model, accounting for the spatial heterogeneity of ...The aim of this work is to explore the impact of regional transit service on tour-based commuter travel behavior by using the Bayesian hierarchical multinomial logit model, accounting for the spatial heterogeneity of the people living in the same area.With two indicators, accessibility and connectivity measured at the zone level, the regional transit service is captured and then related to the travel mode choice behavior. The sample data are selected from Washington-Baltimore Household Travel Survey in 2007,including all the trips from home to workplace in morning hours in Baltimore city. Traditional multinomial logit model using Bayesian approach is also estimated. A comparison of the two different models shows that ignoring the spatial context can lead to a misspecification of the effects of the regional transit service on travel behavior. The results reveal that improving transit service at regional level can be effective in reducing auto use for commuters after controlling for socio-demographics and travel-related factors.This work provides insights for interpreting tour-based commuter travel behavior by using recently developed methodological approaches. The results of this work will be helpful for engineers, urban planners, and transit operators to decide the needs to improve regional transit service and spatial location efficiently.展开更多
Using soil data of the Second National Field Survey,the soil fertility of wetland ecosystem of Dongting Lake was evaluated by using the technology of GIS and method of fuzzy evaluation.Integrated with the wetland actu...Using soil data of the Second National Field Survey,the soil fertility of wetland ecosystem of Dongting Lake was evaluated by using the technology of GIS and method of fuzzy evaluation.Integrated with the wetland actuality of Dongting Lake and particularity of paddy,seven factors (including soil organic matter,total nitrogen,total phosphorus,total potassium,available phosphorus,available potassium,and pH value),closely related with soil fertility,were chosen to establish the index system of synthetical evaluation.Based on the effect degree of each selected index on soil fertility,a judgment matrix was built,and the weight coefficient was determined by the method of correlation coefficient.Finally,under the support of the spatial analysis module of GIS (Geographic Information System),the spatial distribution properties of soil fertility in wetland ecosystem of Dongting Lake were studied.The results show that the soil fertility of Dongting Lake wetland ecosystem is not very good,and the area of type III and type IV achieves 69.8%.As a result,many countermeasures should be taken to improve the soil fertility.As for the spatial properties,the soil fertility level of central and west Dongting Lake is much higher than that of north and south part.The soil fertility of paddy field surpasses that of red soil,and the contents of soil organic matter and total nitrogen in paddy field are large.展开更多
The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memor...The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.展开更多
基金Project(90820302)supported by the National Natural Science Foundation of China
文摘To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly.
基金Project(60574030) supported by the National Natural Science Foundation of ChinaKey Project(60634020) supported by the National Natural Science Foundation of China
文摘There are defects such as the low convergence rate and premature phenomenon on the performance of simple genetic algorithms （SGA） as the values of crossover probability （Pc） and mutation probability （Pro） are fixed. To solve the problems, the fuzzy control method and the genetic algorithms were systematically integrated to create a kind of improved fuzzy adaptive genetic algorithm （FAGA） based on the auto-regulating fuzzy rules （ARFR-FAGA）. By using the fuzzy control method, the values of Pc and Pm were adjusted according to the evolutional process, and the fuzzy rules were optimized by another genetic algorithm. Experimental results in solving the function optimization problems demonstrate that the convergence rate and solution quality of ARFR-FAGA exceed those of SGA, AGA and fuzzy adaptive genetic algorithm based on expertise （EFAGA） obviously in the global search.
基金Project(51974362) supported by the National Natural Science Foundation of ChinaProject(2282020cxqd055) supported by the Fundamental Research Funds for the Central Universities,ChinaProject(2021-QYC-10050-25631) supported by the Department of Emergency Management of Hunan Province,China。
文摘Phosphorus is an essential element in agricultural production and chemical industry. However, since the risk of casualties and economic loss by mining accidents, the application of clean and safe production in phosphorus mines encounters great challenges. For this purpose, a man-machine-environment system composed of evaluation indexes was established, and the grading standards of indexes were defined. Firstly, the measurements of 39 qualitative indexes were obtained through the survey data. According to the measured values of 31 quantitative indexes, the measurements of quantitative indexes were calculated by linear measurement function(LM) and other three functions. Then the singleindex measurement evaluation matrixes were established. Secondly, the entropy weight method was used to determine the weights of each index directly. The analytic hierarchy process(AHP) was also applied to calculate the weights of index and index factor hierarchies after the established hierarchical model. The weights of system hierarchies were given by the grid-based fuzzy Borda method(GFB). The comprehensive weights were determined by the combination method of AHP and GFB(CAG). Furthermore, the multi-index comprehensive measurement evaluation vectors were obtained.Thirdly, the vectors were evaluated by the credible degree recognition(CDR) and the maximum membership(TMM)criteria. Based on the above functions, methods, and criteria, 16 combination evaluation methods were recommended.Finally, the clean and safe production grade of Kaiyang phosphate mine in China was evaluated. The results show that the LM-CAG-CDR is the most reasonable method, which can not only determine the clean and safe production grade of phosphorus mines, but also improve the development level of clean and safe mining of phosphorus mines for guidance.In addition, some beneficial suggestions and measures were also proposed to advance the clean and safe production grade of Kaiyang phosphorus mine.
基金Projects(51135009)supported by the National Natural Science Foundation of China
文摘This work was focused on the model-based design method of two-axis four-actuator(TAFA) fast steering mirror system(FSM), in order to improve the design efficiency. The structure and operation principle commonality of normal TAFA FSM were investigated. Based on the structure and the commonality, the conditions of single-axis idea, high-frequency resonance and coupling were modeled gradually. Combining these models, a holonomic system model was established to reflect and predict the performance of TAFA FSM. A model-based design method was proposed based on the holonomic system model. The design flow and design concept of the method were described. In accordance with the method, a TAFA FSM was designed. Simulations and experiments of the FSM were done, and the results of them were compared. The compared results indicate that the holonomic system model can well reflect and predict the performance of TAFA FSM. The bandwidth of TAFA FSM is more than 250 Hz; adjust time is less than 15 ms;overshoot is less than 8%; position accuracy is better than 10 μrad; the FSM prototype can satisfy the requirements.
基金Project(N100604002) supported by the Fundamental Research Funds for Central Universities of ChinaProject(61074074) supported by the National Natural Science Foundation of China
文摘The electrode regulator system is a complex system with many variables, strong coupling and strong nonlinearity, while conventional control methods such as proportional integral derivative （PID） can not meet the requirements. A robust adaptive neural network controller （RANNC） for electrode regulator system was proposed. Artificial neural networks were established to learn the system dynamics. The nonlinear control law was derived directly based on an input-output approximating method via the Taylor expansion, which avoids complex control development and intensive computation. The stability of the closed-loop system was established by the Lyapunov method. The current fluctuation relative percentage is less than ±8% and heating rate is up to 6.32 ℃/min when the proposed controller is used. The experiment results show that the proposed control scheme is better than inverse neural network controller （INNC） and PID controller （PIDC）.
基金Project(51105141,51275191)supported by the National Natural Science Foundation of ChinaProject(2009AA043301)supported by the National High Technology Research and Development Program of ChinaProject(2012TS073)supported by the Fundamental Research Funds for the Central University of HUST,China
文摘A cost-based selective maintenance decision-making method was presented.The purpose of this method was to find an optimal choice of maintenance actions to be performed on a selected group of machines for manufacturing systems.The arithmetic reduction of intensity model was introduced to describe the influence on machine failure intensity by different maintenance actions (preventive maintenance,minimal repair and overhaul).In the meantime,a resolution algorithm combining the greedy heuristic rules with genetic algorithm was provided.Finally,a case study of the maintenance decision-making problem of automobile workshop was given.Furthermore,the case study demonstrates the practicability of this method.
基金Project(71173061)supported by the National Natural Science Foundation of ChinaProject(2013U-6)supported by Key Laboratory of Eco Planning & Green Building,Ministry of Education(Tsinghua University),China
文摘The aim of this work is to explore the impact of regional transit service on tour-based commuter travel behavior by using the Bayesian hierarchical multinomial logit model, accounting for the spatial heterogeneity of the people living in the same area.With two indicators, accessibility and connectivity measured at the zone level, the regional transit service is captured and then related to the travel mode choice behavior. The sample data are selected from Washington-Baltimore Household Travel Survey in 2007,including all the trips from home to workplace in morning hours in Baltimore city. Traditional multinomial logit model using Bayesian approach is also estimated. A comparison of the two different models shows that ignoring the spatial context can lead to a misspecification of the effects of the regional transit service on travel behavior. The results reveal that improving transit service at regional level can be effective in reducing auto use for commuters after controlling for socio-demographics and travel-related factors.This work provides insights for interpreting tour-based commuter travel behavior by using recently developed methodological approaches. The results of this work will be helpful for engineers, urban planners, and transit operators to decide the needs to improve regional transit service and spatial location efficiently.
基金Projects(40971170,51039001) supported by the National Natural Science Foundation of ChinaProject(2007AA10Z222) supported by the National High Technology Research and Development Program of China
文摘Using soil data of the Second National Field Survey,the soil fertility of wetland ecosystem of Dongting Lake was evaluated by using the technology of GIS and method of fuzzy evaluation.Integrated with the wetland actuality of Dongting Lake and particularity of paddy,seven factors (including soil organic matter,total nitrogen,total phosphorus,total potassium,available phosphorus,available potassium,and pH value),closely related with soil fertility,were chosen to establish the index system of synthetical evaluation.Based on the effect degree of each selected index on soil fertility,a judgment matrix was built,and the weight coefficient was determined by the method of correlation coefficient.Finally,under the support of the spatial analysis module of GIS (Geographic Information System),the spatial distribution properties of soil fertility in wetland ecosystem of Dongting Lake were studied.The results show that the soil fertility of Dongting Lake wetland ecosystem is not very good,and the area of type III and type IV achieves 69.8%.As a result,many countermeasures should be taken to improve the soil fertility.As for the spatial properties,the soil fertility level of central and west Dongting Lake is much higher than that of north and south part.The soil fertility of paddy field surpasses that of red soil,and the contents of soil organic matter and total nitrogen in paddy field are large.
基金Project(51105170) supported by the National Natural Science Foundation of ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China
文摘The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.
