Automatic ticketing on London underground

London Underground is currently going through a revolution in its fare collection systems. Magnetically encoded tickets are being introduced, obtainable from ticket office or self‐service machines, which are then checked automatically at start or finish of journey in the Underground's central zone. The microprocessor controlled equipment handles all accounting aspects of fare collection, because it is all part of a computer‐based network with centralized monitoring and control. The machinery was progressively installed from April 1987 to December 1988. This paper describes the history of the system, describes the new ticket and issuing machines, as well as discussing the development and project management tasks involved.     

Estimates of vertical mixing during a Lagrangian experiment off the Galician coast

An adjoint 1-D model was used to determine vertical diffusivity coefficients from temperature profiles collected within a filament escaping from the Galician coast following an upwelling event. The optimisation scheme ended with relatively high diffusivity values within the thermocline (9×10⁻⁵ m² s⁻¹). Such high values are relevant for biogeochemical exchanges between surface and deep waters in stratified areas.The optimised values were several orders of magnitude higher than the bulk of diffusivity measurements recorded with a free-falling device; however, the optimisation solution was consistent with the arithmetic mean of the measurements in the thermocline (7.7×10⁻⁵ m² s⁻¹), giving more weight to the few largest values. Below the thermocline, the data assimilation method failed because of the three-dimensional nature of the advective field of the upwelling system. Ignoring this advective forcing in the model led to estimates that were two orders of magnitude too high.The results suggest that turbulent mixing is a random process where a few intense events determine the average mixing that drives the long-term evolution of the water column structure. This statistical property is very important when one wants to use instantaneous diffusivity measurements for modelling purposes.     

Advanced Control Methods for Automotive Applications

This paper reviews key developments in applications of advanced control methods to automotive systems. Such applications appear in many aspects of vehicle controls. We will examine representative application areas, which include engines, suspension systems, traction systems, steering systems and those for automated highway systems (AHS). Each area is examined from the viewpoint of modeling and control algorithm development. Useful control theories for automotive application are briefly reviewed for better understanding of the applicability of these theories.     

Damper Models for Heavy Vehicle Ride Dynamics

A laboratory rig for testing hydraulic dampers using the 'hardware-in-the-loop' method is described, and the accuracy of the test method is investigated. A mathematical model of a hydraulic shock absorber is then developed. The model is suitable for vehicle simulations and has seven parameters which can be determined by simple dynamic measurements on a test damper. The shock absorber model is validated under realistic operating conditions using the test rig, and the relative importance of various features of the model on the accuracy of vehicle simulations is investigated.     

Preview Control Algorithms for the Active Suspension of an Off-Road Vehicle

The potential performance improvement using preview control for active vehicle suspension was first recognized in the late nineteen sixties. All work done since that time has been based on optimal control theory using simple vehicle models.

In this article, the performance of quarter vehicle preview controllers when applied to a real off-road vehicle is simulated using both two degree of freedom quarter and ten degree of freedom full vehicle models. The results, which are compared with non-preview active and conventional passive suspensions, confirm that preview control reduces vertical acceleration of the body centre of gravity, which results in improved ride quality. Further, reductions in pitch and roll motion result from smaller vertical displacements of the vehicle quarters. Coupling between quarters, through the vehicle body, appears to have a smoothing effect on the control.

As an alternative to optimal control theory based controllers, a simple ad hoc preview controller based on isolating the vehicle body from dynamic loads transmitted through the suspension is proposed. Simulation results show that such a controller outperforms the optimal control theory based controllers over small discrete disturbances but responds poorly to disturbances encountered from other than steady state.     

挤压性地层中隧道围岩变形控制

从穿越瑞士列奇堡隧道的挤压变形性极强的碳质页岩带的经验中,可以得出下述结论：圆形含承压单元的支护截面,其收敛变形性总趋势要比马蹄形不含承压单元的支护截面小；圆形支护截面与马蹄形支护截面的变形性没有本质的区别；由于山体构造的不均一性,导致开挖断面的不规则变形,这是使承压单元过早脱落的原因。     

Dual extended Kalman filter for vehicle state and parameter estimation

The article demonstrates the implementation of a model-based vehicle estimator, which can be used for combined estimation of vehicle states and parameters. The estimator is realised using the dual extended Kalman filter (DEKF) technique, which makes use of two Kalman filters running in parallel, thus 'splitting' the state and parameter estimation problems. Note that the two problems cannot be entirely separated due to their inherent interdependencies. This technique provides several advantages, such as the possibility to switch off the parameter estimator, once a sufficiently good set of estimates has been obtained. The estimator is based on a four-wheel vehicle model with four degrees of freedom, which accommodates the dominant modes only, and is designed to make use of several interchangeable tyre models. The paper demonstrates the appropriateness of the DEKF. Results to date indicate that this is an effective approach, which is considered to be of potential benefit to the automotive industry.     

Modelling of wheels and rail discontinuities in dynamic wheel-rail contact analysis

A classification of wheel-rail contact is given. Difference is made between modelling of a running wheel with continuous single-point-contact, as is common practice in wheel-rail contact analysis, and a wheel with transient double- or multi-point-contact, which may occur for rail irregularities with curvatures larger than that of the wheel circumference. It is shown that application of the first model for these irregularities will strongly underestimate the contact forces as it does not describe occurring mechanisms correctly. Further, it is shown that in principle it is not possible to describe the second type of contact fully correct with a lumped wheel model. Both wheel models are formulated mathematically for some basic contact cases. Afterwards, results are applied to a linear track model. Analytical closed-form solutions are found in the frequency domain for arbitrary type of contact and numerically transformed to the time domain. Finally, the necessity is shown to avoid situations where transient multiple-point-contact may occur (like rail joints) in practice.     

Neuro-Fuzzy Control of a Tracked Vehicle Featuring Semi-Active Electro-Rheological Suspension Units

This paper presents vibration control of a tracked vehicle installed with electro-rheological suspension units (ERSU). As a first step, an in-arm type ERSU is designed, and its spring and damping characteristics are evaluated with respect to the intensity of electric fields. Subsequently, a 16 degree-of-freedom model for a tracked vehicle equipped with the proposed ERSU is established followed by the formulation of a neuro-fuzzy controller. This controller takes account for both ride quality and steering stability by adopting a weighting parameter between two performance requirements. The parameter is appropriately determined by employing a fuzzy algorithm associated with two fuzzy variables: the vertical speed of the body and the rotational angular speed of the wheel. Control performances to isolate unwanted vibration from bump and random road excitations are evaluated through computer simulations. In addition, maximum speed of the vehicle with 6 Watt power absorption is investigated with respect to the road roughness.