Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.     

Parameter identification for a LuGre model based on steady-state tire conditions

The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures. In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect of the present study is the improved friction model. A previous friction model, which divided the process into four parts, expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally. We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the rationality of the data.     

Damper modeling for dynamic simulation of a large bus with MR damper

In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test. A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological) damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed improved response of the vehicle with the MR damper.     

Effect of fuel stratification on initial flame development: Part 3-high swirl condition

This paper discusses the final investigation into the effect of fuel stratification on flame propagation. In previous works, the characteristics under the no port-generated swirl condition and the low-swirl condition were considered. For this purpose, the initial flame development and propagation were visualized under different axially stratified states in a modified optical single-cylinder SI engine. The images were captured by an intensified CCD camera through the quartz window mounted in the piston. Stratification was controlled by the combination of the port swirl ratio and injection timing. These were averaged and processed to characterize the flame propagation. The flame stability was estimated by the weighted average of flame area and luminosity. The stability was also evaluated through the standard deviation of flame area and propagation distance and through the mean absolute deviation of the propagation direction. The results show that the LML is expanded remarkably under the high-swirl cases up to the highest relative AFRs of 1.71 and 1.75 between 140 and 160CA. In addition, similar to the low-swirl condition, the flame-flow interaction determines the direction of flame propagation, and the governing roles of the two factors vary according to the swirl level; the flow is more important at the higher swirl conditions, and the flame is more important at the lower swirl condition. Finally, fast and stable flame propagation can be achieved under the preferably stratified condition, which is induced by the suitable combination of the high swirl and injection timing.     

JQ140G型架桥机提高结构强度的改造方案研究

为提高JQ140G型架桥机的起重能力,必须提高其主要承载结构强度,采用数字仿真技术,对架桥机原结构进行分析计算,经过多次比选校核,提出合理的技术改造方案。通过技术改造,架桥机主要结构承载能力得到提高,经实际架桥检测,主要结构应力、应变均在允许范围内,达到了提高架桥机起重能力的目的。     

“抗裂贴”在半刚性基层裂缝处理中的应用

分析了沥青路面半刚性基层裂缝产生的原因,介绍了京沪高速沂淮江段路面铣刨治理工程中对基层裂缝的处理方法,对施工工艺、质量要点进行了说明,对材料性能进行了试验分析,并对裂缝处理效果进行了跟踪评价,总结了基层裂缝处理方法的优劣。     

下承式系杆拱桥稳定性影响参数研究

基于拱桥稳定性分析理论,通过有限元分析软件ANSYS对天门市陆羽大桥的稳定性影响因素进行了分析,探讨了矢跨比、系梁抗弯刚度、拱肋抗弯刚度、吊杆刚度和横撑形式等参数对拱桥稳定性的影响。     

对“宙斯盾”相控阵雷达的干扰方法研究

通过对"宙斯盾"相控阵雷达抗干扰措施的分析,提出了相应的干扰对策,从而形成了对抗"宙斯盾"相控阵雷达的无人机"蜂群"干扰方法。     

OPC技术在舰船综合平台管理系统中的应用研究

针对目前舰船存在多种异构数据源但尚无统一数据通信机制和标准的现状,对OPC技术在舰船综合平台管理系统(IPMS)中的应用展开分析和研究,以实现各分系统设备之间灵活便捷的信息共享。介绍OPC技术的基本原理、发展现状和IPMS基本框架,通过分析对比传统OPC通信方案和KepWare OPC通信方案,提出IPMS中的KepWare OPC方案,很好地实现各信息单元之间的数据通信。