Vehicle Lateral Stability Control Based on Sliding Model Control

In view of the vehicle cornering or path changing under ultimate handling maneuver, a 3-DOF nonlinear vehicle dynamics model which takes the vehicle lateral velocity, yaw rate and body roll angle as the State variables is presented. Based on the dynamic analysis, the method which using additional yaw moment produced by different longitudinal braking force among each wheels to improving vehicle handling stability in emergency situations is discussed. Considering the sideslip angle as one of the vehicle state variables is difficult to measuring, the sideslip angle estimation based on vehicle dynamic model and kinematics is designed. And then, based on the theory of siding model control, the combining sliding model control system is founded, which taking the vehicle yaw rate and body side-slip angle errors between the estimated and the real as the input variables, and taking the braking torque and the steering angle as control aims. The simulation results indicate that the control method can effectively improve the vehicle lateral handling stability.     

Research on Dynamics of Installation Way for Active Isolation Actuator on Flexible Foundations

The dynamic characteristic of active isolation atuator on flexible foundations was studied under the installation of parallel structure and foundation cancellation.The influencing relationships between active isolation force of the different installation ways and passive isolation system and flexible foundation were analyzed and compared.Scientific basis for selecting installation ways of active isolator is provided in this paper.     

Study on Dynamical Characteristic of Epicyclic Gear Drive with Internal Tooth

The epicyclic gear drive with internal tooth is analysed,a dynamic analysis model which is based on the compatibility conditions of deformation is set up.On the basis of this model,the analysis of dynamics and kinematics is made,and the influence of design parameters on dynamical characteristic is also studied.     

黔中玉米耕地土壤杂草种子库季节动态

对黔中玉米耕地土壤进行种子萌发试验,结果表明:玉米地杂草种子库共有44个物种出现,隶属16科40属。4个季节单位面积的种子萌发量Ⅰ季度8 609粒/m2>Ⅲ季度8 045粒/m2>Ⅱ季度6 491粒/m2>Ⅳ季度2 698粒/m2。狗尾草和水田碎米荠为上半年库中优势物种,下半年优势物种则为波斯婆婆纳。整体上随土壤层次的增加种子库存量相对减少,冬季活力种子萌发量最少;就物种多样性而言,种子库Shannon-W iener指数和Simpson指数均表现为Ⅱ>Ⅰ>Ⅲ>Ⅳ。     

基于ADAMS的悬架多柔体动力学仿真

介绍如何利用系统动力学仿真软件ADAMS建立悬架多柔体运动学分析模型,并分别对悬架模型进行了多刚体和多柔体仿真,其结果表明悬架中各构件的柔性变形对悬架各个定位参数在车轮跳动的情况下的变化特性都有较明显的影响。为此,本文提供了如何利用ADAMS对悬架进行柔体运动学仿真的一种方法。     

平面曲柄摇杆机构的计算机辅助动力学分析

对平面曲柄摇杆机构进行了运动学和动力学分析，并利用MATLAB6．5对其进行了计算机模拟分析，得出了平面曲柄摇杆机构各铰节点动态规律图，对分析机构的稳定性和优化设计具有一定的参考价值。     

基于多体动力学的双横臂独立悬架线刚度的计算

建立了以扭杆为弹性元件的双横臂独立悬架系统的空间多体系统模型，推导出了系统的动力学方程和双横臂独立悬架系统刚度计算公式，并用所编制的软件进行了悬架刚度的计算。在求解系统的动力学方程时，提出了解决动力学方程求解过程中“违约”问题的一种新方法，其基本思想是当约束方程不满足时，进行系统装配。通过应用此方法的软件，对具体车型进行了悬架系统刚度仿真计算。计算结果与试验相当吻合，说明文中所建的模型和提出的约束稳定的方法是正确的。     

Suitability of Multi-Agent Simulations to study irrigated system viability: application to case studies in the Senegal River Valley

It is assumed that Agent-Based Modeling is a useful technique for water management issues. In particular, it may provide a suitable framework for representing irrigated systems. The objective of this paper is to demonstrate its potential for a specific use: research on irrigated systems’ viability in the Senegal River Valley. The main assumption to be verified is that Multi-Agent Systems constitute a suitable architecture to study theoretically irrigated systems’ viability using simulations. By using Multi-Agent Systems, virtual irrigated systems can be designed that might then be used as virtual laboratories. These virtual labs constitute an alternative when real labs cannot exist for some reason.

In this paper we report on experiments we have conducted using such virtual labs for exploring an Agent-Based Model through the simulation of scenarios. A scenario is defined as a triplet: an environment, a set of individual rules, a set of collective rules. It is evaluated according to the longevity of the irrigated system. An index is defined, based on the ratio of long-enduring simulations among a set of repetitions of a given scenario. Even if simulation results display significant diversity for a given scenario due to random factors in the processes simulated, the ratio of long-enduring simulations is repeatable. This entails to explore the overall behavior of the virtual irrigated system and to build theories concerning the viability of Senegalese irrigated systems. An example is given showing the need for strong coherence for a given environment among individual rules and collective rules.     

基于拉格朗日的冗余驱动并联机构刚体动力学建模

针对4-UPS-RPU 4自由度冗余驱动并联机构的刚体动力学建模问题,基于拉格朗日方程建立冗余驱动并联机构动力学模型。首先,推导出4-UPS-RPU冗余驱动并联机构系统的动能表达式、势能表达式和作用于并联机构非保守力的等效广义力;然后,应用拉格朗日法建立4-UPS-RPU冗余驱动并联机构的动力学模型,为并联机构驱动力的求解以及整个机构的动力学分析奠定基础;最后结合算例,采用Matlab编程对动力学模型进行数值计算并绘制了机构驱动杆驱动力变化曲线,将上述分析结果与ADAMS虚拟仿真结果对比验证了所建动力学模型的正确性。研究不仅为4-UPS-RPU 4自由度冗余驱动并联机构动力学优化设计和控制等后续研究提供了理论依据,也为其他冗余驱动并联机构的动力学建模提供了可行的方法。     

Adopters,testers or pseudo-adopters? Dynamics of the use of improved tree fallows by farmers in western Kenya

Although there has been increasing research on the adoption of agroforestry technologies over the last decade, few such studies have assessed uptake over a long period and many are based on a single snapshot in time. Furthermore, most of these studies have mainly looked at non-adopters and adopters: only recently have social scientists considered testers. A further category of users neglected in adoption studies has been re-adopters of technologies. Studying this group provides an interesting and more nuanced understanding of adoption and re-adoption. Methodologically, most adoption studies use quantitative methods and fail to link their findings to wider socio-economic, political and institutional settings. This paper presents a study of the dynamics of improved tree fallow use by farmers in Siaya and Vihiga districts of western Kenya over a period of eight years. It uses both qualitative and quantitative data to critically discuss the motivations of adopters, testers/rejecters and re-adopters. The results show that the process of adoption is highly dynamic and variable with farmers planting improved fallows and discontinuing or re-adopting them due to a whole range of factors, of which soil fertility improvement is just one. These factors included incentives from projects, the tying of adoption to credit programmes, prestige, participation in seminars/tours and the availability of a seed market from projects promoting improved fallows. Farmers planting improved fallows for such reasons may be termed ‘pseudo-adopters’. There were significant differences in adoption between the two districts, with more farmers in Siaya planting improved fallows than in Vihiga. A majority of farmers in Vihiga (53%) who were given seed never planted improved fallows, even though they had been exposed to the technology. Some 40% of farmers in Siaya and 38% in Vihiga planted improved fallows but later rejected them. This has some important implications for research and development. For improved fallow technologies to be attractive to farmers, they must provide other tangible economic benefits besides soil fertility improvement. This presents a challenge to researchers who must better attune themselves to the needs and demands of farmers if they wish to see their research findings widely adopted.