Objectives: The uncertainties of pedestrian mobility are important factors affecting the accuracy and robustness of an active pedestrian protection system. This study is to provide the means for probabilistic risk evaluation of pedestrian–vehicle collision by counting the uncertainties in pedestrian motion.
Method: The pedestrian is modeled by a first-order Markov model to characterize the stochastic properties in mobility according to field experiments of pedestrians crossing an uncontrolled road. Based on the assumption of Gaussian distribution, unscented transformation (UT) is employed to predict the collision risk probability with the symmetric σ-set constructed on the basis of discrete trajectory simulation. Simulation experiments were carried out with 10,000 Monte Carlo (MC) simulations as the reference.
Results: The probability density distributions of time-to-collision, minimal distance, and collision probability estimated by UT coincide with the reference ones under various vehicle–pedestrian conflict scenarios, and the maximal deviation of collision probability from the reference is 5.33%. The UT method is about 600 times faster than the MC method (10,000 runs), which means that the proposed method has the potential for online application.
Conclusions: This article presents an effective and efficient algorithm to estimate the collision probability by using a UT method to solve the nonlinear transformation of uncertainties in pedestrian motion. Simulation results show that the UT-based method achieves accurate collision probability estimation and higher computation efficiency than MC and provides more valuable information concerning collision avoidance than the deterministic methods in the design of a pedestrian collision avoidance system. 相似文献
Cooperatives are increasingly advocated as a means to improve incomes, livelihoods and the sustainability of smallholder farmers. This study analyzes the impact of commercial vegetable cooperative membership on smallholder agricultural performance in Cambodia. Institutional heterogeneities are considered across cooperatives and various econometric techniques are used to control for potential selection bias. The impacts of horticulture on agricultural outcomes are also analyzed. The results indicate that membership of commercial vegetable cooperatives has so far had no effect on agricultural incomes or the value or amounts of agricultural inputs. However, results indicate that membership has affected technology choice, access to credit services and information transmission through technological training. Additionally, there is evidence that horticulture, as a component of overall agricultural diversification, can augment farm income. The results suggest that much of the benefit of cooperative membership stems from the cooperative's provision of services, which might not be easily inferred from measures of member incomes. 相似文献
Recently,more and more attention has been paid to the strong oxidation ability of newly prepared potassium ferrate(NAPF) in sludge reduction process,but less attention has been paid to the change of phosphorus in this process.The feasibility of phosphorus migration and transformation during excess sludge reduction pretre atment using NAPF pre-oxidation combined with anaerobic digestion was investigated.After 70 mg/g suspended solids NAPF pretreatment and 16 days anaerobic digestion,the solid-phase volatile suspended solids decreased by 44.2%,and much organic matter had been released into the liquid-phase and then degraded during digestion by indigenous microorganisms.As the sludge pre-oxidation process was performed,solid-phase organic phosphorus and chemically combined phosphorus also released into the liquid-phase as PO_4~(3-),peaking at 100 mg/L.During anaerobic digestion,the Fe~(3+)in the liquid-phase was gradually reduced to Fe~(2+),and then formed Fe~(2+)-PO_4~(3-) compound crystals and re-migrated to the solid-phase.The concentration of PO_4~(3-) decreased to 17.08± 1.1 mg/L in the liquid-phase after anaerobic digestion.Finally,the phosphorus in the Fe~(2+)-PO_4~(3-) compound accounts for 80% of the total phosphorus in the solid-phase.A large number of vivianite crystals in sludge were observed.Therefore,this technology not only effectively reduces sludge,but also increases the proportion of PO_4~(3-)in the sludge in the form of Vivianite. 相似文献
Based on satellite image data and China's Statistical Yearbooks(2000 to 2014), we estimated the total mass of crop residue burned, and the proportion of residue burned in the field vs.indoors as domestic fuel. The total emissions of various pollutants from the burning of crop residue were estimated for 2000-2014 using the emission factor method. The results indicate that the total amount of crop residue and average burned mass were 8690.9 Tg and4914.6 Tg, respectively. The total amount of emitted pollutants including CO_2, CO, NOx,VOCs, PM_(2.5), OC(organic carbon), EC(element carbon) and TC(total carbon) were 4212.4–8440.9 Tg, 192.8–579.4 Tg, 4.8–19.4 Tg, 18.6–61.3 Tg, 18.8–49.7 Tg, 6.7–31.3 Tg, 2.3–4.7 Tg, and8.5–34.1 Tg, respectively. The emissions of pollutants released from crop residue burning were found to be spatially variable, with the burning of crop residue mainly occurring in Northeast, North and South China. In addition, pollutant emissions per unit area(10 km ×10 km) were mostly concentrated in the central and eastern regions of China. Emissions of CO_2, NOx, VOCs, OC and TC were mainly from rice straw burning, while burning of corn and wheat residues contributed most to emissions of CO, PM_(2.5) and EC. The increased ratio of PM_(2.5) emissions from crop residue burning to the total emitted from industry during the study period is attributed to the implementation of strict emissions management policies in Chinese industry. This study also provides baseline data for assessment of the regional atmospheric environment. 相似文献