Automated driving and autonomous functions on road vehicles

In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest – and subsequent hiatus – of Automated Highway Systems in the 1990’s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of “self-driving cars” – robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in “computerisation” of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators

On optimal recovery from terminal understeer

This paper addresses the problem of terminal understeer and its mitigation via integrated brake control. The scenario considered is when a vehicle enters a curve at a speed that is too high for the tyre-road friction limits and an optimal combination of braking and cornering forces is required to slow the vehicle down and to negotiate the curve. Here, the driver commands a step steering input, from which a circular arc reference path is inferred. An optimal control problem is formulated with an objective to minimize the maximum off-tracking from the reference path, and two optimal control solutions are obtained. The first is an explicit analytical solution for a friction-limited particle; the second is a numerically derived open-loop brake control sequence for a nonlinear vehicle model. The particle solution is found to be a classical parabolic trajectory associated with a constant acceleration vector of the global mass center. The independent numerical optimization for the vehicle model is found to approximate closely the kinematics of the parabolic path reference strategy obtained for the particle. Using the parabolic path reference strategy, a closed-loop controller is formulated and verified against the solution from numerical optimization. The results are further compared with understeer mitigation by yaw control, and the parabolic path reference controller is found to give significant improvement over yaw control for this scenario. © IMechE 2014

The FERRUM project: Transition probabilities for forbidden lines in [FeII] and experimental metastable lifetimes

Accurate transition probabilities for forbidden lines are important diagnostic parameters for low-density astrophysical plasmas. In this paper we present experimental atomic data for forbidden [FeII] transitions that are observed as strong features in astrophysical spectra. Aims: To measure lifetimes for the 3d^6(^3G)4s a ^4G_{11/2} and 3d^6(^3D)4s b ^4D_{1/2} metastable levels in FeII and experimental transition probabilities for the forbidden transitions 3d^7 a ^4F_{7/2,9/2}- 3d^6(^3G)4s a ^4G_{11/2}. Methods: The lifetimes were measured at the ion storage ring facility CRYRING using a laser probing technique. Astrophysical branching fractions were obtained from spectra of Eta Carinae, obtained with the Space Telescope Imaging Spectrograph onboard the Hubble Space Telescope. The lifetimes and branching fractions were combined to yield absolute transition probabilities. Results: The lifetimes of the a ^4G_{11/2} and the b ^4D_{1/2} levels have been measured and have the following values, 0.75(10) s and 0.54(3) s respectively. Furthermore, we have determined the transition probabilities for two forbidden transitions of a ^4F_{7/2,9/2}- a ^4G_{11/2} at 4243.97 and 4346.85 A. Both the lifetimes and the transition probabilities are compared to calculated values in the literature.Comment: 5 pages, accepted for publication in A&

Temperature dependent c-axis hole mobilities in rubrene single crystals determined by time-of-flight

Hole mobilities (μ) in rubrene single crystals (space group Cmca) along the crystallographic c-axis have been investigated as a function of temperature and applied electric field by the time-of-fight method. Measurements demonstrate an inverse power law dependence on temperature, namely,μ=μ0T−n with n = 1.8, from room temperature down to 180 K. At 296 K, the average value of μ was found to be 0.29 cm2/Vs increasing to an average value of 0.70 cm2/Vs at 180 K. Below 180 K a decrease in mobility is observed with further cooling. Overall, these results confirm the anisotropic nature of transport in rubrene crystals as well as the generality of the inverse power law temperature dependence that is observed for field effect mobility measurements in the a-b crystal plane

A GPS velocity field for Fennoscandia and a consistent comparison to glacial isostatic adjustment models

published_or_final_versio

Synergistic and antagonistic effects of land use and non‐native species on community responses to climate change

Climate change, land‐use change and introductions of non‐native species are key determinants of biodiversity change worldwide. However, the extent to which anthropogenic drivers of environmental change interact to affect biological communities is largely unknown, especially over longer time periods. Here, we show that plant community composition in 996 Swedish landscapes has consistently shifted to reflect the warmer and wetter climate that the region has experienced during the second half of the 20th century. Using community climatic indices, which reflect the average climatic associations of the species within each landscape at each time period, we found that species compositions in 74% of landscapes now have a higher representation of warm‐associated species than they did previously, while 84% of landscapes now host more species associated with higher levels of precipitation. In addition to a warmer and wetter climate, there have also been large shifts in land use across the region, while the fraction of non‐native species has increased in the majority of landscapes. Climatic warming at the landscape level appeared to favour the colonization of warm‐associated species, while also potentially driving losses in cool‐associated species. However, the resulting increases in community thermal means were apparently buffered by landscape simplification (reduction in habitat heterogeneity within landscapes) in the form of increased forest cover. Increases in non‐native species, which generally originate from warmer climates than Sweden, were a strong driver of community‐level warming. In terms of precipitation, both landscape simplification and increases in non‐natives appeared to favour species associated with drier climatic conditions, to some extent counteracting the climate‐driven shift towards wetter communities. Anthropogenic drivers can act both synergistically and antagonistically to determine trajectories of change in biological communities over time. Therefore, it is important to consider multiple drivers of global change when trying to understand, manage and predict biodiversity in the future

Studies of lifetimes in an ion storage ring using laser technique

The laser-probing method for lifetime measurements of metastable levels, performed by applying the Fast Ion Beam Laser (FIBLAS) method to ions stored in a storage ring, has been developed by the Stockholm group. Recently, we have applied this method to lifetime measurements of close lying metastable levels. In this paper we discuss experimental studies of ions with complex structure and present the first experimentally obtained lifetimes of selected metastable levels in complex systems as Fe+, Eu+ and La+

Dark resonances as a probe for the motional state of a single ion

Single, rf-trapped ions find various applications ranging from metrology to quantum computation. High-resolution interrogation of an extremely weak transition under best observation conditions requires an ion almost at rest. To avoid line-broadening effects such as the second order Doppler effect or rf heating in the absence of laser cooling, excess micromotion has to be eliminated as far as possible. In this work the motional state of a confined three-level ion is probed, taking advantage of the high sensitivity of observed dark resonances to the trapped ion's velocity. Excess micromotion is controlled by monitoring the dark resonance contrast with varying laser beam geometry. The influence of different parameters such as the cooling laser intensity has been investigated experimentally and numerically

The FERRUM Project: experimental and theoretical transition rates of forbidden [Sc II] lines and radiative lifetimes of metastable Sc II levels

Context. In many plasmas, long-lived metastable atomic levels are depopulated by collisions (quenched) before they decay radiatively. In low-density regions, however, the low collision rate may allow depopulation by electric dipole (E1) forbidden radiative transitions, so-called forbidden lines (mainly M1 and E2 transitions). If the atomic transition data are known, these lines are indicators of physical plasma conditions and used for abundance determination. Aims. Transition rates can be derived by combining relative intensities between the decay channels, so-called branching fractions (BFs), and the radiative lifetime of the common upper level. We use this approach for forbidden [Sc ii] lines, along with new calculations. Methods. Neither BFs for forbidden lines, nor lifetimes of metastable levels, are easily measured in a laboratory. Therefore, astrophysical BFs measured in Space Telescope Imaging Spectrograph (STIS) spectra of the strontium filament of Eta Carinae are combined with lifetime measurements using a laser probing technique on a stored ion-beam (CRYRING facility,MSL, Stockholm). These quantities are used to derive the absolute transition rates (A-values). New theoretical transition rates and lifetimes are calulated using the CIV3 code. Results. We report experimental lifetimes of the Sc ii levels 3d2 a3P0,1,2 with lifetimes 1.28, 1.42, and 1.24 s, respectively, and transition rates for lines from these levels down to 3d4s a3D in the region 8270-8390 A. These are the most important forbidden [Sc ii] transitions. New calculations for lines and metastable lifetimes are also presented, and are in good agreement with the experimental data.Comment: 5 pages. Accepted for A&