Development of a path planning system using mean shift algorithm for driver assistance

The longitudinal and lateral vehicle control techniques have been widely used in several active driver assistance systems. The adaptive cruise control, lane keeping assistant control, vehicle platooning and stop-and-go control are typical examples of the most important applications. In this study, a novel path planning method is proposed considering the driving environment such as road shape, ego vehicle and surrounding vehicles’ movement. The relative distance and velocity between the ego vehicle and surrounding vehicles are identified with respect to the predicted lane shape in front of the ego vehicle. Based on the identified information, the road shape and surrounding vehicles are mapped into the intensity image and the desired vector for the ego vehicle’s movement is determined by the maximum intensity density tracing method. The desired vehicle path is followed by the acceleration/deceleration control and the steering assist control, respectively. In order to evaluate the performance of the proposed system, simulations are conducted and compared with ACC systems.     

Manoeuvring characteristics of twin-rudder systems: rudder-hull interaction effect on the manoeuvrability of twin-rudder ships

With a recent increase in ship capacity and propulsion performance, a wide-beam ship fitted with a twin-rudder system has been adopted in many cases. However, to improve ship manoeuvring, it is still necessary to have a better understanding of rudder-hull interactions in twin-rudder ships. Captive model tests (oblique towing and circular motion test) as well as free-running tests with a single-propeller twin-rudder ship and a twin-propeller twin-rudder ship are carried out. The effect of drift angle on the rudder forces and some peculiar phenomena concerning rudder normal force for twin-rudder ships are evaluated. A method for estimating the hull-rudder interaction coefficients based on free-running experimental results is proposed.     

From suspended particles to strata: The fate of terrestrial substances in the Gaoping (Kaoping) submarine canyon

The river–sea system consisting of the Gaoping (new spelling according to the latest government's directive, formerly spelled Kaoping) River (KPR), shelf, and Submarine Canyon (KPRSC) located off southern Taiwan is an ideal natural laboratory to study the source, pathway, transport, and fate of terrestrial substances. In 2004 during the flood season of the KPR, a system-wide comprehensive field experiment was conducted to investigate particle dynamics from a source-to-sink perspective in the KPRSC with the emphasis on the effect of particle size on the transport, settling, and sedimentation along the pathway. This paper reports the findings from (1) two sediment trap moorings each configured with a Technicap PPS 3/3 sediment trap, and an acoustic current meter (Aquadopp); (2) concurrent hydrographic profiling and water sampling was conducted over 8 h next to the sediment trap moorings; and (3) box-coring in the head region of the submarine canyon near the mooring sites. Particle samples from sediment traps were analyzed for mass fluxes, grain-size composition, total organic carbon (TOC) and nitrogen (TN), organic matter (OM), carbonate, biogenic opal, polycyclic aromatic hydrocarbon (PAH), lithogenic silica and aluminum, and foraminiferal abundance. Samples from box cores were analyzed for grain-size distribution, TOC, particulate organic matter (POM), carbonate, biogenic opal, water content, and ²¹⁰Pb_ex. Water samples were filtered through 500, 250, 63, 10 µm sieves and 0.4 µm filter for the suspended sediment concentration of different size-classes.Results show that the river and shelf do not supply all the suspended particles near the canyon floor. The estimated mass flux near the canyon floor exceeds 800 g/m²/day, whose values are 2–7 times higher than those at the upper rim of the canyon. Most of the suspended particles in the canyon are fine-grained (finer than medium silt) lithogenic sediments whose percentages are 90.2% at the upper rim and 93.6% in the deeper part of the canyon.As suspended particles settle through the canyon, their size-composition shows a downward fining trend. The average percentage of clay-to-fine-silt particles (0.4–10 µm) in the water samples increases from 22.7% above the upper rim of the canyon to 56.0% near the bottom of the canyon. Conversely, the average percentage of the sand-sized (> 63 µm) suspended particles decreases downward from 32.0% above the canyon to 12.0% in the deeper part of the canyon. Correspondingly, the substrate of the canyon is composed largely of hemipelagic lithogenic mud. Parallel to this downward fining trend is the downward decrease of concentrations of suspended nonlithogenic substances such as TOC and PAH, despite of their affinity to fine-grained particles.On the surface of the canyon, down-core variables (grain size, ²¹⁰Pb_ex activity, TOC, water content) near the head region of the canyon show post-depositional disturbances such as hyperpycnite and turbiditic deposits. These deposits point to the occurrences of erosion and deposition related to high-density flows such as turbidity currents, which might be an important process in submarine canyon sedimentation.