Evasive manoeuvres with a steering robot

In the pursuit of an objective rating on vehicle stability performance, it is always desirable to reduce disturbances and inconsistencies during experimental evaluations, especially the ones introduced by human drivers. This paper presents the development of a steering robot designed for closed-loop steering tasks during evasive manoeuvres. It describes the controller structure and discusses experimental results, in addition to simulation/vehicle model verifications and theoretical control analysis.     

Method for obtaining the wheel–rail contact location and its application to the normal problem calculation through ‘CONTACT’

This work presents a robust methodology for calculating inter-penetration areas between railway wheel and rail surfaces, the profiles of which are defined by a series of points. The method allows general three-dimensional displacements of the wheelset to be considered, and its characteristics make it especially suitable for dynamic simulations where the wheel–rail contact is assumed to be flexible. The technique is based on the discretisation of the geometries of the surfaces in contact, considering the wheel as a set of truncated cones and the rail as points. By means of this approach, it is possible to reduce the problem to the calculation of the intersections between cones and lines, the solution for which has a closed-form expression. The method has been used in conjunction with the CONTACT algorithm in order to solve the static normal contact problem when the lateral displacement of the wheelset, its yaw angle and the vertical force applied in the wheelset centroid are prescribed. The results consist of smooth functions when the dependent coordinates are represented as a function of the independent ones, lacking the jump discontinuities that are present when a rigid contact model is adopted. Example results are shown and assessed for the normal contact problem for different lateral and yaw positions of the wheelset on the track.     

A tool to aid redesign of flexible transport services to increase efficiency in rural transport service provision

Rural areas generally have lower and more dispersed demands for travel which cannot sustain conventional public transport services and consequently have a greater number of flexible and demand responsive transport services operating. These services usually operate on a stand-alone basis, are often subsidized and are typically only accessible by certain passenger types or for specific trip purposes. This generally results in uncoordinated and inefficient transport provision overall. The Flexible integrated transport services (FITS) system featured in this paper has been designed to address this problem. FITS can be used as a planning tool to assess potential benefits from relaxing operating constraints (e.g., a service's operating boundaries), which can potentially suggest service redesign. It also includes the capacity to assign subsidy payments on a trip by trip basis to increase cost efficiency whilst meeting a greater proportion of transport needs. The case study in the paper focusses on transport to health in the Aberdeenshire and Morayshire areas of Scotland in the UK. Despite flexible transport operators receiving public funds to meet passenger needs, this is currently being supplemented by public bodies paying large amounts in taxi fares in instances where there is a statutory obligation to provide travel but where no other suitable transport service exists. The results demonstrate the potential substantial savings which could be realized by allowing transport operators to redesign their services by relaxing constraints and by the reassignment of subsidies: resulting in more passenger demands being met and a reduction in public spending on taxi fares.     

软土刀具的磨损预测——一种研究刀具磨损系统中主要影响因素的新方法

硬岩隧道掘进机的性能很大程度上取决于其切削刀具的磨损情况。刀具的磨损会降低掘进速度,进而导致掘进时间延长、项目成本增加。通常在隧道项目的规划阶段使用预测模型来进行磨损预测,而常规的磨损试验对磨损系统的考虑还不够准确,并没有考虑到刀具/土体的相互作用、周围介质（水、膨润土）以及掘进过程中的荷载等因素。针对该问题,专门设计了一个水平放置的磨损试验设备。本文介绍了该试验方法,研究并讨论了磨损系统相关因素对磨损率的影响。结果表明,该设备可模拟真实的掘进过程,很好地解决了上述问题,达到了高效、准确预测磨损的效果。     

20世纪美国应对机动性的交通构想及高速公路发展历程

为了阐述20世纪除汽车机动性外,交通发展经历的最重要的进程——城市高速公路的出现,考察了过去100年来美国城市交通规划的历史。通过回顾各种研究资料,认为资助州际公路发展所采用的方法使联邦和州公路工程师成为主管,这影响了公路的选线及设计。联邦公路工程师只关注机动车通过效率的最大化,而在很大程度上忽略了城市的其他利害关系。没有先进的规划理念指导、过度建设、稀疏、放射环状的道路网对于加强机动性取得了极大的效益,但通常要为此付出巨大的社会和环境成本。最后指出,在实践中要重新审视具有百年历史的协调交通与土地利用规划的观点,而且,公共财政权宜之计式的政治决策方式将对工程、出行和城市形态产生深远的影响。·     

低阻通风船体的远程控制测试平台开发（英文）

This paper addresses the development and testing of a remotely controlled boat platform with an innovative air-ventilated hull. The application of air cavities on the underside of ship hulls is a promising means for reducing hydrodynamic drag and pollutant emissions and increasing marine transportation efficiency. Despite this concept’s potential, design optimization and high-performance operation of novel air-cavity ships remain a challenging problem. Hull construction and sensor instrumentation of the model-scale air-cavity boat is described in the paper. The modular structure of the hull allows for easy modifications, and an electric propulsion unit enables self-propelled operation. The boat is controlled remotely via a radio transmission system. Results of initial tests are reported, including thrust, speed, and airflow rate in several loading conditions. The constructed platform can be used for optimizing air-cavity systems and testing other innovative hull designs. This system can be also developed into a high-performance unmanned boat.     

考虑不确定性因素的路径优化(英文)

A route optimization methodology in the frame of an onboard decision support/guidance system for the ship’s master has been developed and is presented in this paper.The method aims at the minimization of the fuel voyage cost and the risks related to the ship’s seakeeping performance expected to be within acceptable limits of voyage duration.Parts of this methodology were implemented by interfacing alternative probability assessment methods,such as Monte Carlo,first order reliability method(FORM) and second order reliability method(SORM),and a 3-D seakeeping code,including a software tool for the calculation of the added resistance in waves of NTUA-SDL.The entire system was integrated within the probabilistic analysis software PROBAN.Two of the main modules for the calculation of added resistance and the probabilistic assessment for the considered seakeeping hazards with respect to exceedance levels of predefined threshold values are herein elaborated and validation studies proved their efficiency in view of their implementation into an on-board optimization system.     

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.     

Effect of fatigue strain range on properties of high-strength structural steel

Ship hulls are built with stiffened steel plates and experience continuous fatigue load cycles when in service. Mechanical properties of the steel are expected to change due to the application of these cyclic loads. Therefore, the mechanical properties of the material at various levels of fatigue damage need to be understood. This paper presents two test series that were conducted to determine the effect of two different strain ranges (2000 and 3000 micro strains) of fatigue cycles on the mechanical properties of high-strength structural steel. The test results indicate that the cycle-dependent behaviours of the material can cause a slight increase or a significant decrease in the yield strength when compared to its virgin state. However, the ductility of the steel does not change much as the strain cycle increases.     

Further study on the ultimate strength analysis of spherical pressure hulls

From a comparative study it is concluded that current design rules for the spherical pressure hull of manned submersible need to be updated and unified. In this paper, a series of spherical pressure hulls are calculated by nonlinear FEM. Based on these numerical results, the influence of critical arch length and the relationship of ultimate strength with t/R and structural imperfection are studied. Finally, empirical formulae for the ultimate strength of the titanium alloy spherical pressure hull of deep manned submersible based on numerical computations are given. The formulae can be used as the core equations to update current design rules.