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GOPS: A general optimal control problem solver for autonomous driving and industrial control applications GOPS:用于自动驾驶和工业控制应用的通用最优控制问题求解器
Q1 TRANSPORTATION Pub Date : 2023-04-17 DOI: 10.1016/j.commtr.2023.100096
Wenxuan Wang, Yuhang Zhang, Jiaxin Gao, Yuxuan Jiang, Yujie Yang, Zhilong Zheng, Wenjun Zou, Jie Li, Congsheng Zhang, Wenhan Cao, Genjin Xie, Jingliang Duan, Shengbo Eben Li

Solving optimal control problems serves as the basic demand of industrial control tasks. Existing methods like model predictive control often suffer from heavy online computational burdens. Reinforcement learning has shown promise in computer and board games but has yet to be widely adopted in industrial applications due to a lack of accessible, high-accuracy solvers. Current Reinforcement learning (RL) solvers are often developed for academic research and require a significant amount of theoretical knowledge and programming skills. Besides, many of them only support Python-based environments and limit to model-free algorithms. To address this gap, this paper develops General Optimal control Problems Solver (GOPS), an easy-to-use RL solver package that aims to build real-time and high-performance controllers in industrial fields. GOPS is built with a highly modular structure that retains a flexible framework for secondary development. Considering the diversity of industrial control tasks, GOPS also includes a conversion tool that allows for the use of Matlab/Simulink to support environment construction, controller design, and performance validation. To handle large-scale problems, GOPS can automatically create various serial and parallel trainers by flexibly combining embedded buffers and samplers. It offers a variety of common approximate functions for policy and value functions, including polynomial, multilayer perceptron, convolutional neural network, etc. Additionally, constrained and robust algorithms for special industrial control systems with state constraints and model uncertainties are also integrated into GOPS. Several examples, including linear quadratic control, inverted double pendulum, vehicle tracking, humanoid robot, obstacle avoidance, and active suspension control, are tested to verify the performances of GOPS.

解决最优控制问题是工业控制任务的基本要求。现有的方法,如模型预测控制,经常遭受沉重的在线计算负担。强化学习在计算机和棋盘游戏中显示出了前景,但由于缺乏可访问的高精度求解器,尚未在工业应用中广泛采用。当前的强化学习(RL)求解器通常是为学术研究而开发的,需要大量的理论知识和编程技能。此外,它们中的许多只支持基于Python的环境,并且仅限于无模型算法。为了解决这一差距,本文开发了通用最优控制问题求解器(GOPS),这是一个易于使用的RL求解器包,旨在构建工业领域的实时和高性能控制器。GOPS采用高度模块化的结构,为二次开发保留了灵活的框架。考虑到工业控制任务的多样性,GOPS还包括一个转换工具,该工具允许使用Matlab/Simulink来支持环境构建、控制器设计和性能验证。为了处理大规模问题,GOPS可以通过灵活组合嵌入式缓冲区和采样器来自动创建各种串行和并行训练器。它为策略和值函数提供了各种常见的近似函数,包括多项式、多层感知器、卷积神经网络等。此外,具有状态约束和模型不确定性的特殊工业控制系统的约束和鲁棒算法也被集成到GOPS中。通过线性二次控制、倒立摆、车辆跟踪、仿人机器人、避障和主动悬架控制等实例验证了GOPS的性能。
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引用次数: 4
What's next for battery-electric bus charging systems 电动巴士充电系统的下一步是什么
Q1 TRANSPORTATION Pub Date : 2023-03-09 DOI: 10.1016/j.commtr.2023.100094
Ziling Zeng, Xiaobo Qu
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引用次数: 4
Formulation and solution for calibrating boundedly rational activity-travel assignment: An exploratory study 有界理性活动-旅行分配标定的公式与求解:探索性研究
Q1 TRANSPORTATION Pub Date : 2023-01-20 DOI: 10.1016/j.commtr.2023.100092
Dong Wang , Feixiong Liao

Parameter calibration of the traffic assignment models is vital to travel demand analysis and management. As an extension of the conventional traffic assignment, boundedly rational activity-travel assignment (BR-ATA) combines activity-based modeling and traffic assignment endogenously and can capture the interdependencies between high dimensional choice facets along the activity-travel patterns. The inclusion of multiple episodes of activity participation and bounded rationality behavior enlarges the choice space and poses a challenge for calibrating the BR-ATA models. In virtue of the multi-state supernetwork, this exploratory study formulates the BR-ATA calibration as an optimization problem and analyzes the influence of the two additional components on the calibration problem. Considering the temporal dimension, we also propose a dynamic formulation of the BR-ATA calibration problem. The simultaneous perturbation stochastic approximation algorithm is adopted to solve the proposed calibration problems. Numerical examples are presented to calibrate the activity-based travel demand for illustrations. The results demonstrate the feasibility of the solution method and show that the parameter characterizing the bounded rationality behavior has a significant effect on the convergence of the calibration solutions.

交通分配模型的参数标定对出行需求分析和管理至关重要。作为传统交通分配的扩展,有界理性活动出行分配(BR-ATA)内生地结合了基于活动的建模和交通分配,可以捕捉活动出行模式中高维选择方面之间的相互依赖性。包含多个活动参与事件和有限理性行为扩大了选择空间,并对BR-ATA模型的校准提出了挑战。借助于多状态超网络,本探索性研究将BR-ATA校准公式化为一个优化问题,并分析了两个附加组件对校准问题的影响。考虑到时间维度,我们还提出了BR-ATA校准问题的动态公式。采用同时摄动随机近似算法来解决所提出的校准问题。举例说明了基于活动的旅行需求。结果证明了该求解方法的可行性,并表明表征有界理性行为的参数对校准解的收敛性有显著影响。
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引用次数: 1
Impact of the COVID-19 pandemic and generational heterogeneity on ecommerce shopping styles – A case study of Sacramento, California COVID-19大流行和代际差异对电子商务购物风格的影响——以加利福尼亚州萨克拉门托为例
Q1 TRANSPORTATION Pub Date : 2023-01-20 DOI: 10.1016/j.commtr.2023.100091
Qianhua Luo , Teddy Forscher , Susan Shaheen , Elizabeth Deakin , Joan L. Walker

The COVID pandemic has accelerated the growth of ecommerce and reshaped shopping patterns, which in turn impacts trip-making and vehicle miles traveled. The objectives of this study are to define shopping styles and quantify their prevalence in the population, investigate the impact of the pandemic on shopping style transition, understand the generational heterogeneity and other factors that influence shopping styles, and comment on the potential impact of the pandemic on long-term shopping behavior. Two months after the initial shutdown (May/June 2021), we collected ecommerce behavioral data from 313 Sacramento Region households using an online survey. A K-means clustering analysis of shopping behavior across eight commodity types identified five shopping styles, including ecommerce independent, ecommerce dependent, and three mixed modes in-between. We found that the share of ecommerce independent style shifted from 55% pre-pandemic to 27% during the pandemic. Overall, 30% kept the same style as pre-pandemic, 54% became more ecommerce dependent, and 16% became less ecommerce dependent, with the latter group more likely to view shopping an excuse to get out. Heterogeneity was found across generations. Pre-pandemic, Millennials and Gen Z were the most ecommerce dependent, but during the pandemic they made relatively small shifts toward increased ecommerce dependency. Baby Boomers and the Silent Generation were bimodal, either sticking to in-person shopping or shifting to ecommerce-dependency during the pandemic. Post-pandemic intentions varied across styles, with households who primarily adopt non-food ecommerce intending to reverse back to in-person shopping, while the highly ecommerce dependent intend to limit future in-store activities.

新冠肺炎疫情加速了电子商务的发展,重塑了购物模式,这反过来又影响了出行和车辆行驶里程。本研究的目的是定义购物风格并量化其在人群中的流行率,调查疫情对购物风格转变的影响,了解影响购物风格的代际异质性和其他因素,并评论疫情对长期购物行为的潜在影响。在最初关闭两个月后(2021年5月/6月),我们通过在线调查收集了萨克拉门托地区313户家庭的电子商务行为数据。对八种商品类型的购物行为进行K-means聚类分析,确定了五种购物方式,包括独立于电子商务、依赖于电子商务和介于两者之间的三种混合模式。我们发现,电子商务独立风格的份额从疫情前的55%转变为疫情期间的27%。总体而言,30%的人保持了与疫情前相同的风格,54%的人变得更加依赖电子商务,16%的人变得不那么依赖电子商务了,后者更有可能将购物视为外出的借口。代际间存在异质性。疫情前,千禧一代和Z世代是最依赖电子商务的群体,但在疫情期间,他们对电子商务依赖度的增加做出了相对较小的转变。婴儿潮一代和沉默的一代是双峰型的,要么在疫情期间坚持亲自购物,要么转向电子商务依赖。疫情后的意图因风格而异,主要采用非食品电子商务的家庭打算转向亲自购物,而高度依赖电子商务的人打算限制未来的店内活动。
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引用次数: 5
Online prediction of network-level public transport demand based on principle component analysis 基于主成分分析的网级公共交通需求在线预测
Q1 TRANSPORTATION Pub Date : 2023-01-16 DOI: 10.1016/j.commtr.2023.100093
Cheng Zhong, Peiling Wu, Qi Zhang, Zhenliang Ma

Online demand prediction plays an important role in transport network services from operations, controls to management, and information provision. However, the online prediction models are impacted by streaming data quality issues with noise measurements and missing data. To address these, we develop a robust prediction method for online network-level demand prediction in public transport. It consists of a PCA method to extract eigen demand images and an optimization-based pattern recognition model to predict the weights of eigen demand images by making use of the partially observed real-time data up to the prediction time in a day. The prediction model is robust to data quality issues given that the eigen demand images are stable and the predicted weights of them are optimized using the network level data (less impacted by local data quality issues). In the case study, we validate the accuracy and transferability of the model by comparing it with benchmark models and evaluate the robustness in tolerating data quality issues of the proposed model. The experimental results demonstrate that the proposed Pattern Recognition Prediction based on PCA (PRP-PCA) consistently outperforms other benchmark models in accuracy and transferability. Moreover, the model shows high robustness in accommodating data quality issues. For example, the PRP-PCA model is robust to missing data up to 50% regardless of the noise level. We also discuss the hidden patterns behind the network level demand. The visualization analysis shows that eigen demand images are significantly connected to the network structure and station activity variabilities. Though the demand changes dramatically before and after the pandemic, the eigen demand images are consistent over time in Stockholm.

在线需求预测在交通网络服务从运营、控制到管理以及信息提供中发挥着重要作用。然而,在线预测模型受到流数据质量问题的影响,这些问题包括噪声测量和数据丢失。为了解决这些问题,我们开发了一种用于公共交通在线网络级需求预测的稳健预测方法。它由提取特征需求图像的PCA方法和利用一天中部分观测到的实时数据预测特征需求图像权重的基于优化的模式识别模型组成。假设特征需求图像是稳定的,并且它们的预测权重是使用网络级数据优化的(受局部数据质量问题的影响较小),则预测模型对数据质量问题是鲁棒的。在案例研究中,我们通过将模型与基准模型进行比较来验证模型的准确性和可转移性,并评估所提出的模型在容忍数据质量问题方面的稳健性。实验结果表明,所提出的基于PCA的模式识别预测(PRP-PCA)在准确性和可移植性方面始终优于其他基准模型。此外,该模型在适应数据质量问题方面表现出很高的鲁棒性。例如,无论噪声水平如何,PRP-PCA模型对高达50%的丢失数据都是鲁棒的。我们还讨论了网络级需求背后的隐藏模式。可视化分析表明,特征需求图像与网络结构和站点活动变量显著相关。尽管疫情前后需求发生了巨大变化,但斯德哥尔摩的特征需求图像随着时间的推移是一致的。
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引用次数: 4
COVID-19 transmission in U.S. transit buses: A scenario-based approach with agent-based simulation modeling (ABSM) COVID-19在美国公共汽车中的传播:基于agent的模拟建模(ABSM)的基于场景的方法
Q1 TRANSPORTATION Pub Date : 2023-01-09 DOI: 10.1016/j.commtr.2023.100090
Sachraa G. Borjigin, Qian He, Deb A. Niemeier

The transit bus environment is considered one of the primary sources of transmission of the COVID-19 (SARS-CoV-2) virus. Modeling disease transmission in public buses remains a challenge, especially with uncertainties in passenger boarding, alighting, and onboard movements. Although there are initial findings on the effectiveness of some of the mitigation policies (such as face-covering and ventilation), evidence is scarce on how these policies could affect the onboard transmission risk under a realistic bus setting considering different headways, boarding and alighting patterns, and seating capacity control. This study examines the specific policy regimes that transit agencies implemented during early phases of the COVID-19 pandemic in USA, in which it brings crucial insights on combating current and future epidemics. We use an agent-based simulation model (ABSM) based on standard design characteristics for urban buses in USA and two different service frequency settings (10-min and 20-min headways). We find that wearing face-coverings (surgical masks) significantly reduces onboard transmission rates, from no mitigation rates of 85% in higher-frequency buses and 75% in lower-frequency buses to 12.5%. The most effective prevention outcome is the combination of KN-95 masks, open window policies, and half-capacity seating control during higher-frequency bus services, with an outcome of nearly 0% onboard infection rate. Our results advance understanding of COVID-19 risks in the urban bus environment and contribute to effective mitigation policy design, which is crucial to ensuring passenger safety. The findings of this study provide important policy implications for operational adjustment and safety protocols as transit agencies seek to plan for future emergencies.

公交环境被认为是新冠肺炎(SARS-CoV-2)病毒传播的主要来源之一。建模公共巴士中的疾病传播仍然是一个挑战,尤其是在乘客上下车和车上移动存在不确定性的情况下。尽管对一些缓解政策(如面部遮盖和通风)的有效性有初步发现,但在考虑不同的车头时距、上下车模式和座位控制的现实公交车环境下,这些政策如何影响车上传播风险的证据很少。本研究考察了美国新冠肺炎大流行早期阶段过境机构实施的具体政策制度,为抗击当前和未来的流行病提供了重要见解。我们使用了一个基于代理的模拟模型(ABSM),该模型基于美国城市公交车的标准设计特征和两种不同的服务频率设置(10分钟和20分钟间隔)。我们发现,戴口罩(外科口罩)显著降低了车上传播率,从高频公交车的85%和低频公交车的75%的无缓解率降低到12.5%。最有效的预防结果是在高频公交车服务期间结合KN-95口罩、开窗政策和半座位控制,结果船上感染率接近0%。我们的研究结果促进了对城市公交车环境中新冠肺炎风险的理解,并有助于有效的缓解政策设计,这对确保乘客安全至关重要。这项研究的结果为运输机构寻求规划未来紧急情况时的运营调整和安全协议提供了重要的政策影响。
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引用次数: 4
Assessing impacts to maritime shipping from marine chokepoint closures 评估海上阻塞点关闭对海运的影响
Q1 TRANSPORTATION Pub Date : 2022-12-21 DOI: 10.1016/j.commtr.2022.100083
Lincoln F. Pratson

Global supply chain disruptions caused by the six-day blockage of the Suez Canal in March 2021 and the reduction in shipping through the Bosporus Strait since the onset of the Ukraine War in February 2022 are recent demonstrations of the critical importance of marine chokepoints to international trade and thus global economic security. To better understand and anticipate effects of a chokepoint closure on global trade, we combine GIS data of international shipping lanes with 2019 bilateral trade data to estimate how the closure of each of eleven chokepoints could change trade flows through other chokepoints and between countries. Estimates from the closure scenarios reveal alternate-shipping route linkages between seven chokepoints whereby if one were closed for an extended period, trade through one or more of the others would change significantly. The estimates also underscore the economic importance of the Danish Straits, the Bosporus Strait, the Strait of Hormuz, and the South China Sea and East China Sea to those countries that must rely on these chokepoints for access to maritime trade. Moreover, the estimates project delays and shifts in coastal seaport activity that could lead to knock-on effects that disrupt global supply chains long after a chokepoint blockage is cleared.

2021年3月苏伊士运河堵塞六天造成的全球供应链中断,以及自2022年2月乌克兰战争爆发以来通过博斯普鲁斯海峡的航运减少,最近证明了海洋瓶颈对国际贸易和全球经济安全的至关重要性。为了更好地了解和预测瓶颈关闭对全球贸易的影响,我们将国际航道的GIS数据与2019年双边贸易数据相结合,以估计11个瓶颈的关闭如何改变通过其他瓶颈和国家之间的贸易流动。对关闭情景的估计揭示了七个瓶颈之间的替代航线联系,如果其中一个瓶颈长期关闭,通过其他一个或多个瓶颈的贸易将发生重大变化。这些估计还强调了丹麦海峡、博斯普鲁斯海峡、霍尔木兹海峡、南中国海和东中国海对那些必须依赖这些瓶颈才能进入海上贸易的国家的经济重要性。此外,据估计,沿海海港活动的延误和变化可能会导致连锁反应,在封锁点被清除后很长一段时间内扰乱全球供应链。
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引用次数: 4
Data fusion and machine learning for ship fuel efficiency modeling: Part III – Sensor data and meteorological data 船舶燃油效率建模的数据融合和机器学习:第三部分-传感器数据和气象数据
Q1 TRANSPORTATION Pub Date : 2022-12-01 DOI: 10.1016/j.commtr.2022.100072
Yuquan Du , Yanyu Chen , Xiaohe Li , Alessandro Schönborn , Zhuo Sun

Sensors installed on a ship return high quality data that can be used for ship bunker fuel efficiency analysis. However, important information about weather and sea conditions the ship sails through, such as waves, sea currents, and sea water temperature, is often absent from sensor data. This study addresses this issue by fusing sensor data and publicly accessible meteorological data, constructing nine datasets accordingly, and experimenting with widely adopted machine learning (ML) models to quantify the relationship between a ship's fuel consumption rate (ton/day, or ton/h) and its voyage-based factors (sailing speed, draft, trim, weather conditions, and sea conditions). The best dataset found reveals the benefits of fusing sensor data and meteorological data for ship fuel consumption rate quantification. The best ML models found are consistent with our previous studies, including Extremely randomized trees (ET), Gradient Tree Boosting (GB) and XGBoost (XG). Given the best dataset from data fusion, their R2 values over the training set are 0.999 or 1.000, and their R2 values over the test set are all above 0.966. Their fit errors with RMSE values are below 0.75 ton/day, and with MAT below 0.52 ton/day. These promising results are well beyond the requirements of most industry applications for ship fuel efficiency analysis. The applicability of the selected datasets and ML models is also verified in a rolling horizon approach, resulting in a conjecture that a rolling horizon strategy of “5-month training + 1-month test/applicatoin” could work well in practice and sensor data of less than five months could be insufficient to train ML models.

安装在船上的传感器返回高质量的数据,可用于船舶燃油效率分析。然而,关于天气和海况的重要信息,如波浪、海流和海水温度,通常不在传感器数据中。本研究通过融合传感器数据和可公开访问的气象数据来解决这个问题,相应地构建了9个数据集,并使用广泛采用的机器学习(ML)模型进行实验,以量化船舶的燃油消耗率(吨/天或吨/小时)与其基于航行的因素(航行速度、吃水、纵倾、天气条件和海况)之间的关系。发现的最佳数据集揭示了融合传感器数据和气象数据对船舶燃油消耗率量化的好处。发现的最佳ML模型与我们之前的研究一致,包括极端随机树(ET),梯度树增强(GB)和XGBoost (XG)。对于数据融合得到的最佳数据集,它们在训练集上的R2值分别为0.999或1.000,在测试集上的R2值都在0.966以上。它们与RMSE值的拟合误差小于0.75吨/天,与MAT的拟合误差小于0.52吨/天。这些有希望的结果远远超出了大多数工业应用对船舶燃油效率分析的要求。所选数据集和ML模型的适用性也在滚动水平方法中得到验证,由此推测“5个月训练+ 1个月测试/应用”的滚动水平策略在实践中可以很好地工作,少于5个月的传感器数据可能不足以训练ML模型。
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引用次数: 0
Variability in total cost of vehicle ownership across vehicle and user profiles 车辆拥有总成本在车辆和用户概况之间的可变性
Q1 TRANSPORTATION Pub Date : 2022-12-01 DOI: 10.1016/j.commtr.2022.100071
Yulu Guo , J. Andrew Kelly , J. Peter Clinch

Widespread adoption of electric vehicles (EVs) is a common and critical component of international strategies to mitigate environmental pollution, climate change and oil dependency. The ability of consumers to assess the total cost of ownership (TCO) of EVs relative to internal combustion engine vehicles (ICEVs) remains an important factor for EV uptake. The TCO of vehicles is not universal across different car segments and user profiles. We analyse and compare the TCO of ICEVs and EVs from 17 car segments across short- and long-term ownership periods, and further advance existing TCO approaches by integrating detailed activity-based driving profiles, taxation, grant structures and pricing. Results show that EV options in the most popular Irish car segments have existing battery EV options with a TCO averaging respectively 26% and 42% less than their equivalent petrol and diesel ICEV options over a 4-year ownership term when the current grant is included. This integrated method for granular TCO evaluation offers important insights for this market and affords scope to investigate how changes in travel patterns, car-segment pricing, taxation, grant policy, fuel costs, and carbon pricing and other transport policies can all affect TCO values over time across a broad range of market offerings.

广泛采用电动汽车(ev)是减轻环境污染、气候变化和石油依赖的国际战略的共同和关键组成部分。消费者评估电动汽车相对于内燃机汽车(icev)的总拥有成本(TCO)的能力仍然是电动汽车接受的重要因素。车辆的TCO在不同的汽车细分市场和用户配置中并不普遍。我们分析和比较了17种车型的icev和电动汽车在短期和长期所有权期间的TCO,并通过整合详细的基于活动的驾驶资料、税收、补贴结构和定价,进一步改进了现有的TCO方法。结果显示,在爱尔兰最受欢迎的汽车细分市场中,现有的电池电动汽车选项在4年的所有权期内,其TCO平均分别比同等的汽油和柴油电动汽车选项低26%和42%。这种细粒度TCO评估的综合方法为这个市场提供了重要的见解,并提供了研究旅行模式、汽车细分市场定价、税收、补助政策、燃料成本、碳定价和其他运输政策的变化如何随着时间的推移影响广泛市场产品的TCO值的范围。
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引用次数: 12
Corrigendum to “State of data platforms for connected vehicles and infrastructures” [Commun. Transport. Res. 1 (2021) 100013] “联网车辆和基础设施数据平台现状”的勘误表[common]。交通工具。Res. 1 (2021) 100013]
Q1 TRANSPORTATION Pub Date : 2022-12-01 DOI: 10.1016/j.commtr.2022.100057
Kai Li Lim , Jake Whitehead , Dongyao Jia , Zuduo Zheng
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引用次数: 0
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Communications in Transportation Research
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