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.

Effect of dietary supplementation of tocoferol acetate alone and with varying combinations on growth, survival and fatty acids profile of Macrobrachium rosenbergii larvae through Moina micrura enrichment

A study was carried out to determine the effect of tocopherol acetate along with cod liver oil astaxanthin enriched Moina micrura (MC- control, Ml- tocopherol acetate enriched, M2-tocopherol acetate combined with cod liver oil (CLO) enriched and M3- tocopherol acetate combined with astaxanthin enriched) on growth, survival and fatty acid composition of M. rosenbergii (de Man) larvae (TC- unenriched Moina fed larvae, Tl- tocopherol acetate enriched Moina fed larvae, T2- tocopherol acetate + CLO enriched Moina fed larvae to T3 – tocopherol acetate+ astaxanthin enriched Moina fed larvae). Growth was expressed as the time taken in to the settlement of 95% post larvae. Maximum growth i.e., the lowest time taken to the 95% PL settlement (40 days) and the maximum survival percentage (61%) was observed in both T2 and T3 treatments fed with M2 and M3 Moina respectively. Minimum growth and survival was observed in unenriched Moina fed larvae (TC). In larval treatments T2, (larvae fed with (M2) vitamin E + CLO enriched Moina), showed a higher percentage of EPA, DHA and higher HUFA level than other treatments.

Survival, growth and production of Penaeus monodon and P. indicus at different density combinations with milkfish

Penaeus monodon and P. indicus juveniles were stocked and reared for about 3 months in earthen ponds at different density combinations with Chanos chanos. The presence of either Penaeus species at any density ratio did not affect significantly the C. chanos survival. Survival rates of the penaeids indicated that intraspecific and interspecific competition occurred and were reduced with the reduction in stocking rate. It is concluded that further studies on higher density ratios and feeding and economic consideration would be of help to the development of this kind of fishpond management system.

Supply of Astaxanthin and its combinations through live feed (Moina micrura) enrichment affects the growth, survival and fatty acid profile of Macrobrachium rosenbergii larvae

A study was carried out with three replicates to determine the effects of feeding Moina micrura enriched with astaxanthin alone (M1) or astaxanthin in combination with either vitamin E (M2), vitamin D (M3) or Cod Liver oil (M4) on the growth, survival and fatty acid composition of giant fresh water prawn Macrobrachium rosenbergii (de Man) larvae. Growth rate was expressed as the time taken to the settlement of 95% post larvae. Maximum growth, the lowest time taken to the 95% PL settlement (38.5±0.50 days), was observed in larvae fed with M3 Moina. The highest survival rate (66.0±1.00%) was observed in those fed with M4 Moina and the second highest survival (61.0±1.00%) and growth rates (40.0±0.00 days) were shown with M2 Moina. The minimum values for both growth (42.5±0.50 days) and survival (33.0±1.50%) were observed in the group fed un-enriched Moina. Results also showed that the survival of prawn larvae increased as the quantities of eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA) increased in the dietary Moina. The highest levels of EPA (5.57±0.21%), DHA (3.50±0.21%) and highest total Highly Unsaturated Fatty Acids (HUFA) (13.87±0.68%) were seen in the Moina fed on astaxanthin and Cod Liver Oil (CLO). The results of the study showed that the nutritive quality of Moina, with respect to important fatty acids, can be increased by enrichment and will influence the growth, survival and the fatty acid composition of fresh water prawn larvae fed on them.

Shrimp (Penaeus monodon Fabricius) production in brackishwater ponds applied varying fertilizer combinations

Details are given of the production of Penaeus monodon in the Philippines reared in brackishwater earthen ponds applied with different fertilizer combinations, namely diammonium phosphate, urea and chicken manure. Results show that the shrimp showed higher yields in fertilized ponds, but increasing the concentration of fertilizers did not give a marked increase in yield - the excess fertilizer was wasted.

Thermal and crystallization behaviors of polyethylene blends synthesized by binary late transition metal catalysts combinations

A series of reactor blends of linear and branched polyethylenes have been prepared, in the presence of modified methylaluminoxane, using a combination of 2,6-bis[1(2,6-dimethyphenylimino) pyridyl]-cobalt(II) dichloride (1), known as an active catalyst for producing linear polyethylene, and [1,4-bis(2,6-diidopropylphenyl)] acenaphthene diimine nickel(II) dibromide (2), which is active for the production of branched polyethylene. The polymerizations were performed at various levels of catalyst feed ratio at 10 bar. The linear correlation between catalyst activity and concentration of catalyst 2 suggested that the catalysts performed independently from each other. The weight-average molecular weights ((M) over bar (w)), crystalline structures, and phase structures of the blends were investigated, using a combination of gel permeation chromatography, differential scanning calorimetry, wide-angle X-ray diffraction, and small angle X-ray scattering techniques. It was found that the polymerization activities and MWs and crystallization rate of the polymers took decreasing tendency with the increase of the catalyst 2 ratios, while melting temperatures (T-m), crystalline temperatures (T,), and crystalline degrees took decreasing tendency. Long period was distinctly influenced by the amorphous component concentration.

Notes on grasses (Poaceae) for the Flora of China, VI. New combinations in Stipeae and Anthoxantham

When Oryzopsis is confined to the type species, Chinese species are placed in Achnatherum and Piptatherum. This necessitates the following new combinations: Piptatherum grandispiculum, Piptatherum aequiglume var. ligulatum, Piptatherum tibeticum var. psilolepis.. Piptatherum. munroi var. parviflorum, Achnatherum henryi. and Achnatherum henryi var. acutum. Achnatherum henryi is lectotypified. The new name Piptatherum kuoi replaces the illegitimate name Piptatherum obtusum, and this species is lectotypified. Hierochloe potaninii is transferred to Anthoxanthum as A. potaninii, as Hierochloe is regarded as a synonym of Anthoxanthum. All the grass taxa (Poaceae) listed are endemic to China.

New taxa, names, and combinations in Saxifraga (Saxifragaceae) for the Flora of China

The following new species, new variety, new name, and four new combinations are published for the forthcoming account of Saxifraga L. in the Flora of China, Volume 8: S. epiphylla Gornall & H. Ohba, sp. nov., S. gemmigera Engler var. gemmuligera (Engler) J. T. Pan & Gornall, comb. nov., S. heterotricha Marquand & Airy-Shaw var. anadena (H. Smith) J. T. Pan & Gornall, comb. et stat, nov., S. hypericoides Franchet var. aurantiascens (Engler & Irmscher) J. T. Pan & Gornall, comb. nov., S. hypericoides var. rockii (Mattfeld) J. T. Pan & Gornall, comb. et stat. nov., S. sinomontana J. T. Pan & Gornall, nom. nov., and S. sinomontana var. amabilis H. Smith ex J. T. Pan, var. nov. In addition, the names S. mengtzeana Engler & Irmscher and S. mengtzeana var. cordatifolia Engler & Irmscher are lectotypified here.

Recognition by Linear Combinations of Models

Visual object recognition requires the matching of an image with a set of models stored in memory. In this paper we propose an approach to recognition in which a 3-D object is represented by the linear combination of 2-D images of the object. If M = {M1,...Mk} is the set of pictures representing a given object, and P is the 2-D image of an object to be recognized, then P is considered an instance of M if P = Eki=aiMi for some constants ai. We show that this approach handles correctly rigid 3-D transformations of objects with sharp as well as smooth boundaries, and can also handle non-rigid transformations. The paper is divided into two parts. In the first part we show that the variety of views depicting the same object under different transformations can often be expressed as the linear combinations of a small number of views. In the second part we suggest how this linear combinatino property may be used in the recognition process.

Localization and Positioning Using Combinations of Model Views

A method for localization and positioning in an indoor environment is presented. The method is based on representing the scene as a set of 2D views and predicting the appearances of novel views by linear combinations of the model views. The method is accurate under weak perspective projection. Analysis of this projection as well as experimental results demonstrate that in many cases it is sufficient to accurately describe the scene. When weak perspective approximation is invalid, an iterative solution to account for the perspective distortions can be employed. A simple algorithm for repositioning, the task of returning to a previously visited position defined by a single view, is derived from this method.