Real-time estimation of road–tyre adherence for motorcycles

Improving braking skills of a rider supported by a real-time training device embedded in the motorcycle represents a possible strategy to deal with safety issues associated with the use of powered two wheelers. A challenging aspect of the braking trainer system is the evaluation of the adherence between tyre and road surface on each wheel. This paper presents a possible method to evaluate the current and maximum adherence during a braking manoeuvre. The proposed approach was positively validated through multi-body simulations and experimental data acquired in naturalistic riding conditions.     

Tuning and objective performance evaluation of a driving simulator to investigate tyre behaviour in on-centre handling manoeuvres

Driving simulation aims at reproducing, within a safe and controlled environment, sensorial stimuli as close to those perceived during the actual drive as possible, in order to induce driving behaviour similar to the real one. This paper illustrates an activity carried out on the driving simulator Virtual Environment for Road Safety, bound for system performance optimisation while dealing with subjective and objective tyres evaluation in the field of on-centre manoeuvres. Such activity can be divided into two main steps. The first one, described herewith, has been focusing on platform motion algorithms tuning and has led to driving simulator objective validation within the on-centre range. Device capability of reproducing dynamics, worked out by the vehicle model, has been thoroughly examined. Simulator sensitivity to a few tyre parameters influencing vehicle lateral dynamics has been analysed too. The second step – calling for the support of experienced drivers – will pursue subjective validation.     

Model predictive driving simulator motion cueing algorithm with actuator-based constraints

The simulator motion cueing problem has been considered extensively in the literature; approaches based on linear filtering and optimal control have been presented and shown to perform reasonably well. More recently, model predictive control (MPC) has been considered as a variant of the optimal control approach; MPC is perhaps an obvious candidate for motion cueing due to its ability to deal with constraints, in this case the platform workspace boundary. This paper presents an MPC-based cueing algorithm that, unlike other algorithms, uses the actuator positions and velocities as the constraints. The result is a cueing algorithm that can make better use of the platform workspace whilst ensuring that its bounds are never exceeded. The algorithm is shown to perform well against the classical cueing algorithm and an algorithm previously proposed by the authors, both in simulation and in tests with human drivers.     

无纵向风下环境压强对拱顶最高温度影响数值研究

为了给高海拔隧道火灾防灾救援设计提供参考依据，通过火灾动态模拟软件(FDS)建立全尺寸模型隧道，设置5种不同环境压强，研究环境压强对隧道火灾拱顶最高温度的影响。结果表明： 1)相同火源热释放速率(HRR)下，拱顶最高温度随着压强降低而增大； 2)环境压强降低引起的空气密度与卷吸强度变化是造成拱顶最高温度变化的主要原因。基于理论分析和数值计算结果，提出考虑环境压强的拱顶最高温度预测模型。预测模型拱顶最高温度与考虑环境压强的无量纲热释放速率的2/3次幂成正比，试验数据验证了预测模型的可靠性。     

道路工程的用地困难问题与其“虚属性”的迫切性要求分析

现有工程建设大多面临着直接、机械式的制约后续工程建设用地、后续工程建设持续发展困难的问题。文中从虚工作既不占用时间、也不占用社会生活环节的资源，但它具有时间指标、时间属性虚资源这个角度．提出采用无机动时差的双代号网络进度计划图所实现的“虚工作”的虚特性，解决占地、后续工程持续发展困难等问题的方法。它从虚工作（具有时间属性）的维系客观背景所带来的新的工程客观条件和合乎社会的时代步伐、节拍基础上，解决了工程占地、资源重复利用方面的困扰。它能够满足地区或国家建设领域的稳定、安全发展需要。     

元明间《舆地图》源流考思

元明之际,中国有多种重要地图均名为《舆地图》.笔者认为,这些同名地图都源出于朱思本的《舆地图》.     

可拆装式小型科研汽车驾驶模拟器台架设计

针对小型科研型汽车驾驶模拟器开发,论文进行了可拆装式台架设计。对台架进行了总体设计说明,介绍了各部分组成和功能,分别介绍了基础支架设计、转向操纵机构设计、路感电机和电子踏板的选取。基础支架由若干角钢通过螺栓连接而成,便于拆卸和组装。转向操纵机构设计主要对转向盘进行了选取,对转向轴长度、轴径、轴键进行了设计计算,设计了高度可调转向柱。根据驾驶模拟器阻力模拟需要,对路感电机进行了合理选择。对电子踏板进行了选取,从人机工程学角度对踏板安装角度进行设计。所设计驾驶模拟器便于拆装,能够较好地模拟转向盘路感,符合人机工程学设计要求。     

无限速标志条件下左侧路肩宽度对驾驶员综合影响的试验研究

依托驾驶模拟舱,在不控制驾驶员行驶速度的基础上,考察了左侧路肩的安全影响。通过搭建不同左侧路肩宽度的模拟驾驶场景,实时记录了反映驾驶员注视行为、生心理状态与机动车行驶状态的数据,利用统计分析工具(方差分析和对比分析)对数据进行了处理和分析。研究结果表明:左侧路肩对驾驶员的注视行为与车辆的侧位移有影响,尤其是当路肩宽度为0.75 m和1.5 m时,左侧路肩对驾驶员有较大的积极影响;左侧路肩不会增加驾驶员的心理负荷。基于此,选取0.75 m为左侧路肩宽度的最小值,并以1.5 m为左侧路肩宽度的推荐值。     

诗歌的“正”、“变”之道与诗人的“非本色”创作——以“诚斋体”为中心

摘要南北宋之际始以"正变"论诗,不同时代、不同批评者对诗歌的正体、变调认识不同,反映人们的诗歌观念随时而变。诗歌发展本是"因时递变"的过程,"变"又分为"正变"和"大变"。"正变"重视表达方式的合乎传统和规律,"大变"者则可能以牺牲形式为代价而追求"意"的自由表达,这种创作往往被视为"非本色",尤以韩愈、苏轼和杨万里为典型。"大变"对诗歌发展进程具有极为深远的意义,却往往不能为当时或后世接受和理解。这也是天才诗人超越时代的写作注定要面临的困境。     

基于模拟器的AHP-Fuzzy 综合评价在航道规划方案优选中的应用*

航道设计方案在优选过程中涉及到的因素很多,从通航安全角度对设计方案的优劣进行比选,应用大型船舶操纵模拟器结合层次分析法和模糊综合评判法建立了基于模拟器的AHP-Fuzzy综合评价模型,并将其应用到天津临港产业区航道规划设计方案优选中,研究表明该方法可为评价航道设计方案的优劣提供一种新途径。