26 research outputs found

    Friction compensation for a force controlled electric actuator with unknown sinusoidal disturbance motion

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    Lateral dynamics simulation of a three-wheeled tilting vehicle

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    A novel tilting three-wheeled vehicle was developed at the University of Bath as part of a project funded by the European Union. The space and weight savings provided by this type of vehicle could be a solution to the pollution and congestion problems seen in urban environments. The direct tilt control method originally implemented on the prototype was shown to perform well in the steady state, but rapid transients were shown to lead potentially to rollover instability. To investigate this phenomenon and to design an improved controller, a multi-body model was combined with a lateral dynamics single-track model to predict both the steady-state behaviour and the transient behaviour. With this model, it was possible to obtain an accurate representation of the kinematic and dynamic roll motions of the vehicle and the resultant weight transfer across the rear axle, together with the lateral dynamics of the vehicle. The simple lateral dynamics model provided an easily understood physical representation of the system which can often be hidden in a complex multi-body model. This paper presents the development of the model and its validation against data from static and dynamic tests. </jats:p

    Combined steering and direct tilt control for the enhancement of narrow tilting vehicle stability

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    Narrow tilting vehicles offer an opportunity to reduce both traffic congestion and carbon emissions by having a small road footprint, a low weight and a small frontal area. Their narrow track requires that they tilt into corners to maintain stability; this may be achieved by means of an automated tilt control system. Automated tilt control systems can be classed as steering tilt control in which active control of the front-wheel steering angle is used to maintain stability, direct tilt control in which some form of actuator is used to exert a moment between the tilting part(s) of the vehicle and non-tilting part(s), or a combination of the two, namely steering–direct tilt control. Combined steering–direct tilt control systems have the potential to offer improved performance as, unlike steering tilt control systems, they are effective at low speeds while offering superior transient roll stability to direct tilt control systems. This paper details the implementation of a steering direct tilt control system on a prototype narrow tilting vehicle and presents experimental results which demonstrate a 36% reduction in load transfer from the inside wheel to the outside wheel during a ramp-steering manoeuvre when compared with a direct tilt control system. </jats:p

    Positional information resolves structural variations and uncovers an evolutionarily divergent genetic locus in accessions of Arabidopsis thaliana.

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    Genome sequencing of closely related individuals has yielded valuable insights that link genome evolution to phenotypic variations. However, advancement in sequencing technology has also led to an escalation in the number of poor quality–drafted genomes assembled based on reference genomes that can have highly divergent or haplotypic regions. The self-fertilizing nature of Arabidopsis thaliana poses an advantage to sequencing projects because its genome is mostly homozygous. To determine the accuracy of an Arabidopsis drafted genome in less conserved regions, we performed a resequencing experiment on a 3 ~71-kb genomic interval in the Landsberg erecta (Ler-0) accession. We identified novel structural variations (SVs) between Ler-0 and the reference accession Col-0 using a long-range polymerase chain reaction approach to generate an Illumina data set that has positional information, that is, a data set with reads that map to a known location. Positional information is important for accurate genome assembly and the resolution of SVs particularly in highly duplicated or repetitive regions. Sixty-one regions with misassembly signatures were identified from the Ler-0 draft, suggesting the presence of novel SVs that are not represented in the draft sequence. Sixty of those were resolved by iterative mapping using our data set. Fifteen large indels (>100 bp) identified from this study were found to be located either within protein-coding regions or upstream regulatory regions, suggesting the formation of novel alleles or altered regulation of existing genes in Ler-0. We propose future genome-sequencing experiments to follow a clone-based approach that incorporates positional information to ultimately reveal haplotype-specific differences between accessions

    The IASLC Lung Cancer Staging Project: A Renewed Call to Participation

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    Over the past two decades, the International Association for the Study of Lung Cancer (IASLC) Staging Project has been a steady source of evidence-based recommendations for the TNM classification for lung cancer published by the Union for International Cancer Control and the American Joint Committee on Cancer. The Staging and Prognostic Factors Committee of the IASLC is now issuing a call for participation in the next phase of the project, which is designed to inform the ninth edition of the TNM classification for lung cancer. Following the case recruitment model for the eighth edition database, volunteer site participants are asked to submit data on patients whose lung cancer was diagnosed between January 1, 2011, and December 31, 2019, to the project by means of a secure, electronic data capture system provided by Cancer Research And Biostatistics in Seattle, Washington. Alternatively, participants may transfer existing data sets. The continued success of the IASLC Staging Project in achieving its objectives will depend on the extent of international participation, the degree to which cases are entered directly into the electronic data capture system, and how closely externally submitted cases conform to the data elements for the project
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