Path following for a target point attached to a unicycle type vehicle

In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations

A high-wavenumber boundary-element method for an acoustic scattering problem

In this paper we show stability and convergence for a novel Galerkin boundary element method approach to the impedance boundary value problem for the Helmholtz equation in a half-plane with piecewise constant boundary data. This problem models, for example, outdoor sound propagation over inhomogeneous flat terrain. To achieve a good approximation with a relatively low number of degrees of freedom we employ a graded mesh with smaller elements adjacent to discontinuities in impedance, and a special set of basis functions for the Galerkin method so that, on each element, the approximation space consists of polynomials (of degree $\nu$) multiplied by traces of plane waves on the boundary. In the case where the impedance is constant outside an interval $[a,b]$, which only requires the discretization of $[a,b]$, we show theoretically and experimentally that the $L_2$ error in computing the acoustic field on $[a,b]$ is ${\cal O}(\log^{\nu+3/2}|k(b-a)| M^{-(\nu+1)})$, where $M$ is the number of degrees of freedom and $k$ is the wavenumber. This indicates that the proposed method is especially commendable for large intervals or a high wavenumber. In a final section we sketch how the same methodology extends to more general scattering problems

Modelling ground vibrations induced by harmonic loads

A finite-element model combining the frequency domain thin-layer method with paraxial boundary conditions to simulate the semi-infinite extent of a soil medium is presented in this paper. The combined numerical model is used to deal with harmonic vibrations of surface rigid foundations on non-horizontal soil profiles. The model can deal with soil media over rigid bedrock or significant depths of half-space. Structured finite elements are used to mesh simple geometry soil domains, whereas unstructured triangular mesh grids are employed to deal with complex geometry problems. Dynamic responses of homogeneous as well as layered soil profiles are simulated and validated against analytical and approximate solutions. Finally, the model is used to deal with surface ground vibration reduction, in which it is first validated against published results and then followed by an example involving a bridge

Dynamic calibration of slab track models for railway applications using full-scale testing

Research and development of technology for railways has found new impetus as society continues to search for cost effective and sustainable means of transport. This tasks engineers with using the state-of-the-art science and engineering for rolling stock development and advanced technologies for building high performance, reliable and cost-effective rail infrastructures. The main goal of this work is to develop detailed and validated three-dimensional slab track models using a finite element formulation, which include all components of the infrastructure. For this purpose, the parameters of the computational models are identified by performing full-scale tests of the fastening system and of the slab track, including all its material layers. The computational model proposed here is calibrated using this approach and a good agreement is obtained between experimental and numerical results. This work opens good perspectives to use this reliable track model to study the interaction with railway vehicles in realistic operation scenarios in order to assess the dynamic behaviour of the trains and to predict the long-term performance of the infrastructure and of its components

Nonlinear dynamic modeling of an electro-pneumatic pressure converter for VGT pneumatic actuator

This paper presents a detailed physical model of an electro-pneumatic system, used to control Variable Geometry Turbochargers (VGT). The VGT actuator system consists of two parts, a diaphragm based pneumatic actuator and a solenoid based Electro-pneumatic Pressure Converter (EPC). The proposed model copes with the pressure dynamics inside the pneumatic actuator, with special focus on the EPC. The dynamics of both parts have been modeled separately and combined into one model by parameterizing the effective flow area and the air mass flow through the pneumatic actuator. The variations in volume, temperature and air mass flow rate have been taken into account. The model so obtained serves mainly for studying the effect of actuator dynamics on the global engine system. For control purposes, the detailed model is simplified to reduce the calculation load. Both models are validated using experimental data obtained from an engine test bench