Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate and sideslip angle based on a single-input single-output (SISO) yaw rate controller. With the SISO formulation, the reference yaw rate is first defined according to the vehicle handling requirements and is then corrected based on the actual sideslip angle. The sideslip angle contribution guarantees a prompt corrective action in critical situations such as incipient vehicle oversteer during limit cornering in low tire-road friction conditions. A design methodology in the frequency domain is discussed, including stability analysis based on the theory of switched linear systems. The performance of the control structure is assessed via: 1) phase-plane plots obtained with a nonlinear vehicle model; 2) simulations with an experimentally validated model, including multiple feedback control structures; and 3) experimental tests on an electric vehicle demonstrator along step steer maneuvers with purposely induced and controlled vehicle drift. Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers

On the experimental analysis of single input single output control of yaw rate and sideslip angle

Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator, along two maneuvers with quickly variable tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the centre of gravity

It's Good to Be First: Order Bias in Reading and Citing NBER Working Papers

When choices are made from ordered lists, individuals can exhibit biases toward selecting certain options as a result of the ordering. We examine this phenomenon in the context of consumer response to the ordering of economics papers in an e-mail announcement issued by the NBER. We show that despite the effectively random list placement, papers listed first each week are about 30% more likely to be viewed, downloaded, and subsequently cited. We suggest that a model of “skimming” behavior, where individuals focus on the first few papers in the list due to time constraints, would be most consistent with our findings

A single input single output formulation for yaw rate and sideslip angle control via torque-vectoring

Many torque-vectoring controllers are based on the concurrent control of yaw rate and sideslip angle through complex multi-variable control structures. In general, the target is to continuously track a reference yaw rate, and constrain the sideslip angle to remain within thresholds that are critical for vehicle stability. To achieve this objective, this paper presents a single input single output (SISO) formulation, which varies the reference yaw rate to constrain sideslip angle. The performance of the controller is successfully validated through simulations and experimental tests on an electric vehicle prototype with four drivetrains

Performance Characteristics of Fecal Immunochemical Tests for Colorectal Cancer and Advanced Adenomatous Polyps: A Systematic Review and Meta-analysis

Background: Studies report inconsistent performance of fecal immunochemical tests (FITs) for colorectal cancer (CRC) and advanced adenomas. Purpose: To summarize performance characteristics of FITs for CRC and advanced adenomas in average-risk persons undergoing screening colonoscopy (reference standard) and to identify factors affecting these characteristics. Data Sources: Ovid MEDLINE, PubMed, Embase, and the Cochrane Library from inception through October 2018; reference lists of studies and reviews. Study Selection: Two reviewers independently screened records to identify published English-language prospective or retrospective observational studies that evaluated FIT sensitivity and specificity for colonoscopic findings in asymptomatic, average-risk adults. Data Extraction: Two authors independently extracted data and evaluated study quality. Data Synthesis: Thirty-one studies (120 255 participants; 18 FITs) were included; all were judged to have low to moderate risk of bias. Performance characteristics depended on the threshold for a positive result. A threshold of 10 µg/g resulted in sensitivity of 0.91 (95% CI, 0.84 to 0.95) and a negative likelihood ratio of 0.10 (CI, 0.06 to 0.19) for CRC, whereas a threshold of greater than 20 µg/g resulted in specificity of 0.95 (CI, 0.94 to 0.96) and a positive likelihood ratio of 15.49 (CI, 9.82 to 22.39). For advanced adenomas, sensitivity was 0.40 (CI, 0.33 to 0.47) and the negative likelihood ratio was 0.67 (CI, 0.57 to 0.78) at 10 µg/g, and specificity was 0.95 (CI, 0.94 to 0.96) and the positive likelihood ratio was 5.86 (CI, 3.77 to 8.97) at greater than 20 µg/g. Studies had low to high heterogeneity, depending on the threshold. Although several FITs had adequate performance, sensitivity and specificity for CRC for 1 qualitative FIT were 0.90 and 0.91, respectively, at its single threshold of 10 µg/g; positive and negative likelihood ratios were 10.13 and 0.11, respectively. Comparison of 3 FITs at 3 thresholds was inconclusive: CIs overlapped, and the comparisons were across rather than within studies. Limitations: Only English-language studies were included. Incomplete reporting limited quality assessment of some evidence. Performance characteristics are for 1-time rather than serial testing. Conclusion: Single-application FITs have moderate to high sensitivity and specificity for CRC, depending on the positivity threshold. Sensitivity of 1-time testing for advanced adenomas is low, regardless of the threshold

On the energy efficiency of electric vehicles with multiple motors

Electric Vehicles (EVs) with multiple motors permit to design the steady-state cornering response by imposing reference understeer characteristics according to expected vehicle handling quality targets. To this aim a direct yaw moment is generated by assigning different torque demands to the left and right vehicle sides. The reference understeer characteristic has an impact on the drivetrain input power as well. In parallel, a Control Allocation (CA) strategy can be employed to achieve an energy-efficient wheel torque distribution generating the reference yaw moment and wheel torque. To the knowledge of the authors, for the first time this paper experimentally compares and critically analyses the potential energy efficiency benefits achievable through the appropriate set-up of the reference understeer characteristics and wheel torque CA. Interestingly, the experiments on a four wheel-drive EV demonstrator show that higher energy savings can be obtained through the appropriate tuning of the reference cornering response rather than with an energy efficient CA

Coherent, mechanical control of a single electronic spin

The ability to control and manipulate spins via electrical, magnetic and optical means has generated numerous applications in metrology and quantum information science in recent years. A promising alternative method for spin manipulation is the use of mechanical motion, where the oscillation of a mechanical resonator can be magnetically coupled to a spins magnetic dipole, which could enable scalable quantum information architectures9 and sensitive nanoscale magnetometry. To date, however, only population control of spins has been realized via classical motion of a mechanical resonator. Here, we demonstrate coherent mechanical control of an individual spin under ambient conditions using the driven motion of a mechanical resonator that is magnetically coupled to the electronic spin of a single nitrogen-vacancy (NV) color center in diamond. Coherent control of this hybrid mechanical/spin system is achieved by synchronizing pulsed spin-addressing protocols (involving optical and radiofrequency fields) to the motion of the driven oscillator, which allows coherent mechanical manipulation of both the population and phase of the spin via motion-induced Zeeman shifts of the NV spins energy. We demonstrate applications of this coherent mechanical spin-control technique to sensitive nanoscale scanning magnetometry.Comment: 6 pages, 4 figure

On the Feedback Control of Hitch Angle through Torque-Vectoring

This paper describes a torque-vectoring (TV) algorithm for the control of the hitch angle of an articulated vehicle. The hitch angle control function prevents trailer oscillations and instability during extreme cornering maneuvers. The proposed control variable is a weighted combination of terms accounting for the yaw rate, sideslip angle and hitch angle of the articulated vehicle. The novel control variable formulation results in a single-input single-output (SISO) feedback controller. In the specific application a simple proportional integral (PI) controller with gain scheduling on vehicle velocity is developed. The TV system is implemented and experimentally tested on a fully electric vehicle with four on-board drivetrains, towing a single-axle passive trailer. Sinusoidal steer test results show that the proposed algorithm significantly improves the behavior of the articulated vehicle, and justify further research on the topic of hitch angle control through TV

Influence of the Earth on the background and the sensitivity of the GRM and ECLAIRs instruments aboard the Chinese-French mission SVOM

SVOM (Space-based multi-band astronomical Variable Object Monitor) is a future Chinese-French satellite mission which is dedicated to Gamma-Ray Burst (GRB) studies. Its anti-solar pointing strategy makes the Earth cross the field of view of its payload every orbit. In this paper, we present the variations of the gamma-ray background of the two high energy instruments aboard SVOM, the Gamma-Ray Monitor (GRM) and ECLAIRs, as a function of the Earth position. We conclude with an estimate of the Earth influence on their sensitivity and their GRB detection capability.Comment: 24 pages, 15 figures, accepted for publication in Experimental Astronom

A meta-analysis of cambium phenology and growth: linear and non-linear patterns in conifers of the northern hemisphere

Background and Aims Ongoing global warming has been implicated in shifting phenological patterns such as the timing and duration of the growing season across a wide variety of ecosystems. Linear models are routinely used to extrapolate these observed shifts in phenology into the future and to estimate changes in associated ecosystem properties such as net primary productivity. Yet, in nature, linear relationships may be special cases. Biological processes frequently follow more complex, non-linear patterns according to limiting factors that generate shifts and discontinuities, or contain thresholds beyond which responses change abruptly. This study investigates to what extent cambium phenology is associated with xylem growth and differentiation across conifer species of the northern hemisphere. Methods Xylem cell production is compared with the periods of cambial activity and cell differentiation assessed on a weekly time scale on histological sections of cambium and wood tissue collected from the stems of nine species in Canada and Europe over 1-9 years per site from 1998 to 2011. Key Results The dynamics of xylogenesis were surprisingly homogeneous among conifer species, although dispersions from the average were obviously observed. Within the range analysed, the relationships between the phenological timings were linear, with several slopes showing values close to or not statistically different from 1. The relationships between the phenological timings and cell production were distinctly non-linear, and involved an exponential pattern Conclusions The trees adjust their phenological timings according to linear patterns. Thus, shifts of one phenological phase are associated with synchronous and comparable shifts of the successive phases. However, small increases in the duration of xylogenesis could correspond to a substantial increase in cell production. The findings suggest that the length of the growing season and the resulting amount of growth could respond differently to changes in environmental condition