Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.     

Parameter identification for a LuGre model based on steady-state tire conditions

The purpose of this study was to effectively identify parameters for a LuGre friction model based on experimental measures. In earlier work related to this study (Yang et al., 2009), which was based on the characters of polygonal wear (Sueoka and Ryu, 1997), we showed a frictional vibration model for a mass on a moving belt. This model reflected lateral vibrations caused by velocity and toe-in angle. An important aspect of the present study is the improved friction model. A previous friction model, which divided the process into four parts, expressed the sable excited vibration well but failed to reflect the hysteresis loop change when vehicles accelerated or decelerated continuously. A LuGre friction model can solve this problem, but several model parameters must be obtained experimentally. We measured contact width and length of tires as vertical pressure changed; this provided a theoretical basis for apparent stiffness of a unit of tire tread. Based on tire data from Bakker E’s article in a SAE paper from 1987, we identified the Stribeck exponent and Stribeck velocity in LuGre. Then, the results were implemented in a vibration system that verified the rationality of the data.     

Quality evaluation of car window motors using sound quality metrics

In this paper, a method to establish a decision criterion to evaluate the quality of small window motors using sound quality (SQ) metrics is suggested. Although the sound level radiated from the motor is relatively small compared to other sounds in a car, the sound from an abnormal motor gives an uncomfortable feeling and the impression of abnormal operation, which can lead to customer complaints. To construct an objective decision criterion, the correlation between the SQ metrics and the subjective decision on the passing or failure of the motor were investigated. Four representative SQ metrics, viz., loudness, sharpness, roughness, and fluctuation strength, were calculated for the collected samples. It was observed that the loudness and roughness of the motor sample group classified as abnormal was higher than those of the normal motors. For a single figure rating for motor quality, an evaluation index for the motor sound was generated by combining the correlated SQ metrics with proper weightings. Evaluation results on the specimens that were not employed in generating the quality evaluation index showed a reasonable agreement with the subjective test at 73%. The suggested quality check method can replace the current subjective decision procedure to identify the faulty motors.     

Damper modeling for dynamic simulation of a large bus with MR damper

In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test. A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological) damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed improved response of the vehicle with the MR damper.     

Effect of fuel stratification on initial flame development: Part 3-high swirl condition

This paper discusses the final investigation into the effect of fuel stratification on flame propagation. In previous works, the characteristics under the no port-generated swirl condition and the low-swirl condition were considered. For this purpose, the initial flame development and propagation were visualized under different axially stratified states in a modified optical single-cylinder SI engine. The images were captured by an intensified CCD camera through the quartz window mounted in the piston. Stratification was controlled by the combination of the port swirl ratio and injection timing. These were averaged and processed to characterize the flame propagation. The flame stability was estimated by the weighted average of flame area and luminosity. The stability was also evaluated through the standard deviation of flame area and propagation distance and through the mean absolute deviation of the propagation direction. The results show that the LML is expanded remarkably under the high-swirl cases up to the highest relative AFRs of 1.71 and 1.75 between 140 and 160CA. In addition, similar to the low-swirl condition, the flame-flow interaction determines the direction of flame propagation, and the governing roles of the two factors vary according to the swirl level; the flow is more important at the higher swirl conditions, and the flame is more important at the lower swirl condition. Finally, fast and stable flame propagation can be achieved under the preferably stratified condition, which is induced by the suitable combination of the high swirl and injection timing.     

城市桥梁新型无支架法施工应用及浅析

以上海近年来一些工程为例,介绍了城市桥梁新型无支架施工技术应用的成功经验,讨论了桥梁无支架法施工的发展趋势,并分析了推动其发展所需要的重要因素及条件.     

湖北武麻高速公路橡胶沥青路面设计与应用

通过室内试验和现场施工相结合的方法研究了橡胶沥青SMA-16和AC-20沥青混合料力学性能,提出了在中上面层之间设置橡胶沥青+单级配碎石粘接层的新方法,并对其使用效果进行了试验验证,采用BISAR软件计算了各结构层层底拉应力,据此进行了武麻高速公路橡胶沥青路面优化设计。研究结果和实体工程应用表明,橡胶沥青路面优化设计提高了抗裂性能和抗水损坏能力,并节约了工程造价。     

湖北武麻高速公路橡胶沥青路面设计与应用

通过室内试验和现场施工相结合的方法研究了橡胶沥青SMA-16和AC-20沥青混合料力学性能,提出了在中上面层之间设置橡胶沥青＋单级配碎石粘接层的新方法,并对其使用效果进行了试验验证,采用BISAR软件计算了各结构层层底拉应力,据此进行了武麻高速公路橡胶沥青路面优化设计。研究结果和实体工程应用表明,橡胶沥青路面优化设计提高了抗裂性能和抗水损坏能力,并节约了工程造价。     

期待中国邮轮产业像箭一样飞

近年来,世界邮轮市场重心开始出现＂东移＂迹象,包括中国在内的亚太市场成为许多国际邮轮公司关注的焦点。7月18～19日在北京举行的＂2011年中国邮轮产业发展技术研讨会＂上,来自国内外的业界精英们表达了他们对中国邮轮产业发展的看法,让我们深刻感悟到了中国邮轮业巨大的发展潜力和强劲动力。期间,ASCHCO邮轮控股有限公司主席迈克尔·德雷顿和首席执行官史蒂芬·迈克尔·佩恩（以下简称ASCHCO）接受了本刊记者的独家专访。