On the enhancement of vehicle handling and energy efficiency of electric vehicles with multiple motors: the iCOMPOSE project

Electric vehicles with multiple motors allow torque-vectoring, i.e., the individual control of each powertrain torque. Torque-vectoring (TV) can provide: i) enhancement of vehicle safety and handling, via the generation of a direct yaw moment to shape the understeer characteristics and increase yaw and sideslip damping; and ii) energy consumption reductions, via appropriate torque allocation to each motor. The FP7 European project iCOMPOSE thoroughly addressed i) and ii). Theoretical analyses were carried out to design state-of-the art TV controllers, which were validated through: a) vehicle simulations; and b) extensive experimental tests, which were performed at rolling road facilities and proving grounds, using a Range Rover Evoque prototype equipped with four identical on-board electric powertrains. This paper provides an overview of the TV-related contributions of iCOMPOSE

Developing novel photocatalytic cementitious permeable pavements for depollution of contaminants and impurities in urban cities

Photocatalyst such as Titanium Dioxide (TiO2) has been recently introduced as a nanoparticle into cementitious permeable pavements. Combining photocatalytic compounds within concrete permeable pavements can aid with depollution of several contaminants found in urban water streams and air impurities. This paper presents research carried out at the Uni-versity of Greenwich, UK using photocatalytic concrete with varying percentages of TiO2 (0 %, 1% and 5%) to assess the levels depollution which can be achieved.Concrete samples were testing against the degradation of 2, 4-Dichlorophenoxyacetic Acid, a harmful chemical found in herbicides. This advanced oxidation process can aid in the re-duction of urban pollution from an air and water perspective, improving sustainability for urban cities. Self-cleaning benefits of photocatalytic concrete permeable pavements can be used to keep urban infrastructure cleaner and more aesthetically pleasing. Experimental tests were carried out on the characterisation of inorganics through X-Ray diffraction and Fourier Transform Infrared Spectroscopy to ensure that the structures of the concrete samples were not altered by addition of the na-noparticles (photocatalyst). Experimental results were compared to that found in previous literature and confirmed that the addition of 5% TiO2 did not affect the structure of the concrete samples and can be a viable option used in urban infrastruc-ture such as permeable pavements

Design, analysis and investigation of an independent suspension for passenger cars

The objective of this paper is the design of a front suspension. The layout used is the McPherson strut, widely adopted for road cars due to its simplicity and to the limited space required. The handling, comfort and durability of the suspension are strictly related to the position of the hardpoints, and to the elastic elements. A sensitivity analysis is carried out to investigate the roll behavior of a standard vehicle during cornering. A multi-body dynamics software is used to perform ramp-steer simulations on a full-vehicle model. Results show the different peculiarities of three specific cases of analysis, each of them emphasising the effects of a specific parameter on the whole system

Vehicle sideslip estimation for four-wheel-steering vehicles using a particle filter

The availability of the most relevant vehicle states is crucial for the development of advanced vehicle control systems and driver assistance systems. Specifically the vehicle sideslip angle plays a key role, yet this state is unpractical to measure and still not straightforward to estimate. This paper investigates a particle filter approach to estimate the chassis sideslip angle of road vehicles. The filter relies on a physical model of the vehicle and on measurements available from cheap and widespread sensors including inertial measurement unit and steering wheel angle sensor(s). The approach is validated using experimental data collected with the research platform RoboMobil (RoMo), a by-wire electric vehicle with wheel-individual traction and steering actuators. Results show that the performance of the proposed particle filter is satisfactory, and indicate directions for further improvement

On the dynamic analysis of a novel snake robot: preliminary results

In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories

Behavior of a frustrated quantum spin chain with bond dimerization

We clarified behavior of the excitation gap in a frustrated S=1/2 quantum spin chain with bond dimerization by using the numerical diagonalization of finite systems and a variational approach. The model interpolates between the independent dimer model and the S=1 spin chain by changing a strength of the dimerization. The energy gap is minimum at the fully-frustrated point, where a localized kink and a freely mobile anti-kink govern the low-lying excitations. Away from the point, a kink and an antikink form a bound state by an effective triangular potential between them. The consequential gap enhancement and the localization length of the bound state is obtained exactly in the continuous limit. The gap enhancement obeys a power law with exponent 2/3. The method and the obtained results are common to other frustrated double spin-chain systems, such as the one-dimensional J_1 - J_2 model, or the frustrated ladder model.Comment: 11 pages, REVTeX, 8 figures in eps-fil

Renewing Criminalized and Hegemonic Cultural Landscapes

The Mafia's long historical pedigree in Mezzogiorno, Southern Italy, has empowered the Mafioso as a notorious, uncontested, and hegemonic figure. The counter-cultural resistance against the mafiosi culture began to be institutionalized in the early 1990s. Today, Libera Terra is the largest civil society organization in the country that uses the lands confiscated from the Mafia as a space of cultural repertoire to realize its ideals. Deploying labor force through volunteer participation, producing biological fruits and vegetables, and providing information to the students on the fields are the principal cultural practices of this struggle. The confiscated lands make the Italian experience of anti-Mafia resistance a unique example by connecting the land with the ideals of cultural change. The sociocultural resistance of Libera Terra conveys a political message through these practices and utters that the Mafia is not invincible. This study draws the complex panorama of the Mafia and anti-Mafia movement that uses the ‘confiscated lands’ as cultural and public spaces for resistance and socio-cultural change. In doing so, this article sheds new light on the relationship between rural criminology and crime prevention policies in Southern Italy by demonstrating how community development practice of Libera Terra changes the meaning of landscape through iconographic symbolism and ethnographic performance

On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors

With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers on sliding mode control theory for torque-vectoring, but the experimental investigation is so far limited. More importantly, to the knowledge of the authors, the experimental comparison of direct yaw moment control based on sliding modes and typical controllers used for stability control in production vehicles is missing. This paper aims to reduce this gap by presenting and analyzing an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be limited to a specified threshold. The system is experimentally assessed on a four-wheel-drive electric vehicle. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller significantly enhances the tracking performance and yaw damping compared to the more conventional linear quadratic regulator based on an augmented singletrack vehicle model formulation. © 2018, The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Natur

pGlu-serpinin protects the normotensive and hypertensive heart from ischemic injury

Serpinin peptides derive from proteolytic cleavage of Chromogranin-A at C-terminus. Serpinin and the more potent pyroglutaminated-Serpinin (pGlu-Serp) are positive cardiac beta-adrenergic-like modulators, acting through β1-AR/AC/cAMP/PKA pathway. Since in some conditions this pathway and/or other pro-survival pathways, activated by other Chromogranin-A fragments, may cross-talk and may be protective, here we explored whether pGlu-Serp cardioprotects against ischemia/reperfusion injury under normotensive and hypertensive conditions. In the latter condition cardioprotection is often blunted because of the limitations on pro-survival Reperfusion-Injury-Salvage-Kinases (RISK) pathway activation. The effects of pGlu-Serp were evaluated on infarct size (IS) and cardiac function by using the isolated and Langendorff perfused heart of normotensive (WKY) and spontaneously hypertensive (SHR) rats exposed to ischemic pre-conditioning (PreC) and post-conditioning (PostC). In both WKY and SHR rat, pGlu-Serp induced mild cardioprotection in both PreC and in PostC. pGlu-Serp administered at the reperfusion (Serp-PostC) significantly reduced IS, being more protective in SHR than in WKY. Conversely, developed Left Ventricular Pressure (LVDevP) post-ischemic recovery was greater in WKY than in SHR. pGlu-Serp-PostC reduced contracture in both strains. Co-infusion with specific RISK inhibitors (PI3K/AkT, MitoK(ATP) channels, and PKC) blocked the pGlu-Serp-PostC protective effects. To show direct effect on cardiomyocytes, we pre-treated H9c2 with pGlu-Serp which were thus protected against hypoxia/reoxygenation. These results suggest pGlu-Serp as a potential modulatory agent implicated in the protective processes which can limit infarct size and overcome the hypertension-induced failure of PostC