Collision Rules Research Articles

Personalized driving behavior oriented autonomous vehicle control for typical traffic situations

autonomous driving systems not only provide services for human drivers, but also need to consider the personalized driving requirements of human beings. In current road traffic environments, the driving behaviors of drivers differ significantly. This suggests that the various needs of different drivers cannot be met by a single behavior mode in an autonomous driving decision-making system. This paper looks at the personalized characteristics of various drivers and considers the implications of their differences. First, a Proportional Integral Differential (PID) feedback channel is introduced in a traditional Model Predictive Control (MPC) to improve the performance of the controller, and comprehensively considering the collision risk, motion hysteresis and rule constraints, referring to the MPC idea, a collision avoidance method based on Q-ABSAS optimization is proposed. Then based on the Chance Constrained Programming, the control constraint is combined with driver personalization to reflect a variety of driving personality characteristics. Finally, the proposed method is tested using Hardware-in-the-loop (HIL) experiments. The experiment results demonstrate that the proposed method can successfully implement vehicle tracking control and make the vehicle's state of movement match the driver's expectations, which can increase driver comfort and driving safety.

Collision aspects of the implementation of the right to marriage in private international law

Regulation of relations of matrimony and family in international private law is one of the most difficult and intensively analyzed spheres in Ukrainian legal science. It is also important to pay attention to processes of unification and harmonization of this relations, that is happening now in Europe. It is essential to analyze and compare legislation of foreign countries in context of future implementation of some rules and institutes into national legislation. Any state is a warrant of the most of social rights, so it has an obligation to provide in legislative level mechanisms of protection of right of matrimony and family sphere. It is also more actual in context of increase of number of collisions of national and foreign rules that makes collision problems. Collision rules do not regulate relations of matrimony and family, they help to find connections with national law, that arise because of foreign element, so every state has its own national legislation, that regulates matrimony and family relations and in process of this regulation problems of collision happen. Compliance of requirements of legislation is always necessary for legal force of marriage, including marriage with foreign element. Collision rules of family law are quite a difficult institute of international private law, there are some rules of national law, that regulate this sphere, but there are also some collisions in matrimony relations, including realization of right for marriage. There are globalization and integration processes now, but there are some problems because of collisions, so states create conditions for regulation of relations of matrimony and family and understand necessity of approximation of national rules to international mechanisms, practice and processes of protection of rights and interests of participants of relations of matrimony and family.

Thermalization of Isolated Harmonic Networks Under Conservative Noise

We study a scalar harmonic network with pair interactions and a binary collision rule, exchanging the momenta of a randomly-chosen couple of sites. We consider the case of the isolated network where the total energy is conserved. In the first part, we recast the dynamics as a stochastic map in normal modes (or action-angle) coordinates and provide a geometric interpretation of it. We formulate the problem for generic networks but, for completeness, also reconsider the translation-invariant lattices. In the second part, we examine the kinetic limit and its range of validity. A general form of the linear collision operator in terms of eigenstates of the network is given. This defines an action network, whose connectivity gives information on the out-of-equilibrium dynamics. We present a few examples (ordered and disordered chains and elastic networks) where the topology of connections in action spaces can be determined in a neat way. As an application, we consider the classic problem of relaxation to equipartition from the point of view of the dynamics of linear actions. We compare the results based on the spectrum of the collision operator with numerical simulation, performed with a novel scheme based on direct solution of the equations of motion in normal modes coordinates.

Simple fluid with broken time-reversal invariance.

We characterize a system of hard spheres with a simple collision rule that breaks time-reversal symmetry but conserves energy. The collisions lead to an achiral, isotropic, and homogeneous stationary state whose properties are determined in simulations and compared to an approximate theory originally developed for elastic hard spheres. In the nonequilibrium fluid state, velocities are correlated, a phenomenon known from other nonequilibrium stationary states. The correlations are long-ranged decaying like 1/r^{D} in D dimensions. Such correlations are expected on general grounds far from equilibrium and had previously been observed in driven or nonstationary systems.

Compactness property of the linearized Boltzmann operator for a polyatomic gas undergoing resonant collisions

In this paper, we investigate a compactness property of the linearized Boltzmann operator in the context of a polyatomic gas whose molecules undergo resonant collisions. The peculiar structure of resonant collision rules allows to tensorize the problem into a velocity-related one, neighbouring the monatomic case, and an internal energy-related one. Our analysis is based on a specific treatment of the internal energy contributions. We also propose a geometric variant of Grad's proof of the same compactness property in the monatomic case.

Diffusional characteristics of a Newtonian event-chain Monte Carlo in hard disk systems

The equilibration and relaxation times of the physical properties of time correlation functions have historically been of fundamental importance in terms of molecular simulation. An efficient algorithm for the acceleration of equilibration, termed the ‘event-chain Monte Carlo’ has been investigated over the past decade. Recently, by adding the collision rule often used in event-driven molecular dynamics, a Newtonian event-chain Monte Carlo was developed. In this event-chain Monte Carlo and variants thereof, optimal performance strongly depends on chain length, physical properties, and system size; the microscopic mechanism in play remains elusive. To identify key factors affecting equilibration, we investigated the diffusional characteristics per event (collision) for each algorithm, focusing systematically on the diffusion coefficients and pair dispersions in two-dimensional hard disk systems.

Classification and association rule mining of road collisions for analyzing the fatal severity, a case study

IntroductionNowadays, a significant part of goods and passengers are transported on suburban highways with mainly high-speed vehicles. Hence, these highways are very prone to collisions with different injuries. For this reason, road collisions have become one of the largest international health issues in the world recently. Due to the high fatality or severe physical/mental injury rates caused by car collisions and the complex interactions between the factors affecting them, analyzing these collision-prone areas, identifying the factors affecting their occurrences, and discovering knowledge in the form of key rules is crucial, as the purposes for this study. MethodsThree supervised algorithms including Artificial Neural Network (ANN), Support Vector Machine (SVM), and Random Forests (RF) were used to build up classification models for the fatality severity of 2355 fatal collision data records during 2007–2009 occurred in the roadways of 8 states in the USA with different driver-related, environmental, and road factors. Predicted risk maps were generated for each classifier and the importance of contributing factors was evaluated based on the mean decrease in accuracy and the mean decrease in Gini Index. Finally, association rule mining was performed by the Apriori algorithm to extract collision rules. ResultsRF outperformed the other methods in terms of the highest overall accuracy and kappa rates, which were 94% and 92% respectively. The risk maps revealed that collisions with the most fatalities were mainly concentrated in the northern states. The number of travel lanes, speed limit, roadway profile, and light conditions were the most influencing factors in the collisions. 68 association rules were mined by the Apriori algorithm. Then, important rules were specified to extract hidden information from the collision data. ConclusionsThe RF model was more accurate in collision analysis, along with comprehensive collision factors. Great importance should be given to road factors in route design, especially in critical locations with severe fatality risk.

Introducing a new multi-particle collision method for the evolution of dense stellar systems

Context. Stellar systems are broadly divided into collisional and non-collisional categories. While the latter are large-N systems with long relaxation timescales and can be simulated disregarding two-body interactions, either computationally expensive direct N-body simulations or approximate schemes are required to properly model the former. Large globular clusters and nuclear star clusters, with relaxation timescales of the order of a Hubble time, are small enough to display some collisional behaviour and big enough to be impossible to simulate with direct N-body codes and current hardware. Aims. We aim to introduce a new method to simulate collisional stellar systems and validate it by comparison with direct N-body codes on small-N simulations. Methods. The Multi-Particle Collision for Dense Stellar Systems (MPCDSS) code is a new code for evolving stellar systems with the multi-particle collision method. Such a method amounts to a stochastic collision rule that makes it possible to conserve the exact energy and momentum over a cluster of particles experiencing the collision. The code complexity scales with N log N in the number of particles. Unlike Monte Carlo codes, MPCDSS can easily model asymmetric, non-homogeneous, unrelaxed, and rotating systems, while allowing us to follow the orbits of individual stars. Results. We evolved small (N = 3.2 × 104) star clusters with MPCDSS and with the direct-summation code NBODY6, finding a similar evolution of key indicators. We then simulated different initial conditions in the 104 − 106 star range. Conclusions. MPCDSS bridges the gap between small collisional systems that can be simulated with direct N-body codes and large non-collisional systems. In principle, MPCDSS allows us to simulate globular clusters such as Ω Centauri and M 54, and even nuclear star clusters, which is beyond the limits of current direct N-body codes in terms of the number of particles.

NUMERICAL SIMULATION AND EXPERIMENTAL STUDY OF INNER FLOW FIELD OF SEED PELLETING PREMIXER IN SPOUTED FLUIDIZED BED

In order to explore the temporal and spatial distribution and motion state of the grains of wheatgrass (Agropyron) seeds and powder in pelleting process, and to find the optimal inlet air speed of pelleting premixer, the pelleting forming mechanism was revealed. Based on Herz-Mindlin contact theory, the contact mechanics model of seed and powder was established. Besides, CPFD software was used to model and simulate the pelleting premixer, and the contact, collision and friction rules among particles were analysed. The simulation and experimental results show that with the increase of inlet wind speed, the bed expansion increases and the unit volume particle concentration decreases, while the air pressure difference only slightly increases. When the inlet wind speed is set at 3.5 m/s, the atomizing nozzle velocity is set at 4.1 m/s, and the seed coating agent flow rate is 0.36 L/min, the particles are suspended due to air isolation, forming a spouted fluidized bed. It is good for seed and powder contact and rapid prototyping. In this time, the pelleting qualified rate was 95.8%. The results provide theoretical basis and technical support for the research of small irregular seeds pelletizing technology.

Discrete Velocity Boltzmann Model for Quasi-Incompressible Hydrodynamics

In this paper, we consider the development of the two-dimensional discrete velocity Boltzmann model on a nine-velocity lattice. Compared to the conventional lattice Boltzmann approach for the present model, the collision rules for the interacting particles are formulated explicitly. The collisions are tailored in such a way that mass, momentum and energy are conserved and the H-theorem is fulfilled. By applying the Chapman–Enskog expansion, we show that the model recovers quasi-incompressible hydrodynamic equations for small Mach number limit and we derive the closed expression for the viscosity, depending on the collision cross-sections. In addition, the numerical implementation of the model with the on-lattice streaming and local collision step is proposed. As test problems, the shear wave decay and Taylor–Green vortex are considered, and a comparison of the numerical simulations with the analytical solutions is presented.

Approach to consensus in models of continuous-opinion dynamics: A study inspired by the physics of granular gases

A model for continuous-opinion dynamics is proposed and studied by taking advantage of its similarities with a mono-dimensional granular gas. Agents interact as in the Deffuant model, with a parameter α controlling the persuasibility of the individuals. The interaction coincides with the collision rule of two grains moving on a line, provided opinions and velocities are identified, with α being the so-called coefficient of normal restitution. Starting from the master equation of the probability density of all opinions, general conditions are given for the system to reach consensus. The case when the interaction frequency is proportional to the β-power of the relative opinions is studied in more detail. It is shown that the mean-field approximation to the master equation leads to the Boltzmann kinetic equation for the opinion distribution. In this case, the system always approaches consensus, which can be seen as the approach to zero of the opinion temperature, a measure of the width of the opinion distribution. Moreover, the long-time behaviour of the system is characterized by a scaling solution to the Boltzmann equation in which all time dependence occurs through the temperature. The case β=0 is related to the Deffuant model and is analytically soluble. The scaling distribution is unimodal and independent of α. For β>0 the distribution of opinions is unimodal below a critical value of |α|, being multimodal with two maxima above it. This means that agents may approach consensus while being polarized. Near the critical points and for |α|≥0.4, the distribution of opinions is well approximated by the sum of two Gaussian distributions. Monte Carlo simulations are in agreement with the theoretical results.

Abstract Geometrical Computation 10

Signal machines form an abstract and idealized model of collision computing. Based on dimensionless signals moving on the real line, they model particle/signal dynamics in Cellular Automata. Each particle, or signal , moves at constant speed in continuous time and space. When signals meet, they get replaced by other signals. A signal machine defines the types of available signals, their speeds, and the rules for replacement in collision. A signal machine A simulates another one B if all the space-time diagrams of B can be generated from space-time diagrams of A by removing some signals and renaming other signals according to local information. Given any finite set of speeds S we construct a signal machine that is able to simulate any signal machine whose speeds belong to S . Each signal is simulated by a macro-signal , a ray of parallel signals. Each macro-signal has a main signal located exactly where the simulated signal would be, as well as auxiliary signals that encode its id and the collision rules of the simulated machine. The simulation of a collision, a macro-collision , consists of two phases. In the first phase, macro-signals are shrunk, and then the macro-signals involved in the collision are identified and it is ensured that no other macro-signal comes too close. If some do, the process is aborted and the macro-signals are shrunk, so that the correct macro-collision will eventually be restarted and successfully initiated. Otherwise, the second phase starts: the appropriate collision rule is found and new macro-signals are generated accordingly. Considering all finite sets of speeds S and their corresponding simulators provides an intrinsically universal family of signal machines.

Multi-particle collision dynamics with a non-ideal equation of state. I.

The method of multi-particle collision dynamics (MPCD) and its different implementations are commonly used in the field of soft matter physics to simulate fluid flow at the micron scale. Typically, the coarse-grained fluid particles are described by the equation of state of an ideal gas, and the fluid is rather compressible. This is in contrast to conventional fluids, which are incompressible for velocities much below the speed of sound, and can cause inhomogeneities in density. We propose an algorithm for MPCD with a modified collision rule that results in a non-ideal equation of state and a significantly decreased compressibility. It allows simulations at less computational costs compared to conventional MPCD algorithms. We derive analytic expressions for the equation of state and the corresponding compressibility as well as shear viscosity. They show overall very good agreement with simulations, where we determine the pressure by simulating a quiet bulk fluid and the shear viscosity by simulating a linear shear flow and a Poiseuille flow.

КОЛЛИЗИИ МЕЖДУ НОРМАТИВНЫМИ ПРАВОВЫМИ АКТАМИ ОРГАНОВ ЕВРАЗИЙСКОГО ЭКОНОМИЧЕСКОГО СОЮЗА И НОРМАТИВНЫМИ ПРАВОВЫМИ АКТАМИ РЕСПУБЛИКИ АРМЕНИЯ И ИХ РАЗРЕШЕНИЕ СУДАМИ РЕСПУБЛИКИ АРМЕНИЯ

For a comprehensive study of collisions between the legal acts of the EEU authorities and legal acts of the Republic of Armenia, as well as the issues of their settlement by the RA courts, the author analyzes the regulations for the direct application of legal acts of the EEU authorities in the territory of the Republic of Armenia. There are no collision norms in the legislation of the Republic of Armenia, resolving the contradictions between the legal acts of the EEU bodies and the legal acts of the RA authorities (except the Constitution of the Republic of Armenia). The paper analyzes the positions of the Constitutional Court and Administrative Court of the Republic of Armenia on these issues. Before enshrining the collision norms in legislation, the author suggests the Armenian courts select one of the following options for resolving the issue. Option one: the court enshrines an independent lex superior collision rule in its judicial act, according to which the legal acts of the EEU authorities have the priority over those of the RA bodies, therefore in the case of such a contradiction, the legal acts of the EEU authorities are applied. The main disadvantage of this option is that there is difficulty in substantiating the validity (legitimacy) source of the collision rule established by the court. Option two: the legal characteristics of the EEU authorities’ acts are being equated with international treaties in a judicial act by legal fiction. Option three: the court states that there is a gap in the RA positive law concerning the settlement of contradictions between the legal acts of the EEU authorities and the legal acts of the Republic of Armenia, as neither Article 6 of the Constitution of the Republic of Armenia, nor the decision of the Constitutional Court No. ՍԴՈ-1175 and the Law of the Republic of Armenia “Concerning Normative Legal Acts” envisage the hierarchy and collision norm for the legal acts of the EEU authorities and those of the bodies of the Republic of Armenia. Subsequently, guided by Article 39 of the Law “Concerning Normative Legal Acts” (application of legal analogy) and resolving a conflict between the legal acts of the EEU authorities and the legal acts of the Republic of Armenia, part 3 of Article 5 of the RA Constitution should be analogically applied.

Lattice Gas Cellular Automata Fluid Dynamics Case Study

The Navier–Stokes equations are the basis for describing the flow of a viscus material and are used to model fluid motion from weather to air flow over a wing. These equations, however, tend to be notoriously difficult to solve, whether analytically or computationally, even for small systems due to their highly nonlinear nature. Thus, less complicated methods that are more computationally tractable are desirable in domains as varied as hydroelectric power to race car construction. At a fundamental level, fluids are composed of interacting molecules. Lattice Gas Cellular Automata (LGCA) represents an efficient way to simulate these interacting fluid particles on a lattice. LGCA captures the microscopic behavior of the fluid by applying simple collision and propagation rules at each lattice site. This leads to realistic macroscopic behavior that can be used to build insight about real fluid flow. Here, we show the Hardy, Pomeau, and de Pazzis model for simulating a lattice gas. The computational framework presented in this case study can also be expanded to more complicated LGCA.

The conflict inititation and resolution rules in constitutional and municipal law

The subject. The article is devoted to analysis and classification of different constitutional
 and municipal legal rules that may cause and resolve the constitutional conflicts.
 The purpose of the article is to confirm or disprove hypothesis that there is a set of constitutional and municipal legal rules with common conflict initiation nature as well as with
 common conflict resolution nature.
 The methodology of the study includes general scientific methods (analysis, synthesis, description) and legal interpretation of Russian Constitution and laws.
 The main results, scope of their application.
 There is a whole set of legal norms in constitutional and municipal law, that focus on the
 conflict component due to the conflict nature of the constitutional act itself as the basic law
 of the country. They need to be studied and classified due to the different content and legal
 nature of these rules. The author attempts to research the constitutional and municipal
 legal norms that may cause and resolve the constitutional conflicts, offers their classification on certain grounds, analyzes scientific researches on this topic. Constitutional and municipal legal rules that may cause and resolve the constitutional conflicts can be classified
 for two types depending on their content: rules generating constitutional conflicts and rules
 that establish methods and principles for resolving constitutional conflicts.
 Conclusion. The constitutional and legal rules that give rise to constitutional and legal conflicts include the norms of constitutional law that enshrine constitutional values that are in
 a state of real or imaginary competition.
 The norms that establish ways to resolve a constitutional and legal conflict include: 1) collision rules of constitutional and municipal law – rules determining which legal regulation
 should be applied to the relevant conflict legal relationship. They have a reference character
 and are applied only together with substantive legal norms that resolve the issue; 2) constitutional and municipal regulations governing the methods and principles for the resolution of constitutional conflicts.

УСТАНОВЛЕНИЕ ДЕЙСТВИТЕЛЬНОСТИ СОГЛАШЕНИЯ О МЕЖДУНАРОДНОЙ ПОДСУДНОСТИ НА ОСНОВАНИИ LEX CAUSAE: ПРЕИМУЩЕСТВА И НЕДОСТАТКИ

The Institute of International Jurisdiction Agreement has recently been incorporated into domestic law through the adoption of the Russian Code of Arbitration Procedure on 24 July 2002 and the Russian Code of Civil Procedure on 14 November 2002. Previously, the domes-tic doctrine did not give sufficient attention to this instrument of contractual regulation of procedural relations and it was considered only to a limited extent. At present, including the adoption of the Concept of the Unified Code of Civil Procedure of the Russian Federation, which was developed for the purpose of comprehensive reform of procedural legislation, interest in international jurisdiction is growing significantly. Subordi-nation of a dispute to the jurisdiction of the court of the state whose law regulates the legal relationship between the parties from which the dispute arose significantly simplifies its reso-lution, as there is no need to establish the content of foreign law. Agreements on international jurisdiction also contribute to legal certainty between the parties. An agreement on international jurisdiction is of a complex legal nature as it has both procedural and substantive legal features. This type of agreement is at the intersection of private international law and international civil procedure law on the one hand, and civil and proce-dural law on the other. The study of the law applicable to agreements on international jurisdiction involves resolving a huge number of conflicts that arise when establishing the applicable national legal order to an aspect of an agreement. In the article, the author investigates the advantages and disadvantages of establishing the validity of an international jurisdiction agreement on the basis of the lex causae, i.e. the law applicable to the main contract with a foreign element for dispute settlement from which the parties conclude a propulsion agreement. The collision rule of the lex fori prorogati, set out in the 2005 Hague Convention and Regulation No 1215/2012 for its uniform application to the substantive validity of the agreement, does not contribute to international uniformity of decisions, since the law of the forum country referred to in the agreement as competent means not only substantive but also collision rules. As a result, the question of the applicable law to substantive validity is settled by the courts of various states on their own, and in most European law and order practice shows the application of the lex causae rather than the lex fori. The author concludes that accentuating the statute of the international jurisdiction agree-ment to the statute of the main treaty in order to resolve the question of the substantive validity of the agreement, despite the existence of certain shortcomings, is in the best interest of indi-vidual conflict interests, conflict of interests in turnover and law and order.

Creative destruction: Sparse activity emerges on the mammal connectome under a simulated communication strategy with collisions and redundancy

Signal interactions in brain network communication have been little studied. We describe how nonlinear collision rules on simulated mammal brain networks can result in sparse activity dynamics characteristic of mammalian neural systems. We tested the effects of collisions in “information spreading” (IS) routing models and in standard random walk (RW) routing models. Simulations employed synchronous agents on tracer-based mesoscale mammal connectomes at a range of signal loads. We find that RW models have high average activity that increases with load. Activity in RW models is also densely distributed over nodes: a substantial fraction is highly active in a given time window, and this fraction increases with load. Surprisingly, while IS models make many more attempts to pass signals, they show lower net activity due to collisions compared to RW, and activity in IS increases little as function of load. Activity in IS also shows greater sparseness than RW, and sparseness decreases slowly with load. Results hold on two networks of the monkey cortex and one of the mouse whole-brain. We also find evidence that activity is lower and more sparse for empirical networks compared to degree-matched randomized networks under IS, suggesting that brain network topology supports IS-like routing strategies.

Micro-reversibility and thermalization with collisional baths

Micro-reversibility plays a central role in thermodynamics and statistical mechanics. It is used to prove that systems in contact with a thermal bath relax to canonical ensembles. However, a problem arises when trying to reproduce this proof for classical and quantum collisional baths, i.e. particles at equilibrium interacting with a localized system via collisions. In particular, micro-reversibility appears to be broken and some models do not thermalize when interacting with Maxwellian particles. We clarify these issues by showing that micro-reversibility needs the invariance of evolution equations under time reversal plus the conservation of phase space volume in classical and semiclassical scenarios. Consequently, all canonical variables must be considered to ensure thermalization. This includes the position of the incident particles which maps their Maxwellian distribution to the effusion distribution. Finally, we show an example of seemingly plausible collision rules that do not conserve phase-space volume, and consequently violate the second law.

Cooperative sUAV Collision Avoidance Based on Satisficing Theory

The recent growth in small unmanned aerial vehicle (sUAV) applications in public and private sectors has generated a greater interest in effective collision avoidance strategies. This paper presents a cooperative collision avoidance approach for sUAV in the low-altitude uncontrolled airspace based on satisficing game theory. By incorporating both the self and cooperative preferences in making individual heading decision, satisficing framework provides a collision avoidance strategy that increases throughput while decreasing unnecessary collisions. A total of 4356 chokepoint scenarios are simulated with varying satisficing parameters, including number of sUAV agents, minimum separation, action angle, and dual utility parameters of raw preference and negotiation index. Simulation-based sensitivity analysis is conducted to find the combined effect of such parameters. The results show that performance of satisficing framework is dependent on traffic density primarily. Except for the very light traffic scenario, the minimum separation and degree of action angle affected the system efficiency the most, while dual utility parameters played crucial roles in highly conflicted scenarios. In conclusion, sUAV traffic and collision rules require an adaptive approach in regard to the traffic density, and satisficing framework can provide an effective collision avoidance strategy in a medium- to high-density traffic environment.