A Comparison of Adaptive LQG and Nonlinear Controllers for Vehicle Suspension Systems

A design feature of many computer-controlled suspension systems, is their ability to adapt control law parameters to suit prevailing road conditions. Here, for systems employing high bandwidth actuators and state variable feedback control, the benefits of such adaptation are shown to be at best marginal. An optimal adaptive LQG system is compared with a fixed structure nonlinear feedback controller in the context of a simple quarter-vehicle suspension model. Performance comparisons are made, and trends considered under more realistic conditions. In consequence the overall usefulness of this type of adaptation is called into question.     

Railway Vehicle Modelling by the Constraint Equation Method*

A method for the dynamic analysis of railway vehicles is proposed. The method is based on both the using of constraint equations, and on the building of the mathematical model by means of the initial data.

The calculation models are nonlinear, due both to the connecting elements, and to the wheel-rail contact modelling. Solving of differential equations is achieved by time step integration. The method has been applied to the analysis of a freight wagon and a train unit.     

Carrier selection in a RO/RO ferry trade Part 2. Conceptual framework for the decision process

The way that users select a shipping service from the range of available options is a complex and poorly understood process. It is difficult, if not impossible, to reduce all the attributes to a single dimesion—such as cost—and in reality no-one tries to do so. Using the results of a survey of shippers, a behavioural framework has been constructed to represent the stages in the decision process and the interaction of factors that influence the shipping manager. Previous models have tended to isolate and examine individual components of the process and have not linked these components together to form an integrated explanation. The proposed framework is a multi-stage process with elements of both compensatory and non-compensatory behaviour and a strong emphasis on risk avoidance.     

Stability Bounds of a Tractor-Semitrailer

The dynamic stability of a tractor-semitrailer is presented here on a qualitative basis. In a four-dimensional space, equilibrium states of the system are discovered which lead to suitable initial conditions for numerical integration of the system equations. The intergal solutions define the stable and the unstable regions in the state-space, and thereby reveal the system behavior. A simple example concerning the effect of a front tire blowout illustrates how the theory can expose the vehicle motion under external perturbations.     

Simulation of the oil spill processes in the Sea of Japan with regional ocean circulation model

A simulation of the movement of spilled oil after the incident of the Russian tanker Nakhodka in the Sea of Japan, in January 1997, was performed by a particle tracking model incorporating advection by currents, random diffusion, the buoyancy effect, the parameterization of oil evaporation, biodegradation, and beaching. The currents advecting spilled oil were defined by surface wind drift superposed on the three-dimensional ocean currents obtained by the Geophysical Fluid Dynamics Laboratory modular ocean model (GFDL MOM), which was forced by the climatological monthly mean meteorological data, or by the European Center for Medium Range Weather Forecasts (ECMWF) daily meteorological data, and assimilated sea surface topography detected by satellite altimeter. A number of experiments with different parameters and situations showed that the wide geographical spread of oil observed is not explained by wind drift alone, and that including the simulated climatological currents gives better results. The combination of surface wind drift and daily ocean currents shows the best agreement between the model and observations except in some coastal areas. The daily meteorological effect on the ocean circulation model results in a stronger variability of currents that closely simulates some features of the nonlinear large-scale horizontal turbulent diffusion of oil. The effect of different parameterizations for the size distribution of model oil particles is discussed. Received for publication on July 26, 1999; accepted on Nov. 17, 1999     

An empirical assessment of relational competitive advantage in professional ship management

Intense competition in many sectors across the maritime industry and in professional ship management in particular, means that the quest for achieving competitiveness will continue and intensify. A review of the current strategies across many sectors of the industry indicates the importance of forging stable partnerships for the achievement of competitiveness. Considering that the capability to form a relationship is an intangible resource (as depicted in resource-advantage theory), an empirical assessment in the context of ship management was undertaken. The assessment aimed to identify the type of relationships present in ship management, and succeeded in classifying those relationships into four distinct groups. The central thesis of the paper is that maritime organizations in general, and ship management companies in particular, may utilize their intangible relational resources in order to achieve competitive advantage. Based on the classification of ship management relationships, implications for managers are discussed.     

Pollution history of a tropical estuary revealed by combined hydrodynamic modelling and sediment geochemistry

Hydrodynamic modelling of water movement in Hunts Bay, a protected part of Kingston Harbour, Jamaica, shows that depth averaged tidal flows are very low. In the northeast corner of Hunts Bay, water is essentially stagnant. Even under high flow conditions, much of the Bay bottom water is ‘bypassed' by buoyant, lower salinity surface flows. The muddy sediments of Hunts Bay reflect these sluggish to stagnant conditions; sediment cores from the northeast corner of the Bay contain progressively higher amounts of organic matter in their upper parts (last 15–20 years sedimentation). Combined C/N ratios and stable carbon isotope compositions of this organic matter imply a sewage origin. Both lead and chromium metal concentrations and enrichment factors relative to average crustal shales show geographically related patterns that reflect hydrodynamic circulation predicted by modelling. In particular, metal concentrations and enrichment factors are highest at the northern end of the bay, especially in the northeast corner. Modelling confirms that stagnant conditions would occur in the northeast part of the bay even without the presence of a major causeway. The causeway may contribute to low flow conditions, but is not the principal cause of organic contamination, which is simply an excessive input of sewage.     

Dial-a-ride with customer operated dispatching

Demand responsive bus operation generally requires some type of manual dispatching. If the volume of traffic is low and few vehicles are in service, the cost of dispatching relative to the total operating costs will be substantial. Consequently, many operators hesitate to introduce a dial-a-ride system.In a joint project between Gothenburg Transport Authority (GS) and Volvo, the latter has designed a device to be fitted to the general telephone system whereby a telephone dial can be used to transmit coded information over the public telephone network to a central recorder. In a dial-a-ride service this device can be used as a robot dispatcher.During a period of 11 weeks in 1976 this device was tested in practical operation in the northeastern part of Gothenburg, the second largest city of Sweden. During the same period a prototype Volvo vehicle for low volume demand was also tested in this dial-a-ride service.During this experiment it appeared that customers easily adjusted to the new procedure of getting their bus. These promising results have led GS to continue the development of this system for large scale operation.At the time of the experiment in Gothenburg, Mr. Elmberg was the director of planning of the Gothenburg Transport Authority.     

Effects of Free-Control Variables on Automobile Handling

Compared with the fixed-control case, relatively few studies of the effects on handling quality of the nature of the free-control response of an automobile to steering torque inputs have been reported. Prior to reviewing these studies, an attempt is made in this paper to provide a conceptual framework for assessing the results, by drawing on analytical and experimental work concerned with manual control in closed-loop tracking systems. Application of these ideas to the automobile shows that a fixed-control driver strategy is required where precise path control is necessary. Less demanding situations would allow a free-control driving mode. Steering task performance is found to be relatively insensitive to free-control vehicle responses. However, drivers exhibit clear preferences for certain ranges of steering torque gradient, and for rapid responses of steering wheel angle to torque inputs. Vehicle handling variables interact strongly in their effect on driver opinion. For example, the optimum steering torque gradient (in N m/G) decreases, and the optimum steering “stiffness” (in N m/rad) increases, as the fixed-control response sensitivity increases. Within fairly wide ranges, the damping of the free-control oscillatory mode has little effect on handling quality.