Evasive manoeuvres with a steering robot

In the pursuit of an objective rating on vehicle stability performance, it is always desirable to reduce disturbances and inconsistencies during experimental evaluations, especially the ones introduced by human drivers. This paper presents the development of a steering robot designed for closed-loop steering tasks during evasive manoeuvres. It describes the controller structure and discusses experimental results, in addition to simulation/vehicle model verifications and theoretical control analysis.     

Key criteria influencing the choice of Arctic shipping: a fuzzy analytic hierarchy process model

As Arctic sea ice shrinks due to global warming, the Northern Sea Route (NSR) and the Northwest Passage (NWP) offer a substantial reduction in shipping distance between Asia and the European and North American continents, respectively, when compared to conventional routes through the Suez and Panama Canals. However, Arctic shipping routes have many problems associated with their use. The main objective of this paper is to identify the key criteria that influence the decisions of shipping operators with respect to using Arctic shipping routes. A multi-criteria decision-making methodology, the Fuzzy Analytic Hierarchy Process, is applied to rank four potential categories of criteria (‘economic’, ‘technical’, ‘political’ and ‘safety’ factors) and their sub-criteria.

The results of the analysis suggest that, on aggregate, ‘economic’ is the most important category of influential factors, followed by ‘safety’, ‘technical’ and ‘political’ factors. The paper concludes, however, that the most influential specific sub-criteria relate to risks that lie mainly within the ‘safety’ and ‘political’ domains and that, especially in combination, these overwhelm the importance which is attached to ‘economic’ factors such as reduced fuel use. Finally, the implications of these findings for the future development of Arctic shipping are addressed at a strategic level.     

Dynamic Estimation of Road Bank Angle

Road bank angles have a direct influence on vehicle dynamics and lateral acceleration measurement. A vehicle stability control system that knows road bank angle has an advantageous capability in achieving desired control sensitivities for maneuvers on ice and snow, among all surfaces, while avoiding false/nuisance activation on a banked road. Since neither lateral velocity nor road bank angle are directly measurable in current vehicle systems due to economical reasons, the major challenge is to differentiate the bias induced by road bank disturbances from actual effect of vehicle lateral dynamics in current measurements. This paper proposes a method of road bank estimation and provides theoretical background for the decoupling effort of lateral dynamics and road disturbances involved in bank estimation.     

Mooring line tension observed through a maximum entropy spectrum

A method for measuring mooring line tension is proposed based on observation of the natural frequencies of the mooring line segment between the winch and the fairlead. The anchor line tension is observed through the string equation where an analytical expression for the line's eigen-frequencies is obtained. The tension is observed on line by utilizing a nonparametric system identification approach in which the peaks of a maximum entropy spectrum of the transverse acceleration measures of the vibrating string are automatically identified. The method is verified against full-scale data from the Troll B floating concrete oil production platform operating in the North Sea. Received for publication on Feb. 24, 1999; accepted on July 26, 1999     

Participating mass in colliding risers

One of the main challenges in estimating impact energy in collisions between marine risers is the assessment of the riser mass involved in the collision. Evidently the entire riser mass does not contribute to the collision. Hence, the question is: What is the equivalent riser mass which contributes to the impact energy? This article presents three different ways of estimating the riser mass participating in the collision energy. The first method is strictly experimental. The second method uses a numerical experiment together with system identification techniques. The third method is a strictly analytical method, which results in an asymptotically upper bounded estimate of the participating mass. Two risers are examined as case studies. The first riser is a 1 : 100 model scale riser used in collision experiments carried out at Marintek's towing tank in Trondheim, Norway. The second case uses a real world riser in use on the Troll B oil production platform operating in the North Sea. The proposed methods yield consistent and comparable results. Received for publication on Feb. 1, 1999; accepted on July 8, 1999     

湍流边界层脉动压力对声强测量的影响研究

实际声强测量时常常存在风流或水流,如在飞机或船舶上进行测量,声强探头将受到湍流边界层脉动压力的影响。如何评估该影响以及如何修正测量结果是人们十分关心的工程实用问题。该文首先简要介绍了建立的由湍流边界层脉动压力诱发声强的理论模型。接着利用现有的湍流边界层脉动压力频率-波数谱模型,对湍流边界层脉动压力及其诱发的声强进行了数值分析。为了验证理论模型及数值结果,设计制作了一套实验装置,对湍流边界层脉动压力及其产生的声强进行了具体测量分析。结果表明,湍流边界层脉动压力的测量结果与数值结果吻合良好,测量得到的边界层脉动压力诱发的声强特性与计算结果也十分一致,但必须注意对测量传感器的空间响应进行修正。     

Review of Countermeasures against Beach Erosion on the Taiwanese Coast

Beach erosion is one of the most significant coastal preservation problems in the world. This study first briefly addresses the influences of human activity on beach erosion. The seriousness of beach erosion in Taiwan has received considerable attention since the 1960s, following rapid population growth and economic development in the coastal areas. Hard solutions of stabilized structures against beach erosion in Taiwan at that time are reviewed based on their effectiveness in protecting property and their ability to produce a landscape that harmonizes with the adjacent coastal environment. Soft coastal defense solutions implemented recently in coastal regions in Taiwan are introduced and their benefits are discussed. This study concludes that various methods designed to prevent wave- and current-induced beach erosion should be based on analyses of nearshore hydrodynamics, sediment transport, coastal processes, and physiographic features of beaches.     

Workshop report - Public transport markets in development

Developing countries and countries in transition represent between 85% and 90% of the world’s population and face unique public transport challenges that are not necessarily present in developed countries. Issues such as the affordability and accessibility of public transport, funding support and capacity to implement are some of the challenges these countries face. Barriers to strategy implementation in these countries could be a failure to understand the broader business and social environment, poor leadership, a lack of inter-disciplinary and inter-implementer collaboration, and weak monitoring and feedback loops. Weak institutional frameworks are evidenced in inappropriate structures often resulting in institutional inertia and conflict. Over-promising of potential impacts and benefits together with a failure to develop sustainable funding mechanisms often lead to a lack of implementation. The workshop argued that different competition and ownership solutions are needed for a range of factors. This poses a challenge to the THREDBO community as it could mean that the traditional concepts are either not relevant or not usable in the majority of the world’s developing countries, or that the traditional approaches are relevant in many respects but need to be substantially extended and adapted to be applicable and usable in the rest of the world.     

Estimation of land vehicle roll and pitch angles

In this article, two kinematics-based observers are proposed to estimate the vehicle roll and pitch angles by using an inertial measurement unit. The observers are mathematically proven to be stable if the vehicle yaw rate is not zero. With a design variation of the observer gains, the estimated roll or pitch angle is shown to further asymptotically converge to the true value, eliminating possible errors caused by the biases of the acceleration signals. Simulation results show that accurate estimation of both pitch and roll angles can be achieved without the help of external sensors such as global positioning systems, either by using the accelerometer-based reference pitch or roll angle as the maneuver varies, or by using an observer with zero steady-state error property.     

Car drivers' willingness to pay for not losing their driving licence

The aim of this article is to discuss theoretically and to study empirically how Norwegian drivers' willingness to pay (WP) for not losing their driving licence vary with their personal characteristics. The theoretical discussion and empirical results are based on standard microeconomic theory and contingent valuation, respectively. The WP values increase concavely with the length of the suspension period of the driving licence and differ greatly between drivers. They increase significantly with a driver's income, dependence on the car at work and driving experience. Moreover, male drivers, young drivers and drivers living in rural areas have higher WP values than their counterparts. Consequently, driving licence suspension will deter drivers to different extents. The relative impacts of the above explanatory variables on the WPs are, broadly speaking, independent of the length of the suspension period.