The subject of this master's thesis is the strength analysis of the cargo trailer HIPOCAR HTV 18 and proposed modifications. For the strength analysis was selected finite element method. The frame model was modified by the results of the strength analysis. After that has been carried out the strength analysis of the modified frame.

I samband med Transportstyrelsens införande av utökad B-körkortsbehörighet öppnades nya marknader för släpvagnar anpassade för transport av tävlingsbilar, verktyg och reservdelar. Sådana släpvagnar går att införskaffa sig idag på den svenska marknaden, dock är dessa endast anpassade för körkortsbehörigheten BE. Detta projekt utförs på uppdrag av företaget Fredrik Wagner AB, ett företag som designar och konstruerar transportband. Syftet med arbetet var att undersöka och utforska möjligheten för implementering av en ny släpvagnsmodell på den svenska marknaden. Målet med arbetet var att utveckla ett släpvagnskoncept anpassat för utökad B-behörighet, och därefter designa en CAD-modell av konceptet.Information om bilsporten och marknaden samlades in för att definiera och förstå problemet bättre. Därpå utfördes idé- och konceptgenereringsfaser för att hitta lösningar till problemet. Dessa lösningar utvecklades sedan till ett CAD-koncept med hjälp av CAD-programmet Solid Edge.Konstruktionsarbetet begränsades i detta projekt till släpvagnens påbyggnad och dess ingående komponenter. Påbyggnadskonceptet erbjuds i två utföranden, det ena är anpassat för utökad B-behörighet medan det andra är för BE-behörighet. För utökad B-behörighet blev påbyggnadens totala vikt 695 kg medan vikten för BE-behörighet blev 1 005 kg.Släpvagnen är konstruerad för att transportera tävlingsbilar med en vikt på 1 100 kg, det är dock även möjligt att transportera andra bilar med släpvagnen om dessa inte överstiger viktbegränsningen. Eftersom arbetet begränsades till endast påbyggnaden har konstruktionen av ett chassi uteslutits. Chassit kan antigen köpas från någon leverantör eller konstrueras av Fredrik Wagner AB. Hur chassit och påbyggnaden ska monteras ihop är något som utelämnades för vidare arbete. / New markets for trailers designed to transport racing cars, tools and spare parts were opened in conjunction with the Transport Agency´s introduction of the extended B driving license. Such trailers are possible to purchase on the Swedish trailer market today. However, the ones on the market are only suitable for the BE driving license. This project is carried out on behalf of the company Fredrik Wagner AB, which is a company that designs and constructs conveyor belts. The aim of this work was to investigate and explore the possibility of implementing a new trailer model to the Swedish market. The goal of this work was to develop a trailer concept and design a CAD-model of the concept.Information about motorsports was collected to define and to improve the understanding of the problem. In order to find solutions to the defined problem, idea and concept generation phases were conducted. The solutions were then developed into CAD concepts by using the CAD-software Solid Edge.The design and construction in this project was limited to the trailer body and its components only. The trailer body´s concept is offered in two versions, one adapted for the extended B driver´s license while the other is for the BE license. The version for the extended B license got at total weight of 695 kg, while the BE version got a total weight of 1 005 kg.The trailer body was designed to transport racing cars with a weight of 1 100 kg, however, it is possible to transport other cars with the trailer body if these do not exceed the weight limit. Since the work was limited to the trailer body only, the construction of a trailer chassis was excluded. The trailer chassis can either be purchased from a retailer or designed by Frederik Wagner AB. How the trailer chassis and the trailer body should be fitted together was though omitted as further work with the trailer.

A dynamic modeling framework was established to predict the position and alignment (turning angle) of a tractor-dolly towing system receiving different driver inputs. This framework consists of three primary components: (1) a state space model to determine position and velocity of the system through Newton’s second law; (2) a model that transfers angular acceleration through each successive towed vehicle; and (3) a polygon model to draw an instantaneous shape of the vehicle representing its location and alignment. Input parameters of this model include initial conditions of the system, real time location of a reference point that can be determined through a beacon and radar system, and instantaneous accelerations, which come from driver maneuvers found on a data collecting system installed on the tractor. The purpose is to create an output that presents the position of the dolly vehicles with reference to the tractor at any time point.

A simulated inner-city training scenario was found to increase skills in the area of turning when compared with a simulated off-track training scenario. To answer this question, two groups of ten participants (5 women and 5 men) were tested using three scripted scenarios focusing on left and right turns. The first training scenario (control group) is an off-track training scenario, which consists of a large asphalt lot and the use of orange cones; the second training scenario (experimental group) is an inner-city training scenario without the presence of vehicular traffic; and the third scenario (test scenario) is an inner-city scenario with the presence of vehicular traffic. A subject matter expert, who is also a former driver and trainer, evaluated and scored all participants on four critical turns (2 left and 2 rights). The apparatus used for this study was the V-sim non-motion simulator from General Electric (GE). A 2 x 4 factorial analysis was utilized to examine conditional differences as well as gender differences. While there were no gender differences, the results for overall turns were significant, F(1, 16) = 7.14, p = .017, η2 = 3.09. The mean for the control group was (M = 20.50, SD = 9.59) with the experimental group at, (M = 31.10, SD = 7.26).

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No description available.

With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward "looking" perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor-trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals. / Master of Science / With autonomy becoming a reality for passenger cars, developing an autonomous for tractor-trailers is the next step for driverless roads. Tractor-trailers are heavy, large, and have a pivot joint between the tractor and trailer that makes the movement between the two more complicated. The purpose of the research presented here is to determine the best forward “looking” perception sensor that will see far out enough for the vehicle to stop in time to avoid hitting an object. In order to determine the best sensor, a review of previous sensors and autonomous vehicle sensors will be explored along with the various perception technology. Additionally, a simulation of a tractor-trailer stopping was created to determine the range necessary for a forward perception sensor and when jackknifing may occur. The best brake type for a tractor-trailer will be recommended as well. Finally, the best forward sensor and senor layout for an autonomous tractor trailer is made based upon the simulation results for the stopping distance of a tractor-trailer. The work, however, is not fully complete. A discussion of the future work and validation of the sensors selected will give future research goals.

This thesis work contains a stabilization and a motion planning strategy for a truck and trailer system. A dynamical model for a general 2-trailer with two rigid free joints and a kingpin hitching has been derived based on previous work. The model holds under the assumption of rolling without slipping of the wheels and has been used for control design and as a steering function in a probabilistic motion planning algorithm. A gain scheduled Linear Quadratic (LQ) controller with a Pure pursuit path following algorithm has been designed to stabilize the system around a given reference path. The LQ controller is only used in backward motion and the Pure pursuit controller is split into two parts which are chosen depending on the direction of motion. A motion planning algorithm called Closed-Loop Rapidly-exploring Random Tree (CL-RRT) has then been used to plan suitable reference paths for the system from an initial state configuration to a desired goal configuration with obstacle-imposed constraints. The motion planning algorithm solves a non-convex optimal control problem by randomly exploring the input space to the closed-loop system by performing forward simulations of the closed-loop system. Evaluations of performance is partly done in simulations and partly on a Lego platform consisting of a small-scale system. The controllers have been used on the Lego platform with successful results. When the reference path is chosen as a smooth function the closed-loop system is able to follow the desired path in forward and backward motion with a small control error. In the work, it is shown how the CL-RRT algorithm is able to plan non-trivial maneuvers in simulations by combining forward and backward motion. Beyond simulations, the algorithm has also been used for planning in open-loop for the Lego platform. / <p>Links to movies:</p><p>Reference tracking on Lego platform:</p><p>https://www.dropbox.com/s/ebtfgfo7aq9ij8w/reference_tracking.m4v?dl=0</p><p></p><p>Motion planning simulation with CL-RRT:</p><p>https://www.dropbox.com/s/z9kk27cxdxc1llp/CL_RRT_motion_planning.wmv?dl=0</p>

Submitted by Clebson Anjos (clebson.leandro54@gmail.com) on 2016-02-18T20:32:09Z No. of bitstreams: 1 arquivototal.pdf: 4034617 bytes, checksum: d2d18f8f3cef1559ff0d15ec12c275bf (MD5) / Made available in DSpace on 2016-02-18T20:32:09Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 4034617 bytes, checksum: d2d18f8f3cef1559ff0d15ec12c275bf (MD5) Previous issue date: 2015-02-27 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This dissertation's purpose is to define the trailer genre. The many faces of this object permeate its essential art and publicity duality, addressing foundations that prove this insoluble relationship, which characterizes the genre. The commercial obstacle which overshadows the visualization of the trailer as an artistic object, is superimposed by the multiple rhetorical possibilities that enable the construction of an effective and creative tool for the cinematographic entertainment industry. To show the object as a genre, historical, typological, stylistic, copyright and marketing relationships related to the trailer are addressed, as well as its textual relations consolidated from analytical propositions. / Este trabalho dissertativo tem como propósito a definição do gênero trailer. As muitas faces deste objeto permeiam sua dualidade essencial de arte e publicidade, abordando fundamentações que evidenciam esta relação indissolúvel que caracteriza o gênero. O quê comercial que ofusca enxergar o trailer enquanto objeto artístico é sobreposto pelas múltiplas possibilidades retóricas que permitem a construção de uma eficaz e criativa ferramenta da indústria do entretenimento cinematográfico. Para evidenciar o objeto como um gênero são abordadas relações históricas, tipológicas, estilísticas, autorais e mercadológicas relativas ao trailer, bem como suas relações textuais consolidadas a partir de proposições analíticas.

High precision control of a truck and trailer system requires accurate and robust state estimation of the system. This thesis work explores the possibility of estimating the states with high accuracy from sensors solely mounted on the truck. The sensors used are a LIDAR sensor, a rear-view camera and a RTK-GNSS receiver. Information about the angles between the truck and the trailer are extracted from LIDAR scans and camera images through deep learning and through model-based approaches. The estimates are fused together with a model of the dynamics of the system in an Extended Kalman Filter to obtain high precision state estimates. Training data for the deep learning approaches and data to evaluate and compare these methods with the model-based approaches are collected in a simulation environment established in Gazebo. The deep learning approaches are shown to give decent angle estimations but the model-based approaches are shown to result in more robust and accurate estimates. The flexibility of the deep learning approach to learn any model given sufficient training data has been highlighted and it is shown that a deep learning approach can be viable if the trailer has an irregular shape and a large amount of data is available. It is also shown that biases in measured lengths of the system can be remedied by estimating the biases online in the filter and this improves the state estimates.