This paper presents a novel motion planning and tracking framework for automated vehicles based on artificial potential field (APF) elaborated resistance approach. Motion is one of the key parts autonomous driving, which plans sequence movement states to help drive safely, comfortably, economically, human-like, etc. In this paper, APF method used assign different functions obstacles road boundaries; while drivable area meshed assigned values in each edge functions. A local current comparison...

A motion planning method for autonomous vehicles confronting emergency situations where collision is inevitable, generating a path to mitigate the crash as much possible, proposed in this paper. The Model predictive control (MPC) algorithm adopted here planning. If avoidance impossible model system, potential severity, and artificial field are filled into controller objective achieve general obstacle lowest severity. Furthermore, vehicle dynamic also considered an optimal problem. Based on...

This paper proposed a unified model including yaw and roll dynamics for any axle or articulation configuration of buses by using reconfigurable approach. First, all the possible existing configurations are introduced, axle/articulation configuration, powertrain active chassis control configuration. Consequently, research is motivated key question: how can we develop that inclusive configurable to above bus configurations? To model, three layers modeling process presented step step. The magic...

This article proposed a reconfigurable control scheme for articulated vehicles' stabilization by leveraging optimization-based techniques. The central objective is to maintain good lateral and yaw stability of the vehicle with optimal corrective brakes, meanwhile applicable different actuation configurations. achieved two-layer structure, where high-level controller formulates as model predictive (MPC) tracking problem generate center-of-gravity (CG) moment each unit. lower level utilizes...

Environmentally assisted cracking (EAC) is a slow crack growth phenomenon in dissimilar metal‐welded joints within the primary circuit of pressurized water reactors. Accurately analyzing mechanical state at EAC tip crucial for ensuring long‐term safety nuclear power equipment. In this study, microstructure analysis SA508‐52M‐316L welded joint was conducted to determine distribution properties its local regions through hardness testing. A user‐defined field subroutine (USDFLD) developed...

To meet with many different transportation needs, it comes in a rich diversity and variety of articulated vehicles. Vehicle combinations are seen axle configurations, number articulations, powertrain, active actuation systems, etc. This research is, therefore, motivated to develop model-based control system universal reconfigurable fashion any vehicles stability control. achieve its universality reconfigurability, we introduce hierarchical (two-layer) system. Namely, the high layer...

In this paper, we study two subjects on internally controlled heat equations with time varying potentials: the attainable subspaces and bang-bang property for some optimal control problems. We present equivalent characterizations provide a sufficient condition to ensure property. Both above-mentioned are closely related function spaces consisting of solutions adjoint equations. It seems us that existing ways derive time-invariant potentials (see, instance, [H. O. Fattorini, Infinite...

Vertebral compression fractures can be successfully restored by injectable bone cements. Here the as‐yet unexplored in vitro cytotoxicity, vivo biodegradation, and osteoconductivity of a new calcium phosphate silicate cements (CPSC) are studied, where monocalcium (MCP; 5, 10, 15 wt%) is added to cement (CSC). Setting rate compressive strength CPSC decrease with addition MCP. The crystallinity, microstructure, porosity hardened evaluated X‐ray diffractometer, Fourier transform infrared...

In this paper, equivalent modelling methods of a multi-axle vehicle are presented and compared. Firstly, for the sake comparison, single-track model three-axle two-axle is developed, then existing derivations discussed. Next, proposed model-based dynamic equivalence force/moment at centre gravity (CG) introduced optimised. It represents approximately steady-state transient response yaw rate side slip angle, which allows different cornering stiffness on central rear axle. Finally, to...

We consider the optimal control problem of minimizing some quadratic functional over all possible solutions an internally controlled multidimensional heat equation with a periodic terminal state constraint. This has unique solution, which can be characterized by optimality system derived from Pontryagin maximum principle. define two approximations this problem. The first one is impulse approximation and consists considering linear equations control. second obtained sample-and-hold procedure...

Vehicle rollovers are a serious safety issue for drivers and passengers have led to many fatal accidents on the road. This paper describes system method of enhancing vehicular stability reduce likelihood rollover motor vehicles, in particular sport utility vehicles. Under concept pulsed active steering, one control strategy called rear steering was investigated is discussed detail. To verify this system, yaw roll model derived pulse signal parameters (the frequency amplitude) were evaluated...

Osteoporosis greatly impairs bone fracture restoration with cement because the accelerated resorption decreases osseointegration between and implants. In this study, we designed a new drug delivery system based on third generation bisphosphonate risedronate (RA) osteogenic calcium phosphate silicate (CPSC). The impact of RA CPSC's material properties microstructure was evaluated by different characterization methods (μCT, XRD, FTIR, SEM gas sorption). addition, in vitro biocompatibility...

This study proposes a novel mixed motion planning and tracking (MPT) control framework for autonomous vehicles (AVs) based on model predictive (MPC), which is made up of an MPC-based longitudinal module, feed-forward integrated lateral module. First, given the global reference path surroundings information obtained from onboard devices V2X network, vehicle kinematics applied to determine local target path, desired acceleration, velocity considering safety priority. Then, planned velocity,...

We present several observability and unique continuation inequalities for the free Schrödinger equation in whole space. The observations these are made either at two points time or one point time. These correspond to different kinds of controllability equation. also show that inequality is equivalent uncertainty principle given [21].

Abstract Distributed-drive electric vehicles (EVs) replace internal combustion engine with multiple motors, and the novel configuration results in new dynamic-related issues. This paper studies coupling effects between parameters responses of dynamic vibration-absorbing structures (DVAS) for EVs driven by in-wheel motors (IWM). Firstly, a DVAS-based quarter suspension model is developed distributed-drive EVs, from which nine five are selected effect analysis. A two-stage global sensitivity...

In the era of future mobility within Transportation 5.0, autonomy and cooperation across all road users smart infrastructure stand as key features to enhance transportation safety, efficiency, sustainability, supported by cooperative perception, decision-making planning, control. An accurate robust localization system plays a vital role in enabling these modules for is constrained environmental uncertainties sensing limitations. To achieve precise resilient this new era, paper introduces...

We study the bang-bang properties of minimal time and norm control problems (where target set is origin state space controlled system linear time-invariant) from a new perspective. More precisely, we how property each (or norm) problem depends on pair parameters $(M, y_0)$ $(T,y_0)$ ), where $M>0$ bound controls $y_0$ initial $T>0$ an ending state). The may have neither $L^∞$ -null controllability nor backward uniqueness property.

Abstract Injectable bone cements have been well characterized and studied in non‐load bearing fixation screw augmentation applications. Current calcium phosphate cement or poly(methyl methacrylate) drawbacks like low mechanical strength situ exothermic properties. This leads especially patients with osteoporosis to worsening contact between implant can finally lead failure. To improve these properties, a silicate (CSC) was prepared, which additionally contained the bisphosphonate risedronate...