Designing a sliding mode controller for slip control of antilock brake systems

Antilock brake system (ABS) has been designed to achieve maximum negative acceleration by preventing the wheels from locking. Research shows that the friction between road and tire is a nonlinear function of wheel slip. Therefore, maximum negative acceleration can be achieved by designing a suitable control system for wheel slip regulation at its optimum value. Since there is a lot of nonlinearity and uncertainty (uncertainty in mass and center of gravity of the vehicle and road condition) in vehicle dynamics, a robust control method should be used. In this research, a sliding mode controller for wheel slip control has been designed based on a two-axle vehicle model. Important considered parameters for vehicle dynamic include two separated brake torques for front and rear wheels as well as longitudinal weight transfer caused by the acceleration or deceleration. One of the common problems in sliding mode control is chattering phenomenon. In this paper, primary controller design has been improved using integral switching surface to reduce chattering effects. Simulation results show the success of integral switching surface in elimination of chattering side effects and by high performance of this controller. At the end, the performance of the designed controller has been compared with three of the prevalent papers results to determine the performance of sliding mode control integrated with integral switching surface.     

Ship resistance of quadramaran with various hull position configurations

Multihull ships are widely used for sea transportation, and those with four hulls are known as quadramarans. Hull position configurations of a quadramaran include the diamond, tetra, and slice. In general, multihull vessels traveling at high speeds have better hydrodynamic efficiency than monohull ships. This study aims to identify possible effects of various quadramaran hull position configurations on ship resistance for hull dimensions of 2 m length, 0.21 m breadth, and 0.045 m thickness. We conducted a towing test in which we varied the hull spacing and speed at Fr values between 0.08 and 0.62 and measured the total resistance using a load cell transducer. The experimental results reveal that the lowest total resistance was achieved with a diamond quadramaran configuration at Fr = 0.1-0.6 and an effective interference factor of up to 0.35 with S/L = 3/10 and R/L = 1/2 at Fr = 0.62.     

Effects of a classroom-based bridge resource management training on knowledge,attitudes, behaviour and performance of junior naval officers

This study asses the effectiveness of classroom-based bridge resource management (BRM) training for junior naval officers, in which general principles of human behaviour and performance in teams and under stress were conveyed. Although BRM training is recommended by the International Maritime Organization and is increasingly common in seafaring, very little is known about whether the adaptation of crew resource management (CRM) training from aviation to the maritime domain has been successful and what type of training is effective. A study with a quasi-experimental, two-factorial mixed design was conducted with BRM training as the between factor and time as the within factor. For 117 study participants, evaluation criteria were assessed on all levels as defined by Kirkpatrick (Train Dev J, 178–192 1979): subjective training evaluation, knowledge, attitudes and behaviour as well as performance while commanding a vessel during a real-world exercise. BRM participants showed better subjective training evaluations and more BRM-related knowledge than controls. Training did not produce differences between groups regarding BRM-related attitudes, the demonstration of non-technical skills or the overall success in the real-world exercise. Overall, BRM training effectiveness was rather low, which can most probably be attributed to the focus of training on generalizable knowledge, skills and attitudes at the expense of their specific application to the context of the real-world exercise. In the design of BRM and CRM training courses alike, the effective application of general principles to a given context must be defined, and the application must be emphasised during training delivery.     

Establishing value of time for the inter-island passenger transport of the Western Visayas region,Philippines

Transportation infrastructure planning process requires cost–benefit analysis in the evaluation of project proposals. Value of time (VOT) facilitates the conversion of travel time savings, which is a significant proportion of benefits in monetary terms. In cases where VOT has not been established, planners resort to crude estimates that often results in erroneous or biased measurements of benefits. This is the case of the Western Visayas region in the Philippines where transportation studies are rare. Secondary cities and its peripheral regions have often been overlooked subjects of transportation studies. In this study, multinomial logit models using revealed preference data were estimated to facilitate the calculation of the VOT. The total cost, square of the total cost, and total time were identified as significant explanatory variables affecting mode choice. The square of the total cost term was introduced in the models in order to account for income effect. Results indicate that VOT estimates for the inter-island passenger transportation between Iloilo and Negros Occidental generally range from 78.15PHP to 179.15PHP (1.91USD to 4.37USD) depending on trip and traveller characteristics.     

Examining the effects of out-of-home and in-home constraints on leisure activity participation in different seasons of the year

Using multi-day, multi-period travel diaries data of 56 days (four waves of two-week diaries) for 67 individuals in Stockholm, this study aims to examine the effects of out-of-home and in-home constraints (e.g. teleworking, studying at home, doing the laundry, cleaning and taking care of other household member[s]) on individuals’ day-to-day leisure activity participation decisions in four different seasons. This study also aims to explore the effects of various types of working schedules (fixed, shift, partial- and full-flexible) on individuals’ decisions to participate in day-to-day leisure activities. A pooled model (56 days) and wave-specific models (14 days in each wave) are estimated by using dynamic ordered Probit models. The effects of various types of working schedules are estimated by using 28 days of two waves’ data. The results show that an individual’s leisure activity participation decision is significantly influenced by out-of-home work durations but not influenced by in-home constraints, regardless of any seasons. Individuals with shift working hours engage less in day-to-day leisure activities than other workers’ types in both spring and summer seasons. The thermal indicator significantly affects individuals’ leisure activity participation decisions during the autumn season. Individuals exhibit routine behaviour characterized by repeated decisions in participating in day-to-day leisure activities that can last up to 14 days, regardless of any seasons.     

A reference-dependent user equilibrium model for activity-travel scheduling

Existing user equilibrium models of activity-travel scheduling generally fall short in representing travelers’ decision-making processes. The majority have either implicitly or explicitly assumed that travelers follow the principle of utility maximization. This assumption ignores the fact that individuals may be loss–averse when making activity-travel decisions. Allowing for the situation that travelers possess accurate information of the urban-transportation system due to modern technologies, studies on reference-dependent decision-making under near-perfect information are receiving increasing attention. In view of traveler heterogeneity, individuals can be divided into multiple classes according to their reference points. In this paper, we propose a reference-dependent multi-class user equilibrium model for activity-travel scheduling, which can be reformulated as a variational inequality problem. Moreover, comparative analyses are conducted on the equilibrium states between utility-maximization (no reference) and reference-dependency of exogenous and endogenous references. A numerical example regarding combined departure-time and mode choice for commuting is conducted to illustrate the proposed model. The simulated results indicate that reference points and loss aversion attitudes have significant effects on the choice of departure time and mode.     

New routes on old railways: increasing rail’s mode share within the constraints of the existing railway network

This paper describes an integrated methodology for identifying potential ‘quick wins’ for mode shift from road to passenger rail transport. Firstly, a procedure for analysing rail’s relative competitiveness in the market for passenger transport between large urban areas is developed and then applied to a UK case study. The purpose of such analysis is to allow the identification of flows where rail is currently relatively uncompetitive (in terms of journey time in particular) and to assess the reasons for this poor performance, so that the issues which suppress rail use may be addressed. In parallel, a framework, methodology and tool for the assessment of existing and potential capacity (trains, seats, TEUs, etc.) is developed for both passenger and freight traffic, to identify and address network constraints. An illustrative example of the use of these demand and capacity assessment tools is then presented, with the tools used to identify and evaluate flows where rail demand is suppressed by poor service quality and where spare capacity exists which would allow the passenger rail service to be improved without requiring significant investments in infrastructure. The effects of such improvements on demand are predicted, and the cost implications of operating such additional services are discussed. The analysis suggests that there may be significant potential for increasing rail’s mode share by providing additional inter-urban services where rail currently offers an inferior service.     

Estimation of train dwell time at short stops based on track occupation event data: A study at a Dutch railway station

Train dwell time is one of the most unpredictable components of railway operations, mainly because of the varying volumes of alighting and boarding passengers. However, for reliable estimations of train running times and route conflicts on main lines, it is necessary to obtain accurate estimations of dwell times at the intermediate stops on the main line, the so‐called short stops. This is a great challenge for a more reliable, efficient and robust train operation. Previous research has shown that the dwell time is highly dependent on the number of boarding and alighting passengers. However, these numbers are usually not available in real time. This paper discusses the possibility of a dwell time estimation model at short stops without passenger demand information by means of a statistical analysis of track occupation data from the Netherlands. The analysis showed that the dwell times are best estimated for peak and off‐peak hours separately. The peak‐hour dwell times are estimated using a linear regression model of train length, dwell times at previous stops and dwell times of the preceding trains. The off‐peak‐hour dwell times are estimated using a non‐parametric regression model, in particular, the k‐nearest neighbor model. There are two major advantages of the proposed estimation models. First, the models do not need passenger flow data, which is usually impossible to obtain in real time in practice. Second, detailed parameters of rolling stock configuration and platform layout are not required, which makes the model more generic and eases implementation. A case study at Dutch railway stations shows that the estimation accuracy is 85.8%–88.5% during peak hours and 80.1% during off‐peak hours, which is relatively high. We conclude that the estimation of dwell times at short stop stations without passenger data is possible. Copyright © 2016 John Wiley & Sons, Ltd.     

Vehicle stability control system for enhancing steerabilty,lateral stability,and roll stability

The Vehicle stability control system is an active safety system designed to prevent accidents from occurring and to stabilize dynamic maneuvers of a vehicle by generating an artificial yaw moment using differential brakes. In this paper, in order to enhance vehicle steerability, lateral stability, and roll stability, each reference yaw rate is designed and combined into a target yaw rate depending on the driving situation. A yaw rate controller is designed to track the target yaw rate based on sliding mode control theory. To generate the total yaw moment required from the proposed yaw rate controller, each brake pressure is properly distributed with effective control wheel decision. Estimators are developed to identify the roll angle and body sideslip angle of a vehicle based on the simplified roll dynamics model and parameter adaptation approach. The performance of the proposed vehicle stability control system and estimation algorithms is verified with simulation results and experimental results.     

Dynamic analysis of seatbelt systems with anti-inertial release mechanisms

In order to prevent the uncontrolled release of seatbelt buckles due to high acceleration caused by pretensioners, anti-g buckles that have pendulum-shaped g-masses to block the releasing motion are commonly adopted in seatbelt systems. However, even with the wide applications of anti-g buckles, the underlying operational principles of anti-g buckles have yet to be investigated. This work studies conditions for the engagement of the g-mass to prevent inertial release, and conditions for maintaining a blocked state under very high acceleration. Using a multibody model of an anti-g buckle, the effects of various design parameters on the performance of the anti-g buckle have been examined. It turns out that design variables associated with the geometry of the g-mass and its contacting surface configuration play important roles. In order to account for the dynamic interaction between driver and seatbelt, a multibody model of a seatbelt system is combined with a dummy model to form a single dynamic system. Using the measured displacement of the buckle during the explosion of a pretensioner as the driving condition for simulation, dynamic analysis of the seatbelt with driver interaction has been carried out. Through comparison with measured and computed accelerations of webbing, which shows good agreement, the validity of the model has been demonstrated. The dynamic model for seatbelt and driver can be used as a design tool for the development of anti-g buckles.