This document proposes a method for improving highway traffic merging by tuning each car's behavior. It discusses using car-to-car interactions to induce zipper merging configurations through modeling car movements with a cellular automata approach. Simulations show that drawing "orange lines" to ban lane changes and introduce repulsive interactions between cars can spatially change configurations to achieve larger degrees of zipper merging. This results in improved merging efficiency and increased traffic flow rates compared to non-zipper merging, especially when there is a delay for cars to restart after stopping.
ITS World Congress :: Vienna, Oct 2012László Nádai
Control of the emission rate of exhaust fumes as well as vehicle density in various road segments of freeway traffic practically is desirable. For this purpose hydrodynamic macroscopic models are used that approximate the traffic as the motion of some compressible fluid. They normally have analytical ambiguities due to using various finite element approximations of spatial partial differential operators and applying various analytical compressibility models. Further uncertainties stem from the estimation of the model parameters. The suggested approach is able to iteratively and adaptively refine the traffic control based on any version of the possible analytical forms. The controller has to measure vehicle densities and traffic velocities and applies variable traffic signs for prescribing velocities and allowed ingress rate from a ramp as control signals. Since the stationary solutions of the control problem are stable in the region investigated, instead of fast, really dynamic control it applies simple quasi-stationary process model and control that is a common practice in Classical Thermodynamics. The operation of the proposed method is illustrated via simulations.
Establishing Line-of-Sight Communication Via Autonomous Relay VehiclesMd Mahbubur Rahman
This is the presentation of our paper,
"Establishing Line-of-Sight Communication Via Autonomous Relay Vehicles, IEEE Military Communication Conference, Baltimore, MD, 2016"
Line-of-sight(LoS) communication (by infrared or visible light) becomes a reliable ways to send information between mobile units in communication-denied environments.
This form of communication is more difficult to intercept or jam, as an attacker would require to be located directly on that LoS.
Mission-related movements may break a fully connected military mission by losing LoS to the Service Vehicles.
Autonomous ground vehicle can recover the LoS based connectivity by moving from place to place as required.
Modulation Strategies for Dynamical Systems - Part 1LukasHuber12
In this presentation, we provide an introduction on modulation strategies for dynamical systems. This presentation is mainly converse the locally refinement approach presented in:
lasa.epfl.ch/publications/uploadedFiles/LMDS_els.pdf
By Klas Kronander
and Obstacle avoidance approaches which are presented in
lasa.epfl.ch/publications/uploadedFiles/Khansari_Billard_AR12.pdf
By Seyed Mohammad Khansari-Zadeh
and the new approach which is presented by Lukas Huber <lukas.huber@epfl.ch>
Please find the origina *.pptx version of the slides on this repository:
https://github.com/epfl-lasa/RSS2018Tutorial/blob/master/Presentations/Modulation%20-%20Part_1.pptx
ITS World Congress :: Vienna, Oct 2012László Nádai
Control of the emission rate of exhaust fumes as well as vehicle density in various road segments of freeway traffic practically is desirable. For this purpose hydrodynamic macroscopic models are used that approximate the traffic as the motion of some compressible fluid. They normally have analytical ambiguities due to using various finite element approximations of spatial partial differential operators and applying various analytical compressibility models. Further uncertainties stem from the estimation of the model parameters. The suggested approach is able to iteratively and adaptively refine the traffic control based on any version of the possible analytical forms. The controller has to measure vehicle densities and traffic velocities and applies variable traffic signs for prescribing velocities and allowed ingress rate from a ramp as control signals. Since the stationary solutions of the control problem are stable in the region investigated, instead of fast, really dynamic control it applies simple quasi-stationary process model and control that is a common practice in Classical Thermodynamics. The operation of the proposed method is illustrated via simulations.
Establishing Line-of-Sight Communication Via Autonomous Relay VehiclesMd Mahbubur Rahman
This is the presentation of our paper,
"Establishing Line-of-Sight Communication Via Autonomous Relay Vehicles, IEEE Military Communication Conference, Baltimore, MD, 2016"
Line-of-sight(LoS) communication (by infrared or visible light) becomes a reliable ways to send information between mobile units in communication-denied environments.
This form of communication is more difficult to intercept or jam, as an attacker would require to be located directly on that LoS.
Mission-related movements may break a fully connected military mission by losing LoS to the Service Vehicles.
Autonomous ground vehicle can recover the LoS based connectivity by moving from place to place as required.
Modulation Strategies for Dynamical Systems - Part 1LukasHuber12
In this presentation, we provide an introduction on modulation strategies for dynamical systems. This presentation is mainly converse the locally refinement approach presented in:
lasa.epfl.ch/publications/uploadedFiles/LMDS_els.pdf
By Klas Kronander
and Obstacle avoidance approaches which are presented in
lasa.epfl.ch/publications/uploadedFiles/Khansari_Billard_AR12.pdf
By Seyed Mohammad Khansari-Zadeh
and the new approach which is presented by Lukas Huber <lukas.huber@epfl.ch>
Please find the origina *.pptx version of the slides on this repository:
https://github.com/epfl-lasa/RSS2018Tutorial/blob/master/Presentations/Modulation%20-%20Part_1.pptx
Application Of The Three-In-One Control Platform Based On OPC In The Lifting-...IJRES Journal
The three-in-one control platform includes MATLAB, WINCC and S7 300 PLC. In the platform, MATLAB communicates with WINCC through OPC and WINCC communicates with PLC. It is a control platform with WINCC as the bridge. The platform is designed to shorten the operating time of the lifting-sliding stereo garage, and at the same time to achieve controlling the stereo garage through monitoring interface. Genetic algorithm is designed with MATLAB for getting the optimal scheduling scheme of lifting-sliding stereo garage in the platform. Then the date was passed to WINCC through OPC. PLC conducts the scheduling of the stereo garage based on the date getting from WINCC, and through the WINCC to achieve real time picture monitoring and operating of the stereo garage. Under the same conditions, the control platform can get access to the vehicle in the shortest time.
THIS GIVES IDEA ABOUT REDUNDANCY PROBLEM IN ROBOTICS AND HOW IT IS SOLVED WITH THE SIMPLE EXAMPLE OF 3R MANIPULATOR. THIS ALSO EXPLAINS HOW REDUNDANCY CAN BE USEFUL IN CERTAIN SITUATIONS AND IN WHAT WAY IT CAN BE DISADVANTAGEOUS.
Differential game theory for Traffic Flow ModellingSerge Hoogendoorn
Lecture given at the INdAM symposium in Rome, 2017. The lecture shows how you can use differential games to model traffic flows, focussing on pedestrian simulation.
Control of Uncertain Hybrid Nonlinear Systems Using Particle FiltersLeo Asselborn
This paper proposes an optimization-based algorithm for the control of uncertain hybrid nonlinear systems. The considered system class combines the nondeterministic evolution of a discrete-time Markov process with the deterministic switching of continuous dynamics which itself contains uncertain elements. A weighted particle filter approach is used to approximate the uncertain evolution of the system by a set of deterministic runs. The desired control performance for a finite time horizon is encoded by a suitable cost function and a chance-constraint, which restricts the maximum probability for entering unsafe state sets. The optimization considers input and state constraints in addition. It is demonstrated that the resulting optimization problem can be solved by techniques of conventional mixed-integer nonlinear programming (MINLP). As an illustrative example, a path planning scenario of a ground vehicle with switching nonlinear dynamics is presented.
This PPT gives information about:
1. Robotics: History, Concepts, principles and applications of Robots, different types of Robots, degrees of freedom. Robot classification. Robotic vision. Controlling robot movements.
2. Robotics Hardware:
3. Sensors: IR sensors, Proximity Sensor, Ultrasonic Sensor, White line sensor, Temperature Sensor, Touch sensor, Tilt Sensor, Accelerometer, Gyroscopic Sensor etc.
4. Actuators: DC motor, Servo motor, Stepper Motor, Motor driver ICs, Half Bridge & Full bridge circuits, Pulse Width Modulation and Gripper.
6. Controller: Architecture and features of ATMEGA16 (in detail) other higher versions of AVR Microcontrollers..
RMD24 | Retail media: hoe zet je dit in als je geen AH of Unilever bent? Heid...BBPMedia1
Grote partijen zijn al een tijdje onderweg met retail media. Ondertussen worden in dit domein ook de kansen zichtbaar voor andere spelers in de markt. Maar met die kansen ontstaan ook vragen: Zelf retail media worden of erop adverteren? In welke fase van de funnel past het en hoe integreer je het in een mediaplan? Wat is nu precies het verschil met marketplaces en Programmatic ads? In dit half uur beslechten we de dilemma's en krijg je antwoorden op wanneer het voor jou tijd is om de volgende stap te zetten.
Improving profitability for small businessBen Wann
In this comprehensive presentation, we will explore strategies and practical tips for enhancing profitability in small businesses. Tailored to meet the unique challenges faced by small enterprises, this session covers various aspects that directly impact the bottom line. Attendees will learn how to optimize operational efficiency, manage expenses, and increase revenue through innovative marketing and customer engagement techniques.
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Tata Group Dials Taiwan for Its Chipmaking Ambition in Gujarat’s DholeraAvirahi City Dholera
The Tata Group, a titan of Indian industry, is making waves with its advanced talks with Taiwanese chipmakers Powerchip Semiconductor Manufacturing Corporation (PSMC) and UMC Group. The goal? Establishing a cutting-edge semiconductor fabrication unit (fab) in Dholera, Gujarat. This isn’t just any project; it’s a potential game changer for India’s chipmaking aspirations and a boon for investors seeking promising residential projects in dholera sir.
Visit : https://www.avirahi.com/blog/tata-group-dials-taiwan-for-its-chipmaking-ambition-in-gujarats-dholera/
Putting the SPARK into Virtual Training.pptxCynthia Clay
This 60-minute webinar, sponsored by Adobe, was delivered for the Training Mag Network. It explored the five elements of SPARK: Storytelling, Purpose, Action, Relationships, and Kudos. Knowing how to tell a well-structured story is key to building long-term memory. Stating a clear purpose that doesn't take away from the discovery learning process is critical. Ensuring that people move from theory to practical application is imperative. Creating strong social learning is the key to commitment and engagement. Validating and affirming participants' comments is the way to create a positive learning environment.
Business Valuation Principles for EntrepreneursBen Wann
This insightful presentation is designed to equip entrepreneurs with the essential knowledge and tools needed to accurately value their businesses. Understanding business valuation is crucial for making informed decisions, whether you're seeking investment, planning to sell, or simply want to gauge your company's worth.
Attending a job Interview for B1 and B2 Englsih learnersErika906060
It is a sample of an interview for a business english class for pre-intermediate and intermediate english students with emphasis on the speking ability.
"𝑩𝑬𝑮𝑼𝑵 𝑾𝑰𝑻𝑯 𝑻𝑱 𝑰𝑺 𝑯𝑨𝑳𝑭 𝑫𝑶𝑵𝑬"
𝐓𝐉 𝐂𝐨𝐦𝐬 (𝐓𝐉 𝐂𝐨𝐦𝐦𝐮𝐧𝐢𝐜𝐚𝐭𝐢𝐨𝐧𝐬) is a professional event agency that includes experts in the event-organizing market in Vietnam, Korea, and ASEAN countries. We provide unlimited types of events from Music concerts, Fan meetings, and Culture festivals to Corporate events, Internal company events, Golf tournaments, MICE events, and Exhibitions.
𝐓𝐉 𝐂𝐨𝐦𝐬 provides unlimited package services including such as Event organizing, Event planning, Event production, Manpower, PR marketing, Design 2D/3D, VIP protocols, Interpreter agency, etc.
Sports events - Golf competitions/billiards competitions/company sports events: dynamic and challenging
⭐ 𝐅𝐞𝐚𝐭𝐮𝐫𝐞𝐝 𝐩𝐫𝐨𝐣𝐞𝐜𝐭𝐬:
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"𝐄𝐯𝐞𝐫𝐲 𝐞𝐯𝐞𝐧𝐭 𝐢𝐬 𝐚 𝐬𝐭𝐨𝐫𝐲, 𝐚 𝐬𝐩𝐞𝐜𝐢𝐚𝐥 𝐣𝐨𝐮𝐫𝐧𝐞𝐲. 𝐖𝐞 𝐚𝐥𝐰𝐚𝐲𝐬 𝐛𝐞𝐥𝐢𝐞𝐯𝐞 𝐭𝐡𝐚𝐭 𝐬𝐡𝐨𝐫𝐭𝐥𝐲 𝐲𝐨𝐮 𝐰𝐢𝐥𝐥 𝐛𝐞 𝐚 𝐩𝐚𝐫𝐭 𝐨𝐟 𝐨𝐮𝐫 𝐬𝐭𝐨𝐫𝐢𝐞𝐬."
3.0 Project 2_ Developing My Brand Identity Kit.pptxtanyjahb
A personal brand exploration presentation summarizes an individual's unique qualities and goals, covering strengths, values, passions, and target audience. It helps individuals understand what makes them stand out, their desired image, and how they aim to achieve it.
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What is the TDS Return Filing Due Date for FY 2024-25.pdfseoforlegalpillers
It is crucial for the taxpayers to understand about the TDS Return Filing Due Date, so that they can fulfill your TDS obligations efficiently. Taxpayers can avoid penalties by sticking to the deadlines and by accurate filing of TDS. Timely filing of TDS will make sure about the availability of tax credits. You can also seek the professional guidance of experts like Legal Pillers for timely filing of the TDS Return.
Implicitly or explicitly all competing businesses employ a strategy to select a mix
of marketing resources. Formulating such competitive strategies fundamentally
involves recognizing relationships between elements of the marketing mix (e.g.,
price and product quality), as well as assessing competitive and market conditions
(i.e., industry structure in the language of economics).
Memorandum Of Association Constitution of Company.pptseri bangash
www.seribangash.com
A Memorandum of Association (MOA) is a legal document that outlines the fundamental principles and objectives upon which a company operates. It serves as the company's charter or constitution and defines the scope of its activities. Here's a detailed note on the MOA:
Contents of Memorandum of Association:
Name Clause: This clause states the name of the company, which should end with words like "Limited" or "Ltd." for a public limited company and "Private Limited" or "Pvt. Ltd." for a private limited company.
https://seribangash.com/article-of-association-is-legal-doc-of-company/
Registered Office Clause: It specifies the location where the company's registered office is situated. This office is where all official communications and notices are sent.
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Liability Clause: It outlines the extent of liability of the company's members. In the case of companies limited by shares, the liability of members is limited to the amount unpaid on their shares. For companies limited by guarantee, members' liability is limited to the amount they undertake to contribute if the company is wound up.
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Constitutional Document: It serves as the company's constitutional document, defining its scope, powers, and limitations.
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https://seribangash.com/difference-public-and-private-company-law/
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While the MOA lays down the company's fundamental principles, it is not entirely immutable. It can be amended, but only under specific circumstances and in compliance with legal procedures. Amendments typically require shareholder
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Personal Brand Statement:
As an Army veteran dedicated to lifelong learning, I bring a disciplined, strategic mindset to my pursuits. I am constantly expanding my knowledge to innovate and lead effectively. My journey is driven by a commitment to excellence, and to make a meaningful impact in the world.
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Sustainability has become an increasingly critical topic as the world recognizes the need to protect our planet and its resources for future generations. Sustainability means meeting our current needs without compromising the ability of future generations to meet theirs. It involves long-term planning and consideration of the consequences of our actions. The goal is to create strategies that ensure the long-term viability of People, Planet, and Profit.
Leading companies such as Nike, Toyota, and Siemens are prioritizing sustainable innovation in their business models, setting an example for others to follow. In this Sustainability training presentation, you will learn key concepts, principles, and practices of sustainability applicable across industries. This training aims to create awareness and educate employees, senior executives, consultants, and other key stakeholders, including investors, policymakers, and supply chain partners, on the importance and implementation of sustainability.
LEARNING OBJECTIVES
1. Develop a comprehensive understanding of the fundamental principles and concepts that form the foundation of sustainability within corporate environments.
2. Explore the sustainability implementation model, focusing on effective measures and reporting strategies to track and communicate sustainability efforts.
3. Identify and define best practices and critical success factors essential for achieving sustainability goals within organizations.
CONTENTS
1. Introduction and Key Concepts of Sustainability
2. Principles and Practices of Sustainability
3. Measures and Reporting in Sustainability
4. Sustainability Implementation & Best Practices
To download the complete presentation, visit: https://www.oeconsulting.com.sg/training-presentations
1. Introduction of my study:
A method for improving merging of
highway traffic by tuning each car’s behavior
Suri-Jyokyo-no-kai (SJK seminar)
18th, Jun, 2012
Ryosuke Nishi
1
2. Table of contents
• Background of traffic flow
– Engineering and physics
• Direction of my study
– Utilize each car’s behavior for improving flow
• Main topic: improving merging efficiency
• Conclusions
2
3. Background
• Easing jams is very significant
– Financial loss of traffic jam in Japan is 11 trillion
yen/year*
• Traffic science is composed of many fields
– Engineering
– Physics
– Economics
– Phycology and other fields
* Road Bureau, Ministry of Land, Infrastructure, Transport and Tourism,Japan.
平成18 年度達成度報告書・平成19 年度業績計画書第2 部ii施策-2 効果的な渋滞対策の推進.
http://www.mlit.go.jp/road/ir/ir-perform/h19/02.pdf 3
4. Progress in traffic engineering
• Dynamics of traffic flow (at least 1930’s~)
– Data accumulation(velocity-headway relationships)
– A lot of models (kinematic, fluid, car-following)
• Development of strategies controlling traffic
– Ramp metering
– Route guidance
– Variable speed limits
4
5. Traffic flow in Physics(mainly 1990’s~)
• Self-driven particles (SDPs)
– Cars, pedestrians, animals, molecular motors
– action≠reaction: phenomenological modeling
• Microscopic – macroscopic phenomena
– free-jam phase transitions
– meta-stable branches, synchronized flow
– experiment of spontaneous traffic jams
– a lot of models(OV model, NaSch model, IDM)
5
6. Direction of my study
• To ease jams with each car’s behavior with least
devices
– lateral interactions
Controllers(traffic lights, speed signs)
Road
Car’s behavior
infrastructure
6
7. We focus on interchanges and junctions
(major place where jams occur in Japanese three highways)
percentage
We used the data in the following web sites (Feb. 2012)
East Nippon Expressway Company Limited, http://www.e-nexco.co.jp/activity/safety/mechanism.html,
Central Nippon Expressway Company Limited, http://www.c-nexco.co.jp/traffic/jam/cause/,
West Nippon Expressway Company Limited, http://www.w-nexco.co.jp/traffic_info/trafficjam_comment/index2.html 7
8. To induce zipper merging in weaving sections
• Jam caused by disorderly lane-changes
– Impossible for cars in a road to see cars in the other road before entering
merging area
– High demand to change lanes
Disorderly lane-changes
merging bifurcation
8
10. Spatial change of configurations
before lane-changes
Orange lines
Orange lines
Lane1
Lane2
10
11. Modeling of cars’ movements:
Cellular Automata (CA)
• Parallel update: discrete time, updating simultaneously
• Movements:stochastic process
– If the next cell is empty, car 𝑖 moves to it with
probability 𝑣 𝑖𝑡 between time 𝑡 and 𝑡 + 1
11
12. • Time update of 𝑣 𝑖𝑡 :
Multiple lanes stochastic optimal velocity Model
[1], [2]
𝑡 𝑡
– 𝑉(⊿𝑥1,𝑖 , ⊿𝑥2,𝑖 ) : optimal velocity (OV) function
𝑡 𝑡
• ⊿𝑥1,𝑖 , ⊿𝑥2,𝑖 : distances of car 𝑖
– 𝑎 (0 ≤ 𝑎 ≤ 1): sensitivity parameter
• 𝑣 𝑖𝑡 approaches 𝑉 more quickly as 𝑎 becomes larger
12
14. The measurement of the alternative
configuration : Simulation
• Example of a
configuration
• 10 states at 𝑥 = 𝑘, 𝑘 + 1 denoted by 𝑆1 , … , 𝑆10
14
15. • Perfect alternative
configuration: 𝑆3
𝐶𝑗 (1 ≤ 𝑗 ≤ 10): The number of 𝑆 𝑗 in simulations
• 𝐺(𝑘): the degree of alternative
configurations at 𝑥 = 𝑘
The number ofthe perfect state state
The number of the perfect
𝐺(𝑘)
That of the states holding
That of the states holding vehicles at cars at 𝑥 = 𝑘
15
16. Spatial change to large 𝐺 with car-to-car
interactions
– simulations(dots), mean-field(lines)
zipper
p= 1
𝑞 = 𝑟 = 0.8
𝐺
d = 100
α = 0.05
𝛽 𝑗 = 𝑣 (𝑗 = 1,2)
105 ≤ 𝑡 < 2 × 105
* #simu: 10
* *
space[cell]
16
R. Nishi, H. Miki, A. Tomoeda, K. Nishinari, Phys. Rev. E 79, 066119 (2009)
17. The measurement of the alternative
configuration: Cluster approximation
• Calculation of the stationary state of the configurations
on the four cells at 𝑥 = 𝑘, 𝑘 + 1
• Π 𝑡𝑘 (𝑗)(1 ≤ 𝑗 ≤ 10) : The probability of having the
state 𝑆 𝑗 at time 𝑡 at 𝑥 = 𝑘, 𝑘 + 1
• 𝚷 𝑡𝑘 = Π 𝑡𝑘 1 , … , Π 𝑡𝑘 10 𝑇 : The state vector of the
four cells at 𝑥 = 𝑘, 𝑘 + 1 at time 𝑡
17
18. • State transition
: State transition matrix at 𝑥 = 𝑘, 𝑘 + 1
• The stationary state:
• The degree of the alternative configuration
∞
𝐺𝑘
18
19. Estimate zipper merging with flow rate
• A simple system with two-lane lattice and 1cell
Car-to-car interactions
OFF:non-zipper merging
ON: zipper merging
𝛼
1
𝛼
𝑑
19
20. Modeling with CA
• Parallel update(discrete time)
• Exclusive volume effect:impossible to move if the next
cell is occupied
• To move stochastically with at most 1 cell in 1 time step
Deceleration-like
interactions
Hopping prob. 𝑣𝑖 = 0 𝑣 𝑖 = 𝑝(≤ 1) 𝑣𝑖 = 1
configurations * *
*:any states
* 20
21. • When two cars exist just before merging
– One car chosen in random has to stop
t t+1 probability
21
22. Slow-to-start rule
• Delay of restarts due to inertia
• Only Just after stopping due to exclusive volume effect,
Hopping probability is multiplied by 𝑠 0 ≤ 𝑠 ≤ 1 [3]
– s = 0 (heaviest delay, cars must rest for 1 step)
– s = 1(no delay)
t t+1
𝑣𝑖 = 0 𝑣𝑖 = 𝑠 × 𝑝 , 𝑣𝑖 = 𝑠 × 1
* * * *
* *
22
24. No slow-to-start at merging area in zipper merging
Non-zipper merging
Move with prob. 1 irrespective of cars on
neighboring lane
Slow-to-start rule (inertia of restarting)
Zipper merging
24
Induce zipper configurations with 𝑝 (0< 𝑝 ≤ 1)
No blocked cars
25. Flow rate 𝑄: 𝑄 𝑝 < 1 > 𝑄 𝑝 = 1 for small 𝑠 (large inertia)
• Deceleration-like interactions makes flow rate larger
– By avoiding slow-to-starting at merging area by
𝑄(𝑝<1) > 𝑄(𝑝=1)
Injection prob. 𝛼
s = 0(heavest delay)
s = 1(no delay)
Slow-to-start effect : 𝑠
25
R. Nishi, H. Miki, A. Tomoeda, D. Yanagisawa, K. Nishinari, J. Stat. Mech. (2011) P05027
30. Conclusions
• A method to improve the efficiency of
merging
– by induce zipper merging by car-to-car
interactions
• Spatial change to zipper configurations before
merging with car-to-car interactions
• Zipper configurations realizes higher flow rate
– When slow-to-start effect (inertia) is large
30
31. Reference
• [1] M. Bando, K. Hasebe, A. Nakayama, A.
Shibata, and Y. Sugiyama, PRE 51, 1035 (1995)
• [2] Masahiro Kanai, Katsuhiro Nishinari, and
Tetsuji Tokihiro, PRE 72, 035102 (2005)
• [3] Simon C. Benjamin, Neil F Johnson, and P.
M. Hui, J. Phys. A: Math. Gen. 29 (1996) 3119–
3127.
31