Optimizing Coordinated Vehicle Platooning: An Analytical Approach Based on Stochastic Dynamic Programming

Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the coordination of vehicle platooning at highway junctions. We consider a setting where CAVs randomly arrive at a highway junction according to a general renewal process. When a CAV approaches the junction, a system operator determines whether the CAV will merge into the platoon ahead according to the positions and speeds of the CAV and the platoon. We formulate a Markov decision process to minimize the discounted cumulative travel cost, i.e. fuel consumption plus travel delay, over an infinite time horizon. We show that the optimal policy is threshold-based: the CAV will merge with the platoon if and only if the difference between the CAV's and the platoon's predicted times of arrival at the junction is less than a constant threshold. We also propose two ready-to-implement algorithms to derive the optimal policy. Comparison with the classical value iteration algorithm implies that our approach explicitly incorporating the characteristics of the optimal policy is significantly more efficient in terms of computation. Importantly, we show that the optimal policy under Poisson arrivals can be obtained by solving a system of integral equations. We also validate our results in simulation with Real-time Strategy (RTS) using real traffic data. The simulation results indicate that the proposed method yields better performance compared with the conventional method

Fantastic Behavior of High-TC Superconductor Junctions: Tunable Superconductivity

Carrier injection performed in oxygen-deficient YBa2Cu3O7(YBCO) hetero-structure junctions exhibited tunable resistance that was entirely different with behaviors of semiconductor devices. Tunable superconductivity in YBCO junctions, increasing over 20 K in transition temperature, has achieved by using electric processes. To our knowledge, this is the first observation that intrinsic property of high TC superconductors superconductivity can be adjusted as tunable functional parameters of devices. The fantastic phenomenon caused by carrier injection was discussed based on a proposed charge carrier self-trapping model and BCS theory.Comment: 5 pages, 4 figure

Characterization of wave physics using the rigorous Helmholtz decomposition based on the surface integral equation

Helmholtz decomposition (HD) is a fundamental tool of vector calculus and plays an important role in electromagnetics. In this work, arbitrary vector field defined on the open or closed surface is decomposed into the sum of an irrotational (curl-free) vector field and a solenoidal (divergence-free) vector field by using the surface integral equation method. Unlike the popular loop-tree decomposition that is only a quasi-HD suitable for the circuit physics in the low frequency regime, the HD developed in this paper is rigorous and can capture both circuit and wave physics from very low frequency to high frequency regimes. The work could provide insightful physical interpretations for complex electromagnetic phenomena. © 2012 IEEE.published_or_final_versio

Full Hydrodynamic Model of Nonlinear Electromagnetic Response in Metallic Metamaterials

Applications of metallic metamaterials have generated significant interest in recent years. Electromagnetic behavior of metamaterials in the optical range is usually characterized by a local-linear response. In this article, we develop a finite-difference time-domain (FDTD) solution of the hydrodynamic model that describes a free electron gas in metals. Extending beyond the local-linear response, the hydrodynamic model enables numerical investigation of nonlocal and nonlinear interactions between electromagnetic waves and metallic metamaterials. By explicitly imposing the current continuity constraint, the proposed model is solved in a self-consistent manner. Charge, energy and angular momentum conservation laws of high-order harmonic generation have been demonstrated for the first time by the Maxwell-hydrodynamic FDTD model. The model yields nonlinear optical responses for complex metallic metamaterials irradiated by a variety of waveforms. Consequently, the multiphysics model opens up unique opportunities for characterizing and designing nonlinear nanodevices.Comment: 11 pages, 14 figure

The Application of Exemplarist Moral Theory and Problem-Based Learning in the Course of Structural Mechanics

Structural mechanics is an important basic course for undergraduates majoring in civil engineering. However, due to the difficulty and extent of the content, students are often not able to master the course. Problem-based learning is an excellent way of teaching engineering, and character education can improve students’ performance. This study explores the combined application of problem-based learning and exemplarist moral theory. In this model, students analyze the structure and force of buildings, and they learn about the historical stories behind them. In this way, students improve their morality, civility, performance, and intellect. In character education, the use of case studies and examples can increase students’ interest in the course, improve classroom participation, enrich teaching connotations, and strengthen students’ understanding of basic concepts and their ability to memorize them

Compact Nonlinear Yagi-Uda Nanoantennas

Nanoantennas have demonstrated unprecedented capabilities for manipulating the intensity and direction of light emission over a broad frequency range. The directional beam steering offered by nanoantennas has important applications in areas including microscopy, spectroscopy, quantum computing, and on-chip optical communication. Although both the physical principles and experimental realizations of directional linear nanoantennas has become increasingly mature, angular control of nonlinear radiation using nanoantennas has not been explored yet. Here we propose a novel concept of nonlinear Yagi-Uda nanoantenna to direct second harmonic radiation from a metallic nanosphere. By carefully tuning the spacing and dimensions of two lossless dielectric elements, which function respectively as a compact director and reflector, the second harmonic radiation is deflected 90 degrees with reference to the incident light (pump) direction. This abnormal light-bending phenomenon is due to the constructive and destructive interference between the second harmonic radiation governed by a special selection rule and the induced electric dipolar and magnetic quadrupolar radiation from the two dielectric antenna elements. Simultaneous spectral and spatial isolation of scattered second harmonic waves from incident fundamental waves pave a new way towards nonlinear signal detection and sensing.published_or_final_versio

One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation

LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, and yields the current orientation and translation, using only the current scan as query and a database of map scans. Inspired by the definition of a recognized place, we consider that a good global localization solution should keep the pose estimation accuracy with a lower place density. Following this idea, we propose a novel framework towards sparse place-based global localization, which utilizes a unified and learning-free representation, Radon sinogram (RING), for all sub-tasks. Based on the theoretical derivation, a translation invariant descriptor and an orientation invariant metric are proposed for place recognition, achieving certifiable robustness against arbitrary orientation and large translation between query and map scan. In addition, we also utilize the property of RING to propose a global convergent solver for both orientation and translation estimation, arriving at global localization. Evaluation of the proposed RING based framework validates the feasibility and demonstrates a superior performance even under a lower place density