Overturning Stability of Three Wheeled Motorized Vehicles

Three wheeled motorized vehicles are a major mode of public transport in many countries. These vehicles are prone to overturning even during normal turning and obstacle avoidance maneuvers. This paper presents a parametric analysis of a mathematical model of the vehicle and evolves guidelines for improving the overturning stability in terms of vehicle geometry and suspension properties.

Differential equations governing the dynamic behavior of the vehicle are derived on the basis of a six degree of freedom model. The vehicle response to variations in steering, engine power and braking inputs is then numerically simulated. The effects of vehicle geometry and elasto-damping suspension coefficients on the vehicle stability are presented. The results indicate an optimum position of the center of gravity where the vehicle is most stable. While stiffer suspensions favour stability, there exists an optimum value of suspension damping for which the minimum wheel load is a maximum.     

Optimal Control of the Tractor-Semitrailer Truck

This paper is concerned with the braking performance and the handling behavior of the tractor-semitrailer truck under optimal braking. Optimal control theory is used in order to deal with the problem and a combination of the steepest descent method and the Davidon Fletcher Powell method is used to solve it numerically. Results for some chosen braking maneuvers are obtained for a nonlinear truck model which has 14 degrees of freedom. These results show that, for the chosen maneuvers an idealized anti-skid braking is close to being optimal in the sense defined in this paper. Implementation of an idealized anti-skid braking on the tractor-semitrailer truck, however, may be not desirable.     

The influence of personal security fears on women's travel patterns

This paper investigates the influence that women's fears and apprehension about attack and harassment have on use of transport facilities. After initial consideration of the factors that most affect perceived risk, the personal security aspects of different modes are reviewed by reference to a survey conducted in Southampton in 1986. High levels of perceived insecurity were found, particularly for walking at night, in parks and subways and when waiting for public transport services in isolated areas. The conclusions argue that personal security is an important but neglected issue, deserving of greater attention by transport planners.     

Environmental changes in the western Black Sea related to anthropogenic and natural conditions

The Black Sea northwestern shelf (NWS) ecosystem has been subjected to the strongest anthropogenic pressure of the entire Black Sea as about 80% of the freshwater runoff is discharged there.This paper presents a review of the global environmental changes related mainly to increased eutrophication in the western Black Sea basin.A case study (CoMSBlack 92a cruise) attempts to highlight the interaction of some natural and anthropogenic factors responsible for specific chemical and biological features in the western Black Sea environment. The significance of processes located near the Danube river mouth, which, due to their relatively small space scale, have not been recognized before, is clarified. Hydrological processess of specific importance to the distribution and transformation of antropogenic inputs are river plume dynamics, coastal upwelling and mixing and downwelling over the shelf break and slope in this part of the basin. A layer of low hydrological variability (“conservative layer”) appears to be a natural feature of the area, hypothesized to precondition specific biological and chemical processes there.The results suggest that the interplay between the Danube anthropogenic nutrient load with the natural hydrological fronts and gradients provides opportunities for enhanced biological activity thus contributing to the global environmental changes in the Black Sea NWS.     

Non-linear utility functions in models of travel choice behavior

Models of individual choice behavior have been extensively developed and used in travel prediction during the last ten years. These models are generally formulated with utility functions that are linear in parameters. Theories of economics and psychology suggest that the true relationship between service variables and utility is non-linear. In this paper we demonstrate that non-linear transformations of time and cost variables produce statistically significant improvements in the model estimated, have a theoretically appealing interpretation, and lead to managerially important differences in policy evaluations. These results support the need to refine the specification of choice utility functions based on theoretical considerations and empirical research.     

Spatial price equilibrium sensitivity analysis

A direct approach to performing sensitivity analysis for a spatial price equilibrium problem with nonlinear transportation cost, commodity supply and commodity demand functions is presented. The first order derivatives of all decision variables with respect to parameter perturbations are shown to be expressable in a simple from which requires inversion of a matrix whose rank is the number of regions considered. A typical network usually involves several hundred regions and several thousand links; thus, by working with a matrix whose rank depends only on the number of regions rather than the number of links, computer storage is minimized and the necessary matrix inversion is made feasible, enabling us to perform the sensitivity analyses of very large nonlinear equilibrium problems. An example is presented to demonstrate application of the method. The approach taken here is also adaptable to the sensitivity analysis of Wardropian equilibrium problems.     

An analysis of seasonality of non-OPEC supply

The purpose of this study is first to find out whether quarterly averages of non-OPEC (Organization of the Petroleum Exporting Countries) supply follow a seasonal pattern. If that is mathematically established, then, second, it is attempted to estimate the best seasonal factors to decompose the forecast yearly average into quarterly averages. A set of historical data consisting of quarterly supply averages of individual countries, regional subtotals and the aggregate non-OPEC supply for the period 1973-2002 forms the basis of the analysis. The study applies Fourier analysis to quarterly supply series to test for seasonality, and provides estimates of seasonal factors for the years 2000-2002 by applying the so-called X-11 decomposition method to the historical annual averages. The accuracy of the results of the application of X-11 is then tested. It is demonstrated that the combination of the Fourier and X-11 methods provides mostly acceptable and in some cases, such as that of China, impressively accurate forecast quarterly supply averages.     

Development of an Anti-Lock Brake System for Motorcycle

An Anti-Lock Brake System (ABS) system is developed for motorcycles using different control laws to improve the safety during emergent braking conditions. The mechanical design problem is first investigated so as to modify a scooter to be equipped with the proposed ABS brake system and to set up experimental test stand. For ABS control, the slip control, P1R3, and P2R4 methods are used to implement the controller using an Intel 80196KC single chip microcomputer. The hard-ware-in-the-loop (HITL) simulation is also performed in PC to check the performance in various road conditions including dry and wet roads. It is found experimentally that both P1R3 and P2R4 can both achieve ABS function, but P2R4 performs more desirably than P1R3 method.     

Discrete Adaptive Active Suspension for Hardware Implementation

This paper presents a discrete adaptive control approach for an active suspension. The study involves formulation of an active suspension as a digital controller problem involving the time delays. A nonlinear time varying (NTV), single input single output (SISO) suspension model is considered for the analysis. A discrete model reference adaptive control (DMRAC) approach with recursive least square (RLS) estimation is used to form the controller. The controller is designed to maintain the static equilibrium irrespective of dynamic load variations as a disturbance force on the model. Simulation results for deterministic and stochastic inputs are presented to substantiate the approach. Results indicate good performance of adaptive controller even for large dynamic variations of the model and has the potential for a successful hardware implementation.