Efficient minimum manoeuvre time optimisation of an oversteering vehicle at constant forward speed

A receding horizon steering controller is presented, capable of pushing an oversteering nonlinear vehicle model to its handling limit while travelling at constant forward speed. The controller is able to optimise the vehicle path, using a computationally efficient and robust technique, so that the vehicle progression along a track is maximised as a function of time. The resultant method forms part of the solution to the motor racing objective of minimising lap time. © 2011 AACC American Automatic Control Council.

Vehicle trajectory linearisation to enable efficient optimisation of the constant speed racing line

A driver model is presented capable of optimising the trajectory of a simple dynamic nonlinear vehicle, at constant forward speed, so that progression along a predefined track is maximised as a function of time. In doing so, the model is able to continually operate a vehicle at its lateral-handling limit, maximising vehicle performance. The technique used forms a part of the solution to the motor racing objective of minimising lap time. A new approach of formulating the minimum lap time problem is motivated by the need for a more computationally efficient and robust tool-set for understanding on-the-limit driving behaviour. This has been achieved through set point-dependent linearisation of the vehicle model and coupling the vehicle-track system using an intrinsic coordinate description. Through this, the geometric vehicle trajectory had been linearised relative to the track reference, leading to new path optimisation algorithm which can be formed as a computationally efficient convex quadratic programming problem. © 2012 Copyright Taylor and Francis Group, LLC.

Cyclone intensity categories

The weather forecast centers in Australia and many other countries use a scale of cyclone intensity categories (categories 1-5) in their cyclone advisories, which are considered to be indicative of the cyclone damage potential. However, this scale is mainly based on maximum gust wind speeds. In a recent research project involving computer modeling of cyclonic wind forces on roof claddings and fatigue damage to claddings, it was found that cyclone damage not only depends on the maximum gust wind speed, but also on two other cyclone parameters, namely, the forward speed and radius to maximum winds. This paper describes the computer model used in predicting the cyclone damage to claddings and investigates the damage potential of a cyclone as a function of all the relevant cyclone parameters, based on which it attempts to refine the current scale of cyclone intensity categories.

Kinematic models for manoeuvring and seakeeping of marine vessels

The motion of marine vessels has traditionally been studied using two different approaches: manoeuvring and seakeeping. These two approaches use different reference frames and coordinate systems to describe the motion. This paper derives the kinematic models that characterize the transformation of motion variables (position, velocity, accelerations) and forces between the different coordinate systems used in these theories. The derivations hereby presented are done in terms of the formalism adopted in robotics. The advantage of this formulation is the use of matrix notation and operations. As an application, the transformation of linear equations of motion used in seakeeping into body-fixed coordinates is considered for both zero and forward speed.

A pilot study in different unstable designs on the biomechanical effect of gait characteristics

The purpose of this study was to compare kinematics and kinetics during walking for healthy subjects using unstable shoes with different designs. Ten subjects participated in this study, and foot biomechanical data during walking were quantified using motion analysis system and a force plate. Data were collected for unstable shoes condition after accommodation period of one week. With soft material added in the heel region, the peak impact force was effectively reduced when compared among similar shapes. In addition, the soft material added in the rocker bottom showed more to be in dorsiflexed position during the initial stance. The shoe with three rocker curves design reduced the contact area in the heel strike, which may result in increasing human body forward speed. Further studies shall be carried out after adapting to long periods of wearing unstable shoes.

Optimal location of centre of gravity for swashplateless helicopter UAV and MAV

To investigate the use of centre of gravity location on reducing cyclic pitch control for helicopter UAV's (unmanned air vehicles) and MAV's (micro air vehicles). Low cyclic pitch is a necessity to implement the swashplateless rotor concept using trailing edge flaps or active twist using current generation low authority piezoceramic actuators. Design/methodology/approach – An aeroelastic analysis of the helicopter rotor with elastic blades is used to perform parametric and sensitivity studies of the effects of longitudinal and lateral center of gravity (cg) movements on the main rotor cyclic pitch. An optimization approach is then used to find cg locations which reduce the cyclic pitch at a given forward speed. Findings – It is found that the longitudinal cyclic pitch and lateral cyclic pitch can be driven to zero at a given forward speed by shifting the cg forward and to the port side, respectively. There also exist pairs of numbers for the longitudinal and lateral cg locations which drive both the cyclic pitch components to zero at a given forward speed. Based on these results, a compromise optimal cg location is obtained such that the cyclic pitch is bounded within ±5° for a BO105 helicopter rotor. Originality/value – The reduction in the cyclic pitch due to helicopter cg location is found to significantly reduce the maximum magnitudes of the control angles in flight, facilitating the swashplateless rotor concept. In addition, the existence of cg locations which drive the cyclic pitches to zero allows for the use of active cg movement as a way to replace the cyclic pitch control for helicopter MAV's.

蛇形机器人水下蜿蜒运动的仿真研究

该文对中国科学院沈阳自动化所研制的水陆两栖蛇形机器人的水下蜿蜒运动进行受力分析并用ADAMS做了动力学仿真。从关节角函数的幅值、频率和体内形成波的个数三个方面对蛇形机器人前进速度的影响进行了仿真,得出以下结论:存在一个最优关节角函数幅值,使得蛇形机器人前进速度达到最大;增加频率和在满足形成蛇形曲线的体内形成波个数的情况下减少形成波的个数会使机器人前进的速度增加。

Soil disturbed using a strip tillage implement on a range of soil types and the effects on sugar beet establishment

The area of soil disturbed using a single tine is well documented. However, modern strip tillage implements using a tine and disc design have not been assessed in the UK or in mainland Europe. Using a strip tillage implement has potential benefits for European agriculture where economic returns and sustainability are key issues. Using a strip tillage system a narrow zone is cultivated leaving most of the straw residue on the soil surface. Small field plot experiments were undertaken on three soil types and the operating parameters of forward speed, tine depth and tine design were investigated together with measurements of seedbed tilth and crop emergence. The type of tine used was found to be the primary factor in achieving the required volume of disturbance within a narrow zone whilst maintaining an area of undisturbed soil with straw residue on the surface. The winged tine produced greater disturbance at a given depth compared with the knife tine. Increasing forward speed did not consistently increase the volume of disturbance. In a sandy clay loam the tilth created and emergence of sugar beet by strip tillage and ploughing were similar but on a sandy loam the strip tillage treatments generally gave a finer tilth but poorer emergence particularly at greater working depth.

How honeybees make grazing landings on flat surfaces

Freely flying bees were filmed as they landed on a flat, horizontal surface, to investigate the underlying visuomotor control strategies. The results reveal that (1) landing bees approach the surface at a relatively shallow descent angle; (2) they tend to hold the angular velocity of the image of the surface constant as they approach it; and (3) the instantaneous speed of descent is proportional to the instantaneous forward speed. These characteristics reflect a surprisingly simple and effective strategy for achieving a smooth landing, by which the forward and descent speeds are automatically reduced as the surface is approached and are both close to zero at touchdown. No explicit knowledge of flight speed or height above the ground is necessary. A model of the control scheme is developed and its predictions are verified. It is also shown that, during landing, the bee decelerates continuously and in such a way as to keep the projected time to touchdown constant as the surface is approached. The feasibility of this landing strategy is demonstrated by implementation in a robotic gantry equipped with vision.

Desempenho operacional de um protótipo “aerossolo”

It is been a great deal of interest the studying of the operational performance of tractors and its machinery especially in work conditions. The present study had as objective to evaluate the operational performance of an Aerossolo prototype tracked with a Valtra BM100 4x2 TDA, with the engine power of 73.6 kW (100 cv). The prototype equipment is a drag type, hydraulically commanded, with telescopic heading for longitudinal adjustment, two lateral sections with 28 knifes in each one of them, concrete ballasts, wheels of transport and aggregate breaker coil. The work was conducted in the Department of Agricultural Engineering of the UNESP, Jaboticabal Campus, in a randomized blocks design, factorial 3 x 3, with four repetitions. The nine studied treatments were a combination for three ballast conditions (0; 960 and 1,307 kg) and three angles of the sections (0 degrees; 7 degrees and 14 degrees). The results indicate an increase in operational consumption (liters per hectare) of 32.4% in relation to the concrete ballast addition, and a 26.8% in relation to the angle variation between sections. The working depth, traction force and power demands were higher with the increases in the concrete ballast and the angle variation between sections.

UMEB - Unidade Móvel para Ensaio da Barra de Tração

Um equipamento denominado Unidade Móvel de Ensaio da Barra de Tração - UMEB, foi desenvolvido na FCA/UNESP de Botucatu para realizar ensaios de tratores em solo agrícola. Construída a partir de um reboque (trailer), a UMEB foi adaptada para servir como carro dinamométrico instrumentado, utilizado na avaliação do desempenho de tratores submetidos a ensaios na barra de tração. Sua massa total é de 10.500 kg sustentados por um conjunto de seis rodados pneumáticos. Ensaios de campo mostraram que a UMEB proporcionou força de tração acima de 35 kN, mantendo-a constante, em diferentes condições de superfície do solo, mesmo quando a velocidade de deslocamento foi modificada.

Influência da altura das garras dos pneus de um trator em área de plantio direto

This work was carried out to evaluate the performance of a farm tractor fitted with two sets of tires with high lugs and another set of tires with tallow lugs in straw without tillage (corn straw). The travel speeds used were approximately 4, 5, 6 and 7 km h(-1) and a constant pulling force of 25 kN was fixed. Tractor traction, forward speed, slip and consumption of fuel were measured and drawbar power, the ratio between the consumption and power and traction coefficient were calculated. It was observed that the tractor performance was similar to high and low lug tire conditions, in an area covered with corn straw.

Desempenho de trator agrícola em três superfícies de solo e quatro velocidades de deslocamento

The aim of this work was to evaluate tractor performance in soil with three different surfaces: firm soil without covering, mobilized soil, and firm soil with vegetal residue of corn and braquiaria, for four forward speeds. The experiment was accomplished in three plots determined by the soil conditions. In each plot four treatments were composed by the forward speed obtained by the changes of the tractor gear. Six repetitions were used in each plot, totaling 72 experimental units, combination of the traction, slip of the rear and front wheels, forward speed and fuel consumption. The values of the tractor performance obtained led to the conclusion that in the firm soil without vegetable covering the tractor performance was better, followed by the soil with the firm surface and covered with corn straw and braquiaria and finally the mobilized soil. The best tractor performance was obtained in the C1 gear that supplied the forward speed of 6 km h(-1).

EFFICIENCY of PNEUMATIC and HORIZONTAL PERFORATED DISK METER MECHANISM IN CORN NO-TILLAGE SEEDERS IN SOIL WITH DIFFERENT MOBILIZATION REPORTS

This work objectified to evaluate the efficiency of two meter mechanism of corn seeds when submitted to different forward speed and soil management system during the non-tillage seeding. It was used a factorial design in randomized blocks. The factors whose effects were examined were related to the seeders with pneumatic and horizontal disk meter mechanisms for the distribution of the seeds, to the set tractor-seeder forward speeds (4.4; 8.0 and 9.8 km h(-1)), and to the soil management system considering the corn no-tillage seeding over minimum tillage with chisel plow and the no-tillage system for the seeding of oat culture (Avena strigosa Schreb). It was verified that the forward speed didn't influence the initial and final stands of plants but it interfered in the regularity of longitudinal distribution of plants. The smallest speed provided the largest percentile of normal spacing between plants. The pneumatic meter mechanism presented better performance than the horizontal disk perforated in the longitudinal distribution of plants. About corn productivity aspect it's indifferent the recommendation of use for pneumatic and perforated horizontal disk meter mechanism of seeds.

Determinação da circunferência de rolamento de pneus agrícolas utilizando dois métodos: manual e eletrônico

A circunferência de rolamento dinâmica dos pneus agrícolas é uma medida importante para o estudo do desempenho de tratores agrícolas. Neste trabalho, compararam-se dois métodos de determinação da circunferência de rolamento dinâmica - um manual e um eletrônico (com instrumentação das rodas de tração) - sob duas velocidades de deslocamento e cinco combinações de pressão de inflação nos pneus dianteiros e traseiros. O método manual forneceu valores estatisticamente superiores aos do eletrônico, com diferença absoluta máxima de 0,24%. A pressão de inflação influenciou significativamente os valores medidos, enquanto a velocidade de deslocamento, para os valores do ensaio (3,0 e 6,0 km.h-1), não apresentou influência significativa.