An Extended Adaptive Kalman Filter for Real-time State Estimation of Vehicle Handling Dynamics

This paper considers a method for estimating vehicle handling dynamic states in real-time, using a reduced sensor set; the information is essential for vehicle handling stability control and is also valuable in chassis design evaluation. An extended (nonlinear) Kalman filter is designed to estimate the rapidly varying handling state vector. This employs a low order (4 DOF) handling model which is augmented to include adaptive states (cornering stiffnesses) to compensate for tyre force nonlinearities. The adaptation is driven by steer-induced variations in the longitudinal vehicle acceleration. The observer is compared with an equivalent linear, model-invariant Kalman filter. Both filters are designed and tested against data from a high order source model which simulates six degrees of freedom for the vehicle body, and employs a combined-slip Pacejka tyre model. A performance comparison is presented, which shows promising results for the extended filter, given a sensor set comprising three accelerometers only. The study also presents an insight into the effect of correlated error sources in this application, and it concludes with a discussion of the new observer's practical viability.     

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电力是现今大部份铁道系统的动力来源． 可靠、有效率及安全的电力输送对整体铁道服务质素尤为重要，跟其它大型工程系统一样，铁道供电系统的设计，运作及筹划相当倚重计算机仿真．本文将回顾铁道供电系统仿真的模型及一般常规，并通过模拟结果例子及实际应用，介绍最新的模拟方式发展．本文亦对铁道供电系统仿真的未来挑战作出评论．     

THE LA ANTIGEN INHIBITS THE ACTIVATION OF THE INTERFERON－INDUCIBLE PROTEIN KINASE PKR BY SEQUESTERING AND UNWINDING DOUBLE－ST

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TARGETED ACTIVATION OF CD_（8）~（＋） CELLS AND INFECTION OF β_2－MICROGLOBULIN－DEFICIENT MICE FAIL TO CONFIRM A PRIMARY PROTECTIVE

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EFFECT OF GRINDING TISSUE ON ISOLATE RECOVERY FROM RABBIT CORNEAS WITH FUNGAL KERATITIS

ＥＦＦＥＣＴＯＦＧＲＩＮＤＩＮＧＴＩＳＳＵＥＯＮＩＳＯＬＡＴＥＲＥＣＯＶＥＲＹＦＲＯＭＲＡＢＢＩＴＣＯＲＮＥＡＳＷＩＴＨＦＵＮＧＡＬＫＥＲＡＴＩＴＩＳＲｉｃｈａｒｄＲｏｂｉｎｓｏｎ，ＹａｎｇＲｏｎｇ；Ｗ．ＳｔｅｖｅｎＨｅａｄ，ＤｅｎｔｓＯ＇Ｄａｙ（Ｄ...     

REGULATED PHOSPHORYLATION OF THE GATA－2 DNA BINDINGPROTEIN IN ENDOTHELIAL CELLS

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SUPPRESSION OF GROWTH OF A HUMAN LIVER－DERIVED CELL LINE BY ENDOGENOUSLY PRODUCED PARATHYROID HORMONE－RELATED PEPTIDE

ＳＵＰＰＲＥＳＳＩＯＮＯＦＧＲＯＷＴＨＯＦＡＨＵＭＡＮＬＩＶＥＲ－ＤＥＲＩＶＥＤＣＥＬＬＬＩＮＥＢＹＥＮＤＯＧＥＮＯＵＳＬＹＰＲＯＤＵＣＥＤＰＡＲＡＴＨＹＲＯＩＤＨＯＲＭＯＮＥ－ＲＥＬＡＴＥＤ　ＰＥＰＴＩＤＥＬＩＨｕｓｏｎｇ；Ｐ．Ｋ．Ｓｅｉｔｚ，Ｐ．...     

Application of Aerodynamic Actuators to Improve Vehicle Handling

This exploratory study considers applications of active aerodynamic devices for suppressing parasitic motion and for improving the response of vehicles to steering, within the scope of the linear dynamic behaviour. A three DOF linear model is chosen to describe the side slip, yaw and roll motion of a baseline front-wheel steered vehicle. The improvements in performance of the base-line vehicle that are achievable by the application of direct yaw and roll moments are determined when either an open loop control pre-filter or a state feedback control law based on LQR design is applied. Unlike the former control, the state feedback control is unable to make the body side-slip angle vanish. The feedback control performance of each of the two moment actuators has been examined separately and then jointly. The advantages of combining the open loop and feedback dual actuator configurations are demonstrated using the two-degree of freedom control scheme. It is found that the scheme yields a spectacular performance but demands unreasonably large moments from the actuators in the context of available aerodynamic forces. On the other hand, the demand on direct yaw and roll moment of actuators is modest when the actuators are controlled using the LQR feedback only and if the control design is used to track a desired yaw rate trajectory and simultaneously to reduce the parasitic rolling motion. Significant improvements in handling and dynamic stability of a base-line vehicle can be achieved by aerodynamically generated direct yaw and roll actuator moments provided the target control performance is reasonable. The configurations of aerodynamic actuators considered are feasible for improving vehicle handling in cornering on motorways but more work remains to be done to explore alternative aerodynamic configurations that give rise to less side effects and higher lift coefficients.     

Optimizing the transportation of international container cargoes in Korea

This paper considers a multimodal transportation problem, which is the problem of determining the transportation flow, i.e. volume of container cargoes, and the transportation mode in each trade route, for the objective of minimizing the sum of shipping and inland transportation costs. The problem takes account of two restrictions: maximum cargo volumes capacitated at each seaport and maximum number of vehicles available at each transportation mode. To solve optimally the problem, this paper employs a mixed integer programming, which is an operations research technique. A case study is performed on the container cargo data in Korea and we draw several implications to improve efficiency in the transportation of international trade cargoes in Korea.     

中国巴士与客车制造业的现实与前景

Consumers can only see a vogue sight of China bus & coach industry.Although it has became the largest manufacturing center in theworld,most main indicators of automotive type are still kept at the level of the last century and its commercial value remains low.As Automobiles are invented more than 100 years ago in Europe and used in public transportation.They became main ways of transportation in human life because of large production in flow line in America.The advantages of private cars lie in its freedom and convenience as well as traveling comfort;traveling by bus&coach is increasingly attractive as the rapid development of road