Effect of handling characteristics on minimum time cornering with torque vectoring

In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal TV strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using TV against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the OCP is introduced where a closed-loop TV controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle's handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed.     

Automated Emergency Four-Wheel-Steered Vehicle Using Continuous Gain Equations

Advanced Vehicle Control Systems (AVCS), when realized, should substantially increase the convenience and safety of highway travel. Automated lateral control is an important step in the realization of AVCS. Much research has been concerned with lateral control during low-g maneuvers. However, before passengers' lives are in the hands of any automated laterally-controlled vehicle, the vehicle controller must be designed to respond to emergency situations where high-g maneuvers may be necessary.

This paper presents the development of a nonlinear-gain-optimized (NGO) controller for emergency automated lateral control of four wheel steered automobiles. Continuous gain equations (GE) are used to account for changes in the vehicle speed. The NGO controller uses a linear vehicle/tire model to define the state model. The response of a nonlinear vehicle/tire model is used to choose the performance index that optimizes the feedback gains for high-g emergency maneuvers at discrete speeds. Continuous gain equations are then derived as least-square approximations to each set of gains.

The performance of the four-wheel-steer continuous gain equations (4WS-GE) controller is compared to that of a two-wheel-steer continuous gain equations (2WS-GE) controller. Significant improvements in vehicle response are realized by using the 4WS-GE controller. The robustness of the controller's performance is examined with respect to changes in tire parameters and changes in vehicle mass.     

Characteristics of Guided-Steering Railway Trucks

The dynamic characteristics of guided-steering railway trucks are described both in a general sense and in terms of a specific design. Stability margins and curving performance have been predicted and are compared for both conventional and steered vehicles. It is shown that guided-steering trucks exhibit modes of instability which, although surmountable by proper design, are not found in conventional trucks. In particular, a low conicity, divergent, leading truck instability is described together with a companion high conicity, divergent trailing truck instability. Curving and dynamic performance for steered vehicles is shown to have the potential of being far superior to that of comparable conventional vehicles. Factors influencing the design of steered rail vehicles are presented and discussed.     

Junction interactions and monotonicity in traffic assignment

We consider the traffic equilibrium problem when the travel demand is inelastic and stationary in time. Junction interactions, which abound in urban road networks, are permitted. We prove that the set of equilibria (solutions to the assignment problem) is convex when certain monotonicity and continuity conditions are statisfied at each junction.     

The problems of hydrocarbon extraction

The problems associated with hydrocarbon extraction in the EEZ are discussed under the headings of resources and environment, technology and the industrial structure, government management, decision-making, and policy formulation. Policy areas identified include boundary delimitation relative to resources, environment and technology, co-ordination and decision-making machinery, relationships with UK and EEC energy policies, and regional planning of the sea and coastal areas used by the off-shore industry.     

Emerging organizational values in shipping: Part 4. Decentralization—the redefinition of authority in shipping company organization

Decentralization is a major theme of organizational change in shipping. It is often seen as 'putting power back aboard ship'. However, the authors argue that this view is too simple. Decentralization poses fundamental questions about the entire management structure of the shipping company. The redistribution of authority necessary for decentralization is discussed in terms of the company organization structure.     

Design of passive vehicle suspensions for maximal least damping ratio

This paper studies the use of the least damping ratio among system poles as a performance metric in passive vehicle suspensions. Methods are developed which allow optimal solutions to be computed in terms of non-dimensional quantities in a quarter-car vehicle model. Solutions are provided in graphical form for convenient use across vehicle types. Three suspension arrangements are studied: the standard suspension involving a parallel spring and damper and two further suspension arrangements involving an inerter. The key parameters for the optimal solutions are the ratios of unsprung mass to sprung mass and suspension static stiffness to tyre vertical stiffness. A discussion is provided of performance trends in terms of the key parameters. A comparison is made with the optimisation of ride comfort and tyre grip metrics for various vehicle types.     

Synergies between Adjacent Beach-Nourishing Communities in a Morpho-Economic Coupled Coastline Model

Beach “nourishment” consists of placing sand on an eroding beach. The widened beach provides increased storm protection to adjacent structures and improved recreational benefits, but is most often transient, requiring on-going, repeated nourishment episodes. Numerical models of beach nourishment typically address such questions as how long a widened beach will last; economic models compare the benefits and costs of preserving a stretch of beach without regard to its geomorphic evolution. Neither have addressed the physical nor economic interactions between adjacent nourishing communities. Here, we couple a numerical model of coastline evolution and a cost-benefit model of beach nourishment, allowing adjacent communities to make dynamic nourishment decisions. Beach nourishment benefits adjacent communities both “updrift” and “downdrift.” The total amount of money spent on nourishment activities can decrease by as much as 25% when adjacent communities both conduct on-going nourishment projects, as opposed to the case where each community nourishes in isolation.     

Towards a simplified performance-linked value for money model as a reference point for bus contract payments

The burgeoning commitment to contracting the delivery of bus services through competitive tendering or negotiated performance-based contracts has been accompanied by as many contract payments schemes as there are contracts. We are now well placed to design a simplified performance-linked payment (SPLP) model that can be used as a reference point to ensure value for money, given the accumulation of experiences throughout the world which have revealed substantive common elements in contracts. Whether the payment to the operator is framed as a payment per passenger or as a payment per service kilometre, the SPLP identifies efficient subsidy outcomes that are linked to a proxy indicator of net social benefit per dollar of subsidy. We illustrate how the SPLP model can be applied to obtain the gross (subsidy) cost per passenger (or per passenger km) from measures of gross cost efficiency and network effectiveness. This model can then be used as part of a benchmarking activity to identify reference value of money prospects in respect of passengers per $ subsidy outlay by adjusting for influences not under the control of the service provider. A single framework to identify contract payments to operators, and to assess (i.e., benchmark) operator performance on critical KPIs, is provided by internalising critical key performance indicators (KPIs) in the design of the SPLP. The proposed SPLP model is sufficiently general to be independent of the procurement method (competitive tendered or negotiated, for example) and of the treatment of revenue allocation (net or gross based contracts), with the additional advantage of being able to assess value for money for government.