Implication of self-organizing map, stable isotopes combined with MixSIAR model for accurate nitrogen control in a well-protected reservoir.

Nitrogen pollution and eutrophication in reservoirs is a global environmental geochemical concern. Occasional algal blooms still exist in reservoirs that have undergone pollution treatment. The lack of quantitative evidence of nitrogen sources and fate limits long-term stable ecological safety management. This work applied an approach integrated zonal mapping, stable isotopes (δ18OH2O, δ15Nnitrate, δ18Onitrate, and δ13C-DIC) and a Bayesian isotope model to analyze regional and seasonal differences in the contribution and sources of nitrogen to a well-protected reservoir. The values of δ18Onitrate and the positive relationship between NO3- and δ13C-DIC suggested that nitrification was the primary NO3- production in the rivers. While Denitrification was present at only a few sites. Results of the MixSIAR model coupled the NO3-/Cl- indicator revealed that the domestic sewage contributed high riverine NO3- loading (68.6 ± 10.6 %) in the dry season. In the wet season, the main nitrate sources of upper watershed were ammonia and carbamide fertilizers (47.5 % and 40.3 %). While the domestic sewage was still the major contributor of downstream region (a dense residential area), indicating possible problems with rainwater and sewage drainage networks. The results implied that the colleting and treatment of sewages were the priority in downstream region, and non-point source pollution control and wastewater treatment plant upgrading were essential to control nitrate pollution in the two upstream regions. These findings provide new insights into precise nitrogen pollution traceability and identification of treatment priorities in the sub-region, and promote the management other well-protected watershed in similar need of further nitrogen contamination control.

Abnormal Road Surface Recognition Based on Smartphone Acceleration Sensor.

In order to identify the abnormal road surface condition efficiently and at low cost, a road surface condition recognition method is proposed based on the vibration acceleration generated by a smartphone when the vehicle passes through the abnormal road surface. The improved Gaussian background model is used to extract the features of the abnormal pavement, and the k-nearest neighbor (kNN) algorithm is used to distinguish the abnormal pavement types, including pothole and bump. Comparing with the existing works, the influence of vehicles with different suspension characteristics on the detection threshold is studied in this paper, and an adaptive adjustment mechanism based on vehicle speed is proposed. After comparing the field investigation results with the algorithm recognition results, the accuracy of the proposed algorithm is rigorously evaluated. The test results show that the vehicle vibration acceleration contains the road surface condition information, which can be used to identify the abnormal road conditions. The test result shows that the accuracy of the recognition of the road surface pothole is 96.03%, and the accuracy of the road surface bump is 94.12%. The proposed road surface recognition method can be utilized to replace the special patrol vehicle for timely and low-cost road maintenance.

Simultaneous Optimization of Vehicle Arrival Time and Signal Timings within a Connected Vehicle Environment.

Most existing signal timing plans are optimized given vehicles' arrival time (i.e., the time for the upcoming vehicles to arrive at the stop line) as exogenous input. In this paper, based on the connected vehicle (CV) technique, vehicles can be regarded as moving sensors, and their arrival time can be dynamically adjusted by speed guidance according to the current signal status and traffic conditions. Therefore, an integrated traffic control model is proposed in this study to optimize vehicle arrival time (or travel speed) and signal timing simultaneously. "Speed guidance model at a red light" and "speed guidance model at a green light" are presented to model the influences between travel speed and signal timing. Then, the methods to model the vehicle arrival time, vehicle delay, and number of stops are proposed. The total delay, which includes the control delay, queuing delay, and signal delay, is used as the objective of the proposed model. The decision variables consist of vehicle arrival time, starting time of green, and duration of green for each phase. The sliding time window is adopted to dynamically tackle the problems. Compared with the results optimized by the classical actuated signal control method and the fixed-time-based speed guidance model, the proposed model can significantly decrease travel delays as well as improve the flexibility and mobility of traffic control. The sensitivity analysis with the communication distance, the market penetration of connected vehicles, and the compliance rate of speed guidance further demonstrates the potential of the proposed model to be applied in various traffic conditions.

Connected Vehicle as a Mobile Sensor for Real Time Queue Length at Signalized Intersections.

With the development of intelligent transportation system (ITS) and vehicle to X (V2X), the connected vehicle is capable of sensing a great deal of useful traffic information, such as queue length at intersections. Aiming to solve the problem of existing models' complexity and information redundancy, this paper proposes a queue length sensing model based on V2X technology, which consists of two sub-models based on shockwave sensing and back propagation (BP) neural network sensing. First, the model obtains state information of the connected vehicles and analyzes the formation process of the queue, and then it calculates the velocity of the shockwave to predict the queue length of the subsequent unconnected vehicles. Then, the neural network is trained with historical connected vehicle data, and a sub-model based on the BP neural network is established to predict the real-time queue length. Finally, the final queue length at the intersection is determined by combining the sub-models by variable weight. Simulation results show that the sensing accuracy of the combined model is proportional to the penetration rate of connected vehicles, and sensing of queue length can be achieved even in low penetration rate environments. In mixed traffic environments of connected vehicles and unconnected vehicles, the queuing length sensing model proposed in this paper has higher performance than the probability distribution (PD) model when the penetration rate is low, and it has an almost equivalent performance with higher penetration rate while the penetration rate is not needed. The proposed sensing model is more applicable for mixed traffic scenarios with much looser conditions.

Conditional Artificial Potential Field-Based Autonomous Vehicle Safety Control with Interference of Lane Changing in Mixed Traffic Scenario.

Car-following is an essential trajectory control strategy for the autonomous vehicle, which not only improves traffic efficiency, but also reduces fuel consumption and emissions. However, the prediction of lane change intentions in adjacent lanes is problematic, and will significantly affect the car-following control of the autonomous vehicle, especially when the vehicle changing lanes is only a connected unintelligent vehicle without expensive and accurate sensors. Autonomous vehicles suffer from adjacent vehicles' abrupt lane changes, which may reduce ride comfort and increase energy consumption, and even lead to a collision. A machine learning-based lane change intention prediction and real time autonomous vehicle controller is proposed to respond to this problem. First, an interval-based support vector machine is designed to predict the vehicles' lane change intention utilizing limited low-level vehicle status through vehicle-to-vehicle communication. Then, a conditional artificial potential field method is used to design the car-following controller by incorporating the lane-change intentions of the vehicle. Experimental results reveal that the proposed method can estimate a vehicle's lane change intention more accurately. The autonomous vehicle avoids collisions with a lane-changing connected unintelligent vehicle with reliable safety and favorable dynamic performance.

Online parameter identification based predictive pressure control for train electro-pneumatic braking systems with thermal effect.

The electro-pneumatic braking system with ON/OFF solenoid valves has been widely used in trains due to its advantages and superiority. The undesirable impact of the thermal effect on the electro-pneumatic braking system leads to frequent valve switching, degradation of the pressure tracking performance and sometimes instability. This article presents an adaptive model predictive control approach to solve the pressure control problem under temperature uncertainty based on a switched unscented Kalman filter. First, a nonlinear switched dynamical model with the uncertain temperature parameter is derived for the electro-pneumatic braking system by comprehensively integrating its nonlinear, discontinuous dynamics and thermal effect. Using a switched unscented Kalman filter on the presented model of the system, the temperature parameter is accurately estimated to improve the model's accuracy. Based on the corrected system model and the designed adaptive model predictive control method, the pressure tracking performance and the valves' switchings of the electro-pneumatic braking system are improved, and the stability is guaranteed. The simulations and the experiments conducted for a braking system prototype confirm the performance validity of the proposed method.

Enhancing Force Control of Prosthetic Controller for Hand Prosthesis by Mimicking Biological Properties.

Prosthetic hands are frequently rejected due to frustrations in daily uses. By adopting principles of human neuromuscular control, it could potentially achieve human-like compliance in hand functions, thereby improving functionality in prosthetic hand. Previous studies have confirmed the feasibility of real-time emulation of neuromuscular reflex for prosthetic control. This study further to explore the effect of feedforward electromyograph (EMG) decoding and proprioception on the biomimetic controller. The biomimetic controller included a feedforward Bayesian model for decoding alpha motor commands from stump EMG, a muscle model, and a closed-loop component with a model of muscle spindle modified with spiking afferents. Real-time control was enabled by neuromorphic hardware to accelerate evaluation of biologically inspired models. This allows us to investigate which aspects in the controller could benefit from biological properties for improvements on force control performance. 3 non-disabled and 3 amputee subjects were recruited to conduct a "press-without-break" task, subjects were required to press a transducer till the pressure stabilized in an expected range without breaking the virtual object. We tested whether introducing more complex but biomimetic models could enhance the task performance. Data showed that when replacing proportional feedback with the neuromorphic spindle, success rates of amputees increased by 12.2% and failures due to breakage decreased by 26.3%. More prominently, success rates increased by 55.5% and failures decreased by 79.3% when replacing a linear model of EMG with the Bayesian model in the feedforward EMG processing. Results suggest that mimicking biological properties in feedback and feedforward control may improve the manipulation of objects by amputees using prosthetic hands. Clinical and Translational Impact Statement: This control approach may eventually assist amputees to perform fine force control when using prosthetic hands, thereby improving the motor performance of amputees. It highlights the promising potential of the biomimetic controller integrating biological properties implemented on neuromorphic models as a viable approach for clinical application in prosthetic hands.

Evaporation dominates the loss of plateau lake in Southwest China using water isotope balance assessment.

The water balance budget in remote plateau lakes provides a fundamental information on the local climate-hydrological pattern. However, integrated investigation on the waters entering the lake, especially groundwater, was limited. To assess the current climate stress on Yunnan-Guizhou Plateau lakes, we collected rivers, groundwater, lake, and precipitation with varying isotopic compositions in the Chenghai Lake basin over four separate campaigns during a hydrological year. The wide and enriched variation of isotope composition in rivers, groundwater, and lake indicate that they have undergone distinct evaporations, which further reveal the recharging and mixing processes. Based on the similar isotopic signals between rivers and precipitation, rivers can serve as proxies for precipitation. Groundwater was primarily replenished by high mountain precipitation duo to the stable isotopic values in aquifers. Even through mass water in lake was able to smooth out some variability, the considerable isotopic variation of lake during the four collections suggested the influence of meteorological conditions. According to the assessment of isotope balance model, lake evaporation accounts for almost 65 % of the total inflow for one year, which partially explains the climate stress on the lake level. As the most sensitive variables, changes in relative humidity (h) and isotope composition of atmospheric moisture (δA) resulted in remarkable variations in E/I ratios and the constructed water isotope framework. These results shed light on the capacity of evaporation relative to lake input and provide interpretations on local paleoclimate and predicted-climate construction.

Review of the Flight Control Method of a Bird-like Flapping-Wing Air Vehicle.

The Bird-like Flapping-wing Air Vehicle (BFAV) is a robotic innovation that emulates the flight patterns of birds. In comparison to fixed-wing and rotary-wing air vehicles, the BFAV offers superior attributes such as stealth, enhanced maneuverability, strong adaptability, and low noise, which render the BFAV a promising prospect for numerous applications. Consequently, it represents a crucial direction of research in the field of air vehicles for the foreseeable future. However, the flapping-wing vehicle is a nonlinear and unsteady system, posing significant challenges for BFAV to achieve autonomous flying since it is difficult to analyze and characterize using traditional methods and aerodynamics. Hence, flight control as a major key for flapping-wing air vehicles to achieve autonomous flight garners considerable attention from scholars. This paper presents an exposition of the flight principles of BFAV, followed by a comprehensive analysis of various significant factors that impact bird flight. Subsequently, a review of the existing literature on flight control in BFAV is conducted, and the flight control of BFAV is categorized into three distinct components: position control, trajectory tracking control, and formation control. Additionally, the latest advancements in control algorithms for each component are deliberated and analyzed. Ultimately, a projection on forthcoming directions of research is presented.

Analyzing the uncertainty of simulation results in accident reconstruction with Response Surface Methodology.

This paper is focused on the uncertainty of simulation results in accident reconstruction. The Upper and Lower Bound Method (ULM) and the Finite Difference Method (FDM), which can be easily applied in this field, are introduced firstly; the Response Surface Methodology (RSM) is then introduced into this field as an alternative methodology. In RSM, a sample set is firstly generated via uniform design; secondly, experiments are conducted according to the sample set with the help of simulation methods; thirdly, a response surface model is determined through regression analysis; finally, the uncertainty of simulation results can be analyzed using a combination of the response surface model and existing uncertainty analysis methods. It is later discussed in detail how to generate a sample set, how to calculate the range of simulation results and how to analyze the parameter sensitivity in RSM. Finally, the feasibility of RSM is validated by five cases. Moreover, the applicability of RSM, ULM and FDM in analyzing the uncertainty of simulation results is studied; the phenomena that ULM and FDM can hardly work while RSM can is found in the latter two cases. After an analysis of these five cases and the number of simulation runs required for each method, both advantages and disadvantages of these uncertainty analysis methods are indicated.