Active steering of a tractor-semi-trailer

This paper develops a path-following steering control strategy for an articulated heavy goods vehicle. The controller steers the axles of the semi-trailer so that its rear end follows the path of the fifth wheel coupling: for all paths and all speeds. This substantially improves low-speed manoeuvrability, off-tracking, and tyre scrubbing (wear). It also increases high-speed stability, reduces 'rearward amplification', and reduces the propensity to roll over in high-speed transient manoeuvres. The design of a novel experimental heavy goods vehicle with three independent hydraulically actuated steering axles is presented. The path-following controller is tested on the experimental vehicle, at low and high speeds. The field test results are compared with vehicle simulations and found to agree well. The benefits of this steering control approach are quantified. In a low-speed 'roundabout' manoeuvre, low-speed off-tracking was reduced by 73 per cent, from 4.25 m for a conventional vehicle to 1.15 m for the experimental vehicle; swept-path width was reduced by 2 m (28 per cent); peak scrubbing tyre forces were reduced by 83 per cent; and entry tail-swing was eliminated. In an 80 km/h lane-change manoeuvre, peak path error for the experimental vehicle was 33 per cent less than for the conventional vehicle, and rearward amplification of the trailer was 35 per cent less. Increasing the bandwidth of the steering actuators improved the high-speed dynamic performance of the vehicle, but at the expense of increased oil flow.

Semi-supervised video segmentation using tree structured graphical models

We present a novel, implementation friendly and occlusion aware semi-supervised video segmentation algorithm using tree structured graphical models, which delivers pixel labels alongwith their uncertainty estimates. Our motivation to employ supervision is to tackle a task-specific segmentation problem where the semantic objects are pre-defined by the user. The video model we propose for this problem is based on a tree structured approximation of a patch based undirected mixture model, which includes a novel time-series and a soft label Random Forest classifier participating in a feedback mechanism. We demonstrate the efficacy of our model in cutting out foreground objects and multi-class segmentation problems in lengthy and complex road scene sequences. Our results have wide applicability, including harvesting labelled video data for training discriminative models, shape/pose/articulation learning and large scale statistical analysis to develop priors for video segmentation. © 2011 IEEE.

Culture potentials of climbing perch, Anabas testudineus (Bloch) under different stocking densities at semi-intensive management

Anabas testudineus was cultured at different stocking density for the period of five months from May to September. Three stocking densities such as 50,000 (Treatment-1, T1), 56,250 (Treatment-2, T2) and 62,250/ha (Treatment-3, T3) were tested with three replications. After five months rearing, the mean weights of koi were 46.74±2.59, 40.44±2.98 and 37.27±3.01 in T-1, 2 and 3, respectively. The calculated production of native koi in T1 T2 and T3 were 1,916±314, 1,774.31 ±260 and 1,431 ±297 kg/ha, respectively which were significantly different (p<0.05) from each other.

Design and process selection for joints in flexible materials

The application of high performance textiles has grown significantly in the last 10 to 15 years. Various research groups throughout the United Kingdom, such as the Department of Trade and Industry, have identified technical textiles as a field for future development. There is little design guidance for joining of flexible materials or general property models that can be applied to theses materials. This lack is due to the large diversity of properties, structures and resulting behaviours of the materials that are classified as "Flexible Materials". This dissertation explores the issues that are involved in characterising the materials at the fibre, bulk and textile levels. Different units of measurement are used for each stage of the manufacturing process of flexible materials and this disparity creates problems when trying to make general comparisons (e.g. comparing textiles to polymer films). Thus, a possible solution to this is to create selection charts that allow designers to compare the strength of materials for a given mass per unit area. A design tool was created using the Cambridge Engineering Selector (CES) software to enable the selection of joining processes for material. The tool is effective in selecting a reduced number of viable joining processes. Through case studies it was shown that designers are required to examine the selected processes (identified by the software) in greater detail - in particular the economics and geometry of the joint - in order to identify the optimum joining process.

AQD recommends semi-intensive milkfish culture

Details are given of a system for semi-intensive milkfish (Chanos chanos) vulture recommended by the SEAFDEC Aquaculture Department, under the following headings: 1) Pond preparation; 2) Pest (snails) control; 3) Pest (tilapia and other fish) control; 4) Fertilizer application; 5) Stocking density in nursery ponds; 6) Stocking density in grow-out ponds; and, 7) Water management.

Eigenmodes of lined flow ducts with rigid splices

This paper presents an analytic expression for the acoustic eigenmodes of a cylindrical lined duct with rigid axially running splices in the presence of flow. The cylindrical duct is considered to be uniformly lined except for two symmetrically positioned axially running rigid liner splices. An exact analytic expression for the acoustic pressure eigenmodes is given in terms of an azimuthal Fourier sum, with the Fourier coefficients given by a recurrence relation. Since this expression is derived using a Greens function method, the completeness of the expansion is guaranteed. A numerical procedure is described for solving this recurrence relation, which is found to converge exponentially with respect to number of Fourier terms used and is in practice quick to compute; this is then used to give several numerical examples for both uniform and sheared mean flow. An asymptotic expression is derived to directly calculate the pressure eigenmodes for thin splices. This asymptotic expression is shown to be quantitatively accurate for ducts with very thin splices of less than 1 % unlined area and qualitatively helpful for thicker splices of the order of 6 % unlined area. A thin splice is in some cases shown to increase the damping of certain acoustic modes. The influences of thin splices and thin boundary layers are compared and found to be of comparable magnitude for the parameters considered. Trapped modes at the splices are also identified and investigated. © 2011 Cambridge University Press.