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.     

Basic Analytical Study of Pantograph-catenary System Dynamics

For a high speed electrical rail system, good dynamic performance of the pantograph-catenary system is vital for smooth and continuous current collection. It has been known for many years that to achieve this the head of the pantograph should be made as light as possible and the average stiffness of the catenary should be high. These conclusions, however, have been reached by numerical modelling and operational experience. In this paper the pantograph-catenary system is modelled as a time-varying, single degree-of-freedom system to facilitate an analytical investigation of the system dynamics. Although the model is very simple, it allows physical insight into the dynamic behaviour of the system, and because the excitation is parametric it also allows the stability of the system to be investigated. The finite element method is used to determine the catenary characteristics and Floquet theory is used to analyse the behaviour of the coupled system.     

The marine electronic highway in the Straits of Malacca and Singapore—an assessment of costs and key benefits

The Straits of Malacca and Singapore are an important trade route linking the Indian Ocean to the South China Sea and Pacific Ocean. They are also rich in resources and support a range of activities that benefit the economies of the littoral states (Indonesia, Malaysia and Singapore). This important shipping route is a very congested waterway and the authorities are keen to improve navigation facilities to promote ship safety and reduce the risk of groundings, collisions and accidents. This will also help to protect the marine environment from the effects of pollution and hence reduce its damaging impact on activities related to the Straits, e.g. fisheries and tourism. The Marine Electronic Highway (MEH) is an attempt to bring together maritime safety technologies and environmental management systems. The paper examines the costs of providing such a highway and considers some of the benefits which could accrue from its implementation. The analysis, conducted in the form of a cost-benefit study, clearly shows the economic viability of the scheme.     

Estimation of origin‐destination matrices for a multimodal public transit network

This paper presents a procedure for the estimation of origin‐destination (O‐D) matrices for a multimodal public transit network. The system consists of a number of favored public transit modes that are obtained from a modal split process in a traditional four‐step transportation model. The demand of each favored mode is assigned to the multimodal network, which is comprised of a set of connected links of different public transit modes. An entropy maximization procedure is proposed to simultaneously estimate the O‐D demand matrices of all favored modes, which are consistent with target data sets such as the boarding counts and line segment flows that are observed directly in the network. A case study of the Hong Kong multimodal transit network is used to demonstrate the effectiveness of the proposed methodology.     

Exact Equations for Tractrix Curves Associated with Vehicle Offtracking

Vehicle offtracking behavior at low speeds is closely approximated by a geometric entity called a tractrix. This paper presents differential equations for generalized coordinates of a planar multibody vehicle model based on tractrix behavior. The equations are exact, can be used with any type of input path, are valid for forward and backward movements, and are much simpler than previously published formulations used to compute transient offtracking. The differential equations can be integrated using conventional numerical integration algorithms to obtain plots of the low-speed tracking performance of articulated vehicles. The equations were formulated symbolically by a computer program used to analyze the kinematic and dynamic behavior of multibody systems. Example numerical results are plotted.     

阿尔斯通开发的PRIMA 3U15型电力机车

阿尔斯通公司运输部开发了PRIMATM机车系列,其类型满足了运营部门提出的模块化和系列化要求.投放欧洲市场的PRIMA型电力机车既满足了通用性要求,又有助于与公路的经济竞争取得成效.为此,阿尔斯通公司继法国双流制机车后又开发了一种三流制机车,该型机车可用于法国、德国和瑞士之间的跨境运输.文章介绍PRIMATM系列的开发过程以及得到法国国家铁路的订单.详细叙述了PRIMA 3U15型三流制机车,重点是PRIMA电力机车的维修、可靠性和可用性.     

Multiphysic modelling of railway vehicles equipped with pneumatic suspensions

This article presents a multidisciplinary approach of railway pneumatic suspension modelling: both multibody and pneumatic aspects are taken into account. The work aims at obtaining a realistic model of the secondary suspension and coupling it with a multibody model of a train. Various components of the pneumatic circuit such as bellows, tanks, pipes and valves are taken into account. The article focuses on the bellow-pipe-tank subsystem for which several modelling approaches are presented and compared. Differences between differential and algebraic models are highlighted, and an application-dependent choice between them is suggested. A complete model of the pneumatic circuit is then obtained and coupled with a multibody model of the train. As a result, the behaviour of a suburban train equipped with a pneumatic secondary suspension is analysed, in particular undesired oscillating motions which affect the comfort. Topological modifications and improvements of the suspension are also investigated and discussed.     

T_H1 AND T_H2 CELL ANTIGEN RECEPTORS IN EXPERIMENTAL LEISHMANIASIS

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Impact of information technology on public transport fares data

The work described was undertaken as part of the CASSIOPE project in the EC DRIVE programme. A range of fare collection procedures in public transport is described, and the importance of these for data collection by operators is stressed. It is suggested that such data management could be standardized and to this end four case studies were carried out in different European cities. Data models were built for each city, and these models are merged into a preliminary version of a generalized model. The need and uses for such a fare collection data model is explained.     

Mathematical Modelling of Vibrations and Loading of Railway Tanks Taking into Account the Liquid Cargo Mobility

Dynamics and loading of railway tank cars transporting liquid cargo are investigated. The approach based on the mechanical-pendulum analogy for the liquid cargo mobility simulation is proposed. Hydrodynamic parameters of the mechanical analogy are determined using the solution of the boundary-value problem for the liquid cargo vibrations in a cavity with the tank boiler shape. The fitting of the developed mathematical models is proved by comparison of calculated results and test data. Vibration characteristics and loading of tank-cars under their shunt collisions and motion along straight and curved track in trains are evaluated. It is shown that as a rule the liquid cargo mobility has an essential influence on tank dynamic properties.