Implementation of semi-active damping on a tri-axle heavy-vehicle suspension

A semi-active truck damper was developed in conjunction with a commercial shock absorber manufacturer. A linearized damper model was developed for control system design purposes. Open- and closed-loop damper force tracking control was implemented, with tests showing that an open-loop approach gave the best compromise between response speed and accuracy. A hardware-in-the-loop test facility was used to investigate performance of the damper when combined with a simulated quarter-car model. The input to the vehicle model was a set of randomly generated road profiles, each profile traversed at an appropriate speed. Modified skyhook damping tests showed a simultaneous improvement over the optimum passive case of 13 per cent in vertical body acceleration and 8 per cent in dynamic tyre forces. Full-scale vehicle tests of the damper on a heavy tri-axle trailer were carried out. Implementation of modified skyhook damping yielded a simultaneous improvement over the optimum passive case of 8 per cent in vertical body acceleration and 8 per cent in dynamic tyre forces. © IMechE 2008.

An experimental semi-active anti-roll system

The use of anti-roll bars to provide additional roll stiffness and therefore to reduce the trade-off between ride and rollover performance has previously been studied. However, little work has been carried out to investigate the benefits of a switchable roll stiffness. Such a semi-active anti-roll system has the ability to have a low roll stiffness during straight-ahead driving for improved ride performance and high roll stiffness during cornering for improved roll performance. Modelling of such a system is conducted and the model is validated against a semi-active anti-roll system fitted to an experimental vehicle. Experimental and theoretical investigations are used to investigate the performance of such a system with several different strategies employed to switch to the high-stiffness state. The use of an air suspension on the vehicle to roll into corners is also investigated, as is the possibility of exploiting the road layout by allowing the vehicle to be in a low-roll-stiffness configuration during a corner, and then to switch to the high-roll-stiffness configuration midcorner, hence 'locking in' a roll angle. The best rollover performance improvement that was achieved was 12.5 per cent. © IMechE 2008.

Feed utilization and wastage in semi-intensive pond culture of mahseer, Tor putitora. (Ham.)

Mahseer, Tor putitora with 12.75, 12.11, and 12.02g of initial weight were fou · J to attain a net weight gain of 12.0 kg, ll.5 kg, and 11.4 kg respectively in pond-1 (commercial feed), pond-2 (farm-made feed), and pond-3 (farm-made feed), respectively against 78.2 kg, 70.3 kg, and 68.1 kg feed fed. Gross energy contents in fish were 1359.3 Kcal/kg, 1281.5 Kcal/kg and 1266.6 Kcal/kg, respectively in pond-1, pond-2, and pond-3 against 3630.4, 3876.9 and 3570.5 Kcal/kg energy in the feed fed. Only 9.4%, 10.5% and 13.7% of the protein, and 8.9%, 3.4% and 3.3% of the lipid fed to fish were converted into muscle respectively in pond-1, pond-2 and pond-3. It was observed that the higher the protein content in feed, the lower the rate of conversion in muscle; the same was also true for lipid. It is supposed that feed derived wastes contribute potentially to water quality deterioration and eutrophication. Lower feed conversion, higher nitrogenous and phosphatic concentrations and higher plankton biomass in the ponds are all supportive to this observation.

An empirical study on income and efficiency of pond fish and nursery fish production in some selected areas of Pabna, Bangladesh

The study was designed to determine the costs, returns and relative profitability of pond fish and nursery fish production. In order to attain this objective, a total of 70 producers: 35 producing pond fish and 35 producing nursery fish were selected on the basis of purposive random sampling technique from 6 villages under two Upazilas (Sujanagar and Santhia) of Pabna district. It was estimated that per hectare per year gross cost of pond fish production was Tk 65,918 while gross return and net return were Tk 91,707 and Tk 25,789 respectively. Per hectare per year gross cost of nursery fish production was Tk 87,489 while gross return and net return were Tk 1,39,272 and Tk 51,783 respectively. The findings revealed that nursery fish production was more profitable than pond fish production. Cobb-Douglas production function was applied to realize the specific effect of the factors on pond fish and nursery fish production. It was observed that most of the included variables had significant impact on pond fish and nursery fish production. Out of five variables included in the function, all the variables had positive impact on return from pond fish production but stock value of pond, material cost and pond area had positive impact on return from nursery fish production.

Comparison between empirical formulae of intake vortices

The hydrodynamic properties of free surface vortices at hydraulic intakes were investigated. Based on the axisymmetric Navier-Stokes equations and empirical assumptions, two sets of formulations for the velocity distributions and the free surface profiles are proposed and validated against measurements available in the literature. Compared with previous formulae, the modifications based on Mih's formula are found to greatly improve the agreement with the experimental data. Physical model tests were also conducted to study the intake vortex of the Xiluodu hydroelectric project in China. The proposed velocity distribution formula was applied to the solid boundary as considered by the method of images. A good agreement was again observed between the prediction and the measurements. © 2011 International Association for Hydro-Environment Engineering and Research.

Water quality of two semi-closed areas in the United Arab Emirates Coast along the Arabian Gulf:a comparative study

A comparative study was carried out between the two biggest creeks along the Arabian Gulf coast of the United Arab Emirates to evaluate impacts of sewage and industrial effluents on their hydrochemical characteristics. Surface and bottom water samples were collected from Abu Dhabi and Dubai creeks during the period from October 1994 to September 1995. The hydrochemical parameters studied were: temperature (21.10-34.00°C), salinity (37.37-47.09%), transparency (0.50-10.0 m), pH (7.97-8.83), dissolved oxygen (1.78-13.93 mg/l) and nutrients ammonia (ND- 13.12,ug-at N/1), nitrite (ND-6.66 ,ug-at N/1), nitrate (ND- 41.18 ,ug-at N/1), phosphate (ND- 13.06 ,ug-at P/1), silicate (0.68-32.50 ,ug-at Si/1), total phosphorus (0.26- 21.48 ,ug-at P/1), and total silicon (0.95- 40.32 ,ug-at Si/1). The present study indicates clearly that seawater of Abu-Dhabi Creek was warmer (28.l2°C) than Dubai (27.56°C) resulting in a higher rate of evaporation. Owing to more evaporation, salinity levels showed higher levels at Abu Dhabi (43.33%) compared to Dubai (39.03%) seawater. The study also revealed higher secchi disc readings at Abu Dhabi Creek (4.68 m) as compared to Dubai Creek (2.60 m) suggesting more transparency at Abu Dhabi Creek. Whereas, seawater of Dubai exhibited higher levels of pH (1.03 times), and dissolved oxygen (1.05 times) than Abu Dhabi seawater due to an increase in productivity. Meantime, seawater of Dubai showed higher tendency to accumulate ammonia (8.22 times), nitrite (10.93 times), nitrate (5.85 times), phosphate (10.64 times), silicate (1.60 times), total phosphorus (3.19 times), and total silicon (1.54 times) compared to Abu Dhabi seawater due to the enrichment of seawater at Dubai with domestic sewage waters which has distinctly elevated the levels of the nutrient salts particularly in inner-most parts of the creek leading to eutrophication signs. The changes occurred in the receiving creek water of Dubai as a result of waste-water disposal that have also reflected on the atomic ratios of nit: Effect of pollution rogen: phosphorus: silicon.

Larval development of a semi terrestrial mangrove sesarmine crab Chasmagnathus convexus (Crustacea: Decapoda: Brachyura: Grapsidae) reared in laboratory

Four zoeal stages and one megalopal stage were identified in laboratory reared semiterrestrial mangrove sesarmine crab Chasmagnathus convexus. At an average salinity and temperature of 20±1% and 19.2±0.2°C, the megalopa was attained 24 days after hatching. Morphologically, the first zoae of C. convexz1s is very similar to those of other species of the genus Chasmagnathus as well as species of the genus Helice, in that view all share the following characteristics: lateral spine on the carapace, three pairs of setae on the posterior margin of the telson furca, one plus five setae on the endopod of the maxillule, and two plus two setae on the endopod of the maxilla. The differences between the first zoea and megalopa of and those of its congeners are discussed.

Culture potentials of bata, Labeo bata under semi-intensive management system

Small indigenous fish species (SIS) provide food, nutrition, subsistence and supplemental income to a great majority of the people particularly the poor and disadvantaged people of Bangladesh. To date nobody explored the possibilities of culturing these species in combination with the indigenous major carps viz. catla, Catla catla; rohu, Labeo rohita, and mrigal Cirrhinus cirrhosus and grass carp, Ctenopharyngodon idellus. An experiment on the polyculture of carps with a popular SIS, bata (Labeo bata) was carried out to evaluate the production performance of carp-SIS culture in on-farm condition during 15 March to 15 September 2003. Three treatments each having three replications with different stocking densities of bata were tested keeping the carp species combination and stocking density similar in all the treatments viz. treatment 1 (T1), bata (5,000/ha) + catla, rohu and mrigal (5,000/ha at the ratio of 1:1:1) + grass carp (250/ha); treatment 2 (T2), bata (7,500/ha) + catla, rohu and mrigal (5,000/ha at the ratio of 1:1:1) + grass carp (250/ha); and treatment 3 (T3), bata (1 0,000/ha) + catla, rohu and mrigal (5,000/ha at the ratio of 1:1:1) + grass carp (250/ha). After six months rearing, the production obtained were 2,466±77, 2,395±85 and 2,074±72 kg/ha from T1, T2 and T3, respectively. The highest production was obtained from T1, where the stocking density of bata was the minimum (5,000/ha) while the lowest production was obtained from T1 [sic], where the stocking density of bata was maximum (10,000/ha). Significant difference (P<0.05) exists in the production levels as obtained from different treatments. The contribution of bata to total production was 10.31%, 13.96% and 14.38% in case of T1, T2 and T3, respectively.

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.