Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle’s mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.     

Robust traffic assignment model: Formulation,solution algorithms and empirical application

ABSTRACT

The deterministic traffic assignment problem based on Wardrop's first criterion of traffic network utilization has been widely studied in the literature. However, the assumption of deterministic travel times in these models is restrictive, given the large degree of uncertainty prevalent in urban transportation networks. In this context, this paper proposes a robust traffic assignment model that generalizes Wardrop's principle of traffic network equilibrium to networks with stochastic and correlated link travel times and incorporates the aversion of commuters to unreliable routes.

The user response to travel time uncertainty is modeled using the robust cost (RC) measure (defined as a weighted combination of the mean and standard deviation of path travel time) and the corresponding robust user equilibrium (UE) conditions are defined. The robust traffic assignment problem (RTAP) is subsequently formulated as a Variational Inequality problem. To solve the RTAP, a Gradient Projection algorithm is proposed, which involves solving a series of minimum RC path sub-problems that are theoretically and practically harder than deterministic shortest path problems. In addition, an origin-based heuristic is proposed to enhance computational performance on large networks. Numerical experiments examine the computational performance and convergence characteristics of the exact algorithm and establish the accuracy and efficiency of the origin-based heuristic on various real-world networks. Finally, the proposed RTA model is applied to the Chennai road network using empirical data, and its benefits as a normative benchmark are quantified through comparisons against the standard UE and System Optimum (SO) models.     

Vibration reduction of H/Shaft using an electromagnetic damper with mode change

The objective of this study is to develop a damper that can reduce the amplitude of vibration in various frequency ranges. Previous H/Shaft vibration reduction methods work in a passive way. A dynamic damper reduces the amplitude of vibration at its first mode, but vibration still appears at the second mode. A mass damper or hollow shaft can shift the natural frequency to a lower or higher region. The fixed operating frequency prevents vibration from being reduced outside the operating frequency range. The proposed damper uses electromagnets as either masses or actuators to change the damper mode between dynamic damper mode and mass damper mode. The electromagnetic damper (EMD) can change its mode to respond to the vibration excitation at both low and high frequencies. The vibration reduction performance was evaluated by FRF tests in laboratory and vehicle conditions. The results were compared with those of a dynamic damper and indicate that the amplitude of vibration is reduced by 95.6 % when the EMD is implemented on an H/Shaft, whereas only 61.9 % vibration reduction is achieved by the dynamic damper.     

Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers

Race car drivers can offer insights into vehicle control during extreme manoeuvres; however, little data from race teams is publicly available for analysis. The Revs Program at Stanford has built a collection of vehicle dynamics data acquired from vintage race cars during live racing events with the intent of making this database publicly available for future analysis. This paper discusses the data acquisition, post-processing, and storage methods used to generate the database. An analysis of available data quantifies the repeatability of professional race car driver performance by examining the statistical dispersion of their driven paths. Certain map features, such as sections with high path curvature, consistently corresponded to local minima in path dispersion, quantifying the qualitative concept that drivers anchor their racing lines at specific locations around the track. A case study explores how two professional drivers employ distinct driving styles to achieve similar lap times, supporting the idea that driving at the limits allows a family of solutions in terms of paths and speed that can be adapted based on specific spatial, temporal, or other constraints and objectives.     

Marine accident analysis for collision and grounding in oil tanker using FTA method

In this study, collision and grounding data registered in GISIS (Global Integrated Shipping Information System) were investigated for oil tankers. The database includes the information of the collision and grounding accidents during the period between 1998 and 2010 in oil tankers. The risk assessments were carried out using fault tree analysis (FTA) programme for the incidents as collision and grounding occurred in oil tankers. In this study, we were able to investigate first the potential problems which cause the collision and grounding accidents have been determined, second, the occurrence of accidents has been shown with causal factors by the FTA method, and, finally, the significance degree of the initial events causing occurrence of accidents have been put forth. Collision in oil tanker resulted in economical loss (81%), pollution (6%) and death or injury (13%). Grounding in oil tanker resulted in economical loss (91%) and pollution (9%). According to the FTA results, the main reason for the accidents originating from human error is as follows: for collision accidents, Convention on the International Regulations for Preventing Collisions at Sea (COLREG) violation and the lack of communication between vessels; and for grounding accidents, the interpretation failure of the officer on watch and lack of communication in the bridge resource management.     

Determinants of the property damage costs of bulk barge accidents

This study investigates determinants of the vessel, cargo, and other-property damage costs of bulk barge accidents in US inland waterways. Tobit estimation of a three-equation recursive model suggests that, in bulk barge accidents: (1) vessel damage cost is greater for collision, fire/explosion, and material/equipment failure accidents than for groundings; (2) cargo damage cost is greater at night and when the weather is foggy and increases with barge age; and (3) otherproperty damage cost is greater for multi-vessel accidents, but decreases with barge size. A dollar of vessel damage cost increases other-property damage cost by $1.38, while a dollar of cargo damage cost increases this cost by $6.90. An important result for formulating bulk barge accident cost-reduction policies is that a given determinant might have a negative effect on one type of damage cost but a positive effect on another.     

The planning and analysis of a new group rapid transit system: the SkyCabs monobeam system in Auckland

This paper examines a case study of the SkyCabs system as a way to alleviate some of the traffic problems of Auckland, New Zealand. SkyCabs is an elevated two-way monobeam carrying light eight-seater cabs on tracks on each side of the beam, available on demand, providing fast, pollution-free, unimpeded travel above the footpath with panoramic views of the city. The aim of this study is to investigate the attractiveness of implementing the SkyCabs system to and from Auckland central business district (CBD) and Auckland international airport by examining four variables: different routes, different number of stops/stations, different passenger demand levels, and different number of cabs in the system. The analysis utilizes geographical information system and simulation tools for the various scenarios considered. The results show that it is possible to assess the cost–benefit of alternative routes in terms of those four variables and rate of return on investment.     

Modeling the interactions between car and bicycle in heterogeneous traffic

In this paper, a new cellular automata model is proposed to simulate the car and bicycle heterogeneous traffic on urban road. To capture the complex interactions between these two types of vehicles, a novel occupancy rule is adopted in the proposed model to consider the variable lateral distances of mixed vehicular traffic. Based on massive simulations, microscopic fundamental diagrams under different bicycle densities are devised. With these, the bicycle's spilling behavior is then investigated and discussed. In order to reflect the interference of a bicycle on a car, the interference transformation from friction state to block state is modeled explicitly. Finally, different simulation results under different occupancy rules indicate that the constant and fixed occupancy rule adopted in the previous studies might lead to overestimation of car flux in the heterogeneous traffic flows with different bicycle densities. Copyright © 2013 John Wiley & Sons, Ltd.     

台北公共交通月及无车日活动回顾与展望

台北国际无车日自2002年起举办了5次,由最早的骑自行车活动扩大至包含“走路上学日”与“公共交通月”丰富多彩的系列活动,渐渐获得民众认同。无车日活动的目标是通过活动的倡导和社会参与来改变民众使用交通工具的行为,潜移默化的效应可促使形成可持续交通政策,当可持续交通政策与基础设施建设落实后又可具体改变交通环境,形成良性的循环机制。首先说明了“无车日”的由来,并回顾台北都会区过去5年来举行无车日系列活动的内容与经验,同时基于活动的发展与成果归纳出无车日活动的成功要素,最后提出未来活动将扩大举办的内容、方式与展望,以期能为其他城市作参考。