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Wang X.,Beijing Institution of Technology | Fu M.,Intelligent Systems Technology, Inc. | Yang Y.,Intelligent Systems Technology, Inc. | Ma H.,Intelligent Systems Technology, Inc.
2013 25th Chinese Control and Decision Conference, CCDC 2013 | Year: 2013

Autonomous vehicles have attracted considerable attention in the research community and industry due to their potential benefits to unmanned driving and assisted driving. This paper addresses the problem of designing lateral control law and the strategy of determining the giving speed for autonomous vehicles. An improved method of calculating lateral offset and angle error based on multiple look-ahead distances is proposed to reduce the impact of noise in reference path data on the lateral control system. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed including forward and backward to deal with both simple and complex reference paths. Satisfactory simulation and experimental results have been obtained for different reference paths including a path with U-turn task in which backward driving is needed. © 2013 IEEE. Source


Yang C.,University of Plymouth | Ma H.,Beijing Institution of Technology
Proceedings of the 30th Chinese Control Conference, CCC 2011 | Year: 2011

In this paper, adaptive control aiming at asymptotic tracking is investigated for a class of NARMA (nonlinear autoregressive moving average) systems with periodic time-varying parameters, unknown time delay and nonparametric nonlinear uncertainties. A time-varying dead zone with diminishing threshold is designed in the parameter estimator to deal with both parametric and nonparametric uncertainties. The effect of the nonparametric uncertainties as well as unknown time delay has been compensated for by the developed nearest-neighbor previous instant estimation technique. The closed loop stability and asymptotic tracking performance have been rigorously established by theoretic proof. © 2011 Chinese Assoc of Automati. Source


Chen Z.,Beijing Institution of Technology | Leung K.,University of Hong Kong
ICIME 2010 - 2010 2nd IEEE International Conference on Information Management and Engineering | Year: 2010

Previous research indicated that task conflict benefits knowledge sharing (KS), whereas relationship conflict damages it. However, little is known about the underlying process by which the two types of conflicts affect KS. By integrating conflict theory and transactive memory system (TMS) theory, this paper presented a mediational model to test whether two types of conflict have different effects on team KS through TMS. Besides, this study also examined whether task type moderates the proposed mediational processes. Results of a study of 386 employees in 76 teams show that task conflict has positive effects on team KS through TMS. More interestingly, it is found that the task conflict-TMS-KS sequence only significant when task type is nonroutine rather than it is routine. Relationship conflict has a negative effect on team KS through TMS. Theoretical and practical implications of these findings are discussed. © 2010 IEEE. Source


Wu J.-T.,Beijing Institution of Technology | Zhang J.-G.,Beijing Institution of Technology | Li T.,Beijing Institution of Technology | Li Z.-M.,CAS Institute of Process Engineering | Zhang T.-L.,Beijing Institution of Technology
RSC Advances | Year: 2015

In order to decrease the acidity of the highly explosive 3-nitro-1,2,4-triazol-5-one (NTO), we cocrystallized NTO with a nitrogen-rich weak base compound 5,6,7,8-tetrahydrotetrazolo[1,5-b] [1,2,4]-triazine (TZTN) in a molar ratio 1: 1 to form a novel cocrystal explosive. Structure determination showed that the cocrystal is formed by strong intermolecular hydrogen bond interaction. Optical microscopy demonstrated that the crystal morphology of the cocrystal was significantly improved in contrast to the crystal of NTO and TZTN. The differential scanning calorimetry (DSC) showed that the cocrystal exhibited the enhancement of thermal stability and became less sensitive to impact, compared with the TZTN. Moreover, the results suggested that the NTO/TZTN cocrystal not only has unique performance itself, but also effectively alters the properties of NTO and TZTN. © The Royal Society of Chemistry 2015. Source


Wu J.-T.,Beijing Institution of Technology | Zhang J.-G.,Beijing Institution of Technology | Yin X.,Beijing Institution of Technology | Cheng Z.-Y.,Institute of Mechanical Equipment of China | Xu C.-X.,Beijing Institution of Technology
New Journal of Chemistry | Year: 2015

The protonation or metathesis synthesis and energetic properties of a new class of energetic materials, energetic salts of 3,4-diamino-triazole (DATr), are described. They were characterized by Fourier transform infrared spectroscopy (FT-IR), elemental analysis (EA), differential scanning calorimetry (DSC), and X-ray single-crystal diffraction. The DSC results showed that these salts had acceptable thermal stabilities; the decomposition temperatures of these salts, except compound 4, were over 200 °C. The density of the series of salts ranged from 1.704 g cm-3 (2 and 6) to 1.82 g cm-3 (7), placing them in a class of relatively dense compounds, and the heats of formation were calculated with the Gaussian 03 suite of programs. All the salts except 5 exhibited promising detonation performances (detonation pressure: 21.5-32.8 GPa, detonation velocity: 7017-8620 m s-1), which were much higher than both those of TNT, and salt 4 was even comparable to RDX. Impact sensitivities were also determined by hammer tests and the results ranged from 8 J (sensitive) to >40 J (insensitive). © 2015 The Royal Society of Chemistry and the Centre National de la Recherche Scientifique. Source

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