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.

Computing journey start times with recurrent traffic conditions

n this study, the authors discuss the effective usage of technology to solve the problem of deciding on journey start times for recurrent traffic conditions. The developed algorithm guides the vehicles to travel on more reliable routes that are not easily prone to congestion or travel delays, ensures that the start time is as late as possible to avoid the traveller waiting too long at their destination and attempts to minimise the travel time. Experiments show that in order to be more certain of reaching their destination on time, a traveller has to leave early and correspondingly arrive early, resulting in a large waiting time. The application developed here asks the user to set this certainty factor as per the task in hand, and computes the best start time and route.

The effects of attitudes and personality traits on mode choice

We hypothesise that differences in people's attitudes and personality traits lead them to attribute varying importance to environmental considerations, safety, comfort, convenience and flexibility. Differences in personality traits call be revealed not only in the individuals' choice of transport, but also in other actions of their everyday lives-such as how much they recycle, whether they take precautions or avoid dangerous pursuits. Conditioning on a set of exogenous individual characteristics, we use indicators of attitudes and personality traits to form latent variables for inclusion in an, otherwise standard, discrete mode choice model. With a sample of Swedish commuters, we find that both attitudes towards flexibility and comfort, as well as being pro-environmentally inclined, influence the individual's choice of mode. Although modal time and cost still are important, it follows that there are other ways, apart from economic incentives, to attract individuals to the, from society's perspective, desirable public modes of transport. Our results should provide useful information to policy-makers and transportation planners developing sustainable transportation systems.

A segurança viária e o fator humano : verificação da presença de álcool-direção no sistema de transporte rodoviário do RGS

Esta dissertação examina a situação geral dos Acidentes Viários, no contexto do transporte rodoviário, cujas evidências apontam o Fator Humano como o maior responsável por tais eventos. Entende-se que um maior conhecimento sobre ele possibilitará melhorar a segurança do tráfego e da produção transporte. O estudo pretende destacar a importância das análises relacionadas com a atividade transporte rodoviário, as variações da demanda do sistema de circulação e a tarefa do motorista, sob a ótica da ergonomia. Objetiva ele, também, mostrar importância desses estudos para melhor avaliar as interações dos fatores homemmáquina- ambiente viário e para o desenvolvimento de novas tecnologias e produtos de segurança viária. A revisão bibliográfica dos capítulos iniciais revelam o estado da arte e a importância da segurança de trânsito, em nível internacional. Também revelaram que todas nações sofrem do mesmo mal em suas redes viárias, que varia de acordo com a realidade de cada um. Embora o acidente de trânsito seja um fenômeno comum às nações, aqui eles atingiram a dimensão de flagelo social, em razão da sua severidade; e de calamidade econômica, face a elevação dos custos de produção na atividade do transporte rodoviário. São analisadas as características do fator humano, fundamentais na tarefa de condução, e o respectivo nexo causal das falhas com a gênese do acidente, num sistema multifatorial e interativo. O trabalho fundamenta-se em extensa revisão bibliográfica. O estudo de caso, desenvolvido a partir da revisão dos dados de uma pesquisa anterior, comprova a hipótese que o “álcool-direção”, considerado na literatura como o maior causador de acidentes viários, tem sua presença marcada por elevados índices nas rodovias do RS, contrariando a conclusão da pesquisa anterior. Ao final, também oferece recomendações para o desenvolvimento de ações objetivas para melhorar a segurança viária.

A importância da fiscalização do serviço público como instrumento de gestão e política pública: uma breve análise do Sistema de Transporte Coletivo Urbano de Passageiros da Cidade de São Paulo

O trabalho tem por objetivo analisar a importância da fiscalização do serviço público como instrumento de gestão e política pública. Para tanto, propõe-se estudar o Sistema de Transporte Coletivo Urbano da Cidade de São Paulo, a partir do modelo instituído através da Lei nº 13.241/01, assim como toda a estrutura jurídica e elementos característicos presentes nessa forma de delegação. Sem a preocupação de esgotar o tema, com base na doutrina, o trabalho pretende abordar os principais conceitos que envolvem a prestação de serviços públicos, o dever legal de fiscalização e a estrutura legal da prestação dos serviços de transporte coletivo. E, a partir disso, verificar se o sistema de transporte municipal possui instrumentos jurídicos adequados á fiscalização dos serviços delegados. Além disso, busca-se avaliar se isso é suficiente para a prestação de um “serviço adequado”, ou seja, se os instrumentos de fiscalização utilizados, por si só, são efetivamente capazes de garantir as condições de regularidade, continuidade, eficiência, segurança, atualidade, generalidade, cortesia na prestação e modicidade das tarifas, conforme preceitua a lei. Em síntese, entende-se que o ordenamento jurídico dispõe de diversos mecanismos que permitem a fiscalização dos serviços públicos. Ademais, que encontra-se juridicamente adequado o modelo de fiscalização adotado pelo Município de São Paulo, para o sistema de transporte público. Todavia, apesar de ser correto, o modelo ainda necessita de melhorias, tanto no que diz respeito às obrigações estabelecidas nos contratos de concessão e permissão em vigor (e respectivos regulamentos, como é o caso do RESAM – Regulamento de Sanções e Multas), quanto na sua operação e, principalmente, na sua fiscalização. Por fim, o trabalho aponta que, tanto a regulação, quanto a fiscalização ou até mesmo a gestão, quando realizadas de forma inadequada, fomentam a prestação de um serviço público com má qualidade, ou seja, inferior à esperada pela população.

Política de mobilidade urbana no município de São Paulo: oportunidades na revisão dos contratos de delegação dos serviços

A mobilidade urbana é uma das políticas públicas que mais afetam a qualidade de vida das pessoas. As manifestações populares de junho de 2013 reivindicaram contra o aumento da tarifa de ônibus na cidade e a favor da melhoria da qualidade do serviço prestado. Este artigo tem como objetivo apresentar as oportunidades de reformulação da atual política de mobilidade urbana do Município de São Paulo, focando na revisão dos contratos de delegação dos serviços prestados. Para tanto, é apresentado o contexto histórico da formulação da política pública de mobilidade urbana do Município de São Paulo até os dias de hoje.

A reestruturação produtiva e as novas formas de organização do trabalho: a experiência do transporte alternativo no município de Belém/PA

The study made in this thesis analyzes the new form of work organization at the urban collective transportation sector, so called Altemative Transportation which is a new form of public transportation that appears in the Brazilian urban context by the mid ninety' s, this work is made by independent or sub-contracted workers, usually organized in cooperatives . It reflects the investigation of new forms of precarious work, unformal which has been expanding in the urban transportation sector. Thus, discusses non regulation of the services sector problem the ways of survival of exc1uded workers from the formal work market mainly afier the capital productive restructure. It has as privileged area of investigation, the sector policy of urban transportation that make field of the main nets of political articulations that define the dynamic of the urban space. It is known that the urban collective transportation allows the access to the production, circulation and general consumption being necessary to the mobility of the resident population, mainly to those with low purchasing capacity. It becomes a field of empirical investigation at the Belem municipal, located at the Amazonic region - north Brazil. The main points dealed on this research start from concrete relations from the daily life of workers that deve1op their activity on the altemative transport mediated with theoretical references needed for understanding and interpretation of the studied reality. The investigation strategies were built from the abstract (theorical knowledge produced for the reality analyze) in concrete by the investigation quantitative-qualitative from this area of urban policy, making up possible the formation of a references chart to the analyses of the studied subject. Rescue his historicity, from characterization of the urban space of the metropolitan region of Belem passing true the forms of organization and urban services performances while essential production and reproduction element of the social relations. Identifies the main individuals that historically have been participating in the construction of the municipality transport policy and the ways of expression of the local political strength relations. Outstand the State paper on the net of established relations near the local power, as well as outstand the importance of social sciences in the understanding of urban policies in the transportation area, trying to bring input to the academicals -scientific debate .The above e1ected and mentioned points in this study are crucial for a critical reflection of the transportation policies. That relation is not given, but historically built at the power relation chart that makes up this unique area of the urban policies

Estabilizador de sistema de potência para máquinas síncronas de polos salientes utilizando a transformada Wavelet

The power system stabilizers are used to suppress low-frequency electromechanical oscillations and improve the synchronous generator stability limits. This master thesis proposes a wavelet-based power system stabilizer, composed of a new methodology for extraction and compensation of electromechanical oscillations in electrical power systems based on the scaling coefficient energy of the maximal overlap discrete wavelet transform in order to reduce the effects of delay and attenuation of conventional power system stabilizers. Moreover, the wavelet coefficient energy is used for electric oscillation detection and triggering the power system stabilizer only in fault situations. The performance of the proposed power system stabilizer was assessed with experimental results and comparison with the conventional power system stabilizer. Furthermore, the effects of the mother wavelet were also evaluated in this work

Dinâmica de ocupação espacial de áreas contíguas (período 1987-2008) e sua relação com tensores de origem antrópica no manguezal do Rio Cachoeira, Ilhéus, Bahia

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Power system transmission network expansion planning using AC model

An optimisation technique to solve transmission network expansion planning problem, using the AC model, is presented. This is a very complex mixed integer nonlinear programming problem. A constructive heuristic algorithm aimed at obtaining an excellent quality solution for this problem is presented. An interior point method is employed to solve nonlinear programming problems during the solution steps of the algorithm. Results of the tests, carried out with three electrical energy systems, show the capabilities of the method and also the viability of using the AC model to solve the problem.

Dynamic behavior of a linear induction motor

Although conventional rotating machines have been largely used to drive underground transportation systems, linear induction motors are also being considered for future applications owing to their indisputable advantages. A mathematical model for the transient behavior analysis of linear induction motors, when operating with constant r.m.s. currents, is presented in this paper. Operating conditions, like phase short-circuit and input frequency variations and also some design characteristics, such as air-gap and secondary resistivity variations, can be considered by means of this modeling. The basis of the mathematical modeling is presented. Experimental results obtained in the laboratory are compared with the corresponding simulations and discussed in this paper.

Voltage regulator modeling for the three-phase power flow in distribution networks

In this paper a three-phase power flow for electrical distribution systems considering different models of voltage regulators is presented. A voltage regulator (VR) is an equipment that maintains the voltage level in a predefined value in a distribution line in spite of the load variations within its nominal power. Three different types of connections are analyzed: 1) wye-connected regulators, 2) open delta-connected regulators and 3) closed delta-connected regulators. To calculate the power flow, the three-phase backward/forward sweep algorithm is used. The methodology is tested on the IEEE 34 bus distribution system. ©2008 IEEE.

A specialized genetic algorithm to solve the short term transmission network expansion planning

In this paper, the short term transmission network expansion planning (STTNEP) is solved through a specialized genetic algorithm (SGA). A complete AC model of the transmission network is used, which permits the formulation of an integrated power system transmission network expansion planning problem (real and reactive power planning). The characteristics of the proposed SGA to solve the STTNEP problem are detailed and an interior point method is employed to solve nonlinear programming problems during the solution steps of the SGA. Results of tests carried out with two electrical energy systems show the capabilities of the SGA and also the viability of using the AC model to solve the STTNEP problem. © 2009 IEEE.

A mechanical analogous model for the power system with Automatic Voltage Regulator

This paper deals with the subject-matter of teaching immaterial issues like power system dynamics where the phenomena and events are not sense-perceptible. The dynamics of the power system are recognized as analogous to the dynamics of a simple mechanical pendulum taken into account the well-known classical model for the synchronous machine. It is shown that even for more sophisticated models including flux decay and Automatic Voltage Regulator the mechanical device can be taken as an analogous, since provided some considerations about variation and control of the pendulum length using certain control laws. The resulting mathematical model represents a mechanical system that can be built for use in laboratory teaching of power system dynamics. © 2010 Praise Worthy Prize S.r.l. - All rights reserved.