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.     

Use of GIS-Based Models for Integrating and Developing Marine Fish Cages within the Tourism Industry in Tenerife (Canary Islands)

Site selection is a key factor in any aquaculture operation, affecting both success and sustainability. Moreover, it can solve conflicts between different coastal activities, making a rational use of the coastal space. Geographical information systems (GIS) have become of increased significance for environmental planning and assessment mainly because of the need to compare a great number of spatially related data, and because it can be used to couple these spatial data with their attributes and overlay them. This study used GIS and related technology to build a spatial database using those criteria which were considered to have any influence in integrating marine fish-cage culture within the tourism industry in Tenerife. Criteria were grouped in three submodels (distance to beaches, nautical sports, and viewshed), which were combined to generate a final output showing the most suitable areas for cage culture development in coexistence with tourism. Most areas of the coastline of Tenerife were identified as being suitable (56%) or very suitable (46%), suggesting that marine cage aquaculture could be developed on the island in coexistence with the well-established tourism industry.     

Interactive stated choice surveys: a study of air travel behaviour

Stated preference (SP) experiments are becoming an increasingly popular survey methodology for investigating travel behaviour. Nevertheless, some evidence suggests that SP experiments do not mirror decisions in real markets. With an increasing number of real world decisions made using the internet, an opportunity exists to improve the realism of the SP counterparts of such choices by aligning the choice environment with such online portals. In this paper, we illustrate the benefits of such an approach in the context of air travel surveys. Our survey is modelled on the interface and functionality of an online travel agent (OTA). As with a real OTA, many ticket options are presented. Sort tools allow the options to be reordered, search tools allow options to be removed from consideration, and a further tool allows attributes to be hidden and shown. Extensive use of these tools is made by the 462 respondents. A traditional SP component was also completed by the respondents. Our exploratory analysis as well as random utility model estimation results confirm not only that respondents seem to engage more actively with the interactive survey, but also that the resulting data allows for better performance in model estimation compared to a more conventional SP experiment. These results have implications for the study of other complex travel choices where interactive surveys may similarly be preferable to standard approaches.     

盾构隧道整体道床剥离病害规律研究北大核心CSCD

盾构隧道整体道床的剥离病害已严重影响地铁的安全运营。为研究整体道床剥离病害的规律,文章以国内某运营地铁线路为工程背景,建立整体道床-管片-注浆层数值模型进行分析研究。结果表明:列车轮组作用在道床一侧靠近伸缩缝位置时会引起较大的道床剥离变形,是最不利位置;列车荷载在振动作用下引起的剥离量远大于静载作用时的,且两者间存在函数关系;伸缩缝位置是最易发生剥离的区域,剥离首先发生在伸缩缝两侧边缘,随列车动载作用时间增加,剥离区域扩展至伸缩缝1.5 m范围内;注浆层刚度与接触面黏结强度均是影响剥离量的重要因素,提升注浆层刚度和道床-管片接触面的黏结强度可有效减少剥离量。     

Robust control and actuator dynamics compensation for railway vehicles

A robust controller is designed for active steering of a high speed train bogie with solid axle wheel sets to reduce track irregularity effects on the vehicle’s dynamics and improve stability and curving performance. A half-car railway vehicle model with seven degrees of freedom equipped with practical accelerometers and angular velocity sensors is considered for the H_∞ control design. The controller is robust against the wheel/rail contact parameter variations. Field measurement data are used as the track irregularities in simulations. The control force is applied to the vehicle model via ball-screw electromechanical actuators. To compensate the actuator dynamics, the time delay is identified online and is used in a second-order polynomial extrapolation carried out to predict and modify the control command to the actuator. The performance of the proposed controller and actuator dynamics compensation technique are examined on a one-car railway vehicle model with realistic structural parameters and nonlinear wheel and rail profiles. The results showed that for the case of nonlinear wheel and rail profiles significant improvements in the active control performance can be achieved using the proposed compensation technique.     

Computer Simulation of Thermal-Mechanical Processing

AlterationIntroductionThereisastrongini6ractionamongtemPetalrefield,strCssfield,andmicrosttuctutulaltOrationinm8terialsduringtheirhotworking[l'2].Especiallyduringthecoolingprocess,inwhichtemPeratorechangnsgreatly,intendionsbecomemorecomplexbecauseoftransformationoccurmnce.Duringthehotdeformation,thingswillaPpearsuchas:a.hotdeformation,relatedtostressfieId,changesessentiallytheshaPeofmaterialsandcausesthevariationofthecontactstatebetWeenthedieandsample,resultinginchangeofthethermalboundnyco…     

厚壁球壳的杂交／混合有限元分析

本文对８一节点四边形轴对称杂交／混合元ＡＸＨＭ１６进行了系列考核：（１）考查ＡＸＨＭ１６是否含有零能变形模式，以查明它的含秩状况；（２）通过受内压作用的厚壁球壳考题，观察ＡＸＨＭ１６的转轴不变性和其它性能表现。事实表明：ＡＸＨＭ１６满足单元合理足秩的必要条件和充分条件，不含零能变形模式，单刚合足秩。数值考核表明：ＡＸＨＭ１６具有很好的位移精度和应力精度，对坐标转轴的敏感程度并不明显，且在近乎相同的     

Crosswind Feedforward Control - A Measure to Improve Vehicle Crosswind Behaviour

The theory of crosswind feedforward control was explained using the example of a vehicle with active front-wheel steering. Beforehand, the calculation formulas and frequency responses of the transient crosswind force and of the wind yaw moment acting on the vehicle were derived using the example of a simple vehicle fluid model. The influence of the transiency of crosswind disturbance on the dynamic crosswind behaviour of a vehicle was then presented. The results of simulation confirmed the analyses carried out in the frequency domain for feedforward control with front, rear and all-wheel steering. With front-wheel steering, the influence of crosswind on one of the vehicle movement variables (lateral acceleration or yaw rate) could be almost completely compensated by dynamic feedforward control. With rear-wheel steering, it is only possible to compensate directly for the influence on the yawing rate. Due to the setting of the side force in the same direction as the lateral wind force at the start, active rear-wheel steering is not so successful as active front-wheel steering. Nevertheless, the crosswind behaviour of a vehicle can be considerably enhanced by feedforward control with rear-wheel steering. The best crosswind behaviour was obtained with active all-wheel steering: the vehicle hardly responds at all to crosswinds and remains on course despite heavy gusts of wind.     

EH200型直流供电电力机车的开发

介绍EH200型直流供电电力机车的开发.为证实机车性能满足基本要求,至2001年6月完成了样机试验,并从2001年7月至2002年3月牵引列车进行了运营.通过这些试验和运营,证实该种机车能满足规定的性能,包括与地面设施的匹配.     

Coupled transport-reaction pathways and distribution patterns between siliciclastic-carbonate sediments at the Ria de Vigo

This paper examines the linkages between the space-distribution of grain sizes and the relative percentage of the amount of mineral species that result from the mixing process of siliciclastic and carbonate sediments at the Ria de Vigo (NW of Spain).The space-distribution of minerals was initially determined, starting from a detailed mineralogical study based on XRD-Rietveld analysis of the superficial sediments. Correlations between the maps obtained for grain sizes, average fractions of either siliciclastic or carbonates, as well as for individual-minerals, were further stabilised. From this analysis, spatially organized patterns were found between carbonates and several minerals involved in the siliciclastic fraction. In particular, a coupled behaviour is observed between plagioclases and carbonates, in terms of their relative percentage amounts and the grain size distribution.In order to explain these results a conceptual model is proposed, based on the interplay between chemical processes at the seawater–sediment interface and hydrodynamical factors. This model suggests the existence of chemical control mechanisms that, by selective processes of dissolution-crystallization, constrain the mixed environment's long-term evolution, inducing the formation of self-organized sedimentary patterns.