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Active Collision Avoidance System Design Based on Model Predictive Control with Varying Sampling Time

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Automotive Innovation 2020年第1期3卷 62-72页

作者： Wanying Xue ling Zheng Automobile Engineering Department Chongqing UniversityChongqing 400044China The State Key Laboratory of Mechanical Transmission Chongqing 400044China

In active collision avoidance,the trajectory tracking controller determines the deviation from the reference path and the vehicle stability.The main objective of this study was to reduce the tracking error and improve the tracking performance in collision avoidance.Unlike the previously proposed model predictive control(MPC)strategies with constant sampling time,an improved MPC controller with varying sampling time based on the hierarchical control framework was proposed in this paper.Compared with the original MPC tracking controller,the improved MPC controller demonstrated better adaptive capability for the varying road adhesion coefficients and vehicle speed on a curved road.The simulation results revealed that the hierarchical control framework generated an optimal trajectory for collision avoidance in real-time by minimizing the potential field energy.

关键词： Active collision avoidance Improved MPC controller Varying sampling time Tracking control

被推崇为“良法”的康熙、雍正诸条例——劝与惩的导向及其精神

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河北法学 2019年第11期37卷 26-36页

作者：霍存福程令政吉林大学法学院

《清史稿·刑法志》的作者许受衡,在评价清代法律形式之一的"例"时,一口气说了清代的6类7种"良法"。它们出现于多个领域,既有正面的"教""劝",又有反面的"惩""杜",是许受衡所认为的体现清代盛世气象的"良法"。这里的总体精神是在劝与惩之... 详细信息

《清史稿·刑法志》的作者许受衡,在评价清代法律形式之一的"例"时,一口气说了清代的6类7种"良法"。它们出现于多个领域,既有正面的"教""劝",又有反面的"惩""杜",是许受衡所认为的体现清代盛世气象的"良法"。这里的总体精神是在劝与惩之间,作者是既嘉其宽,又赏其严。许受衡以"隐合古义"和"矫正前失"为判定制度优秀与否的两个标准。前者被理解为是"复古",后者被理解为是"矫弊",两者同被认为是有所进步、有所创新的两大领域。最终体现的,是或严、或宽。严、宽之间,宽有宽的道理,严有严的考虑。在许受衡关于清代法律的总体评价里,我们能体味到的是作者对这些制度、这些措置,以及在这背后的观念、意识、精神的自信,而丝毫看不出这是在大清帝国已经覆灭之后关于末世之法的一种回顾。这是一种制度的自信,是中国人对其良法美意的肯定。

关键词：许受衡制度自信《清史稿·刑法志》良法文化自信

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凌峥

世界建筑 2023年第5期 26-26页

作者：凌峥深圳市华汇设计有限公司

在我们毕业的年代,国家正进入房地产2.0时代,所有建设蓬勃发展。我们也得到了很多参与不同类型项目的机会。得益于社会发展的红利,我们这一代建筑师在城市设计、住宅、文化建筑、商办、产业、景观、室内等多维领域的技术全面而成熟。同... 详细信息

在我们毕业的年代,国家正进入房地产2.0时代,所有建设蓬勃发展。我们也得到了很多参与不同类型项目的机会。得益于社会发展的红利,我们这一代建筑师在城市设计、住宅、文化建筑、商办、产业、景观、室内等多维领域的技术全面而成熟。同时,有很多校友同学转入了其他行业,开启新的路程。

关键词：房地产建筑师住宅室内

Applications of mercury stable isotopes for tracing volcanism in the geologic record

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Science China Earth Sciences 2024年第5期67卷 1436-1458页

作者： Qing GONG Ming-Xing ling Wang zheng State Key Laboratory of Nuclear Resources and Environment East China University of TechnologyNanchang 330013China School of Earth System Science Institute of Surface-Earth System ScienceTianjin UniversityTianjin 300072China

Mercury(Hg)enrichments in ancient sediments have been used as a proxy of volcanism,especially large igneous province(LIP)eruptions.However,considering the existence of other potential Hg sources besides volcanoes and the diverse factors(e.g.,organic matters,clay minerals,sulfide minerals and Fe oxides)that can affect Hg sequestration,there are considerable uncertainties to simply regard sedimentary Hg anomalies as signatures of volcanic activities.Mercury stable isotopes,a promising tool for tracing the origins and transformations of Hg,have been increasingly used for determining the causes of Hg spikes and understanding the geochemical behavior of Hg in the geologic record.To date,lots of researches have applied Hg concentrations and Hg isotopes to identify LIP volcanisms linking with significant geological events such as mass extinctions,ocean anoxic events and other environmental perturbations that mainly occurred in the Phanerozoic.However,the results in previous studies clearly show that not all Hg enrichments are derived from volcanic inputs,which emphasize the need for more caution in using Hg as a fingerprint of volcanism.With a better understanding of Hg isotopes in the future,there will be important implications for Hg isotopes to reconstruct volcanic activities in the rock records and their impacts on biological evolution.

关键词： Mercury stable isotopes Large igneous province Mass extinction event Ocean anoxic event

Effect of tumor size on dermoscopic features of pigmented basal cell carcinoma

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Chinese Medical Journal 2021年第15期134卷 1866-1868页

作者： Li-Juan Xu ling-ling Zheng Wei Zhu Department of Dermatology Xuan Wu HospitalCapital Medical UniversityBeijing 100053China Department of Dermatology Beijing Luhe HospitalCapital Medical UniversityBeijing 101100China

Basal cell carcinoma(BCC)is the most common malignant tumor of the skin and the incidence increases yearly worldwide.Most BCC is an indolent kind of tumor,it can grow into a large lesion and lost its classic performance.In addition,giant BCC has attracted the attention of researchers in recent years.111 Thus,BCC with a large tumor size also catches our attention.Dermoscopy is a useful adjuvant tool for the diagnosis and management of BCCs.[2].There are few literatures on BCC tumor size and BCC dermoscopic features.We observed and analyzed 98 cases of BCCs and found that dermoscopic features of BCCs>1 cm in diameter were different from that of smaller BCCs.

关键词： diagnosis size features

Effectiveness of Scutellaria baicalensis Georgi root in pregnancy-related diseases:A review

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Journal of Integrative Medicine 2023年第1期21卷 17-25页

作者： Dan-na Fang Chang-wu zheng Ye-ling Ma Medical College Shaoxing UniversityShaoxing 312000Zhejiang ProvinceChina

The root of Scutellaria baicalensis Georgi,also called Huangqin,is frequently used in traditional Chinese medicine.In ancient China,S.baicalensis root was used to clear heat,protect the fetus,and avoid a miscarriage for thousands of years.In modern times,pregnancy-related diseases can seriously affect maternal and fetal health,but few systematic studies have explored the mechanisms and potential targets of S.baicalensis root in the treatment of pregnancy-related diseases.Flavonoids(baicalein,wogonin and oroxylin A)and flavonoid glycosides(baicalin and wogonoside)are the main chemical components in the root of S.baicalensis.This study presents the current understanding of the major chemical components in the root of S.baicalensis,focusing on their traditional uses,potential therapeutic effects and ethnopharmacological relevance to pregnancy-related disorders.The mechanisms,potential targets and experimental models of S.baicalensis root for ameliorating pregnancy-related diseases,such as recurrent spontaneous abortion,preeclampsia,preterm birth,fetal growth restriction and gestational diabetes mellitus,are highlighted.

关键词： Scutellaria baicalensis Georgi Recurrent spontaneous abortion Preeclampsia Preterm birth Fetal growth restriction Gestational diabetes mellitus

Plausible Heterogeneous Graph k-Anonymization for Social Networks

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Tsinghua Science and Technology 2022年第6期27卷 912-924页

作者： Kaiyang Li ling Tian Xu zheng Bei Hui School of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengdu 611731China School of Information and Software Engineering University of Electronic Science and Technology of ChinaChengdu 610054China Trusted Cloud Computing and Big Data Key Laboratory of Sichuan Province Chengdu 610000China

The inefficient utilization of ubiquitous graph data with combinatorial structures necessitates graph embedding methods,aiming at learning a continuous vector space for the graph which is amenable to be adopted in traditional machine learning algorithms in favor of vector representations.Graph embedding methods build an important bridge between social network analysis and data analytics as social networks naturally generate an unprecedented volume of graph data continuously.Publishing social network data not only bring benefit for public health,disaster response,commercial promotion,and many other applications,but also give birth to threats that jeopardize each individual’s privacy and security.Unfortunately,most existing works in publishing social graph embedding data only focus on preserving social graph structure with less attention paid to the privacy issues inherited from social networks.To be specific,attackers can infer the presence of a sensitive relationship between two individuals by training a predictive model with the exposed social network embedding.In this paper,we propose a novel link-privacy preserved graph embedding framework using adversarial learning,which can reduce adversary’s prediction accuracy on sensitive links while persevering sufficient non-sensitive information such as graph topology and node attributes in graph embedding.Extensive experiments are conducted to evaluate the proposed framework using ground truth social network datasets.

关键词： social network graph embedding privacy preservation adversarial learning

Battery aging-minimal speed control of autonomous heavy-duty electric trucks in adaptation to highway topography and traffic

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Science China(Technological Sciences) 2023年第10期66卷 2942-2957页

作者： ZHANG YongZhi WANG Chun YU QuanQing zheng ling College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China School of Mechanical Engineering Sichuan University of Science and EngineeringZigong 643000China School of Automotive Engineering Harbin Institute of TechnologyWeihai 264209China

The development of battery electric(BE)heavy-duty trucks(HDTs)is highly limited to the short cycling life of batteries.In this paper,we propose a battery aging-conscious control strategy for extended battery life by optimizing the speed trajectory of BE HDT.A state-space model is constructed by connecting the vehicle dynamics and battery state of charge,and a mechanism-based aging model of battery is then introduced to formulate the optimization problem for minimal battery aging and energy consumption.The optimization problem is solved within a model predictive control framework for the real-time speed control of the vehicle.A non-cooperative platooning controller is further developed for the vehicle in adaptation to the traffic,where the intervehicular distance is controlled for reducing the air drag coefficient so that both the energy consumption and battery aging are improved.Simulation results show that for the single-vehicle controller,the battery degradation and energy consumption are,respectively,reduced by up to 25.7%and 3.2%compared with the cruise control strategy.Based on the non-cooperative controller,the HDT is able to follow preceding vehicles with different parameters with battery aging and energy consumption further,respectively,reduced by 2%–5%and 9%–10%compared with those of the single-vehicle controller.

关键词： electric trucks speed trajectory planning battery aging model predictive control non-cooperative platooning

Inference for high-dimensional streamed longitudinal data

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Acta Mathematica Sinica,English Series 2024年

作者： Senyuan zheng ling ZHOU Center of Statistical Research and School of Statistics Southwestern University of Finance and Economics

With the advent of modern devices, such as smartphones and wearable devices, high-dimensional data are collected on many participants for a period of time or even in perpetuity. For this type of data,dependencies between and within data batches exist because data are collected from the same individual over time. Under the framework of streamed data, individual historical data are not available due to the storage and computation burden. It is urgent to develop computationally efficient methods with statistical guarantees to analyze high-dimensional streamed data and make reliable inferences in practice. In addition, the homogeneity assumption on the model parameters may not be valid in practice over time. To address the above issues, in this paper, we develop a new renewable debiased-lasso inference method for high-dimensional streamed data allowing dependences between and within data batches to exist and model parameters to gradually change. We establish the large sample properties of the proposed estimators, including consistency and asymptotic normality. The numerical results, including simulations and real data analysis, show the superior performance of the proposed method.

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