SYNTHESIS OF THE LAWS GOVERNING THE NON-HOLONOMIC MODEL OF A TWO-LINK ROAD TRAIN WITH REVERSE MOTION (OFF-AXLE HITCHING MODEL)

The complexity of the control of the road train is due to the pronounced nonlinearities, as well as the instability of the control object during the movement in the backward motion (jackknifing). For the road trains, the location of the towing device behind the tractor's rear axle is quite typical. In this study, a synthesis of control laws for road trains with offset of coupling devices relative to the rear axle of the tractor (off-axle hitching) is proposed. The controllers have been implemented both to ensure a stable circular motion and for rectilinear motion with a given orientation angle, and the behavioral features of this model have been studied on the basis of them. Based on the analysis of the approaches to the synthesis of the laws governing the road train with the coupling out, it was decided to synthesize the required control laws using the Lyapunov function method. Synthesized controllers can be directly used to program the robotic systems of the respective models. It is also possible to use them for the development of the Dubins machine for the investigated model. They can be used to build automatic control systems that would help the driver to drive a car with a trailer while driving backward. In this research, a study was made of the state of the solution of the problem associated with the reverse movement of a road train consisting of a tractor and a semitrailer with a coupling, synthesized laws made it possible to study the features of such model, determined by its linear dimensions. For comparison of the synthesized laws, the analysis of phase portraits of trajectories, angles of folding and control, orientation angles was carried out, and also the analysis of the quality of transient processes with the change in the speed of the road train was performed

William Faulkner and alcoholism : distilling facts and fictions.

Opinions about alcoholism as a construct, and opinions about William Faulkner’s alcoholism as a fact, have varied. By considering carefully the role alcohol plays in human society, and by looking at these matters of concern through several different lens models, we can explain both why Faulkner was attracted abnormally to alcohol and why others around Faulkner have responded ambivalently to him, to his drinking and to his fiction. Faulkner’s alcoholism was rumored and denied during his life (1897-1962), evaded and contested after his death, and consistently affirmed after 1980. Attention to David Minter and Joseph Blotner, biographers, reveals much about the shifted opinion. Evolutionary psychology establishes origins of alcoholism, and medical science of heredity, genetics, and neurophysiology describes the problem. Theoreticians such as Wayne Booth, Harold Bloom, Frederic Jameson and Slavoj Žižek provide tools to explain why we vary in our narratives about our favored writers, their personal problems, and the quality of their works. Narrative and rhetorical choices such as telling vs. showing, framing, and word-choice determine focus in biographies. Likewise, Faulkner’s use of doubled-characters both conceals and reveals his own alcoholism in his fictions. The project argues for practice of simultaneity in the application of multiple perspectives. Links connect survival advantages, intoxication, divergent thinking, and heightened creativity, as well as chronic alcoholism, anhedonia, and impaired creativity. The project explains why Faulkner, early in his career, received a creative spark from drinking, was able to sustain this creative flame for a few years even as other bad consequences emerged, and then found his creativity extinguished in alcohol. His rise to fame, however, began exactly at the time that his creativity was waning; a fact that is not so much ironic as it is determined by a drive for others to cling to a creative leader beyond the height of his or her powers. Readers are ardently prone to persist in their attachments to favored writers who no longer function well, paralleling alcoholics who are ardently prone to drink after alcohol no longer benefits them. Both tendencies are coded in our genes

Morehead State University Directory 1997

The 1997 Directory of Morehead State University.https://scholarworks.moreheadstate.edu/college_histories/1187/thumbnail.jp