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.     

License plate extraction method for identification of vehicle violations at a railway level crossing

The primary cause of most railroad accidents is vehicle entry into railway level crossings despite warning messages. To identify drivers who violate railway level crossing regulations, vehicle license plate recognition can be applied at railway level crossings. The purpose of this paper is to present an effective method for extracting the license plate region from vehicle images taken at railway level crossings. The method proposed in this paper uses the variation in the gray-level values across the image of a license plate. For license plate region extraction, the character region is first recognized by identifying the character width and the difference between the background region and the character region. The license plate region is then extracted by finding the inter-character distance in the plate region. In addition, the license plate type is identified by the difference in the gray-level value between the background region and the character region. The proposed method is effective in solving the current challenges in extracting the license plate region from the damaged frames of license plates issued for domestic use, including new types of license plates. According to the experimental results, the proposed method yields a high extraction rate of 99.5% for vehicle license plates.     

Service-oriented computing and model-driven development as enablers of port information systems: an integrated view

Port information management is considered a critical instrument towards enabling international transport and trade; thus, various forms of Port Information Systems (PORTIS) have been developed today, namely Port Community Systems, Terminal Operating Systems and Single Window systems. In Europe, the nautical information system SafeSeaNet is viewed as an important e-infrastructure. PORTIS systems are expected to evolve into next-generation technological platforms in order to offer a fully integrated digital environment to a multitude of maritime business actors and public authorities towards more efficient, safe and environment-aware transport and trade infrastructures and services. We propose service-oriented computing and model-driven development techniques as a robust PORTIS modelling and development approach. We present a reference model of PORTIS and a particular enabling methodological and technological framework. The proposed approach has been tested in a maritime single-window case.     

Altimeter assimilation in the OCCAM global model: Part I: A twin experiment

An altimeter data assimilation scheme has been tested in the OCCAM (Ocean Circulation and Climate Advanced Modelling) global 1/4°, 36-level model using a twin experiment format. The Cooper and Haines displacement scheme is used. The method works well in most regions and depths. Currents and densities in the top 1000 m generally improve by over 50–70% after 5 months of sea level assimilation every 15 days. Below 1000 m, an error reduction of up to 50% is achieved. The errors remain low during a further 60-day run without assimilation. Diagnostics for the North Atlantic, the Tropical Pacific and the Antarctic Circumpolar Current are shown alongside the global averages.The main problems encountered were in weakly stratified regions of the Antarctic and Arctic seas. A scale selective filter is developed to avoid assimilating scales much larger than the local deformation radius, and this avoids the adverse assimilation effects in the southern oceans. A companion paper uses this scheme to assimilate TOPEX and ERS-1 altimeter maps.     

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.     

Shipping and investment incentives: a trilogy Part 2. Investment incentives for shipping

This paper concentrates on the shipping industry and considers the forms of fiscal and financial incentives which are used by different governments to promote or encourage investment in their shipping industry. The analysis reduces the various packages of investment incentives and loan arrangements to a common measurement—the net present value of the package—and uses this to draw international comparisons and rankings. The results are based on different values of rates of return in the shipping industry and under certain assumptions concerning the rate of inflation and the rate of discount. Differences in loan arrangements have also been incorporated. The particular results are valid only for the specified circumstances but the methodology is generally applicable.     

Use of a probabilistic particle tracking model to simulate the Prestige oil spill

A probabilistic particle tracking model is used to simulate the oil dispersion after the Prestige wreckage. This oil spill constitutes a suitable benchmark to analyze the capabilities of a probabilistic model, since the time elapsed from wreckage to oil landing (12 days) is much longer than the reliability time associated with forecast winds, usually on the order of 3–4 days. The particle model can be run in two different modes: real time mode (when existing reliable wind fields for the event under scope) and in probabilistic mode (in absence of reliable wind fields but with historical fields corresponding to a similar period). The validity of the particle model is first evaluated in a hindcast way, running the Prestige case with the wind fields corresponding to the period November 19 to November 30, 2002, which were not available at the moment of the wreckage. Calculations show the accuracy of the model to provide the right impact point and timing. The probabilistic model is then used to simulate the same event by means of historical data. The region where the oil landed is shown to be the area with the highest probability to be impacted.     

Optimal Active Suspension Design Using a Frequency-shaping PID Filter

By the incorporation of frequency-shaping into the linear quadratic methods used in active suspension design it is possible to achieve improvements in both body frequency response and road-holding. The use of a PID filter for this purpose also leads to robustness of the system to disturbance forces. Zero steady-state deflections are achieved for applied body loads by the integral action with excellent attenuation of the transient response. The resulting system consists of a hydraulic actuator in parallel with a body spring of arbitrary stiffness and is optimal with equivalent full state feedback.     

Initial results from long-term measurements of atmospheric humidity and related parameters in the marine boundary layer at two locations in the Gulf of Mexico

Measurements of boundary layer moisture have been acquired from Rotronic MP-100 sensors deployed on two NDBC buoys in the northern Gulf of Mexico from June through November 1993. For one sensor, which was retrieved approximately 8 months after deployment, the post- and precalibrations agreed closely and fell well within WMO specifications for accuracy. The second sensor operated continuously from June 1993 to February 1997 (3.5 years). Buoy observations of relative humidity and supporting data were used to calculate specific humidity and the surface fluxes of latent and sensible heat. Specific humidities from the buoys were compared with observations of moisture obtained from nearby ship reports, and the correlations were generally high (0.7–0.9). Surface gravity wave spectra were also acquired. The time series of specific humidity and the other buoy parameters revealed three primary scales of variability, small (h), synoptic (days), and seasonal (months). The synoptic variability was clearly dominant and occurred primarily during September, October, and November. Most of the synoptic variability was due to frontal systems that dropped down into the Gulf of Mexico from the continental US followed by air masses which were cold and dry. Cross-correlation analyses of the buoy data indicated that: (1) the moisture field was highly coherent over distances of 800 km or more in the northern Gulf of Mexico; and (2) both specific humidity and air temperature served as tracers of the motion associated with propagating atmospheric disturbances. These correlation analyses also revealed that the prevailing weather systems generally entered the buoy domain from the South prior to September, but primarily from the North thereafter. Spectra of the various buoy parameters indicated strong diurnal and semidiurnal variability for barometric pressure and sea surface temperature (SST) and lesser variability for air temperature, wind speed and significant wave height. The surface fluxes of latent and sensible heat were dominated by the synoptic events which took place from September through November with the transfer of latent heat being primarily from the ocean to the atmosphere. Finally, an analysis of the surface wave observations from each buoy, which included calculations of wave age and estimates of surface roughness, indicate that major heat and moisture flux events coincide with periods of active wave growth, although the data were insufficient to identify any causal relationships.     

The Effect of Topboxes on Motorcycle Stability

Hot wire anenometry measurements have been made in the wake of a model motorcycle and rider mounted in a windtunnel. Only in tests with a topbox present is there clear evidence of eddy shedding. Calculations have been performed on the corresponding full-scale motorcycle to determine the frequencies of the weave and wobble modes. Comparison with the wake frequencies extrapolated to full size show that at speeds of 31-34 m/s they coincide with those of the wobble mode which is found to be efficiently coupled to the aerodynamic excitation.