Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization

In this paper we propose a framework for optimum steering input determination of all-wheel steer vehicles (AWSV) on rough terrains. The framework computes the steering input which minimizes the tracking error for a given trajectory. Unlike previous methodologies of computing steering inputs of car-like vehicles, the proposed methodology depends explicitly on the vehicle dynamics and can be extended to vehicle having arbitrary number of steering inputs. A fully generic framework has been used to derive the vehicle dynamics and a non-linear programming based constrained optimization approach has been used to compute the steering input considering the instantaneous vehicle dynamics, no-slip and contact constraints of the vehicle. All Wheel steer Vehicles have a special parallel steering ability where the instantaneous centre of rotation (ICR) is at infinity. The proposed framework automatically enables the vehicle to choose between parallel steer and normal operation depending on the error with respect to the desired trajectory. The efficacy of the proposed framework is proved by extensive uneven terrain simulations, for trajectories with continuous or discontinuous velocity profile.

Simultaneous source localization and boundary mapping for contaminants

This paper addresses the problem of localizing the sources of contaminants spread in the environment, and mapping the boundary of the affected region using an innovative swarm intelligence based technique. Unlike most work in this area the algorithm is capable of localizing multiple sources simultaneously while also mapping the boundary of the contaminant spread. At the same time the algorithm is suitable for implementation using a mobile robotic sensor network. Two types of agents, called the source localization agents (or S-agents) and boundary mapping agents (or B-agents) are used for this purpose. The paper uses the basic glowworm swarm optimization (GSO) algorithm, which has been used only for multiple signal source localization, and modifies it considerably to make it suitable for both these tasks. This requires the definition of new behaviour patterns for the agents based on their terminal performance as well as interactions between them that helps the swarm to split into subgroups easily and identify contaminant sources as well as spread along the boundary to map its full length. Simulations results are given to demonstrate the efficacy of the algorithm.

Upper bound solution for pullout capacity of vertical anchors in sand using finite elements and limit analysis

The horizontal pullout capacity of vertical anchors embedded in sand has been determined by using an upper bound theorem of the limit analysis in combination with finite elements. The numerical results are presented in nondimensional form to determine the pullout resistance for various combinations of embedment ratio of the anchor (H/B), internal friction angle (ϕ) of sand, and the anchor-soil interface friction angle (δ). The pullout resistance increases with increases in the values of embedment ratio, friction angle of sand and anchor-soil interface friction angle. As compared to earlier reported solutions in literature, the present solution provides a better upper bound on the ultimate collapse load.

Iodide Retention by Modified Kaolinite in the Context of Safe Disposal of High Level Nuclear Waste

Bentonite clay is identified as potential buffer in deep geological repositories (DGR) that store high level radioactive wastes (HLW) as the expansive clay satisfies the expected mechanical and physicochemical functions of the buffer material. In the deep geological disposal of HLW, iodine-129 is one of the significant nuclides, attributable to its long half-life (half life 1⁄4 1:7 × 107 years). However, the negative charge on the basal surface of bentonite particles precludes retention of iodide anions. To render the bentonite effective in retaining hazardous iodide species in DGR, improvement of the anion retention capacity of bentonite becomes imperative. The iodide retention capac-ity of bentonite is improved by admixing 10 and 20% Ag-kaolinite (Ag-K) with bentonite (B) on a dry mass basis. The present study produced Ag-kaolinite by heating silver nitrate-kaolinite mixes at 400°C. Marginal release of iodide retained by Ag-kaolinite occurred under extreme acidic (pH 1⁄4 2:5) and alkaline (pH 1⁄4 12:5) conditions. The swell pressure and iodide etention results of the B-Ag-K specimens bring out that mixing Ag-K with bentonite does not chemically modify the expansive clay; the mixing is physical in nature and Ag-K presence only contributes to iodide retention of the admixture. DOI: 10.1061/(ASCE)HZ.2153-5515.0000121. © 2012 American Society of Civil Engineers.

Laboratory Studies on Stabilization of an Expansive Soil by Lime Precipitation Technique

Lime stabilization prevails to be the most widely adopted in situ stabilization method for controlling the swell-shrink potentials of expansive soils despite construction difficulties and its ineffectiveness in certain conditions. In addition to the in situ stabilization methods presently practiced, it is theoretically possible to facilitate in situ precipitation of lime in soil by successive permeation of calcium chloride (CaCl2 ) and sodium hydroxide (NaOH) solutions into the expansive soil. In this laboratory investigation, an attempt is made to study the precipitation of lime in soil by successive mixing of CaCl2 and NaOH solutions with the expansive soil in two different sequences.Experimental results indicated that in situ precipitation of lime in soil by sequential mixing of CaCl2 and NaOH solutions with expansive soil developed strong lime-modification and soil-lime pozzolanic reactions. The lime-modification reactions together with the poorly de- veloped cementation products controlled the swelling potential, reduced the plasticity index, and increased the unconfined compressive strength of the expansive clay cured for 24 h. Comparatively, both lime-modification reactions and well-developed crystalline cementation products (formed by lime-soil pozzolanic reactions) contributed to the marked increase in the unconfined compressive strength of the ex-pansive soil that was cured for 7–21 days. Results also show that the sequential mixing of expansive soil with CaCl2 solution followed by NaOH solution is more effective than mixing expansive soil with NaOH solution followed by CaCl2 solution. DOI: 10.1061/(ASCE)MT .1943-5533.0000483. © 2012 American Society of Civil Engineers.

Activation of Fly Ash–Lime Reactions: Kinetic Approach

Lime–fly ash reactions play a key role in improving the mechanical strength and tailoring the permeability characteristics of compacted fly ash. Activation of fly ash–lime pozzolanic reactions should accelerate the rate of strength development and possibly mobilize higher compressive strengths, facilitating improved engineering performance of fly ash amended materials. This paper makes an assessment of activation of lime–fly ash reactions by curing compacted fly ash–lime specimens at ambient (25°C) and at elevated temperature (80°C). The kinetics of fly ash–lime reactions are examined by monitoring the reacted lime as a function of curing period and temperature. The influence of variations in fly ash/lime content and dry density on the compressive strength developed by specimens at both temperatures is evaluated. The thermodynamic parameters for the fly ash–lime reactions have also been examined. Experimental results showed that curing at 80°C for 24 h accelerated fly ash–lime reactions such that it caused the steam cured (SC) specimens to evelop 1.21–2.44 fold larger strengths than room-temperature cured (RTC) specimens cured at 25°C for 28 days. Analysis of thermodynamic parameters indicated that the fly ash–lime reactions are thermodynamically favored at fly ash contents of 50–70% and lime additions of 16–20%, and the reactions are endothermic in nature. DOI: 10.1061/(ASCE)MT.1943-5533.0000482. © 2012 American Society of Civil Engineers.

Comparison of North American universities with and without medical schools and their technology transfer initiatives

Empirical research available on technology transfer initiatives is either North American or European. Literature over the last two decades shows various research objectives such as identifying the variables to be measured and statistical methods to be used in the context of studying university based technology transfer initiatives. AUTM survey data from years 1996 to 2008 provides insightful patterns about the North American technology transfer initiatives, we use this data in our paper. This paper has three sections namely, a comparison of North American Universities with (n=1129) and without Medical Schools (n=786), an analysis of the top 75th percentile of these samples and a DEA analysis of these samples. We use 20 variables. Researchers have attempted to classify university based technology transfer initiative variables into multi-stages, namely, disclosures, patents and license agreements. Using the same approach, however with minor variations, three stages are defined in this paper. The first stage is to do with inputs from R&D expenditure and outputs namely, invention disclosures. The second stage is to do with invention disclosures being the input and patents issued being the output. The third stage is to do with patents issued as an input and technology transfers as outcomes.