scholarly journals Analysis of technical and operational characteristics of turning-and-shunting door opening mechanism of electric public transport

2019 ◽  
Vol 29 (3) ◽  
pp. 89-95
Author(s):  
V. M. Korendiy ◽  
O. Yо. Kotsiumbas ◽  
O. V. Lanets
Keyword(s):  
Public Transport ◽  
Kinematic Analysis ◽  
Effective Control ◽  
Resistance Force ◽  
Pneumatic Actuators ◽  
Door Opening ◽  
Applied Software ◽  
Operational Characteristics ◽  
Motion Speed ◽  
Mathcad Software

One of the most important problems occurring while designing public transport vehicles consists in providing an effective control of the door opening systems. The methods of carrying out the investigations presented in the paper include structural and kinematic analysis of the door opening mechanisms and simulation of their operation in applied software. The paper analyses the design and operational peculiarities of the turning-and-shunting mechanism of door opening of electric public transport. The corresponding design of the mechanism is proposed. It is suggested to be driven by pneumatic drive. The simplified diagram of the mechanism is constructed. Structural and kinematic analysis of the mechanism is performed, and the analytical dependencies for describing the motion of its links during the door opening/closing are derived. The main kinematic parameters of the studied mechanism are investigated on the basis of the derived analytical dependencies in MathCAD software, as well as by means of simulating the motion of the solid-state model of the mechanism designed in SolidWorks software. The conclusions about the agreement of the results of theoretical investigations performed on the basis of numerical solving the obtained motion equations and of the virtual experiment (motion simulation in SolidWorks software) are drawn. The analysis of energy efficiency of the investigated turning-and-shunting door opening mechanism of electric public transport is carried out. Prescribing the resistance force acting on the door leaf and calculating the corresponding door motion speed during its closing, the dependency of the nominal power supply of the mechanism drive as a function of corresponding generalized coordinates was deduced. Analyzing the obtained results, the authors have established that the necessary nominal power of the turning-and-shunting mechanism drive is almost twice larger than the necessary nominal power of the widely used leaning-and-shunting mechanism. Further investigations on the subject of the paper can be performed in the direction of developing different control systems providing safe and reliable operation of the considered door opening mechanism driven be electric and pneumatic actuators.

scholarly journals Fare inequities in public transit system in Costa Rica

2021 ◽  
Vol 31 (2) ◽  
pp. 80-97
Author(s):  
Cristhian Santiago Quirós Calderón ◽  
Jonathan Agüero-Valverde
Keyword(s):  
Costa Rica ◽  
Public Transport ◽  
Public Transportation ◽  
Multilevel Modelling ◽  
Random Coefficients ◽  
Operational Parameters ◽  
Transit System ◽  
Operational Characteristics ◽  
Operational Variables ◽  
In Transit

Problems in transit fare equity affect the daily commute of specific groups that depend mostly on public transportation. Previous studies showed that some routes present operational characteristics that increased the price charged to the users. To address this issue, a methodology to identify the routes that have fares much higher than expected, after considering operational parameters, is developed. This paper presents a methodology implemented to evaluate fare inequities in public transport networks. The case study is the bus public transport network in Costa Rica. The evaluation is performed using fare per kilometer as independent variable and operational variables, such as route length, monthly ridership and vehicle occupancy by using cluster analysis and Bayesian multilevel modelling. The results indicate that random coefficients models perform better than independent models for clustered data. Furthermore, the routes with higher differences between observed and estimated (i.e. expected) fares are the ones to be addressed first in individual audits, because these are the routes who charge higher operational costs into the fare, increasing inequity among the population.

scholarly journals Algorithm for Public Electric Transport Schedule Control for Intelligent Embedded Devices

2010 ◽  
Vol 27 (1) ◽  
pp. 156-161
Author(s):  
Ivars Alps ◽  
Andrey Potapov ◽  
Mikhail Gorobetz ◽  
Anatoly Levchenkov
Keyword(s):  
High Precision ◽  
Public Transport ◽  
Electric Transport ◽  
Schedule Control ◽  
Embedded Devices ◽  
Traffic Lights ◽  
Traffic Conditions ◽  
Functional Models ◽  
Motion Speed ◽  
Heuristics Algorithm

Algorithm for Public Electric Transport Schedule Control for Intelligent Embedded DevicesIn this paper authors present heuristics algorithm for precise schedule fulfilment in city traffic conditions taking in account traffic lights. The algorithm is proposed for programmable controller. PLC is proposed to be installed in electric vehicle to control its motion speed and signals of traffic lights. Algorithm is tested using real controller connected to virtual devices and real functional models of real tram devices. Results of experiments show high precision of public transport schedule fulfilment using proposed algorithm.

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

2019 ◽  
Author(s):  
Jonathan S. Terry ◽  
Justin Whitaker ◽  
Randal W. Beard ◽  
Marc D. Killpack
Keyword(s):  
Adaptive Control ◽  
Large Scale ◽  
Robot Manipulator ◽  
Coupling Model ◽  
Effective Control ◽  
Soft Robot ◽  
Soft Robots ◽  
Pneumatic Actuators ◽  
Integral Controller ◽  
Model Reference Adaptive

Abstract The compliance and other nonlinear dynamics of large-scale soft robots makes effective control difficult. This is especially true when working with unknown payloads or when the system dynamics change over time which is likely to happen for soft robots. In this paper, we present a novel method of coupling model reference adaptive control (MRAC) with model predictive control (MPC) for platforms with antagonistic pneumatic actuators. We demonstrate its utility on a fully inflatable, six degree-of-freedom pneumatically actuated soft robot manipulator that is over two meters long. Specifically, we compare control performance with no integral controller, with an integral controller, and with MRAC when running a nominal model predictive controller with significant weight attached to the end effector.

Adaptive Disturbance Rejection Controller for Pathological Tremor Suppression With Permanent Magnet Linear Motor

2017 ◽  
Author(s):  
Amir Hosein Zamanian ◽  
Edmond Richer
Keyword(s):  
Permanent Magnet ◽  
Disturbance Rejection ◽  
Linear Motor ◽  
Resistance Force ◽  
Pneumatic Actuators ◽  
Tremor Suppression ◽  
Tremor Frequency ◽  
Permanent Magnet Linear Motor ◽  
Magneto Rheological ◽  
Pathological Tremor

This paper presents an adaptive disturbance rejection (ADR) controller developed for the suppression of the pathological tremor in the humans’ wrist. An experimental setup, based on a slotted permanent magnet linear motor (PMLM), was developed to evaluate the ADR’s performance in real-time suppression of the tremor signal recorded from Parkinson’s disease patients. A model-base compensator was utilized to minimize the resistive and cogging forces exhibited by the PMLM. Experimental results showed an average tremor amplitude suppression of 32.61 dB (97.6%) in the first, and 15.23 dB (82.7%) in the second tremor frequency respectively. The average magnitude of the resistance force induced by the system against voluntary motion was 0.36 N. Furthermore, to evaluate the tremor suppression performance of the presented technique the results were compared with two other studies that used pneumatic actuators and magneto-rheological dampers (MRD). The performance of the PMLM was analogous to actively controlled pneumatic actuators and was significantly better than the semi-active controller with MRD.

scholarly journals Modelling and simulation of pneumatic system operation of mobile robot

2020 ◽  
Vol 6 (2) ◽  
pp. 1-11
Author(s):  
Vitaliy Korendiy ◽  
◽  
Oleksandr Kachur ◽  
Oleksandr Havrylchenko ◽  
Vasyl Lozynskyy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Pneumatic System ◽  
Walking Robots ◽  
Robot Kinematics ◽  
Robot Locomotion ◽  
Operational Characteristics ◽  
Turning Mechanism ◽  
Locomotion Speed ◽  
Improved Design ◽  
Mathcad Software

Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.

scholarly journals Pengaruh Pola Penggunaan Otomotif Angkutan Umum Perkotaan Terhadap Hilangnya Kapasitas Baterai Berbahan Lead Acid Secara Prematur

2017 ◽  
Vol 3 (1) ◽  
pp. 1
Author(s):  
Ahmad Juang Pratama ◽  
Hamzah Firdaus
Keyword(s):  
Public Transport ◽  
Public Transportation ◽  
Urban Transport ◽  
Lead Acid Battery ◽  
Positive Mass ◽  
Depth Of Discharge ◽  
Operational Characteristics ◽  
Battery Capacity ◽  
Excessive Load ◽  
Lead Acid

<p><em>Abstract<strong> – </strong></em><strong>Baterai berbahan <em>Lead Acid</em> (BLA) digunakan pada hampir semua kendaraan termasuk angkutan umum beroda empat. Kecepatan penuaan pada proses penuan BLA sangat dipengaruhi oleh cara penggunaan BLA. Pengisian yang berlebihan, akan mengakibatkan korosi dan mempercepat  penguapan  air. Bertambahannya siklus pembebanan dalam (<em>depth of discharge</em>), degradasi massa postifif akan terakselerasi. Beberapa kerusakan Selain itu pembebanan yang berlebihan juga akan mengakibatkan lepasnya masa positif dari grid karena proses pembebanan BLA yang melebihi seharusnya. Keawetan BLA pada Angkutan umum perkotaan sangat ditentukan pola penggunaannya. Karakteristik operasional yang sering menuntut kendaraan berhenti akan memiliki pengaruh jenis kerusakan tertentu pada komponen BLA Penelitian ini akan mengeksplorasi karakterristikoperasional angkutan perkotaan. Dengan diketahuinya karakteristik operasionalnya maka dapat disiapkan langkah antisipatif dan prediktif  dalam hal perawatan dan penggunaan BLA sehingga masa servis BLA akan lebih panjang serta meningkatkan efisiensi biaya para pemilik angkutan perkotaan.</strong></p><p><strong> </strong></p><p><strong><em>Keywords</em></strong><strong> – </strong><em>BLA (Lead Acid Battery), transportasi perkotaan, masa servis BLA</em><strong></strong></p><p> </p><p><em>Abstract - </em><strong>Lead Acid batteries (BLA) is used for most of all public transport vehicles including four-wheel drive. Speed of aging battery  is strongly influenced by operational pattern and maintenance of public transport vihicle. Overcharging, will result in corrosion and accelerate the evaporation of water. With more loading cycles in the (depth of discharge), positive mass degradation will be accelerated. Moreove,  excessive load will also result in the release of a positive mass of the grid due to the excessive load can be taken by battery. The durability of the Battery on urban public transportation is also determined patterns of use. For example, operational characteristics a vehicle that often requires stopping  would have the effect of certain types of damage to the components of the battery.  This study will explore urban transport operational characteristics. By knowing the operational characteristics, a set of procedures can be set up in order to prevent premature loss of battery capacity. By using apropriate predictive maintenance procedure, the life span of battery will be longer, thus will  improve the cost efficiency for starter lead acid battery replacement. </strong></p><p><strong> </strong></p><p><strong><em>Keywords</em></strong><strong> – </strong><em>BLA (Lead Acid Battery), urban transport, service life BLA</em><strong></strong></p>

scholarly journals Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism

2020 ◽  
Vol 6 (1) ◽  
pp. 54-71
Author(s):  
Vitaliy Korendiy ◽  
◽  
Roman Zinko ◽  
Vasyl Lozynskyy ◽  
Oleksandr Havrylchenko ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Harmful Effect ◽  
Soil Surface ◽  
Degree Of Freedom ◽  
Pneumatic System ◽  
Energy Sources ◽  
Motion Speed ◽  
Turning Mechanism ◽  
Electric Heat ◽  
Mathcad Software

Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.

scholarly journals A brief study of public transportation and sustainable cities management during COVID-19 pandemic

2021 ◽  
Vol 9 (72) ◽  
Author(s):  
Jacqueline de Almeida Barbosa Franco ◽  
Rosane Aparecida Gomes Battistelle ◽  
Barbara Stolte Bezerra
Keyword(s):  
Public Transport ◽  
Public Transportation ◽  
Federal District ◽  
Effective Control ◽  
Control Mechanisms ◽  
Sustainable Cities ◽  
Population Mobility ◽  
Public Authorities ◽  
Private Transportation ◽  
Sustainable Urban Mobility

This paper aims to analyse the measures adopted in Brazilian State Capitals and the Federal District, since the beginning of the pandemic, to ensure safety conditions in public transport against the possible contagion of COVID-19, suggesting sustainable actions aligned to SDG 11 - Sustainable Cities and Communities for the post-COVID future. Based on relevant data from March to July 2020, acquired from journals, newspapers, and municipal and governmental decrees, it was possible to identify measures adopted for public transportation during the first COVID-19 wave in Brazil. The results demonstrate that it is necessary to create a strategy and map the extent of population mobility in public transport. These information is essential for predicting risk areas, making decisions, and establishing effective control mechanisms. Innovative and sustainable urban mobility requires clear policies and cooperation between public authorities and private transportation companies and investment in public roads and infrastructure and sustainable actions aligned with SDG 11 - Sustainable Cities and Communities ​​for the post-COVID future.

scholarly journals Methodological Approach to the Formation and Evaluation of the Quality of Operation of Urban Public Transport Services

2021 ◽  
Vol 11 (1) ◽  
pp. 161-166
Author(s):  
Togaev Golibjon Sharifovich Тоғаев
Keyword(s):  
Public Transport ◽  
Methodological Approach ◽  
Rolling Stock ◽  
Transport Services ◽  
Operational Characteristics ◽  
Operational Quality ◽  
Urban Public Transport ◽  
Public Transport Services

In this work, the theoretical aspects of the formation of operational qualities of rolling stock used in urban public transport, its services on the basis of operational characteristics are studied, and a methodology for assessing the operational quality of real routes served by bus companies is proposed.

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