New level of vehicle comfort and vehicle stability via utilisation of the suspensions anti-dive and anti-squat geometry

In this article a novel vehicle dynamics control concept is designed for a vehicle equipped with wheel individual electric traction machines, electronically controlled brakes and semi-active suspensions. The suspension's cross-couplings between traction forces and vertical forces via anti-dive and anti-squat geometry is utilised in the control concept to improve driving comfort and driving stability. The control concept is divided into one main and two cascaded branches. The main controller consists of a multivariable vehicle dynamics controller and a control allocation scheme to improve the vehicle's driving comfort. The cascaded feedback loops maintain the vehicle's stability according to wheel slip and vehicle sideslip. The performance of the combined vehicle dynamics controller is compared to a standard approach in simulation. It can be stated that the controller piloting semi-active suspensions together with brake and traction devices enables a superior performance regarding comfort and stability.     

Causal linkages between highways and sector-level employment

While transport infrastructure investments have usually been viewed to have long-term impacts on employment, what is perhaps not immediately clear is the direction of causality. This paper has sought to disentangle the causal relationship between highway infrastructure and employment, using panel data for the 48 contiguous US states from 1984 to 1997. Of particular emphasis in this analysis is the sectoral differences in the causal and spatial effects of highway capacity expansions for employment growth in alternative sectors of the economy. The results indicate that lane-mile additions of own-state major highways could increase state employment growth in the services sector while reducing growth in manufacturing. However, the causal relationship is also found to work the other way around. That is, both the rapid growth in services employment and the slowdown in manufacturing jobs temporally lead to increases in roadway capacity of non-interstate major roads. Our analysis also shows that highway infrastructure could produce both positive and negative employment spillovers across states. We find that improvements in non-interstate major roads outside the state border are beneficial to the manufacturing sector which generally serves regional and national markets. For the services sector, however, employment gains from interstate highways in the same state may come at the expense of other states as there is clear evidence of negative employment spillovers from interstate lane-mile additions.     

MINOE: A Software Tool to Analyze Ocean Management Efforts in the Context of Ecosystems

Transitioning ocean governance into an integrated ecosystem-based approach requires improved knowledge of existing governance arrangements. This article presents a software tool, MINOE, to assist policymakers, scientists, and others involved in ecosystem-based management initiatives to navigate through management documents as they relate to a user-defined ecosystem. The tool uses a conceptually modeled ecosystem, defined by the user, and text analysis of a set of management-related documents to determine which ecosystem linkages are potentially acknowledged in the documents. For illustration, the set of documents included with MINOE currently (and used to demonstrate the software in this article) are laws and regulations from four geopolitical jurisdictions for the year 2006; however, users may also import other documents for a more tailored application. Features include an interactive matrix containing results about the set of management documents within the user's scope and scale of interest. In addition, MINOE includes metrics and visualization tools to synthesize information derived from the documents. The article presents the software tool, describes potential uses for the tool, and ends with a discussion of future work to expand the program.     

Substituting operational control for physical capacity in urban transportation

This paper develops recommendations for improving in an evolutionary manner the performance of our urban ground transportation systems. The strengths and limitations of present static control technology and current computer traffic signal and freeway surveillance and control systems in urban areas are described. A taxonomy of possible information and control configurations in urban traffic operations is developed. The alternatives in the taxonomy are analysed and used as the basis for recommending specific real time information and control functions for improving, in an evolutionary manner, the performance of urban ground transportation systems. The recommended improvements would allow for the first time a meaningful substitution of operational control for physical (static) capacity increases in urban transportation.     

The U.S.S.R.: Ocean Use and Ocean Law

This paper is an attempt to illustrate the stance of the Soviet Union in the law of the sea debate in the light of Soviet ocean activities. The paper has two sections. First, it examines the range of Soviet ocean activities. The considerable extent of Soviet ocean use underscores the importance which the Soviet Union places on the law of the sea debate and its consequent active participation in the process of international negotiation. Second, the paper considers the published record of the Soviet Union in the United Nations seabed debate. In seven years of debate the United Nations General Assembly and the Ad Hoc and permanent Seabed Commities and sub-Commities have generated a considerable body of documantation reflecting the public policy of over one hundred States concerning the law of the sea. Soviet expressions of opinion alone cover more than five hundred pages of documentation. Specific Soviet positions can be considered within two ganeral preferences: the protection of traditional freedoms of the high seas and opposition to ocean control by either coastal States or by an independent international ocean authority. The paper shows how these preferences and the specific Soviet negotiating positions defend and promote the maritime interests of the Soviet Union.     

The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

An automatic segmentation procedure for studying variations in mode choice behaviour

Urban areas are very complex and heterogeneous in terms of their population composition and activity systems. The transport system, modal choices and service levels available to the population also varies considerably across space and time. These similarities and differences in choices and levels of explanatory variables facing individual tripmakers have to be explicitly considered in any study of transport behvior. The common practice has been to include user attributes, in addition to the system characteristics, in the modal utility functions to help capture differences in choice behavior across individuals. However, it could well be that the mode-choice behavior of a segment of the population is fundamentally different from other segments of the population. In view of this, some studies have applied segmentation schemes to help identify the subgroups of presumably different travel responses. Typically, such schemes have been based on stratification of the population by a single variable, chosen either based on a priori notions or one-way cross tabulations. These have their shortcomings. Thus, this paper develops an analytical procedure that simultaneously deals with level of service, socioeconomic and spatial factors to determine the relative role each plays in determining travel behavior. The procedure is applied to data from the Toronto region to illustrate its use.     

Ability of a “minimum” microbial food web model to reproduce response patterns observed in mesocosms manipulated with N and P, glucose, and Si

We compared an idealised mathematical model of the lower part of the pelagic food web to experimental data from a mesocosm experiment in which the supplies of mineral nutrients (nitrogen and phosphorous), bioavailable dissolved organic carbon (BDOC, as glucose), and silicate were manipulated. The central hypothesis of the experiment was that bacterial consumption of BDOC depends on whether the growth rate of heterotrophic bacteria is limited by organic-C or by mineral nutrients. In previous work, this hypothesis was examined qualitatively using a conceptual food web model. Here we explore the extent to which a “simplest possible” mathematical version of this conceptual model can reproduce the observed dynamics. The model combines algal–bacterial competition for mineral nutrients (phosphorous) and accounts for alternative limitation of bacterial and diatom growth rates by organic carbon and by silicate, respectively. Due to a slower succession in the diatom–copepod, compared to the flagellate–ciliate link, silicate availability increases the magnitude and extends the duration of phytoplankton blooms induced by mineral nutrient addition. As a result, Si interferes negatively with bacterial consumption of BDOC consumption by increasing and prolonging algal–bacterial competition for mineral nutrients. In order to reproduce the difference in primary production between Si and non-Si amended treatments, we had to assume a carbon overflow mechanism in diatom C-fixation. This model satisfactorily reproduced central features observed in the mesocosm experiment, including the dynamics of glucose consumption, algal, bacterial, and mesozooplankton biomass. While the parameter set chosen allows the model to reproduce the pattern seen in bacterial production, we were not able to find a single set of parameters that simultaneously reproduces both the level and the pattern observed for bacterial production. Profound changes in bacterial morphology and stoichiometry were reported in glucose-amended mesocosms. Our “simplest possible” model with one bacterial population with fixed stoichiometry cannot reproduce this, and we suggest that a more elaborate representation of the bacterial community is required for more accurate reproduction of bacterial production.     

An experimental testbed for mobile offshore base control concepts

 The concept of a mobile offshore base (MOB) reflects the need to stage and support military and humanitarian operations anywhere in the world. A MOB is a self-propelled, modular, floating platform that can be assembled into lengths of up to 2 km, as required, to provide logistic support to US military operations where fixed bases are not available or adequate. It accommodates the take-off and landing of C17 aircraft, and can be used for storage, as well as to send resources quickly to shore. In most concepts, the structure is made of three to five modules, which have to perform long-term station-keeping in the presence of winds, waves, and currents. This is usually referred to as dynamic positioning (DP). In the MOB, the alignment is maintained through the use of thrusters, connectors, or a combination of both. In this paper, we consider the real-time control of scaled models of a MOB. The modules are built at the 1 : 150 scale, and are kept aligned by rotating thrusters under a hierarchical hybrid control scheme. This paper describes a physical testbed developed at the University of California, Berkeley, under a grant from the US Office of Naval Research, for the purpose of evaluating competing MOB control concepts. Received: June 4, 2002 / Accepted: October 30, 2002 Acknowledgments. This material is based on work supported by the MOB Program of the US Office of Naval Research under grant N00014-98-1-0744. The authors would like to thank the Link Foundation for its support. Many thanks go to Stephen Spry for his experimental work. The photographs are courtesy of Bill Stone, Gerald Stone, and Jay Sullivan of the PATH Publications staff. Address correspondence to: A.R. Girard (e-mail: anouck@eecs.berkeley.edu)     

Explaining the “immigrant effect” on auto use: the influences of neighborhoods and preferences

Since immigrants will account for most urban growth in the United States for the foreseeable future, better understanding their travel patterns is a critical task for transportation and land use planners. Immigrants initially travel in personal vehicles far less than the US-born, even when controlling for demographics, but their reliance on autos increases the longer they live in the US. Cultural or habitual differences, followed by assimilation to auto use, could partly explain this pattern; and it may also be partly due to changes in locations and characteristics of home and work neighborhoods. Previous studies have rarely investigated non-work travel, and have not tested workplace land use measures, compared the relative influences of enclave and home neighborhood measures, or looked at the role of culturally-bound residential preferences or motivations for migration. This study relies on a unique and rich dataset consisting of a survey of US residents born in South Asia, Latin America, and the US, joined to spatial information in a GIS. I find that the home built environment is the most consistently influential factor in explaining the lower auto use of both recent and settled Latin American immigrants. Indian immigrants use autos less than would be expected given their home and work neighborhoods. There is little evidence that either ethnic enclaves, or cultural differences, play a role in lower auto use by immigrants. These results suggest there may be a role for neighborhood built environment policies in delaying immigrant assimilation to auto use in the US.