Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been i...Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.展开更多
In this study,it is aimed to develop a generic model which calculates the trajectory of the ejection seat from the jet aircraft,by taking into account the parameters that will affect the seat movement such as the seat...In this study,it is aimed to develop a generic model which calculates the trajectory of the ejection seat from the jet aircraft,by taking into account the parameters that will affect the seat movement such as the seat’s launch speed,ejection direction,ejection angle,altitude of the aircraft,distance/height from the aircraft rudder and canopy,pilot and ejection seat weight.With the model algorithm proposed,the ejection seat trajectory model was developed on MATLAB.The ejection seat trajectory model is based on point mass trajectory mathematical model.In this study,an analytical study of the problem has been made for modeling the flight trajectory of the ejection seat after it has been ejected.Past studies were used as a basis for validation and simulation.By writing a generic MATLAB code,a user interface was developed and presented to the user as a module.This generic code that has been developed could be used for simulations by users in the future by revising it in accordance with their own job descriptions.展开更多
Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategie...Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.展开更多
This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic ...This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination.To achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical framework.Specifically,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position controller.Next,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque.Finally,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,respectively.In terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.Simulations are carried out to verify the effectiveness of the proposed control scheme.展开更多
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo...In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.展开更多
BACKGROUND Neck pain,a primary symptom of cervical spondylosis,affects patients'physical and mental health,reducing their quality of life.Pain and emotional state interact;however,their longitudinal interrelations...BACKGROUND Neck pain,a primary symptom of cervical spondylosis,affects patients'physical and mental health,reducing their quality of life.Pain and emotional state interact;however,their longitudinal interrelationship remains unclear.In this study,we applied a dual-trajectory model to assess how neck pain and emotional state evolve together over time and how clinical interventions,particularly acupuncture,influence these trajectories.AIM To investigate the longitudinal relationship between neck pain and emotional state in patients with cervical spondylosis.METHODS This prospective cohort study included 472 patients with cervical spondylosis from eight Chinese hospitals.Participants received acupuncture or medication and were followed up at baseline,and at 1,2,4,6,and 8 weeks.Neck pain and emotional distress were assessed using the Northwick Park Neck Pain Questionnaire(NPQ)and the affective subscale of the Short-Form McGill Pain Questionnaire(SF-MPQ),respectively.Group-based trajectory models and dual trajectory analysis were used to identify and correlate pain-emotion trajectories.Multivariate logistic regression identified predictors of group membership.RESULTS Three trajectory groups were identified for NPQ and SF-MPQ scores(low,medium,and high).Higher NPQ trajectory was associated with older age(OR=1.058,P<0.001)and was significantly reduced by acupuncture(OR=0.382,P<0.001).Similarly,acupuncture lowered the odds of high SF-MPQ trajectory membership(OR=0.336,P<0.001),while age increased it(OR=1.037,P<0.001).Dual-trajectory analysis revealed bidirectional associations:69.1%of patients with low NPQ had low SF-MPQ scores,and 42.6%of patients with high SF-MPQ also had high NPQ scores.Gender was a predictor for medium SF-MPQ trajectory(OR=1.629,P=0.094).Occupation and education levels differed significantly across the trajectory groups(P<0.05).CONCLUSION Over time,neck pain and emotional distress are closely associated in patients with cervical spondylosis.Acupuncture alleviates both outcomes significantly,while age is a risk factor.Integrated approaches to pain and emotional management are encouraged.展开更多
The geometrical model of the filament during the fused deposition modeling (FDM) process was firstly proposed based on three different models, tractrix, parabola, and catenary. Comparing with the actual measured filam...The geometrical model of the filament during the fused deposition modeling (FDM) process was firstly proposed based on three different models, tractrix, parabola, and catenary. Comparing with the actual measured filament curves on the Stratasys 1600 FDM machine, it is indicated that the tractrix model had the best agreement with the actual measured curves. With the analytical simulation, the nozzle trajectories in the straight-line deposition road, circle road, and arbitrary continuous curve road were deduced, according to the traxtric based geometrical model of the filament.展开更多
Objective:To preliminarily construct and apply a longitudinal trajectory model for the prognosis of intracerebral hemorrhage(ICH)based on blood urea nitrogen(BUN)characteristics.Methods:Clinical data from 320 ICH pati...Objective:To preliminarily construct and apply a longitudinal trajectory model for the prognosis of intracerebral hemorrhage(ICH)based on blood urea nitrogen(BUN)characteristics.Methods:Clinical data from 320 ICH patients admitted to our hospital between 2020 and 2024 were collected,including demographic information,National Institutes of Health Stroke Scale(NIHSS)scores at admission,dynamic changes in BUN levels during treatment,and 30-day survival outcomes.A latent class growth model(LCGM)was first used for preliminary modeling,followed by a latent growth mixture modeling(GMM)approach to determine the final model.Three classes of BUN trajectories for ICH prognosis were identified,and latent classes were established.GMM modeling was then performed on these latent classes,considering linear,quadratic,and cubic polynomial forms;six GMM models were constructed and individuals were assigned to latent trajectory groups for validation.Results:LCGM analysis ultimately identified three dynamic BUN trajectory groups:Sustained low-level group(76 cases,23.8%):BUN remained stable between 3.1-9.0 mmol/L,with the highest 30-day survival rate(98.7%).Fluctuating-declining group(222 cases,69.4%):BUN initially increased and then slowly decreased(peak at day 3:15.2 mmol/L),with a 30-day mortality of 8.1%(18/222),higher than the sustained low-level group.Sustained high-level group(22 cases,6.9%):BUN mean>9.0 mmol/L,with a 30-day mortality of 41.7%(P=0.000).GMM model fitting showed that the cubic polynomial GMM model was optimal(AIC=6754.474,BIC=6852.450,Entropy=0.905).Incorporating gender,age,and BMI as covariates revealed significant effects for gender(Estimate=0.045,-0.011,P=0.000,0.000).The AUC for predicting 30-day mortality was 0.88(sensitivity 82.8%,specificity 77.9%),which increased to 0.89 when combined with admission NIHSS scores.Conclusion:The LCGM+GMM model based on dynamic BUN trajectories effectively distinguishes prognostic subgroups in ICH patients.Patients with persistently elevated or fluctuating-rising BUN levels have a significantly higher mortality risk compared to those with sustained low levels.This model provides a new quantitative tool for early identification of high-risk patients and poor prognoses.展开更多
Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome th...Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome these difficulties, this paper presents an alternative approach for trajectory optimization, where the problem is formulated into a parametric optimization of the maneuver variables under a tactics template framework. To reduce the size of the problem, global sensitivity analysis （GSA） is performed to identify the less-influential maneuver variables. The probability collectives （PC） algorithm, which is well-suited to discrete and discontinuous optimization, is applied to solve the trajectory optimization problem. The robustness of the trajectory is assessed through multiple sampling around the chosen values of the maneuver variables. Meta-models based on radius basis function （RBF） are created for evaluations of the means and deviations of the problem objectives and constraints. To guarantee the approximation accuracy, the meta-models are adaptively updated during optimization. The proposed approach is demonstrated on a typical airground attack mission scenario. Results reveal that the proposed approach is capable of generating robust and optimal trajectories with both accuracy and efficiency.展开更多
To accurately reconstruct the tomographic gamma scanning(TGS)transmission measurement image,this study optimized the transmission reconstruction equation based on the actual situation of TGS transmission measurement.U...To accurately reconstruct the tomographic gamma scanning(TGS)transmission measurement image,this study optimized the transmission reconstruction equation based on the actual situation of TGS transmission measurement.Using the transmission reconstruction equation and the Monte Carlo program Geant4,an innovative virtual trajectory length model was constructed.This model integrated the solving process for the trajectory length and detection efficiency within the same model.To mitigate the influence of the angular distribution ofγ-rays emitted by the transmitted source at the detector,the transport processes of numerous particles traversing a virtual nuclear waste barrel with a density of zero were simulated.Consequently,a certain amount of information was captured at each step of particle transport.Simultaneously,the model addressed the nonuniform detection efficiency of the detector end face by considering whether the energy deposition of particles in the detector equaled their initial energy.Two models were established to validate the accuracy and reliability of the virtual trajectory length model.Model 1 was a simplified nuclear waste barrel,whereas Model 2 closely resembled the actual structure of a nuclear waste barrel.The results indicated that the proposed virtual trajectory length model significantly enhanced the precision of the trajectory length determination,substantially increasing the quality of the reconstructed images.For example,the reconstructed images of Model 2 using the“point-to-point”and average trajectory models revealed a signalto-noise ratio increase of 375.0%and 112.7%,respectively.Thus,the virtual trajectory length model proposed in this study holds paramount significance for the precise reconstruction of transmission images.Moreover,it can provide support for the accurate detection of radioactive activity in nuclear waste barrels.展开更多
To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’...To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was proposed.From the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion.To reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled structures.Subsequently,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled dimples.Meanwhile,the errors and factors affecting the above three aspects were analyzed.The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures.Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces.And an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.展开更多
Background: Workplace violence (WV) towards psychiatric staff has commonly been associated with Posttraumatic Stress Disorder (PTSD). However, prospective studies have shown that not all psychiatric staff who experien...Background: Workplace violence (WV) towards psychiatric staff has commonly been associated with Posttraumatic Stress Disorder (PTSD). However, prospective studies have shown that not all psychiatric staff who experience workplace violence experience post-traumatic stress. Purpose: We want to examine the longitudinal trajectories of PTSD in this population to identify possible subgroups that might be more at risk. Furthermore, we need to investigate whether certain risk factors of PTSD might identify membership in the subgroups. Method: In a sample of psychiatric staff from 18 psychiatric wards in Denmark who had reported an incident of WV, we used Latent Growth Mixture Modelling (LGMM) and further logistic regression analysis to investigate this. Results: We found three separate PTSD trajectories: a recovering, a delayed-onset, and a moderate-stable trajectory. Higher social support and negative cognitive appraisals about oneself, the world and self-blame predicted membership in the delayed-onset trajectory, while higher social support and lower accept coping predicted membership in the delayed-onset trajectory. Conclusion: Although most psychiatric staff go through a natural recovery, it is important to be aware of and identify staff members who might be struggling long-term. More focus on the factors that might predict these groups should be an important task for psychiatric departments to prevent posttraumatic symptomatology from work.展开更多
Objective We aimed to investigate the patterns of fasting blood glucose(FBG)trajectories and analyze the relationship between various occupational hazard factors and FBG trajectories in male steelworkers.Methods The s...Objective We aimed to investigate the patterns of fasting blood glucose(FBG)trajectories and analyze the relationship between various occupational hazard factors and FBG trajectories in male steelworkers.Methods The study cohort included 3,728 workers who met the selection criteria for the Tanggang Occupational Cohort(TGOC)between 2017 and 2022.A group-based trajectory model was used to identify the FBG trajectories.Environmental risk scores(ERS)were constructed using regression coefficients from the occupational hazard model as weights.Univariate and multivariate logistic regression analyses were performed to explore the effects of occupational hazard factors using the ERS on FBG trajectories.Results FBG trajectories were categorized into three groups.An association was observed between high temperature,noise exposure,and FBG trajectory(P<0.05).Using the first quartile group of ERS1 as a reference,the fourth quartile group of ERS1 had an increased risk of medium and high FBG by 1.90and 2.21 times,respectively(odds ratio[OR]=1.90,95%confidence interval[CI]:1.17–3.10;OR=2.21,95%CI:1.09–4.45).Conclusion An association was observed between occupational hazards based on ERS and FBG trajectories.The risk of FBG trajectory levels increase with an increase in ERS.展开更多
Airports are being developed and expanded rapidly in China to accommodate and promote a growing aviation market.The future Beijing Daxing International Airport（DAX） will serve as the central airport of the JingJinJi...Airports are being developed and expanded rapidly in China to accommodate and promote a growing aviation market.The future Beijing Daxing International Airport（DAX） will serve as the central airport of the JingJinJi megaregion,knitting the Beijing,Tianjin,and Hebei regions together.DAX will be a busy airport from its inception,relieving congestion and accommodating growth from Beijing Capital International Airport（PEK）,currently the second busiest airport in the world in passengers moved.We aim to model terminal airspace designs and possible conflicts in the future Beijing Multi-Airport System（MAS）.We investigate standard arrival procedures and mathematically model current and future arrival trajectories into PEK and DAX by collecting large quantities of publicly available track data from historical arrivals operating within the Beijing terminal airspace.We find that（1） trajectory models constructed from real data capture aberrations and deviations from standard arrival procedures,validating the need to incorporate data on historical trajectories with standard procedures when evaluating the airspace and（2） given all existing constraints,DAX may be restricted to using north and east arrival flows,constraining the capacity required to handle the increases in air traffic demand to Beijing.The results indicate that the terminal airspace above Beijing,and the future JingJinJi region,requires careful consideration if the full capacity benefits of the two major airports are to be realized.展开更多
This is the first of a three-part series of pape rs which introduces a general background of building trajectory-oriented road net work data models, including motivation, related works, and basic concepts. The p urpos...This is the first of a three-part series of pape rs which introduces a general background of building trajectory-oriented road net work data models, including motivation, related works, and basic concepts. The p urpose of the series is to develop a trajectory-oriented road network data mode l, namely carriageway-based road network data model (CRNM). Part 1 deals with t he modeling background. Part 2 proposes the principle and architecture of the CR NM. Part 3 investigates the implementation of the CRNM in a case study. In the p resent paper, the challenges of managing trajectory data are discussed. Then, de veloping trajectory-oriented road network data models is proposed as a solution and existing road network data models are reviewed. Basic representation approa ches of a road network are introduced as well as its constitution.展开更多
This is the second of a three-part series of papers which presents the principle and architecture of the CRNM, a trajectory-oriented, carriageway-based road network data model. The first part of the series has introdu...This is the second of a three-part series of papers which presents the principle and architecture of the CRNM, a trajectory-oriented, carriageway-based road network data model. The first part of the series has introduced a general background of building trajectory-oriented road network data models, including motivation, related works, and basic concepts. Based on it, this paper describs the CRNM in detail. At first, the notion of basic roadway entity is proposed and discussed. Secondly, carriageway is selected as the basic roadway entity after compared with other kinds of roadway, and approaches to representing other roadways with carriageways are introduced. At last, an overall architecture of the CRNM is proposed.展开更多
Intersections are quite important and complex traffic scenarios,where the future motion of surrounding vehicles is an indispensable reference factor for the decision-making or path planning of autonomous vehicles.Cons...Intersections are quite important and complex traffic scenarios,where the future motion of surrounding vehicles is an indispensable reference factor for the decision-making or path planning of autonomous vehicles.Considering that the motion trajectory of a vehicle at an intersection partly obeys the statistical law of historical data once its driving intention is determined,this paper proposes a long short-term memory based(LSTM-based)framework that combines intention prediction and trajectory prediction together.First,we build an intersection prior trajectories model(IPTM)by clustering and statistically analyzing a large number of prior traffic flow trajectories.The prior trajectories model with fitted probabilistic density is used to approximate the distribution of the predicted trajectory,and also serves as a reference for credibility evaluation.Second,we conduct the intention prediction through another LSTM model and regard it as a crucial cue for a trajectory forecast at the early stage.Furthermore,the predicted intention is also a key that is associated with the prior trajectories model.The proposed framework is validated on two publically released datasets,next generation simulation(NGSIM)and INTERACTION.Compared with other prediction methods,our framework is able to sample a trajectory from the estimated distribution,with its accuracy improved by about 20%.Finally,the credibility evaluation,which is based on the prior trajectories model,makes the framework more practical in the real-world applications.展开更多
A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC co...A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.展开更多
The evolution of mining-induced stress field in longwall panel is closely related to the fracture field and the breaking characteristics of strata.Few laboratory experiments have been conducted to investigate the stre...The evolution of mining-induced stress field in longwall panel is closely related to the fracture field and the breaking characteristics of strata.Few laboratory experiments have been conducted to investigate the stress field.This study investigated its evolution by constructing a large-scale physical model according to the in situ conditions of the longwall panel.Theoretical analysis was used to reveal the mechanism of stress distribution in the overburden.The modelling results showed that:(1)The major principal stress field is arch-shaped,and the strata overlying both the solid zones and gob constitute a series of coordinated load-bearing structures.The stress increasing zone is like a macro stress arch.High stress is especially concentrated on both shoulders of the arch-shaped structure.The stress concentration of the solid zone in front of the gob is higher than the rear solid zone.(2)The characteristics of the vertical stress field in different regions are significantly different.Stress decreases in the zone above the gob and increases in solid zones on both sides of it.The mechanical analysis show that for a given stratum,the trajectories of principal stress are arch-shaped or inverselyarched,referred to as the‘‘principal stress arch’’,irrespective of its initial breaking or periodic breaking,and determines the fracture morphology.That is,the trajectories of tensile principal stress are inversely arched before the first breaking of the strata,and cause the breaking lines to resemble an inverted funnel.In case of periodic breaking,the breaking line forms an obtuse angle with the advancing direction of the panel.Good agreement was obtained between the results of physical modeling and the theoretical analysis.展开更多
Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic cou...Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.展开更多
基金supported by the Cultivation Program for Major Scientific Research Projects of Harbin Institute of Technology(ZDXMPY20180109).
文摘Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.
文摘In this study,it is aimed to develop a generic model which calculates the trajectory of the ejection seat from the jet aircraft,by taking into account the parameters that will affect the seat movement such as the seat’s launch speed,ejection direction,ejection angle,altitude of the aircraft,distance/height from the aircraft rudder and canopy,pilot and ejection seat weight.With the model algorithm proposed,the ejection seat trajectory model was developed on MATLAB.The ejection seat trajectory model is based on point mass trajectory mathematical model.In this study,an analytical study of the problem has been made for modeling the flight trajectory of the ejection seat after it has been ejected.Past studies were used as a basis for validation and simulation.By writing a generic MATLAB code,a user interface was developed and presented to the user as a module.This generic code that has been developed could be used for simulations by users in the future by revising it in accordance with their own job descriptions.
基金funding from the China National Key Research and Development Program(No.2023YFC3603104)the National Natural Science Foundation of China(Nos.82472243 and 82272180)+6 种基金the Fundamental Research Funds for the Central Universities(No.226-2025-00024)the Huadong Medicine Joint Funds of the Zhejiang Provincial Natural Science Foundation of China(No.LHDMD24H150001)the Key Research&Development Project of Zhejiang Province(No.2024C03240)a collaborative scientific project co-established by the Science and Technology Department of the National Administration of Traditional Chinese Medicine and the Zhejiang Provincial Administration of Traditional Chinese Medicine(No.GZY-ZJ-KJ-24082)he General Health Science and Technology Program of Zhejiang Province(No.2024KY1099)the Project of Zhejiang University Longquan Innovation Center(No.ZJDXLQCXZCJBGS2024016)Wu Jieping Medical Foundation Special Research Grant(No.320.6750.2024-23-07).
文摘Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.
基金supported in part by the National Natural Science Foundation of China(61933001,62061160371)Joint Funds of Equipment Pre-Research and Ministry of Education of China(6141A02033339)Beijing Top Discipline for Artificial Intelligent Science and Engineering,University of Science and Technology Beijing。
文摘This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination.To achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical framework.Specifically,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position controller.Next,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque.Finally,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,respectively.In terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.Simulations are carried out to verify the effectiveness of the proposed control scheme.
基金supported by National Basic Research and Development Program of China (973 Program, Grant No. 2006CB705402)
文摘In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.
基金Supported by 2022 Chinese Medicine Scientific Research Project of Hebei Administration of Traditional Chinese Medicine,No.20221572025 Annual Scientific Research Project of Higher Education Institutions in Hebei Province,No.QN2025654.
文摘BACKGROUND Neck pain,a primary symptom of cervical spondylosis,affects patients'physical and mental health,reducing their quality of life.Pain and emotional state interact;however,their longitudinal interrelationship remains unclear.In this study,we applied a dual-trajectory model to assess how neck pain and emotional state evolve together over time and how clinical interventions,particularly acupuncture,influence these trajectories.AIM To investigate the longitudinal relationship between neck pain and emotional state in patients with cervical spondylosis.METHODS This prospective cohort study included 472 patients with cervical spondylosis from eight Chinese hospitals.Participants received acupuncture or medication and were followed up at baseline,and at 1,2,4,6,and 8 weeks.Neck pain and emotional distress were assessed using the Northwick Park Neck Pain Questionnaire(NPQ)and the affective subscale of the Short-Form McGill Pain Questionnaire(SF-MPQ),respectively.Group-based trajectory models and dual trajectory analysis were used to identify and correlate pain-emotion trajectories.Multivariate logistic regression identified predictors of group membership.RESULTS Three trajectory groups were identified for NPQ and SF-MPQ scores(low,medium,and high).Higher NPQ trajectory was associated with older age(OR=1.058,P<0.001)and was significantly reduced by acupuncture(OR=0.382,P<0.001).Similarly,acupuncture lowered the odds of high SF-MPQ trajectory membership(OR=0.336,P<0.001),while age increased it(OR=1.037,P<0.001).Dual-trajectory analysis revealed bidirectional associations:69.1%of patients with low NPQ had low SF-MPQ scores,and 42.6%of patients with high SF-MPQ also had high NPQ scores.Gender was a predictor for medium SF-MPQ trajectory(OR=1.629,P=0.094).Occupation and education levels differed significantly across the trajectory groups(P<0.05).CONCLUSION Over time,neck pain and emotional distress are closely associated in patients with cervical spondylosis.Acupuncture alleviates both outcomes significantly,while age is a risk factor.Integrated approaches to pain and emotional management are encouraged.
基金Project (No. 50576088) supported by the National Natural Science Foundation of China
文摘The geometrical model of the filament during the fused deposition modeling (FDM) process was firstly proposed based on three different models, tractrix, parabola, and catenary. Comparing with the actual measured filament curves on the Stratasys 1600 FDM machine, it is indicated that the tractrix model had the best agreement with the actual measured curves. With the analytical simulation, the nozzle trajectories in the straight-line deposition road, circle road, and arbitrary continuous curve road were deduced, according to the traxtric based geometrical model of the filament.
文摘Objective:To preliminarily construct and apply a longitudinal trajectory model for the prognosis of intracerebral hemorrhage(ICH)based on blood urea nitrogen(BUN)characteristics.Methods:Clinical data from 320 ICH patients admitted to our hospital between 2020 and 2024 were collected,including demographic information,National Institutes of Health Stroke Scale(NIHSS)scores at admission,dynamic changes in BUN levels during treatment,and 30-day survival outcomes.A latent class growth model(LCGM)was first used for preliminary modeling,followed by a latent growth mixture modeling(GMM)approach to determine the final model.Three classes of BUN trajectories for ICH prognosis were identified,and latent classes were established.GMM modeling was then performed on these latent classes,considering linear,quadratic,and cubic polynomial forms;six GMM models were constructed and individuals were assigned to latent trajectory groups for validation.Results:LCGM analysis ultimately identified three dynamic BUN trajectory groups:Sustained low-level group(76 cases,23.8%):BUN remained stable between 3.1-9.0 mmol/L,with the highest 30-day survival rate(98.7%).Fluctuating-declining group(222 cases,69.4%):BUN initially increased and then slowly decreased(peak at day 3:15.2 mmol/L),with a 30-day mortality of 8.1%(18/222),higher than the sustained low-level group.Sustained high-level group(22 cases,6.9%):BUN mean>9.0 mmol/L,with a 30-day mortality of 41.7%(P=0.000).GMM model fitting showed that the cubic polynomial GMM model was optimal(AIC=6754.474,BIC=6852.450,Entropy=0.905).Incorporating gender,age,and BMI as covariates revealed significant effects for gender(Estimate=0.045,-0.011,P=0.000,0.000).The AUC for predicting 30-day mortality was 0.88(sensitivity 82.8%,specificity 77.9%),which increased to 0.89 when combined with admission NIHSS scores.Conclusion:The LCGM+GMM model based on dynamic BUN trajectories effectively distinguishes prognostic subgroups in ICH patients.Patients with persistently elevated or fluctuating-rising BUN levels have a significantly higher mortality risk compared to those with sustained low levels.This model provides a new quantitative tool for early identification of high-risk patients and poor prognoses.
基金supported by Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory (No. 2012afd1010)
文摘Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome these difficulties, this paper presents an alternative approach for trajectory optimization, where the problem is formulated into a parametric optimization of the maneuver variables under a tactics template framework. To reduce the size of the problem, global sensitivity analysis （GSA） is performed to identify the less-influential maneuver variables. The probability collectives （PC） algorithm, which is well-suited to discrete and discontinuous optimization, is applied to solve the trajectory optimization problem. The robustness of the trajectory is assessed through multiple sampling around the chosen values of the maneuver variables. Meta-models based on radius basis function （RBF） are created for evaluations of the means and deviations of the problem objectives and constraints. To guarantee the approximation accuracy, the meta-models are adaptively updated during optimization. The proposed approach is demonstrated on a typical airground attack mission scenario. Results reveal that the proposed approach is capable of generating robust and optimal trajectories with both accuracy and efficiency.
基金supported by The Youth Science Foundation of Sichuan Province(Nos.2022NSFSC1230,2022NSFSC1231,and 23NSFSC5321)the Science and Technology Innovation Seedling Project of Sichuan Province(No.MZGC20230080)+2 种基金the General project of national Natural Science Foundation of China(No.12075039)the Youth Science Foundation of China(No.12105030)the Key project of the National Natural Science Foundation of China(No.U19A2086)。
文摘To accurately reconstruct the tomographic gamma scanning(TGS)transmission measurement image,this study optimized the transmission reconstruction equation based on the actual situation of TGS transmission measurement.Using the transmission reconstruction equation and the Monte Carlo program Geant4,an innovative virtual trajectory length model was constructed.This model integrated the solving process for the trajectory length and detection efficiency within the same model.To mitigate the influence of the angular distribution ofγ-rays emitted by the transmitted source at the detector,the transport processes of numerous particles traversing a virtual nuclear waste barrel with a density of zero were simulated.Consequently,a certain amount of information was captured at each step of particle transport.Simultaneously,the model addressed the nonuniform detection efficiency of the detector end face by considering whether the energy deposition of particles in the detector equaled their initial energy.Two models were established to validate the accuracy and reliability of the virtual trajectory length model.Model 1 was a simplified nuclear waste barrel,whereas Model 2 closely resembled the actual structure of a nuclear waste barrel.The results indicated that the proposed virtual trajectory length model significantly enhanced the precision of the trajectory length determination,substantially increasing the quality of the reconstructed images.For example,the reconstructed images of Model 2 using the“point-to-point”and average trajectory models revealed a signalto-noise ratio increase of 375.0%and 112.7%,respectively.Thus,the virtual trajectory length model proposed in this study holds paramount significance for the precise reconstruction of transmission images.Moreover,it can provide support for the accurate detection of radioactive activity in nuclear waste barrels.
基金co-supported the National Natural Science Foundation of China(No.52235010)the Heilongjiang Postdoctoral Fund(No.LBH-Z22136)the New Era Longjiang Excellent Master and Doctoral Dissertation Fund(No.LJYXL2022-057).
文摘To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was proposed.From the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion.To reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled structures.Subsequently,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled dimples.Meanwhile,the errors and factors affecting the above three aspects were analyzed.The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures.Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces.And an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.
文摘Background: Workplace violence (WV) towards psychiatric staff has commonly been associated with Posttraumatic Stress Disorder (PTSD). However, prospective studies have shown that not all psychiatric staff who experience workplace violence experience post-traumatic stress. Purpose: We want to examine the longitudinal trajectories of PTSD in this population to identify possible subgroups that might be more at risk. Furthermore, we need to investigate whether certain risk factors of PTSD might identify membership in the subgroups. Method: In a sample of psychiatric staff from 18 psychiatric wards in Denmark who had reported an incident of WV, we used Latent Growth Mixture Modelling (LGMM) and further logistic regression analysis to investigate this. Results: We found three separate PTSD trajectories: a recovering, a delayed-onset, and a moderate-stable trajectory. Higher social support and negative cognitive appraisals about oneself, the world and self-blame predicted membership in the delayed-onset trajectory, while higher social support and lower accept coping predicted membership in the delayed-onset trajectory. Conclusion: Although most psychiatric staff go through a natural recovery, it is important to be aware of and identify staff members who might be struggling long-term. More focus on the factors that might predict these groups should be an important task for psychiatric departments to prevent posttraumatic symptomatology from work.
基金supported by the Key Research and Development Program of the Ministry of Science and Technology of China(grant number:2016YF0900605)the Key Research and Development Program of Hebei Province(grant number:192777129D)+1 种基金the Joint Fund for Iron and Steel of the Natural Science Foundation of Hebei Province(grant number:H2016209058)the National Natural Science Foundation for Regional Joint Fund of China(grant number:U22A20364)。
文摘Objective We aimed to investigate the patterns of fasting blood glucose(FBG)trajectories and analyze the relationship between various occupational hazard factors and FBG trajectories in male steelworkers.Methods The study cohort included 3,728 workers who met the selection criteria for the Tanggang Occupational Cohort(TGOC)between 2017 and 2022.A group-based trajectory model was used to identify the FBG trajectories.Environmental risk scores(ERS)were constructed using regression coefficients from the occupational hazard model as weights.Univariate and multivariate logistic regression analyses were performed to explore the effects of occupational hazard factors using the ERS on FBG trajectories.Results FBG trajectories were categorized into three groups.An association was observed between high temperature,noise exposure,and FBG trajectory(P<0.05).Using the first quartile group of ERS1 as a reference,the fourth quartile group of ERS1 had an increased risk of medium and high FBG by 1.90and 2.21 times,respectively(odds ratio[OR]=1.90,95%confidence interval[CI]:1.17–3.10;OR=2.21,95%CI:1.09–4.45).Conclusion An association was observed between occupational hazards based on ERS and FBG trajectories.The risk of FBG trajectory levels increase with an increase in ERS.
文摘Airports are being developed and expanded rapidly in China to accommodate and promote a growing aviation market.The future Beijing Daxing International Airport（DAX） will serve as the central airport of the JingJinJi megaregion,knitting the Beijing,Tianjin,and Hebei regions together.DAX will be a busy airport from its inception,relieving congestion and accommodating growth from Beijing Capital International Airport（PEK）,currently the second busiest airport in the world in passengers moved.We aim to model terminal airspace designs and possible conflicts in the future Beijing Multi-Airport System（MAS）.We investigate standard arrival procedures and mathematically model current and future arrival trajectories into PEK and DAX by collecting large quantities of publicly available track data from historical arrivals operating within the Beijing terminal airspace.We find that（1） trajectory models constructed from real data capture aberrations and deviations from standard arrival procedures,validating the need to incorporate data on historical trajectories with standard procedures when evaluating the airspace and（2） given all existing constraints,DAX may be restricted to using north and east arrival flows,constraining the capacity required to handle the increases in air traffic demand to Beijing.The results indicate that the terminal airspace above Beijing,and the future JingJinJi region,requires careful consideration if the full capacity benefits of the two major airports are to be realized.
文摘This is the first of a three-part series of pape rs which introduces a general background of building trajectory-oriented road net work data models, including motivation, related works, and basic concepts. The p urpose of the series is to develop a trajectory-oriented road network data mode l, namely carriageway-based road network data model (CRNM). Part 1 deals with t he modeling background. Part 2 proposes the principle and architecture of the CR NM. Part 3 investigates the implementation of the CRNM in a case study. In the p resent paper, the challenges of managing trajectory data are discussed. Then, de veloping trajectory-oriented road network data models is proposed as a solution and existing road network data models are reviewed. Basic representation approa ches of a road network are introduced as well as its constitution.
文摘This is the second of a three-part series of papers which presents the principle and architecture of the CRNM, a trajectory-oriented, carriageway-based road network data model. The first part of the series has introduced a general background of building trajectory-oriented road network data models, including motivation, related works, and basic concepts. Based on it, this paper describs the CRNM in detail. At first, the notion of basic roadway entity is proposed and discussed. Secondly, carriageway is selected as the basic roadway entity after compared with other kinds of roadway, and approaches to representing other roadways with carriageways are introduced. At last, an overall architecture of the CRNM is proposed.
基金partly supported by the National Natural Science Foundation of China(61903034,U1913203,61973034,91120003)the Program for Changjiang Scholars and Innovative Research Team in University(IRT-16R06,T2014224)+1 种基金China Postdoctoral Science Foundation funded project(2019TQ0035)Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘Intersections are quite important and complex traffic scenarios,where the future motion of surrounding vehicles is an indispensable reference factor for the decision-making or path planning of autonomous vehicles.Considering that the motion trajectory of a vehicle at an intersection partly obeys the statistical law of historical data once its driving intention is determined,this paper proposes a long short-term memory based(LSTM-based)framework that combines intention prediction and trajectory prediction together.First,we build an intersection prior trajectories model(IPTM)by clustering and statistically analyzing a large number of prior traffic flow trajectories.The prior trajectories model with fitted probabilistic density is used to approximate the distribution of the predicted trajectory,and also serves as a reference for credibility evaluation.Second,we conduct the intention prediction through another LSTM model and regard it as a crucial cue for a trajectory forecast at the early stage.Furthermore,the predicted intention is also a key that is associated with the prior trajectories model.The proposed framework is validated on two publically released datasets,next generation simulation(NGSIM)and INTERACTION.Compared with other prediction methods,our framework is able to sample a trajectory from the estimated distribution,with its accuracy improved by about 20%.Finally,the credibility evaluation,which is based on the prior trajectories model,makes the framework more practical in the real-world applications.
基金Supported by Natural Science Foundation of China(Grant Nos.52072051,51705044)Chongqing Municipal Natural Science Foundation of China(Grant No.cstc2020jcyj-msxmX0956)+1 种基金State Key Laboratory of Mechanical System and Vibration(Grant No.MSV202016)State Key Laboratory of Mechanical Transmissions(Grant No.SKLMT-KFKT-201806).
文摘A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.
基金This work was supported by the National Natural Science Foundation of China(NSFC,Grant No.51874175)the China Coal Technology&Engineering Group Foundation(Grant Nos.2018RC001,KJ-2018-TDKCZL-02).Comments from two anonymous reviewers and the editor are also greatly appreciated.
文摘The evolution of mining-induced stress field in longwall panel is closely related to the fracture field and the breaking characteristics of strata.Few laboratory experiments have been conducted to investigate the stress field.This study investigated its evolution by constructing a large-scale physical model according to the in situ conditions of the longwall panel.Theoretical analysis was used to reveal the mechanism of stress distribution in the overburden.The modelling results showed that:(1)The major principal stress field is arch-shaped,and the strata overlying both the solid zones and gob constitute a series of coordinated load-bearing structures.The stress increasing zone is like a macro stress arch.High stress is especially concentrated on both shoulders of the arch-shaped structure.The stress concentration of the solid zone in front of the gob is higher than the rear solid zone.(2)The characteristics of the vertical stress field in different regions are significantly different.Stress decreases in the zone above the gob and increases in solid zones on both sides of it.The mechanical analysis show that for a given stratum,the trajectories of principal stress are arch-shaped or inverselyarched,referred to as the‘‘principal stress arch’’,irrespective of its initial breaking or periodic breaking,and determines the fracture morphology.That is,the trajectories of tensile principal stress are inversely arched before the first breaking of the strata,and cause the breaking lines to resemble an inverted funnel.In case of periodic breaking,the breaking line forms an obtuse angle with the advancing direction of the panel.Good agreement was obtained between the results of physical modeling and the theoretical analysis.
基金supported by Hubei Provincial Natural Science Foundation of China(No.2012FFC09401)
文摘Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.
