Using Instrumented Vehicles To Detect Damage in Bridges

Bridge structures are subject to continuous degradation due to the environment, ageing and excess loading. Monitoring of bridges is a key part of any maintenance strategy as it can give early warning if a bridge is becoming unsafe. This paper will theoretically assess the ability of a vehicle fitted with accelerometers on its axles to detect changes in damping of bridges, which may be the result of damage. Two vehicle models are used in this investigation. The first is a two degree-of-freedom quarter-car and the second is a four degree-of-freedom halfcar. The bridge is modelled as a simply supported beam and the interaction between the vehicle and the bridge is a coupled dynamic interaction algorithm. Both smooth and rough road profiles are used in the simulation and results indicate that changes in bridge damping can be detected by the vehicle models for a range of vehicle velocities and bridge spans.

Using Instrumented Vehicles to Detect Damage in Bridges

This paper describes a ‘drive-by’ method of bridge inspection using an instrumented vehicle. Accelerometers on the vehicle are proposed as a means of detecting damage on the bridge in the time it takes for the vehicle to cross the bridge at full highway speed. For a perfectly smooth road profile, the method is shown to be feasible. Changes in bridge damping, which is an indicator of damage, are clearly visible in the acceleration signal of a quarter-car vehicle on a smooth road surface modelled using MatLab. When road profile is considered, the influence of changes in bridge damping on the vehicle acceleration signal is much less clear. However, when a half-car model is used on a road with a rough profile, it is again possible to detect changes in bridge damping, provided the vehicle has two identical axles.

Dynamic axle force and road profile identification using a moving vehicle

The axle forces applied by a vehicle through its wheels are a critical part of the interaction between vehicles, pavements and bridges. Therefore, the minimisation of these forces is important in order to promote long pavement life spans and ensure that bridge loads are small. Moreover, as the road surface roughness affects the vehicle dynamic forces, the monitoring of pavements for highways and bridges is an important task. This paper presents a novel algorithm to identify these dynamic interaction forces which involves direct instrumentation of a vehicle with accelerometers. The ability of this approach to predict the pavement roughness is also presented. Moving force identification theory is applied to a vehicle model in theoretical simulations in order to obtain the interaction forces and pavement roughness from the measured accelerations. The method is tested for a range of bridge spans in simulations and the influence of road roughness level on the accuracy of the results is investigated. Finally, the challenge for the real-world problem is addressed in a laboratory experiment.

Parametric study to extract bridge frequencies from the dynamic response of passing vehicles

A conventional way to identify bridge frequencies is utilizing vibration data measured directly from the bridge. A drawback with this approach is that the deployment and maintenance of the vibration sensors are generally costly and time-consuming. One way to cope with the drawback is an indirect approach utilizing vehicle vibrations while the vehicle passes over the bridge. In the indirect approach, however, the vehicle vibration includes the effect of road surface roughness, which makes it difficult to extract the bridge modal properties. One solution may be subtracting signals of two trailers towed by a vehicle to reduce the effect of road surface roughness. A simplified vehicle-bridge interaction model is used in the numerical simulation; the vehicle - trailer and bridge system are modeled as a coupled model. In addition, a laboratory experiment is carried out to verify results of the simulation and examine feasibility of the damage detection by the indirect method.

Road traffic information platform for energy and emissions savings

Apesar das recentes inovações tecnológicas, o setor dos transportes continua a exercer impactes significativos sobre a economia e o ambiente. Com efeito, o sucesso na redução das emissões neste setor tem sido inferior ao desejável. Isto deve-se a diferentes fatores como a dispersão urbana e a existência de diversos obstáculos à penetração no mercado de tecnologias mais limpas. Consequentemente, a estratégia “Europa 2020” evidencia a necessidade de melhorar a eficiência no uso das atuais infraestruturas rodoviárias. Neste contexto, surge como principal objetivo deste trabalho, a melhoria da compreensão de como uma escolha de rota adequada pode contribuir para a redução de emissões sob diferentes circunstâncias espaciais e temporais. Simultaneamente, pretende-se avaliar diferentes estratégias de gestão de tráfego, nomeadamente o seu potencial ao nível do desempenho e da eficiência energética e ambiental. A integração de métodos empíricos e analíticos para avaliação do impacto de diferentes estratégias de otimização de tráfego nas emissões de CO2 e de poluentes locais constitui uma das principais contribuições deste trabalho. Esta tese divide-se em duas componentes principais. A primeira, predominantemente empírica, baseou-se na utilização de veículos equipados com um dispositivo GPS data logger para recolha de dados de dinâmica de circulação necessários ao cálculo de emissões. Foram percorridos aproximadamente 13200 km em várias rotas com escalas e características distintas: área urbana (Aveiro), área metropolitana (Hampton Roads, VA) e um corredor interurbano (Porto-Aveiro). A segunda parte, predominantemente analítica, baseou-se na aplicação de uma plataforma integrada de simulação de tráfego e emissões. Com base nesta plataforma, foram desenvolvidas funções de desempenho associadas a vários segmentos das redes estudadas, que por sua vez foram aplicadas em modelos de alocação de tráfego. Os resultados de ambas as perspetivas demonstraram que o consumo de combustível e emissões podem ser significativamente minimizados através de escolhas apropriadas de rota e sistemas avançados de gestão de tráfego. Empiricamente demonstrou-se que a seleção de uma rota adequada pode contribuir para uma redução significativa de emissões. Foram identificadas reduções potenciais de emissões de CO2 até 25% e de poluentes locais até 60%. Através da aplicação de modelos de tráfego demonstrou-se que é possível reduzir significativamente os custos ambientais relacionados com o tráfego (até 30%), através da alteração da distribuição dos fluxos ao longo de um corredor com quatro rotas alternativas. Contudo, apesar dos resultados positivos relativamente ao potencial para a redução de emissões com base em seleções de rotas adequadas, foram identificadas algumas situações de compromisso e/ou condicionantes que devem ser consideradas em futuros sistemas de eco navegação. Entre essas condicionantes importa salientar que: i) a minimização de diferentes poluentes pode implicar diferentes estratégias de navegação, ii) a minimização da emissão de poluentes, frequentemente envolve a escolha de rotas urbanas (em áreas densamente povoadas), iii) para níveis mais elevados de penetração de dispositivos de eco-navegação, os impactos ambientais em todo o sistema podem ser maiores do que se os condutores fossem orientados por dispositivos tradicionais focados na minimização do tempo de viagem. Com este trabalho demonstrou-se que as estratégias de gestão de tráfego com o intuito da minimização das emissões de CO2 são compatíveis com a minimização do tempo de viagem. Por outro lado, a minimização de poluentes locais pode levar a um aumento considerável do tempo de viagem. No entanto, dada a tendência de redução nos fatores de emissão dos poluentes locais, é expectável que estes objetivos contraditórios tendam a ser minimizados a médio prazo. Afigura-se um elevado potencial de aplicação da metodologia desenvolvida, seja através da utilização de dispositivos móveis, sistemas de comunicação entre infraestruturas e veículos e outros sistemas avançados de gestão de tráfego.

The impact of biofuels for road traffic on air quality : a modelling approach

The selection of the energy source to power the transport sector is one of the main current concerns, not only relative with the energy paradigm but also due to the strong influence of road traffic in urban areas, which highly affects human exposure to air pollutants and human health and quality of life. Due to current important technical limitations of advanced energy sources for transportation purposes, biofuels are seen as an alternative way to power the world’s motor vehicles in a near-future, helping to reduce GHG emissions while at the same time stimulating rural development. Motivated by European strategies, Portugal, has been betting on biofuels to meet the Directive 2009/28/CE goals for road transports using biofuels, especially biodiesel, even though, there is unawareness regarding its impacts on air quality. In this sense, this work intends to clarify this issue by trying to answer the following question: can biodiesel use contribute to a better air quality over Portugal, particularly over urban areas? The first step of this work consisted on the characterization of the national biodiesel supply chain, which allows verifying that the biodiesel chain has problems of sustainability as it depends on raw materials importation, therefore not contributing to reduce the external energy dependence. Next, atmospheric pollutant emissions and air quality impacts associated to the biodiesel use on road transports were assessed, over Portugal and in particular over the Porto urban area, making use of the WRF-EURAD mesoscale numerical modelling system. For that, two emission scenarios were defined: a reference situation without biodiesel use and a scenario reflecting the use of a B20 fuel. Through the comparison of both scenarios, it was verified that the use of B20 fuels helps in controlling air pollution, promoting reductions on PM10, PM2.5, CO and total NMVOC concentrations. It was also verified that NO2 concentrations decrease over the mainland Portugal, but increase in the Porto urban area, as well as formaldehyde, acetaldehyde and acrolein emissions in the both case studies. However, the use of pure diesel is more injurious for human health due to its dominant VOC which have higher chronic hazard quotients and hazard indices when compared to B20.

Literature Review WM9: Part II - light goods vehicles in urban areas, carried as as part Work Module 1, Green Logistics Project

LGVs are of ever-greater importance in terms of the final delivery of many time-critical, high value goods and are also widely used in industries that provide a wide range of critical support services. There are almost five times as many LGVs as there are HGVs (goods vehicles over 3.5 tonnes gross vehicle weight) currently licensed in Britain. The LGV fleet in Britain is growing at a faster rate than the HGV fleet, and the LGV fleet travels more than twice as many vehicle kilometres each year than the total HGV fleet. LGVs perform a far greater proportion of their total distance travelled in urban areas than HGVs, and consume 25% of the total diesel and 3% of the total petrol used by all motorised road transport vehicles in Britain.

Road freight transport and sustainability in Britain: 1984-2007

This report builds on a conceptual framework developed by McKinnon (2007) for analysing the performance and impacts of freight transport. This framework is used to analyse the performance of road freight transport by heavy goods vehicles (HGVs) in Britain over the period from 1984 to 2007 using data from the Continuing Survey of Road Goods Transport. The efficiency and intensity of HGV operations are assessed. The determinants that have led to the changes in HGV key variables (including length of haul, vehicle carrying capacity, lading factor, empty running) are considered. A forecast of the future level of HGV activity (in terms of vehicle kilometres travelled, fuel consumed and CO2 emissions) in 2020 is presented.

Road freight transport and sustainability in London 2005-2007

This report contains detailed analysis of road freight transport by heavy goods vehicles (HGVs) in London and its intensity and efficiency. Using a conceptual framework for analysing the performance and impacts of freight transport it presents results for road freight transport in London between 2005 and 2007.

Road novel, road movie : approche chronotopique du récit de la route

Thèse réalisée en cotutelle, sous la direction de M. Philippe Despoix (Université de Montréal) et de M. Michel Marie (Université Sorbonne Nouvelle-Paris 3)

Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes

Planning is one of the key problems for autonomous vehicles operating in road scenarios. Present planning algorithms operate with the assumption that traffic is organised in predefined speed lanes, which makes it impossible to allow autonomous vehicles in countries with unorganised traffic. Unorganised traffic is though capable of higher traffic bandwidths when constituting vehicles vary in their speed capabilities and sizes. Diverse vehicles in an unorganised exhibit unique driving behaviours which are analysed in this paper by a simulation study. The aim of the work reported here is to create a planning algorithm for mixed traffic consisting of both autonomous and non-autonomous vehicles without any inter-vehicle communication. The awareness (e.g. vision) of every vehicle is restricted to nearby vehicles only and a straight infinite road is assumed for decision making regarding navigation in the presence of multiple vehicles. Exhibited behaviours include obstacle avoidance, overtaking, giving way for vehicles to overtake from behind, vehicle following, adjusting the lateral lane position and so on. A conflict of plans is a major issue which will almost certainly arise in the absence of inter-vehicle communication. Hence each vehicle needs to continuously track other vehicles and rectify plans whenever a collision seems likely. Further it is observed here that driver aggression plays a vital role in overall traffic dynamics, hence this has also been factored in accordingly. This work is hence a step forward towards achieving autonomous vehicles in unorganised traffic, while similar effort would be required for planning problems such as intersections, mergers, diversions and other modules like localisation.

Multi-level planning for semi-autonomous vehicles in traffic scenarios based on separation maximization

The planning of semi-autonomous vehicles in traffic scenarios is a relatively new problem that contributes towards the goal of making road travel by vehicles free of human drivers. An algorithm needs to ensure optimal real time planning of multiple vehicles (moving in either direction along a road), in the presence of a complex obstacle network. Unlike other approaches, here we assume that speed lanes are not present and that different lanes do not need to be maintained for inbound and outbound traffic. Our basic hypothesis is to carry forward the planning task to ensure that a sufficient distance is maintained by each vehicle from all other vehicles, obstacles and road boundaries. We present here a 4-layer planning algorithm that consists of road selection (for selecting the individual roads of traversal to reach the goal), pathway selection (a strategy to avoid and/or overtake obstacles, road diversions and other blockages), pathway distribution (to select the position of a vehicle at every instance of time in a pathway), and trajectory generation (for generating a curve, smooth enough, to allow for the maximum possible speed). Cooperation between vehicles is handled separately at the different levels, the aim being to maximize the separation between vehicles. Simulated results exhibit behaviours of smooth, efficient and safe driving of vehicles in multiple scenarios; along with typical vehicle behaviours including following and overtaking.

Planning autonomous vehicles in the absence of speed lanes using lateral potentials

Chaotic traffic, prevalent in many countries, is marked by a large number of vehicles driving with different speeds without following any predefined speed lanes. Such traffic rules out using any planning algorithm for these vehicles which is based upon the maintenance of speed lanes and lane changes. The absence of speed lanes may imply more bandwidth and easier overtaking in cases where vehicles vary considerably in both their size and speed. Inspired by the performance of artificial potential fields in the planning of mobile robots, we propose here lateral potentials as measures to enable vehicles to decide about their lateral positions on the road. Each vehicle is subjected to a potential from obstacles and vehicles in front, road boundaries, obstacles and vehicles to the side and higher speed vehicles to the rear. All these potentials are lateral and only govern steering the vehicle. A speed control mechanism is also used for longitudinal control of vehicle. The proposed system is shown to perform well for obstacle avoidance, vehicle following and overtaking behaviors.

Planning autonomous vehicles in the absence of speed lanes using an elastic strip

Planning of autonomous vehicles in the absence of speed lanes is a less-researched problem. However, it is an important step toward extending the possibility of autonomous vehicles to countries where speed lanes are not followed. The advantages of having nonlane-oriented traffic include larger traffic bandwidth and more overtaking, which are features that are highlighted when vehicles vary in terms of speed and size. In the most general case, the road would be filled with a complex grid of static obstacles and vehicles of varying speeds. The optimal travel plan consists of a set of maneuvers that enables a vehicle to avoid obstacles and to overtake vehicles in an optimal manner and, in turn, enable other vehicles to overtake. The desired characteristics of this planning scenario include near completeness and near optimality in real time with an unstructured environment, with vehicles essentially displaying a high degree of cooperation and enabling every possible(safe) overtaking procedure to be completed as soon as possible. Challenges addressed in this paper include a (fast) method for initial path generation using an elastic strip, (re-)defining the notion of completeness specific to the problem, and inducing the notion of cooperation in the elastic strip. Using this approach, vehicular behaviors of overtaking, cooperation, vehicle following,obstacle avoidance, etc., are demonstrated.

Heuristic based evolution for the coordination of autonomous vehicles in the absence of speed lanes

The current state of the art in the planning and coordination of autonomous vehicles is based upon the presence of speed lanes. In a traffic scenario where there is a large diversity between vehicles the removal of speed lanes can generate a significantly higher traffic bandwidth. Vehicle navigation in such unorganized traffic is considered. An evolutionary based trajectory planning technique has the advantages of making driving efficient and safe, however it also has to surpass the hurdle of computational cost. In this paper, we propose a real time genetic algorithm with Bezier curves for trajectory planning. The main contribution is the integration of vehicle following and overtaking behaviour for general traffic as heuristics for the coordination between vehicles. The resultant coordination strategy is fast and near-optimal. As the vehicles move, uncertainties may arise which are constantly adapted to, and may even lead to either the cancellation of an overtaking procedure or the initiation of one. Higher level planning is performed by Dijkstra's algorithm which indicates the route to be followed by the vehicle in a road network. Re-planning is carried out when a road blockage or obstacle is detected. Experimental results confirm the success of the algorithm subject to optimal high and low-level planning, re-planning and overtaking.