Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception

This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a PanTilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationaUy simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrendy and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot.     

综合安全评估(FSA)及其在船舶安全中的应用

综合安全评估(FSA)是近年来国外已在应用的一种安全评估方法。通过规范化的评估步骤，提出合理的并能有效控制风险的建议与措施，从而改进安全工作和提高安全水平。国际海事组织为确保船舶设计建造、营运管理和海上航行与环境等方面的安全，在20世纪末已将FSA引入和应用于船舶安全的领域。我们在介绍FSA方法及其实施的基础上，就FSA在船舶安全中应用的现状和发展进行论述，并提出了一些设想与建议。     

公私合营模式在交通基础设施项目中关键性成功因素分析

公私合营（public-private partnership,PPP）模式作为近年来逐步兴起的开放式融资模式,能够更加迅速地满足项目融资需求,对促进基础设施建设形成有力的补充。基于研究PPP模式在香港、英国和澳大利亚的应用,通过分析针对18个成功因素的问卷调查结果显示,来自不同地区的受访者均认为良好的私营机构、适当的风险分配和分担、公营部门和私营机构的承诺和责任这三点是最为重要的PPP模式关键性成功因素。基于对这些因素的特点研究与排序,进一步分析各因素间的变量关系、共性特点和差异性特点。由于中国针对PPP模式关键性成功因素分析专题的文献很少,希望本论文能够对中国的PPP学术研究和发展提供参考。     

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由于在模拟密集网络、宏观问题和方案阶段中的优势，连续性模拟方法应用到交通模型的模拟中，正在得到越来越多的关注。此论文意在为二维连续模拟方法的发展和应用提供综合的概括。首先讨论的是理论的发展和对特殊的或多变领域机理的模拟，然后再针对连续模拟方法应用到工厂选址、道路选择、人行道的规划、政策和社会经济分析进行评论。最后，预测其未来研究的前景。     

Fueling Control of Spark Ignition Engines

Presented in this paper is an adaptive, model based, fueling control system for spark ignition-internal combustion engines. Since the fueling control system is model based, the engine maps currently used in engine fueling control are eliminated. This proposed fueling control system is modular and can therefore accommodate changes in the engine sensor set such as replacing the mass-air flow sensor with a manifold air pressure sensor. The fueling algorithm can operate with either a switching type O 2 sensor or a linear O 2 sensor. The fueling control system is also parceled into steady state fueling compensation and transient fueling compensation. This feature provides the distinction between fueling control adaptation for transient fueling and steady state fueling. The steady state fueling compensation utilizes a feedforward controller which determines the necessary fuel pulsewidth after a throttle transient to achieve stoichiometry. This feedforward controller is comprised of two nonlinear models capturing the steady state characteristics of the fueling process. These models are identified from an input-output testing procedure where the inputs are fuel pulsewidth and mass-air flow signal and the output is a lambda signal. These models are adapted via a recursive least squares method to accommodate product variability, engine aging, and changes in the operating environment. The transient fueling compensation also utilizes a feedforward controller that captures the essential dynamic characteristics of the transient fueling operation. This controller is measured using a frequency domain system identification approach. This proposed fueling control system is demonstrated on a Ford 4.6L V-8 fuel injected engine.     

Analytical extension of the effective axle characteristics concept for the development of a structured chassis design process

The lateral vehicle dynamics is defined by the effects of side forces at the front and rear axle. These forces are caused by the slip and camber angle at the individual tyres, which are results of the kinematics and compliances of the chassis. This paper extends the approach of the effective axle characteristics by Paceyka to the analytical expression of the axle cornering stiffness and the axle relaxation behaviour with the aim of the development of a chassis design process as it applies in the early design stage. The obtained expression is integrated into a single track model and validated against a full nonlinear two-track model. By this means of these analytical expressions for the axle cornering stiffness and the axle relaxation behaviour it is possible to directly calculate and analyse the effective slip angles for linear quasi-static and dynamic driving manoeuvres.     

New methodology for fast prediction of wheel wear evolution

In railway applications wear prediction in the wheel–rail interface is a fundamental matter in order to study problems such as wheel lifespan and the evolution of vehicle dynamic characteristic with time. However, one of the principal drawbacks of the existing methodologies for calculating the wear evolution is the computational cost. This paper proposes a new wear prediction methodology with a reduced computational cost. This methodology is based on two main steps: the first one is the substitution of the calculations over the whole network by the calculation of the contact conditions in certain characteristic point from whose result the wheel wear evolution can be inferred. The second one is the substitution of the dynamic calculation (time integration calculations) by the quasi-static calculation (the solution of the quasi-static situation of a vehicle at a certain point which is the same that neglecting the acceleration terms in the dynamic equations). These simplifications allow a significant reduction of computational cost to be obtained while maintaining an acceptable level of accuracy (error order of 5–10%). Several case studies are analysed along the paper with the objective of assessing the proposed methodology. The results obtained in the case studies allow concluding that the proposed methodology is valid for an arbitrary vehicle running through an arbitrary track layout.     

Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.     

A fast implementation of MPC-based motion cueing algorithms for mid-size road vehicle motion simulators

The use of dynamic driving simulators is constantly increasing in the automotive community, with applications ranging from vehicle development to rehab and driver training. The effectiveness of such devices is related to their capabilities of well reproducing the driving sensations, hence it is crucial that the motion control strategies generate both realistic and feasible inputs to the platform. Such strategies are called motion cueing algorithms (MCAs). In recent years several MCAs based on model predictive control (MPC) techniques have been proposed. The main drawback associated with the use of MPC is its computational burden, that may limit their application to high performance dynamic simulators. In the paper, a fast, real-time implementation of an MPC-based MCA for 9 DOF, high performance platform is proposed. Effectiveness of the approach in managing the available working area is illustrated by presenting experimental results from an implementation on a real device with a 200?Hz control frequency.