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Regulation of AMPA receptor (AMPAR) expression is central to synaptic plasticity and brain function, but how these changes occur in vivo remains elusive. Here, we developed a method to longitudinally monitor the expression of synaptic AMPARs across multiple cortical layers in awake mice using two-photon imaging. We observed that baseline AMPAR expression in individual spines is highly dynamic with more dynamics in primary visual cortex (V1) layer 2/3 (L2/3) neurons than V1 L5 neurons. Visual deprivation through binocular enucleation induces a synapse-specific and depth-dependent change of synaptic AMPARs in V1 L2/3 neurons, wherein deep synapses are potentiated more than superficial synapses. The increase is specific to L2/3 neurons and absent on apical dendrites of L5 neurons, and is dependent on expression of the AMPAR-binding protein GRIP1. Our study demonstrates that specific neuronal connections, across cortical layers and even within individual neurons, respond uniquely to changes in sensory experience.

Regulation of AMPA receptor (AMPAR) expression is central to synaptic plasticity and brain function, but how these changes occur in vivo remains elusive. Here, we developed a method to longitudinally monitor the expression of synaptic AMPARs across multiple cortical layers in awake mice using two-photon imaging. We observed that baseline AMPAR expression in individual spines is highly dynamic with more dynamics in primary visual cortex (V1) layer 2/3 (L2/3) neurons than V1 L5 neurons. Visual deprivation through binocular enucleation induces a synapse-specific and depth-dependent change of synaptic AMPARs in V1 L2/3 neurons, wherein deep synapses are potentiated more than superficial synapses. The increase is specific to L2/3 neurons and absent on apical dendrites of L5 neurons, and is dependent on expression of the AMPAR-binding protein GRIP1. Our study demonstrates that specific neuronal connections, across cortical layers and even within individual neurons, respond uniquely to changes in sensory experience.

Juan Chen,1,* Yong-Ran Cheng,2,* Wen Wen,1,* Chunyi Wang,1,* Jie Ni,1 Jingjie Jiang,1 Xinyan Fu,1 Mengyun Zhou,3 Lan Ye,4 Zhong-Jun Ge,5 Han-Xia Tan,6 Mingwei Wang,1 Zhan-Hui Feng,7 Xingwei Zhang1 1Department of Cardiology, Hangzhou Institute of Cardiovascular Diseases, Affiliated Hospital of Hangzhou Normal University, Hangzhou, People’s Republic of China; 2School of Public Health, Hangzhou Medical College, Hangzhou, People’s Republic of China; 3Department of Molecular and Cellular Physiology, Shinshu University School of Medicine, Nagano, Japan; 4Basic Medical College, Guizhou Medical University, Guizhou, People’s Republic of China; 5Department of Cardiology, The Fourth People’s Hospital of Lin’an, Hangzhou, People’s Republic of China; 6Department of Oncology, The Third People’s Hospital of Hangzhou, Hangzhou, People’s Republic of China; 7Department of Neurology, Affiliated Hospital of Guizhou Medical University, Guiyang, People’s Republic of China*These authors contributed equally to this workCorrespondence: Zhan-Hui FengAffiliated Hospital of Guizhou Medical University, No. 28, Guiyi Street, Guiyang, People’s Republic of ChinaEmail h9450203@126.comXingwei ZhangHangzhou Institute of Cardiovascular Diseases, Affiliated Hospital of Hangzhou Normal University, 126 Wenzhou Road, Gongshu District, Hangzhou, People’s Republic of ChinaEmail hsdzxw@126.comBackground: Many people have experienced novel coronavirus pneumonia since the beginning of the COVID-19 pandemic in Wuhan, China. The Chinese government has encouraged people to wear face masks in public places; however, due to the large population, there may be a series of problems related to this recommendation, including shortages of masks and lack of an optimal disposal method for used masks.Objective: The purpose of this study is to understand the current status of mask shortages and used masks in China.Me

Modulation of synaptic strength through trafficking of AMPA receptors (AMPARs) is a fundamental mechanism underlying synaptic plasticity, learning, and memory. However, the dynamics of AMPAR trafficking in vivo and its correlation with learning have not been resolved. Here, we used in vivo two-photon microscopy to visualize surface AMPARs in mouse cortex during the acquisition of a forelimb reaching task. Daily training leads to an increase in AMPAR levels at a subset of spatially clustered dendritic spines in the motor cortex. Surprisingly, we also observed increases in spine AMPAR levels in the visual cortex. There, synaptic potentiation depends on the availability of visual input during motor training, and optogenetic inhibition of visual cortex activity impairs task performance. These results indicate that motor learning induces widespread cortical synaptic potentiation by increasing the net trafficking of AMPARs into spines, including in non-motor brain regions.

For fiscal year 2017, according to the Department of Energy’s June 2018 sustainability performance report, the DoD’s total energy consumption stood at 210 quadrillion joules (199 trillion Btu) of energy with a total energy expenditure of $11.9 billion. The majority of its energy budget was spent on the purchase of fossil fuels. This reliance on fossil fuels to sustain military operations would pose serious financial, operational, and strategic challenges and risks to the energy security and resiliency of the military. To reduce the reliance on fossil fuels, SECNAV has set forth five energy goals as key steps for the Navy to switch to alternative renewable energy sources. This thesis focuses on the design and development of a feasible micro-grid powered by renewable energy to fulfil SECNAV’s energy goal of increasing alternative energy ashore by producing 50% of shore-based energy requirements from alternative sources by 2020. The main aim of the thesis is to design and provide a proof of concept for an automated industrial control of a supercapacitor microgrid and compressed air storage system by integrating an alternate power supply in the supercapacitor solar microgrid and compressed air storage system, and by designing an algorithm to control the power supply using off-the-shelf automated industrial components., http://archive.org/details/industrialcontro1094562305, Outstanding Thesis, Major, Republic of Singapore Navy, Approved for public release; distribution is unlimited.

For fiscal year 2017, according to the Department of Energy’s June 2018 sustainability performance report, the DoD’s total energy consumption stood at 210 quadrillion joules (199 trillion Btu) of energy with a total energy expenditure of $11.9 billion. The majority of its energy budget was spent on the purchase of fossil fuels. This reliance on fossil fuels to sustain military operations would pose serious financial, operational, and strategic challenges and risks to the energy security and resiliency of the military. To reduce the reliance on fossil fuels, SECNAV has set forth five energy goals as key steps for the Navy to switch to alternative renewable energy sources. This thesis focuses on the design and development of a feasible micro-grid powered by renewable energy to fulfil SECNAV’s energy goal of increasing alternative energy ashore by producing 50% of shore-based energy requirements from alternative sources by 2020. The main aim of the thesis is to design and provide a proof of concept for an automated industrial control of a supercapacitor microgrid and compressed air storage system by integrating an alternate power supply in the supercapacitor solar microgrid and compressed air storage system, and by designing an algorithm to control the power supply using off-the-shelf automated industrial components.

This paper describes the development process and the initial field test results of an automated snowblower, focusing on one of the more difficult snow removal operations: blowing snow off the freeway alongside a guardrail without the snowblower touching the guardrail. The development process includes transforming this highway winter maintenance operation into a control problem, modeling a snowblower, designing control algorithms, devising a human-machine interface, and equipping a 20-ton snowblower with sensors and an actuator. Specific challenges include modeling the low-speed tire-induced oscillation, designing high-gain automatic control on front wheels while keeping rear steering under driver control, and implementing such a system under practical limitations. A new dynamic deflection tire model is incorporated into a bicycle model to account for the additional lateral dynamics. A low-order controller was first generated based on the understanding of the specific control problem and, then, refined and tuned iteratively using linear-matrix-inequality optimization. The initial winter field tests were successfully conducted with embedded magnetic markers along the guardrails installed on the shoulders of Interstate-80 in the Sierra Mountain region close to Donner Summit, CA, during the winter of 2005.

This paper describes the development process and the initial field test results of an automated snowblower, focusing on one of the more difficult snow removal operations: blowing snow off the freeway alongside a guardrail without the snowblower touching the guardrail. The development process includes transforming this highway winter maintenance operation into a control problem, modeling a snowblower, designing control algorithms, devising a human-machine interface, and equipping a 20-ton snowblower with sensors and an actuator. Specific challenges include modeling the low-speed tire-induced oscillation, designing high-gain automatic control on front wheels while keeping rear steering under driver control, and implementing such a system under practical limitations. A new dynamic deflection tire model is incorporated into a bicycle model to account for the additional lateral dynamics. A low-order controller was first generated based on the understanding of the specific control problem and, then, refined and tuned iteratively using linear-matrix-inequality optimization. The initial winter field tests were successfully conducted with embedded magnetic markers along the guardrails installed on the shoulders of Interstate-80 in the Sierra Mountain region close to Donner Summit, CA, during the winter of 2005.

This final report describes the development and the initial field test of an automated snowblower, focusing on one of the more difficult snow removal operations: blowing snow off the freeway along side a guardrail without touching the guardrail. The objective is to minimize damage to the snowblower, guardrail, and other elements of the infrastructure by deploying highly accurate and robust automated steering. The automatic steering is accomplished by following magnets embedded under the roadway. The development process includes transforming this real-world automated highway winter maintenance operation into a control problem, modeling snowblower, designing control algorithms, devising human machine interface, instrumenting a 20-ton snowblower, and conducting demonstration and field tests. The modified snowblower was equipped with add-on sensors, actuator, computer and driver interfaces; the test site includes eightguardrail sections between Kingvale and Soda Springs on the shoulders of Interstate-80 in the Sierra Mountain region near Donner Summit in California, USA. The ride-alongand test data demonstrated that the prototype system achieved all initial performance goals, and very positive feedback was received from various stakeholders as well as the operators who tried it.

This project is a one-and-half year research and experimental effort to investigate the implementation of the precision docking system on a bus and to demonstrate that the system can provide superior docking accuracy. Since a bus cannot be secured for docking experiments during the period of the project, the Buick LeSabre test vehicle was used to further the docking system development. The work included (1) complete control analysis and integrate docking algorithm with lane-keeping algorithm; (2) software development that integrated the modularized new signal processing algorithm with the docking control algorithm structure; (3) steering actuator performance/component requirements for the automated docking function; (4) feasibility investigation of using driver guidance display for docking maneuver via a driver-in-the-loop display simulator; (5) formulation of the automated-manual transitioning problem and the design of a transition controller; (6) demonstration of precision docking. The research completed under this project contributed to three sets of deliverables: (1) a final report which presents the analysis and experimental results of the development of the integrated lateral control system based on the magnetic marker for both precision docking and lane-assist functions, (2) requirements for steering actuator design, and (3) demonstrations of precision docking and lane-assist control using Buick LeSabre test vehicle.

This project is a one-and-half year research and experimental effort to investigate the implementation of the precision docking system on a bus and to demonstrate that the system can provide superior docking accuracy. Since a bus cannot be secured for docking experiments during the period of the project, the Buick LeSabre test vehicle was used to further the docking system development. The work included (1) complete control analysis and integrate docking algorithm with lane-keeping algorithm; (2) software development that integrated the modularized new signal processing algorithm with the docking control algorithm structure; (3) steering actuator performance/component requirements for the automated docking function; (4) feasibility investigation of using driver guidance display for docking maneuver via a driver-in-the-loop display simulator; (5) formulation of the automated-manual transitioning problem and the design of a transition controller; (6) demonstration of precision docking. The research completed under this project contributed to three sets of deliverables: (1) a final report which presents the analysis and experimental results of the development of the integrated lateral control system based on the magnetic marker for both precision docking and lane-assist functions, (2) requirements for steering actuator design, and (3) demonstrations of precision docking and lane-assist control using Buick LeSabre test vehicle.

This report details the PATH proving test results during the period of October 6 to December 1, 2000 on the test track of the Public Works Research Institute (PWRI) of the Ministry of Construction in Tsukuba City, Japan. This work is related to the "Attachment 5: System Evaluation by Proving Test, Section 2.2 Evaluation by Proving Test" to the "Implementation Plan for Advanced Cruise-Assist Highway System Technical Research Development for FY2000" with respect to the "Entrusted Study" entrusted in FY2000 by the "Public Works Research Institute of the Ministry of Construction" to the "Advanced Cruise-Assist Highway System Research Association (AHSRA)." Due to the late signing of the contract between The University of California and AHSRA, the scope of the report was modified according to "Response to the Minimum Specification of PATH Proving Test Specification for Lane Departure from AHSRA" on November 6, 2000.

This report details the PATH proving test results during the period of October 6 to December 1, 2000 on the test track of the Public Works Research Institute (PWRI) of the Ministry of Construction in Tsukuba City, Japan. This work is related to the "Attachment 5: System Evaluation by Proving Test, Section 2.2 Evaluation by Proving Test" to the "Implementation Plan for Advanced Cruise-Assist Highway System Technical Research Development for FY2000" with respect to the "Entrusted Study" entrusted in FY2000 by the "Public Works Research Institute of the Ministry of Construction" to the "Advanced Cruise-Assist Highway System Research Association (AHSRA)." Due to the late signing of the contract between The University of California and AHSRA, the scope of the report was modified according to "Response to the Minimum Specification of PATH Proving Test Specification for Lane Departure from AHSRA" on November 6, 2000.

This project is a one-and-half year research and experimental effort that builds on the results of as well as supplements the efforts in MOU 250, "Experimental Studies on Vehicle Control Systems." It focuses on an emerging issue of the high-speed steering control: how to conduct robust automatic vehicle steering control at highway speed based on a look-down lateral sensing system.

This project is a one-and-half year research and experimental effort that builds on the results of as well as supplements the efforts in MOU 250, "Experimental Studies on Vehicle Control Systems." It focuses on an emerging issue of the high-speed steering control: how to conduct robust automatic vehicle steering control at highway speed based on a look-down lateral sensing system.

[EN] The architecture of the branched root system of plants is a major determinant of vigor. Water availability is known to impact root physiology and growth; however, the spatial scale at which this stimulus influences root architecture is poorly understood. Here we reveal that differences in the availability of water across the circumferential axis of the root create spatial cues that determine the position of lateral root branches. We show that roots of several plant species can distinguish between a wet surface and air environments and that this also impacts the patterning of root hairs, anthocyanins, and aerenchyma in a phenomenon we describe as hydropatterning. This environmental response is distinct from a touch response and requires available water to induce lateral roots along a contacted surface. X-ray microscale computed tomography and 3D reconstruction of soil-grown root systems demonstrate that such responses also occur under physiologically relevant conditions. Using early-stage lateral root markers, we show that hydropatterning acts before the initiation stage and likely determines the circumferential position at which lateral root founder cells are specified. Hydro-patterning is independent of endogenous abscisic acid signaling, distinguishing it from a classic water-stress response. Higher water availability induces the biosynthesis and transport of the lateral root-inductive signal auxin through local regulation of TRYPTOPHAN AMINOTRANSFERASE OF ARABIDOPSIS 1 and PIN-FORMED 3, both of which are necessary for normal hydropatterning. Our work suggests that water availability is sensed and interpreted at the suborgan level and locally patterns a wide variety of developmental processes in the root.

[EN] The architecture of the branched root system of plants is a major determinant of vigor. Water availability is known to impact root physiology and growth; however, the spatial scale at which this stimulus influences root architecture is poorly understood. Here we reveal that differences in the availability of water across the circumferential axis of the root create spatial cues that determine the position of lateral root branches. We show that roots of several plant species can distinguish between a wet surface and air environments and that this also impacts the patterning of root hairs, anthocyanins, and aerenchyma in a phenomenon we describe as hydropatterning. This environmental response is distinct from a touch response and requires available water to induce lateral roots along a contacted surface. X-ray microscale computed tomography and 3D reconstruction of soil-grown root systems demonstrate that such responses also occur under physiologically relevant conditions. Using early-stage lateral root markers, we show that hydropatterning acts before the initiation stage and likely determines the circumferential position at which lateral root founder cells are specified. Hydro-patterning is independent of endogenous abscisic acid signaling, distinguishing it from a classic water-stress response. Higher water availability induces the biosynthesis and transport of the lateral root-inductive signal auxin through local regulation of TRYPTOPHAN AMINOTRANSFERASE OF ARABIDOPSIS 1 and PIN-FORMED 3, both of which are necessary for normal hydropatterning. Our work suggests that water availability is sensed and interpreted at the suborgan level and locally patterns a wide variety of developmental processes in the root.

This study aimed to assess the concentrations of cadmium (Cd), nickel (Ni) and lead (Pb) in the tissues of fish collected from the lower reach of the Kelantan River, Malaysia. Fishes were collected using gill nets during the dry and wet seasons. A total of 78 individual fish were caught and comprised 6 families, 11 genera and 13 species. The dorsal muscle was analysed using a graphite furnace Atomic Absorption Spectrometer (AAS). The mean concentration of Cd in Chitala chitala (0.076 mg/kg) was above the critical limit values of the European Commission (EC), World Health Organization (WHO) and Food and Agriculture Organization (FAO). The mean concentrations of Cd in Barbonymus gonionatus and Tachysurus maculatus were already at the level of concern, whereas the other species were approaching the limits of permissible levels. No fish samples were found to have a Ni level higher than the permissible limit of 0.5–0.6 mg/kg set by the WHO (1985). Osteochilus hasseltii (0.169 mg/kg) and T. maculatus (0.156 mg/kg) showed high Pb concentrations. The concentrations of heavy metals were found to be elevated in the wet season (p<0.05). Omnivorous fish were detected with elevated concentrations of Cd and Ni, whereas carnivorous fish had the highest concentration of Pb. The concentrations of Cd and Pb in fish tissues were positively correlated with fish weight (p<0.05). This study determined that the fish species caught in the Kelantan River were contaminated with non-essential metals (Cd, Ni and Pb). Nevertheless, the heavy metal concentration in the fish tissues, with the exception of C. chitala, O. hasseltii and T. maculatus, did not exceed the EC, FAO, Malaysian Food Act (MFA) or WHO guidelines.

Objective: Critically ill patients with acute kidney injury (AKI) frequently need acute renal replacement therapy (aRRT). We evaluated an inexpensive, rapid quantitative and qualitative analysis of proteinuria on the course of AKI patients requiring aRRT in intensive care. Method: This was a prospective, observational study of critically ill patients with severe established AKI or Acute on Chronic Kidney Injury (AoCKI) requiring aRRT. Urine samples were analyzed using Sodium-Dodecyl-Sulphate-Polyacryamide Gel Electrophoresis (SDS-PAGE). Results: A total of 30 critically ill patients were studied. Those who died have higher APACHE II (29 ± 6 vs. 20 ± 5, p<0.001), multi-organ failure (0.7 ± 0.5 vs. 0.2 ± 0.4, p < 0.02) and Tubular/Glomerular ratio (114 ± 60 vs. 75± 37, p < 0.05).The renal non-recoverers have higher baseline creatinine (415 ± 328 vs. 125± 19 umol/l, p < 0.01), urinary Dipstick value (1.8±0.8 vs. 0.5±0, p <0.05) and Glomerular score (3.0 ± 1.8 vs. 0.6 ± 0.2, p < 0.02).Heavy tubular proteinuria also predicts a longer duration of interim dialysis support and mortality whereas glomerular proteinuria correlates with development of chronicity and End Stage Renal Disease (ESRD). Conclusions: The dominant presence of tubular proteinuria is associated with poor survival in patients who have high APACHE II score and multi-organ failure. It also correlates with a longer duration of dialysis support in survivals. Renal Non-recoverers had heavy dominant presence of glomerular proteinuria. SDS-PAGE proteinuria analysis offers a reliable and inexpensive method to prognosticate proteinuria in this group of critically ill patients.

This study aimed to assess the concentrations of cadmium (Cd), nickel (Ni) and lead (Pb) in the tissues of fish collected from the lower reach of the Kelantan River, Malaysia. Fishes were collected using gill nets during the dry and wet seasons. A total of 78 individual fish were caught and comprised 6 families, 11 genera and 13 species. The dorsal muscle was analysed using a graphite furnace Atomic Absorption Spectrometer (AAS). The mean concentration of Cd in Chitala chitala (0.076 mg/kg) was above the critical limit values of the European Commission (EC), World Health Organization (WHO) and Food and Agriculture Organization (FAO). The mean concentrations of Cd in Barbonymus gonionatus and Tachysurus maculatus were already at the level of concern, whereas the other species were approaching the limits of permissible levels. No fish samples were found to have a Ni level higher than the permissible limit of 0.5–0.6 mg/kg set by the WHO (1985). Osteochilus hasseltii (0.169 mg/kg) and T. maculatus (0.156 mg/kg) showed high Pb concentrations. The concentrations of heavy metals were found to be elevated in the wet season (p<0.05). Omnivorous fish were detected with elevated concentrations of Cd and Ni, whereas carnivorous fish had the highest concentration of Pb. The concentrations of Cd and Pb in fish tissues were positively correlated with fish weight (p<0.05). This study determined that the fish species caught in the Kelantan River were contaminated with non-essential metals (Cd, Ni and Pb). Nevertheless, the heavy metal concentration in the fish tissues, with the exception of C. chitala, O. hasseltii and T. maculatus, did not exceed the EC, FAO, Malaysian Food Act (MFA) or WHO guidelines.

Objective: Critically ill patients with acute kidney injury (AKI) frequently need acute renal replacement therapy (aRRT). We evaluated an inexpensive, rapid quantitative and qualitative analysis of proteinuria on the course of AKI patients requiring aRRT in intensive care. Method: This was a prospective, observational study of critically ill patients with severe established AKI or Acute on Chronic Kidney Injury (AoCKI) requiring aRRT. Urine samples were analyzed using Sodium-Dodecyl-Sulphate-Polyacryamide Gel Electrophoresis (SDS-PAGE). Results: A total of 30 critically ill patients were studied. Those who died have higher APACHE II (29 ± 6 vs. 20 ± 5, p<0.001), multi-organ failure (0.7 ± 0.5 vs. 0.2 ± 0.4, p < 0.02) and Tubular/Glomerular ratio (114 ± 60 vs. 75± 37, p < 0.05).The renal non-recoverers have higher baseline creatinine (415 ± 328 vs. 125± 19 umol/l, p < 0.01), urinary Dipstick value (1.8±0.8 vs. 0.5±0, p <0.05) and Glomerular score (3.0 ± 1.8 vs. 0.6 ± 0.2, p < 0.02).Heavy tubular proteinuria also predicts a longer duration of interim dialysis support and mortality whereas glomerular proteinuria correlates with development of chronicity and End Stage Renal Disease (ESRD). Conclusions: The dominant presence of tubular proteinuria is associated with poor survival in patients who have high APACHE II score and multi-organ failure. It also correlates with a longer duration of dialysis support in survivals. Renal Non-recoverers had heavy dominant presence of glomerular proteinuria. SDS-PAGE proteinuria analysis offers a reliable and inexpensive method to prognosticate proteinuria in this group of critically ill patients.

This PATH Research Report covers the (Vehicle-Infrastructure Integration) VII California Development and Deployment (Task Order 5217) efforts from October 2005 – December 2007. Because TO 5217 is followed by the continuation TO 6127, it is a compendium of very applications-oriented research to date as well as a final report to TO 5217.It is organized to impart the very specific and generally very pragmatic implementation details first, beginning with an introduction (Section 1), description of VII hardware, general network and installation (Section 2), then progressing to a more detailed description of the network and operating software (Section 3) and finally to applications in development and prospective applications (Section 4). Because it is not yet a final report but rather a ‘research in progress’ report, it does not comprehensively address every task in the VII California family of task orders; specifically, several of the applications described in Section 4 are represented as works in progress (as they are at this writing), and the on-ramp metering study is not yet reported. Again, the purpose, of this report is to provide the reader with an understanding of how VII California was implemented.

The explosive growth of the World Wide Web has increase the technology for information dissemination.Beside that, the growth of development software becomes an important and the quick development tool for web development could assist non-IT user to use the web as communication medium.In education, teaching and learning using Internet is one of main important medium for lecturer or instructor to provide teaching materials, post announcement, provide online quiz and etc.The Faculty of Electrical and Electronic Engineering, as it name implies, not all faculty member familiar with web development even some of them never ever know how to use the web as medium, due to the these contributed factor, Interactive Web-Builder (I -WEB) is a web-based system application which runs on Internet Information Services (IIS) developed to assist academician to create a personal website or create a web for teaching and learning purposes.I-Web is a fully dynamic system and provides user-friendly interface to facilitate user to create and manage the web online.The system also utilizing concept Web-Creating-Web (WCW) to develop the structure of the system for users whose are experienced or inexperienced in web development methods.The development processes have successfully developed using ASP.NET and Microsoft Access as prototype database.The system provides solution for dynamic templates, editor and file manager.The system shows dynamic templates to enable target users to create their web space from a variety of pre-prepared web templates, while file manager manages files more conveniently in hosting server in comparison with the conventional File Transfer Protocol(FTP).Having this student to-lecturer interface,the interactive between lecturer and students are more effective and convenient.

Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fueling, as well as automatic intersection, or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inherently nonlinear with large uncertainties. The feasibility of providing a smooth precision stopping brake control based on a conventional pneumatic brake system has not yet been demonstrated. This paper describes the precision stopping problem, verifies the pneumatic brake model, details the indirect adaptive robust control (IARC) design for a pneumatic brake system, and reports the successful implementation of a bus precision docking demonstration

Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fueling, as well as automatic intersection, or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inherently nonlinear with large uncertainties. The feasibility of providing a smooth precision stopping brake control based on a conventional pneumatic brake system has not yet been demonstrated. This paper describes the precision stopping problem, verifies the pneumatic brake model, details the indirect adaptive robust control (IARC) design for a pneumatic brake system, and reports the successful implementation of a bus precision docking demonstration

This report contains an evaluation of the sensing techniques and implementation issues of magnetic sensing as a position reference system. The field patterns of sample magnetic markers were first measured to illustrate the basic characteristics of such systems. Several sensing approaches were explained and compared with regard to their functioning principles and sensitivity to measurement variations. Three particular algorithms were discussed with illustrations of respective mapping methods. Robustness and sensitivity of the sensing methods, when subject to signal noises and parameter variations, are desirable features. A framework for dealing with technical limitations and objectives is outlined. The constraints and preferences of sub-systems and the corresponding issues are listed for further evaluation of described sensing systems. The optimization of such systems can only be accomplished by building the appropriate evaluation models for each component and the overall system. With the increasing deployment of magnetic sensing systems for position reference, these subjects deserve elaborated studies and thorough analysis. KEY WORDS: Magnetic, Sensing, Position Reference, Ground Vehicle Guidance and Control

This report contains an evaluation of the sensing techniques and implementation issues of magnetic sensing as a position reference system. The field patterns of sample magnetic markers were first measured to illustrate the basic characteristics of such systems. Several sensing approaches were explained and compared with regard to their functioning principles and sensitivity to measurement variations. Three particular algorithms were discussed with illustrations of respective mapping methods. Robustness and sensitivity of the sensing methods, when subject to signal noises and parameter variations, are desirable features. A framework for dealing with technical limitations and objectives is outlined. The constraints and preferences of sub-systems and the corresponding issues are listed for further evaluation of described sensing systems. The optimization of such systems can only be accomplished by building the appropriate evaluation models for each component and the overall system. With the increasing deployment of magnetic sensing systems for position reference, these subjects deserve elaborated studies and thorough analysis. KEY WORDS: Magnetic, Sensing, Position Reference, Ground Vehicle Guidance and Control

"October, 1982.", Bibliography: p. 16-17., National Science Foundation Grant No. ECS 800 6878, by John L. Wyatt, Jr., William M. Siebert, Han-Ngee Tan.

"October, 1982.", Bibliography: p. 16-17., National Science Foundation Grant No. ECS 800 6878, by John L. Wyatt, Jr., William M. Siebert, Han-Ngee Tan.

Bibliography: leaves 5-6., Caption title., Supported by the U.S. Dept. of Transportation under Contract DOT-TSC-1456, by S.B. Gershwin and H.-N. Tan.

Bibliography: leaves 5-6., Caption title., Supported by the U.S. Dept. of Transportation under Contract DOT-TSC-1456, by S.B. Gershwin and H.-N. Tan.

Bibliography: leaves 13-15., "February, 1979." Caption title., Supported by the U.S. Dept. of Transportation under Contract DOT-TSC-1456, by H.-N. Tan and S.B. Gershwin.

Bibliography: leaves 5-6., Caption title., Supported by the U.S. Dept. of Transportation under Contract DOT-TSC-1456, by S.B. Gershwin and H.-N. Tan.

Bibliography: leaves 13-15., "February, 1979." Caption title., Supported by the U.S. Dept. of Transportation under Contract DOT-TSC-1456, by H.-N. Tan and S.B. Gershwin.

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems (AHS) at PATH, U. C. Berkeley supported by the project MOU 331. The demo'97 realtime code was first reconstructed for further development. Based on the new framework, the implementation and comparison of nonlinear controllers in the longitudinal control for cars platooning and other maneuvers have been carried out. Specifically, a dynamic sliding mode controller and a dynamic back-stepping multiple surface controller have been implemented, which are then compared to the previously implemented adaptive sliding mode controller. In the dynamic back-stepping control, a new type of integral filters have been developed, which were used for filtering measured signals and to estimate the derivative of these signals in realtime. These controllers have been implemented in realtime code and tested at low and high speed. Realtime run shows that each controller has its own characteristics. In general, the optimal dynamic back-stepping sliding surface controller has better performance by using the same set of measured data compared to previously implemented adaptive sliding mode controller. Emphasis has been put on the dynamic back-stepping multiple surface controller development.

This report presents the work on the development of the regulation layer for automated merging. It includes system modeling, control system synthesis, theoretical analysis and real-rime implementation and field test. The essential part is a rather general adaptive merging algorithm. Key words: automated highway systems, advanced vehicle merging maneuvers, automated vehicle merging maneuvers, longitudinal control, speed control, distance control, vehicle platooning, virtual platooning, adaptive realtime merging algorithm, back-stepping control, magnet distance measurement

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems (AHS) at PATH, U. C. Berkeley supported by the project MOU 331. The demo'97 realtime code was first reconstructed for further development. Based on the new framework, the implementation and comparison of nonlinear controllers in the longitudinal control for cars platooning and other maneuvers have been carried out. Specifically, a dynamic sliding mode controller and a dynamic back-stepping multiple surface controller have been implemented, which are then compared to the previously implemented adaptive sliding mode controller. In the dynamic back-stepping control, a new type of integral filters have been developed, which were used for filtering measured signals and to estimate the derivative of these signals in realtime. These controllers have been implemented in realtime code and tested at low and high speed. Realtime run shows that each controller has its own characteristics. In general, the optimal dynamic back-stepping sliding surface controller has better performance by using the same set of measured data compared to previously implemented adaptive sliding mode controller. Emphasis has been put on the dynamic back-stepping multiple surface controller development.

This report presents the work on the development of the regulation layer for automated merging. It includes system modeling, control system synthesis, theoretical analysis and real-rime implementation and field test. The essential part is a rather general adaptive merging algorithm. Key words: automated highway systems, advanced vehicle merging maneuvers, automated vehicle merging maneuvers, longitudinal control, speed control, distance control, vehicle platooning, virtual platooning, adaptive realtime merging algorithm, back-stepping control, magnet distance measurement

This paper describes the development process and some preliminary findings for the human-machine interface (HMI) component of a system to aid snowplow operators. The HMI was developed though a series of driver task explorations and prototype tests. The HMI design has resulted in positive driver feedback and quick learning periods. Keywords Driver assist system Snowplow Lane keeping interface Collision warning interface Human factors - snowplow

This paper describes the development process and some preliminary findings for the human-machine interface (HMI) component of a system to aid snowplow operators. The HMI was developed though a series of driver task explorations and prototype tests. The HMI design has resulted in positive driver feedback and quick learning periods. Keywords Driver assist system Snowplow Lane keeping interface Collision warning interface Human factors - snowplow

This paper discusses fundamental issues in lateral control design for automatic steering of passenger cars within an Automated Highway System ( AHS). A detailed analysis using time and frequency domain tools together with physical insight into the vehicle dynamics is presented. Several design directions are investigated, both for look-down and look-ahead systems. In order to preserve the qualities of look-down systems, the concept of virtual look-ahead via additional yaw error and yaw rate error measurements is introduced. The authors conclude that proportional-type feedback design suffices if the lateral vehicle dynamics itself provide phase lead for stabilization. On the other hand, a phase lead controller is required for shorter look-ahead distances.

This paper discusses fundamental issues in lateral control design for automatic steering of passenger cars within an Automated Highway System ( AHS). A detailed analysis using time and frequency domain tools together with physical insight into the vehicle dynamics is presented. Several design directions are investigated, both for look-down and look-ahead systems. In order to preserve the qualities of look-down systems, the concept of virtual look-ahead via additional yaw error and yaw rate error measurements is introduced. The authors conclude that proportional-type feedback design suffices if the lateral vehicle dynamics itself provide phase lead for stabilization. On the other hand, a phase lead controller is required for shorter look-ahead distances.

This paper describes a robust control design for automatic steering of passenger cars. Previous studies [l-3] showed that' reliable automatic driving at highway speed may not be achieved under practical conditions with look-down reference systems which use only one sensor at the front bumper to measure the lateral displacement of the vehicle from the lane reference. An additional lateral displacement. sensor is added here at the tail bumper to solve the automatic steering control problem. The control design is performed stepwise: First, an initial controller is determined using the parameter space approach in an invariance plane. This controller is then refined to accommodate practical constraints and finally optimized using the multi-objective optimization program MOPS. The performance and robustness of the final controller was verified experimentally at California PATH in a series of test runs.