Combining Coordination of Motion Actuators with Driver Steering Interaction

Objective: A new method is suggested for coordination of vehicle motion actuators; where driver feedback and capabilities become natural elements in the prioritization.

Methods: The method is using a weighted least squares control allocation formulation, where driver characteristics can be added as virtual force constraints. The approach is in particular suitable for heavy commercial vehicles that in general are over actuated. The method is applied, in a specific use case, by running a simulation of a truck applying automatic braking on a split friction surface. Here the required driver steering angle, to maintain the intended direction, is limited by a constant threshold. This constant is automatically accounted for when balancing actuator usage in the method.

Results: Simulation results show that the actual required driver steering angle can be expected to match the set constant well. Furthermore, the stopping distance is very much affected by this set capability of the driver to handle the lateral disturbance, as expected.

Conclusion: In general the capability of the driver to handle disturbances should be estimated in real-time, considering driver mental state. By using the method it will then be possible to estimate e.g. stopping distance implied from this. The setup has the potential of even shortening the stopping distance, when the driver is estimated as active, this compared to currently available systems. The approach is feasible for real-time applications and requires only measurable vehicle quantities for parameterization. Examples of other suitable applications in scope of the method would be electronic stability control, lateral stability control at launch and optimal cornering arbitration.     

煤矿生产物流系统安全资源配置随机规划模型

为提高煤矿生产物流系统的安全水平,实现煤炭安全高效生产,运用随机规划方法研究安全资源配置问题。选取人员资源、机器设备资源、环境资源、管理资源以及应急资源为一级指标,井工人员素质、机械化水平、自然环境、安全文化管理、应急救援设备等为二级指标,确定煤矿生产物流系统安全资源指标体系;根据煤矿生产物流系统的随机性与不确定性,选取井工人员素质、自然环境及工作环境作为随机因素,构建煤矿生产物流系统安全资源配置随机规划模型,并将此模型应用于河南某煤矿生产物流系统中。研究结果表明,用该模型合理配置安全资源,使该矿安全水平由63.536 5提升到了81.566 0,能够为煤矿生产物流系统安全资源合理配置提供依据。     

基于新数据分配法的线路板生命周期清单分析

针对目前生命周期评价清单分析中数据有效性差,以及线路板生产重金属废水和危险废物污染大的问题,在生命周期清单分析中引入行业分配系数,即根据行业和产品的不同分别确定物耗、能耗和污染物排放分配系数;并根据质能守恒原理设计了新数据分配算法,将各类分配系数代入该算法,将多种类产品的混合数据分配到各单种类产品中;最后运用该方法对线路板进行生命周期清单分析,得到了线路板行业的分配系数及单面板、双面板和多层板的生命周期清单。结果表明:新分配算法优于目前常用的以相对质量进行数据分配的方法;在线路板生命周期全过程中,产品生产和报废处置两阶段对环境影响最大;生产阶段最大的污染是危险固废,而非传统认识中的重金属废水;电力消耗是线路板生命过程中的主要能耗。     

Concept for cost effective improvement of river morphology in the context of the European Water Framework Directive

The EU Water Framework Directive calls for cost effective measures to achieve a “good status” in all European ground, surface and coastal waters. Besides eutrophication, the degradation of hydromorphology is the main reason for failing this objective. In this paper, we conceptualise the interactive decision support process BASINFORM-M for finding proper locations for river restoration. The concept combines the recently proposed “stepping stone approach” from aquatic ecology with elements from cost effectiveness analysis, multi-criteria analysis and participatory approaches. BASINFORM-M exemplifies a shift away from the isolated restoration of single river reaches towards a consideration of functional relationships within river networks.     

STUDY ON THE RELIABILITY OF SCR SYSTEM BASED ON UREA＇S PYROLYSIS AT A FIXED COST

针对费用最小化理论在可靠性分配中的局限性,建立更切合实际的固定费用下可靠度极大化思想。将该思想运用到尿素热解脱硝系统中,针对系统结构功能特征及运行特点,深入分析各系统间逻辑功能关系,提出了完整的尿素热解脱硝系统可靠性分配模型。并引入可靠性成本预估函数,以固定费用为约束,建立数学模型,实现了系统可靠性指标的最优化分配。最后以脱硝系统为例,获得具有实际意义的数值解,证明了该方法的可用性及正确性。     

高速公路交通应急救援资源的配置

针对交通事故与救援资源存在随机性的特点,建立了交通救援资源配置的随机模型。根据高速公路特有的道路条件与交通机理,确定了模型中救援服务水平、事故概率的权重,配置点至事故点的权值以及随机资源等参数值。将所建立的模型与参数用于河南省高速公路的救援资源配置,研究表明,新的配置方案较好满足了交通事故高概率区域的救援需求,并且合理减少了救援需求区域的资源配置数量,为目前高速公路交通应急资源的科学配置提供了重要的参考依据。     

广东突发化学中毒应急处置装备配置调查分析

参照卫生部《卫生应急队伍装备参考目录（试行）》,采用设置标杆、调查表调查和现场核实相结合的形式,对广东辖区职业病防治机构（职业病防治院/所,疾病预防控制中心）的个体防护、现场样本采集与保存、现场快速鉴定与检测、辅助装备等4大类50种装备的配置现状进行了调查。调查的76家机构个体防护和现场鉴定与检测装备配置率、达标率均较低,没有配齐50种装备。每家机构平均配备约15种装备,与卫生部参考目录差距较大。为应对突发中毒事件,急需补充应急装备,尤其应优先考虑配置个体防护、现场快速鉴定与检测装备。     

污染负荷分配计算的方法研究

从技术与政策相结合的角度,对废水污染负荷分配计算的技术方法进行探讨。从可分配的水环境容量的概念出发,建立污染负荷分配相关关系。针对若干不同的污染负荷分配方法,推演出相应的污染负荷分配计算模型。      

Worker allocation in insect societies: coordination of nectar foragers and nectar receivers in honey bee (Apis mellifera) colonies

Nectar collection in the honey-bee is partitioned. Foragers collect nectar and take it to the nest, where they transfer it to receiver bees who then store it in cells. Because nectar is a fluctuating and unpredictable resource, changes in worker allocation are required to balance the work capacities of foragers and receivers so that the resource is exploited efficiently. Honey bee colonies use a complex system of signals and other feedback mechanisms to coordinate the relative and total work capacities of the two groups of workers involved. We present a functional evaluation of each of the component mechanisms used by honey bees – waggle dance, tremble dance, stop signal, shaking signal and abandonment – and analyse how their interplay leads to group-level regulation. We contrast the actual regulatory system of the honey bee with theory. The tremble dance conforms to predicted best use of information, where the group in excess applies negative feedback to itself and positive feedback to the group in shortage, but this is not true of the waggle dance. Reasons for this and other discrepancies are discussed. We also suggest reasons why honey bees use a combination of recruitment plus abandonment and not switching between subtasks, which is another mechanism for balancing the work capacities of foragers and receivers. We propose that the waggle and tremble dances are the primary regulation mechanisms, and that the stop and shaking signals are secondary mechanisms, which fine-tune the system. Fine-tuning is needed because of the inherent unreliability of the cues, queueing delays, which foragers use to make recruitment decisions. Received: 15 December 1998 / Received in revised form: 6 March 1999 / Accepted: 12 March 1999     

Bayesian estimation of European sulphur emissions using monitoring data and an acid deposition model

A statistical method for estimating national emissions of acidifying air pollutants in Europe is presented. The method uses an acid deposition model to match official emissions data from European countries and measured depositions from a monitoring network. An application to 1990 sulphate data demonstrates the method and suggests some tendencies in the reported emissions. The proposed framework may prove useful for verifying national compliance with emissions standards, and the method should be applicable also to other substances than sulphur dioxide. The problem of designing an optimal monitoring network may also be assessed within the proposed statistical framework.