Grade measurement with an instrumented car

Grade information may be needed for route surveys and is important when fuel consumption is studied. An instrumented car was used to measure acceleration along the road surface by double differentiating accumulated pulses generated off the drive train. A second acceleration measure included the component due to gravity relative to the car body. The difference between these acceleration measures contains grade information but it also influenced by suspension dynamics and pitch of the car body. The effect of suspension dynamics was removed by filtering which limited the minimum wavelength to 160 m. The effect of pitch was removed by a correction based on acceleration, jerk and the square of vehicle speed. The correction was computed from data collected on a level airfield runaway. The method is verified for a high capacity arterial road. Grade is measured to within 0.001 rad (95% confidence limits). Elevation derived from the grade data was consistent with road construction drawings to the same limits.     

The effects of marine cargo delays in law and commerce

With the development of door-to-door intermodal services and the advent of just-in-time supply systems, punctual delivery of cargoes is more than ever a priority both for shippers and for shipowners. This paper is about the incidence of delay in transportation, particularly in the marine mode, and its legal and commercial consequences.

The fundamental legal obligations of marine carriers have always included delivery with dispatch. Thus the law would seem to support the commercial expectations of shippers for reliable performance. The authors discuss the nature of these obligations, investigate their adequacy under modern conditions of trade and report on a survey of Canadian shippers and consignees.

The authors conclude that there appears to be a divergence in the toleration of delay, but that few of the Canadian companies suffering unacceptable delays received, or even sought, financial compensation and none of them planned to do more. The authors speculate about their reasons for absorbing the losses incurred through unacceptable delays. The evidence from the survey is that shippers, in spite of their dissatisfaction with the resolution or outcome of incidents of unacceptable delay, are loath to seek compensation through legal means, but instead prefer to resort to a range of commercial actions.     

国际铁路行业标准(IRIS)的现状与前景

国际铁路行业标准(简称IRIS)已成为优化铁路行业及其与其他相关行业增值链的国际性体系标准。介绍了IRIS体系建立的经过、与ISO 9001:2000之间的差别及通过其认证所带来的益处。     

小鼠10号染色体上致聋突变基因hml的精确定位(英文)

目的　定位小鼠致聋基因 ,识别决定其性状的有关突变 ,为人类耳聋基因研究提供动物模型。方法　利用全基因组扫描来定位名为hml可致小鼠听力丧失突变基因。结果　①hml基因定位在小鼠 10号染色体上 ,距中心粒约4 3cM处。根据已知的鼠 人同源同线性特点 ,提示人的同源基因位于 12 q2 2 -q2 4 ;②获得了 2 5个多态性微卫星标记 ,通过高分辨的小鼠图谱将 3个已知人类基因进行了正确排列 ,并将hml侯选基因限定在一个 5 0 0kb的区域内。     

Human-Centered Design of an Acc-With-Braking and Forward-Crash-Warning System

This paper addresses the development of driver assistance systems whose functional purposes are to provide both adaptive cruise control (ACC) and forward collision warning (FCW). The purpose of the paper is to combine concepts from human factors psychology, vehicle-dynamics, and control theory, thereby contributing to the body of knowledge and understanding concerning human-centered approaches for designing and evaluating driver assistance systems. Conceptual and experimental results pertaining to driving manually and with the assistance of ACC and FCW are presented. The following human-centered aspects of driver-assistance systems are analyzed and presented: the looming effect; including rule-based and skill-based behavior in the design of ACC systems; using desired dynamics in controlling the driving process; braking rules that trade headway range for deceleration level; and collision-warning rules based on two different stress indicators. Field-test data are examined to justify and verify the parametric values selected for use in human-centered ACC systems. Measured data from on-road driving are used to evaluate the performance of proposed FCW systems in braking situations. The paper concludes with observations concerning the difficulty of developing a clear understanding of when and why drivers brake.     

Modal Controllers for Active Steering of Railway Vehicles with Solid Axle Wheelsets

This paper presents the development of a modal control strategy for the active steering of solid axle railway vehicles and reveals benefits of actively stabilising the wheelsets of a railway vehicle. A modal decomposition is applied to a 2-axle railway vehicle to de-couple its body lateral and yaw motions and hence to allow more detailed analysis of the vehicle behaviour and more robust design of active controllers. Independent controllers for the two motions are developed based on the two de-coupled modes. Parameter variations such as creep coefficients and wheelset conicity are taken into account in the design process to guarantee a robust design. The study shows that, compared to a passive vehicle, the vehicles with actively steered wheelsets not only perform much better on a curved track, but also improve the ride quality on straight track. Computer simulations are used in the study to verify the development of the controllers and assess the system performance with the control scheme proposed.     

Analytical extension of the effective axle characteristics concept for the development of a structured chassis design process

The lateral vehicle dynamics is defined by the effects of side forces at the front and rear axle. These forces are caused by the slip and camber angle at the individual tyres, which are results of the kinematics and compliances of the chassis. This paper extends the approach of the effective axle characteristics by Paceyka to the analytical expression of the axle cornering stiffness and the axle relaxation behaviour with the aim of the development of a chassis design process as it applies in the early design stage. The obtained expression is integrated into a single track model and validated against a full nonlinear two-track model. By this means of these analytical expressions for the axle cornering stiffness and the axle relaxation behaviour it is possible to directly calculate and analyse the effective slip angles for linear quasi-static and dynamic driving manoeuvres.     

Real-time weighted multi-objective model predictive controller for adaptive cruise control systems

In this paper, a novel spacing control law is developed for vehicles with adaptive cruise control (ACC) systems to perform spacing control mode. Rather than establishing a steady-state following distance behind a newly encountered vehicle to avoid collision, the proposed spacing control law based on model predictive control (MPC) further considers fuel economy and ride comfort. Firstly, a hierarchical control architecture is utilized in which a lower controller compensates for nonlinear longitudinal vehicle dynamics and enables to track the desired acceleration. The upper controller based on the proposed spacing control law is designed to compute the desired acceleration to maintain the control objectives. Moreover, the control objectives are then formulated into the model predictive control problem using acceleration and jerk limits as constrains. Furthermore, due to the complex driving conditions during in the transitional state, the traditional model predictive control algorithm with constant weight matrix cannot meet the requirement of improvement in the fuel economy and ride comfort. Therefore, a real-time weight tuning strategy is proposed to solve time-varying multi-objective control problems, where the weight of each objective can be adjusted with respect to different operating conditions. In addition, simulation results demonstrate that the ACC system with the proposed real-time weighted MPC (RW-MPC) can provide better performance than that using constant weight MPC (CW-MPC) in terms of fuel economy and ride comfort.     

EXPRESSION CLONING OF A PROTECTIVE LEISHMANIA ANTIGEN

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