Search results for "Yaw"
showing 10 items of 14 documents
Ancient bacterial genomes reveal a high diversity of Treponema pallidum Strains in early Modern Europe
2020
Syphilis is a globally re-emerging disease, which has marked European history with a devastating epidemic at the end of the 15th century. Together with non-venereal treponemal diseases, like bejel and yaws, which are found today in subtropical and tropical regions, it currently poses a substantial health threat worldwide. The origins and spread of treponemal diseases remain unresolved, including syphilis’ potential introduction into Europe from the Americas. Here, we present the first genetic data from archaeological human remains reflecting a high diversity of Treponema pallidum in early modern Europe. Our study demonstrates that a variety of strains related to both venereal syphilis and y…
Testing utricular function by means of on-axis rotation
2005
Subjective visual vertical (SVV) estimation during on-axis rotation provides an efficient screening test of utricle function. The survey demonstrates that isolated disorders of peripheral utricular function can occur while SCC function appears normal.The present study aimed to investigate estimation of SVV during constant velocity yaw rotation (with the head held on-axis--to enhance any asymmetry between right and left utricular responses), as a useful screening test.In all, 230 patients were recruited from the dizziness clinic. For each patient, the SVV was estimated (a) while held stationary, and (b) during constant angular velocity (240 degrees/s), with the head centred on-axis. Bitherma…
Swerve correction of heavy-duty articulated lorries
2016
The trailers of heavy-duty articulated lorries are usually linked to the tractors by auxiliary dollies to improve the manoeuvrability along curved paths. Connecting the dolly to the tractor by a four-bar linkage, some performance improvement may be achieved in comparison with the conventional single pin. The correct path along a road curve may be obtained exerting control moments on the horizontal plane by means of differential braking of the wheels. The results of the analysis show that the forward-converging and the crossing bar quadrilaterals are mostly yaw-stable, whereas the farther backward-converging bars prove to be inherently unstable.
Analyse expérimentale et numérique du comportement de véhicules terrestres en présence d'un vent latéral instationnaire
2013
The automotive manufacturers are nowadays more and more interested in crosswind aerodynamics. Indeed, the driver is subjected every day to strong side air flows, for example when overtaking another vehicle or when passing through a lateral wind wall, generated by terrain topography (as in the case of the passage near the empty space between two buildings).The aerodynamic efforts generated in these situations can lead to undesired lateral deviations,which can be dramatic if the driver is surprised. Different experimental studies, reproducing the effects of a dynamic yaw angle, pointed out the issues of the steady methods, commonly used to qualify the vehicle crosswind behaviour. Little is st…
Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicles
2015
This paper studies the path following control problem for four-wheel independently actuated (FWIA) autonomous ground vehicles (AGVs) through integrated control of active front-wheel steering (AFS) and direct yaw-moment control (DYC). A modified composite nonlinear feedback (CNF) strategy is proposed to improve the transient performance and eliminate the steady-state errors in the path following control considering the tire force saturations, in the presence of the time-varying road curvature for the desired path. The path following is achieved through vehicle lateral and yaw control, i.e., the lateral velocity and yaw rate are simultaneously controlled to track their respective desired valu…
On the sway stability improvement of car–caravan systems by articulated connections
2015
The present analysis is addressed to some promising connection arrangements between the towing vehicles and the towed trailers, where the two units are linked by four-bar isosceles trapeziums in place of the conventional pintle hitch. Two types of instability, of the divergent type or the oscillating type, may be analysed by the Routh–Hurwitz criterion or by the direct analysis of the characteristic equation. The constant term of this equation vanishes at the divergent instability threshold (zero of a real root), whereas the equation splits into two lower degree algebraic ‘sub-equations’ when the oscillating instability arises (pair of pure imaginary roots). A large field of geometrical con…
Robust energy-to-peak sideslip angle estimation with applications to ground vehicles
2015
Abstract In this paper, the observer design problem for the sideslip angle of ground vehicles is investigated. The sideslip angle is an important signal for the vehicle lateral stability, which is not measurable by using an affordable physical sensor. Therefore, we aim to estimate the sideslip angle with the yaw rate measurements by employing the vehicle dynamics. The nonlinear lateral dynamics is modeled firstly. As the tyre model is nonlinear and the road adhesive coefficient is subject to a large variation, the nonlinear lateral dynamics is transformed into an uncertain model. Considering the variation of longitudinal velocity, an uncertain linear-parameter-varying (LPV) system is obtain…
Optimization of vehicle-trailer connection systems
2016
The three main requirements of a vehicle-trailer connection system are: en route stability, over- or under-steering restraint, minimum off-tracking along curved path. Linking the two units by four-bar trapeziums, wider stability margins may be attained in comparison with the conventional pintle-hitch for both instability types, divergent or oscillating. The stability maps are traced applying the Hurwitz method or the direct analysis of the characteristic equation at the instability threshold. Several types of four-bar linkages may be quickly tested, with the drawbars converging towards the trailer or the towing unit. The latter configuration appears preferable in terms of self-stability and…
Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs.
2010
A new closed loop fuzzy motion control system including on-line Kalman's filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine envi…
Evolutionary processes in the emergence and recent spread of the syphilis agent, Treponema pallidum
2022
Abstract The incidence of syphilis has risen worldwide in the last decade in spite of being an easily treated infection. The causative agent of this sexually transmitted disease is the bacterium Treponema pallidum subspecies pallidum (TPA), very closely related to subsp. pertenue (TPE) and endemicum (TEN), responsible for the human treponematoses yaws and bejel, respectively. Although much focus has been placed on the question of the spatial and temporary origins of TPA, the processes driving the evolution and epidemiological spread of TPA since its divergence from TPE and TEN are not well understood. Here, we investigate the effects of recombination and selection as forces of genetic diver…