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相关概念视频

Random Sampling Method01:09

Random Sampling Method

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Sampling is a technique to select a portion (or subset) of the larger population and study that portion (the sample) to gain information about the population. Data are the result of sampling from a population. The sampling method ensures that samples are drawn without bias and accurately represent the population. Because measuring the entire population in a study is not practical, researchers use samples to represent the population of interest. Among the various sampling methods used by...
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Coordination Number and Geometry02:57

Coordination Number and Geometry

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For transition metal complexes, the coordination number determines the geometry around the central metal ion. Table 1 compares coordination numbers to molecular geometry. The most common structures of the complexes in coordination compounds are octahedral, tetrahedral, and square planar.
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Coordination Compounds and Nomenclature02:54

Coordination Compounds and Nomenclature

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In most main group element compounds, the valence electrons of the isolated atoms combine to form chemical bonds that satisfy the octet rule. For instance, the four valence electrons of carbon overlap with electrons from four hydrogen atoms to form CH4. The one valence electron leaves sodium and adds to the seven valence electrons of chlorine to form the ionic formula unit NaCl (Figure 1a). Transition metals do not normally bond in this fashion. They primarily form coordinate covalent bonds, a...
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The Periodic Table03:25

The Periodic Table

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As early chemists discovered more elements, they realized that various elements could be grouped by their similar chemical behaviors. One such grouping includes lithium (Li), sodium (Na), and potassium (K). All of these elements are shiny, conduct heat and electricity well, and have similar chemical properties. A second grouping includes calcium (Ca), strontium (Sr), and barium (Ba), which also are shiny, good conductors of heat and electricity, and have chemical properties in common. However,...
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Lattice Centering and Coordination Number02:33

Lattice Centering and Coordination Number

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The structure of a crystalline solid, whether a metal or not, is best described by considering its simplest repeating unit, which is referred to as its unit cell. The unit cell consists of lattice points that represent the locations of atoms or ions. The entire structure then consists of this unit cell repeating in three dimensions. The three different types of unit cells present in the cubic lattice are illustrated in Figure 1.
Types of Unit Cells
Imagine taking a large number of identical...
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Periodic Classification of the Elements04:00

Periodic Classification of the Elements

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The periodic table arranges atoms based on increasing atomic number so that elements with the same chemical properties recur periodically. When their electron configurations are added to the table, a periodic recurrence of similar electron configurations in the outer shells of these elements is observed. Because they are in the outer shells of an atom, valence electrons play the most important role in chemical reactions. The outer electrons have the highest energy of the electrons in an atom...
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自动驾驶汽车的GA增强控制:在随机扰乱的采样周期下协调FlexRay协议

Aogui Hu, Zhiru Cao, Hak-Keung Lam

    IEEE transactions on cybernetics
    |February 6, 2026
    PubMed
    概括

    本研究介绍了一种用于自动驾驶汽车横向动态的新型模糊控制器,解决了随机抽样和FlexRay通信问题. 控制器在复杂的通信环境中确保稳定性和性能.

    科学领域:

    • 控制系统工程 控制系统工程
    • 汽车工程 汽车工程
    • 机器人技术 机器人技术 机器人技术

    背景情况:

    • 自动驾驶汽车的控制受到随机抽样周期和复杂的通信协议 (如Flex.Ray) 的挑战.
    • 车辆的非线性和变速需要复杂的建模方法.

    研究的目的:

    • 为自动驾驶汽车制定一个强大的横向动力学控制战略.
    • 为应对随机扰乱采样 (RPS) 和FlexRay通信协议 (FRP) 所带来的挑战.

    主要方法:

    • 构建了一个TS模糊模型,以捕捉变速下车辆的非线性.
    • 一个马科维的过程模拟了随机采样行为,一个统一的补偿策略处理了FlexRay的混合调度.
    • 一个依赖采样模式的模糊控制器是使用异步约束技术设计的.

    主要成果:

    • 拟议的控制器保证了闭环系统的随机稳定性和H无限性性能.
    • 一个遗传算法被用来解决控制器设计的全面优化问题.
    • 模拟结果验证了控制策略的有效性和优越性.

    结论:

    • 开发的控制策略有效地管理在具有挑战性的通信条件下自动驾驶汽车的横向动态.

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  • 该方法提供了一个强大的解决方案,用于将高级控制与现实世界通信限制相结合.