This research presents an investigation to actively improve the rollover stability of articulated heavy vehicles (AHVs) during high speed manoeuvres using anti-roll control systems. A 3-dimensional (3-D) linear yaw/roll model with 5 degrees of freedom is developed. Based on this model a linear quadratic regulator (LQR) controller is designed to improve the rollover stability of a tractor/semi-trailer combination. A design optimization method for AHVs using genetic algorithms (GAs) and multibody vehicle system models is also presented. AHVs have poor manoeuvrability when travelling at low speeds on local roads and city streets. On the other hand, these vehicles exhibit unstable motion modes at high speeds, including jack-knifing, trailer sway and rollover. From the design point of view, the low-speed manoeuvrability and high-speed stability have conflicting requirements on some design variables. The design method based on a GA and a multibody vehicle dynamic package, TruckSim, is proposed to coordinate this trade-off relationship. To test the effectiveness of the design method, a tractor/semi-trailer combination is optimized using the proposed method. It is demonstrated that the proposed design method can be used for identifying desired design variables and predict performance envelopes in the early design stages of AHVs. / UOIT

A new design synthesis method for articulated heavy vehicles (AHVs) with an active trailer steering (ATS) system is examined and evaluated. Due to their heavy weights, large sizes, and complex configurations, AHVs have poor maneuverability at low speeds, and low lateral stability at high speeds. Various passive trailer steering and ATS systems have been developed for improving the low-speed maneuverability. However, they often have detrimental effects on the high-speed stability. To date, no systematic design synthesis method has been developed to coordinate the opposing design goals of AHVs. In this thesis, a new automated design synthesis approach, called a Single Design Loop (SDL) method, is proposed and investigated. The SDL method has the following distinguished features: 1) the optimal active design variables of ATS systems and the optimal passive vehicle design variables are searched in a single design loop; 2) in the design process, to evaluate the vehicle performance measures, a driver model is developed and it „drives‟ the vehicle model based on the well-defined testing specifications; and 3) the ATS controller derived from this method has two operational modes: one for improving the lateral stability at high speeds and the other for enhancing path-following at low speeds. To demonstrate the effectiveness of the new SDL method, it is applied to the design of an ATS system for an AHV with a tractor/full-trailer. In comparison to a conventional design approach, the SDL method can search through solutions in a much larger design space, and consequently it provides a more comprehensive set of optimal designs.. / UOIT

Within the typical institution, social patterns are all but solidified: enter off the street, funnel through the grand multi-story lobby, take the elevator, and get to work. Everyone associates together in a single space, and everyone subsequently operates in isolation. By collapsing two-dimensional urbanism and the three-dimensional institution, the emerging articulated surface has the ability to tear down the boundary between architecture and city and integrate itself with the surroundings by leveraging the common space of interaction in the city—the street. The result is an interruption in the strict patterns of the city as street, side- walk, lot and building are disassembled, circulation is uncoupled, and the ground plane of the gridded city is reconstructed. Rather than constructing the institution around an all-encompassing connection between all of its publics in equal measure, this thesis sets out to tailor relationships between publics of the institution as well as with the segmented publics outside of it by leveraging a series of internal streets rather than a single, common one. In doing so, particular publics can be paired, specific spatial relationships can be constructed, and generative social relationships can be structured between publics. These streets will be tempered by their relationship to the ground plane and the exterior, the surrounding program, and types of connection. Relationships will not only be structured between urbanism and institution, but also within the imbedded layers of the institution, moving with and against the street. The institution that most easily encapsulates this condition is the Fashion Institute as it con- tains multiple user groups, or publics, that engage each other in multiple ways. Whether ver- bally, visually, or spatially from lectures to sketches to runways, the institutional discourse is easily penetrated by those publics that exist outside of the institution. Here, the street is brought into the school and the school is brought to the street.

Polycondensation reaction was carried out for synthesizing rigid-rod polymer hPBI. Various molar ratios (50:1, 25:1, and 15:1) of 2-hydroterephthalic acid and 5-hydroisophthalic acid were also introduced in the synthesis for articulated rigid-rod polymer a-hPBI. The polymers were further derivatized with 1,3-propanesulton for pendants of lithium ionomer to become water soluble polyelectrolytes hPBI-PS(Li+) and a-hPBI-PS(Li+), respectively. Lithium salt doped cast film of the rigid-rod polyelectrolyte hPBI-PS(Li+) showed a room-temperature DC conductivity parallel to film surface as high as 4.02¡Ñ10-3 S/cm. Molecular weight of the rigid-rod polyelectrolyte was low indicating a small molecular aspect ratio. In cast film, the molecules were randomly distributed and highly isotropic facilitated Li cations mobility for a high film conductivity. The conductivity was also insensitive to the anion of lithium salt. No apparent layered structure was revealed by scanning electron microscope suggesting that the cast films had near three-dimensionally isotropic structure and conductivity.

Today’s demand on forklift trucks performance and efficiency is high. The productivity is important but also the experience while handling the forklift. The handling has to be simple and genuine to make the driver feel confident and safe. To achieve high performance steering in articulated trucks, a hydraulic power system is often used.Simulation software are a powerful tool in development processes. The program gives the industry a possibility to develop, analyze and evaluate constructions and models more efficient.The purpose of this master thesis is to identify and increase the knowledge about the main challenges in the hydraulic steering system in an articulated forklift. The hydraulic system has been modelled in the simulation software Hopsan and validated against data from measurements performed on the forklift. The different challenges have been identified based on tests and the simulation results. For a deeper understanding of the system a literature study, mainly about the key components, has been done during the master thesis. A number of suggestions for improvement have been developed with focus on increasing the steering performance. The concepts and ideas have been evaluated and tested in the simulation model.The project resulted in a validated simulation model of the articulation and a number of suggested improvements on the hydraulic steering system.

Multi-body system dynamics is one of the most important theoretical achievementsin mechanics. With the development of the theory, corresponding commercialsoftware packages have been developed and are used for modellingand simulation of complicated large systems, such as air planes and vehicles.This kind of virtual prototypes can be used for studies and assessments ofreal systems even before the real systems are built. As a result, the high costprototype building and prototype testing can be saved, so as the time can bereduced. This is just the demand of modern industry. This theory can beapplied on the vehicle-virtual road interaction study which has been used inthis thesis.This thesis suggests a target velocity prole for a heavy vehicle which driveson tough road. Having uneven and hilly road, actual driving conditions arechanged as the driver runs the vehicle. Drivers can perceive the road conditionwith their visual organ and sense of balance and then they control theirvehicles more safely by re ecting various conditions of this target velocityprole. Without this process, the driving-stabilization on slope and twistingroads would fall considerably, and the problem could be directly connected tooverturning. This thesis, moreover, will show how to acquire the road data,extract the velocity prole, and verify the performance of the suggested velocityprole through virtual road test.In vehicle-virtual road interaction simulation, multi body system (MBS) dynamicswith software Adams has been employed to model an articulatedhauler. The simulation has been validated by velocity prole test data andcompared to the former velocity prole. This method can be used for estimatingthe eects of dynamic forces on the frame so that the load design canbe assessed in vehicle design process.This project is in collaboration with Volvo Construction Equipment AB,Braas, Sweden.

Es ist in dieser Arbeit gelungen, starre Oligospiroketal(OSK)-Stäbe als Grundbausteine für komplexe 2D- und 3D-Systeme zu verwenden. Dazu wurde ein difunktionalisierter starrer Stab synthetisiert, der mit seines Gleichen und anderen verzweigten Funktionalisierungseinheiten in Azid-Alkin-Klickreaktionen eingesetzt wurde. An zwei über Klickreaktion verknüpften OSK-Stäben konnten mittels theoretischer Berechnungen Aussagen über die neuartige Bimodalität der Konformation getroffen werden. Es wurde dafür der Begriff Gelenkstab eingeführt, da die Moleküle um ein Gelenk gedreht sowohl gestreckt als auch geknickt vorliegen können. Aufbauend auf diesen Erkenntnissen konnte gezeigt werden, dass nicht nur gezielt große Polymere aus bis zu vier OSK-Stäben synthetisiert werden können, sondern es auch möglich ist, durch gezielte Änderung von Reaktionsbedingungen der Klickreaktion auch Cyclen aus starren OSK-Stäben herzustellen. Die neu entwickelte Substanzklasse der Gelenkstäbe wurde im Hinblick auf die Steuerung des vorliegenden Gleichgewichts zwischen geknicktem und gestrecktem Gelenkstab hin untersucht. Dafür wurde der Gelenkstab mit Pyrenylresten in terminaler Position versehen. Es wurde durch Fluoreszenzmessungen festgestellt, dass das Gleichgewicht z. B. durch die Temperatur oder die Wahl des Lösungsmittels beeinflussbar ist. Für vielfache Anwendungen wurde eine vereinfachte Synthesestrategie gefunden, mit der eine beliebige Funktionalisierung in nur einem Syntheseschritt erreicht werden konnte. Es konnten photoaktive Gelenkstäbe synthetisiert werden, die gezielt zur intramolekularen Dimerisierung geführt werden konnten. Zusätzlich wurde durch Aminosäuren ein Verknüpfungselement am Ende der Gelenkstäbe gefunden, das eine stereoselektive Synthese von Mehrfachfunktionalisierungen zulässt. Die Synthese der komplexen Gelenkstäbe wurde als ein neuartiges Gebiet aufgezeigt und bietet ein breites Forschungspotential für weitere Anwendungen z. B. in der Biologie (als molekulare Schalter für Ionentransporte) und in der Materialchemie (als Ladungs- oder Energietransporteure). / In this dissertation the use of rigid Oligospiroketal (OSK)-rods as basic model for 2D- and 3D-systems was shown. For that purpose a bifunctionalized rigid rod was synthesized and was used in Azide-Alkine-clickreaction with itself and with other branched functionalized units. By theoretical calculations a statement about the novel bimodulation of the conformation of two OSK-rods which are linked by a clickreaction could be made. “Articulated rod” was introduced as new term, because the molecules could exist elongated or buckled. Based on this knowledge it became apparent that not only the size selective synthesis of polymers by using up to four OSK-rods is possible but also cycles with OSK-rods by using different click-reaction conditions can be synthesized. The newly developed group of “articulated rod” substances was examined regarding the equilibrium between buckled and elongated “articulated rod”. That for the articulated rod was functionalized with pyrenyl moieties in terminal position. By fluorescence measurements of these rods it could be shown that the equilibration is influenced by different temperatures and different solvents. For multiple applications a simplified strategy for synthesis with a wide range of functionalization in only one step of synthesis could be achieved. Photoactive articulated rods were synthesized, that could be selectively intramolecular dimerized. Additionally, amino acids were introduced as linker at the end of a articulated rod. By this a stereoselective synthesis of multiple functionaliations is possible. By the synthesis of complex articulated rods a novel field of research was found. There is a wide potential of research for more applications for example in biology (as molecular switch for transportation of ions) and in materials chemistry (as transporter for charge or energy).

A bicicleta estacionária articulada é um tipo de equipamento disponibilizado recentemente ao mercado de fitness, consequentemente não explorado em estudos no meio acadêmico científico. Desta forma surgem alguns problemas de pesquisas, desde o fato da instrumentação deste equipamento até a escolha de metodologias e variáveis a serem estudadas para potencializar o seu uso. Este estudo foi realizado com o proposito de descrever as diferenças quanto ao padrão angular da pedalada do ciclista, ou seja, o ângulo do pedal relativo ao pedivela, utilizando-se desta nova bicicleta estacionária de ciclismo indoor, comparando a condição chassi fixo com o articulado. Para a instrumentação, foi acoplado um gerador e um encoder junto a roda de inércia tendo controle das variáveis carga e cadência. Para a medição do ângulo do pedal, os pedais (direito e esquerdo) da bicicleta foram substituídos por pedais instrumentados com potenciômetros, já para o registro do ângulo do pedivela, foi utilizado um sensor eletromagnético, do tipo reed switch. A amostra foi composta por cinco praticantes, todos devidamente adaptados com bicicletas de chassi articulado, submetidas a um protocolo pré-estabelecido, variando condição (fixo e articulado) e posição (pedalando no selim e em pé) com carga e cadência determinada. Embora a amplitude de movimento para ambos os pedais não apresentaram diferenças, em análise, os resultados apontaram que o uso do chassi articulado afeta o padrão angular do pedal durante o ciclo da pedalada, menos acentuado quando utilizou-se a posição sentado no selim, e mais acentuado quando estava-se pedalando em pé. Das posições no pedivela que apresentaram as diferenças no padrão angular durante o uso do chassi articulado, 80% foram na parte produtiva da pedalada (ângulo de 0° a 180°), e o ângulo de 150° concentrou 60% destas ocorrências. Já, tratando-se de forças no pedal, o chassi articulado apresenta evidência de ser mais eficiente do que o chassi fixo. / The stationary articulated bicycle is a type of equipment which is available to the fitness market only recently, and therefore it was not investigated in academic or scientific studies yet. Thus, this fact arises some problems of research, from the fact of instrumentation of this equipment to the choice of methods and variables to be studied to maximize its use. This study was conducted with the purpose to describe the differences in the angular pattern of cyclist pedaling, i.e., the angle on the pedal crank, using this new stationary bicycle of indoor cycling, by comparing the condition of the fixed chassis with the articulated one. For the instrumentation, a generator and an encoder were connected to the wheel of inertia, taking control of the load and cadence variables. To measure the angle of the pedal, the left and right pedals of the bicycle were replaced by pedals which were instrumented with potentiometers. To record the angle of the crank, we used an electromagnetic sensor, the reed switch. The sample consisted of five practitioners, all suitably adapted with articulated frame bicycles, which were subjected to a pre-established protocol, varying the condition (fixed or articulated), and the position (pedaling in the saddle or standing up), with determined load and cadence. The results indicated that the use of articulated frame affects the pattern of the pedal angle during the pedaling cycle, less marked when the sitting position on the saddle was used, and more pronounced when pedaling on the standing up position. About the positions of the crank that showed differences in angle while using the articulated frame: 80% were in the productive part of the pedaling (angle from 0° to 180°), and the angle of 150° concentrated 60% of these incidents. The amplitude of angular movement of the pedal showed no differences between fixed and articulated frame. However, in the case of forces on the pedal, the articulated frame shows evidence of being more efficient than the fixed frame.

A bicicleta estacionária articulada é um tipo de equipamento disponibilizado recentemente ao mercado de fitness, consequentemente não explorado em estudos no meio acadêmico científico. Desta forma surgem alguns problemas de pesquisas, desde o fato da instrumentação deste equipamento até a escolha de metodologias e variáveis a serem estudadas para potencializar o seu uso. Este estudo foi realizado com o proposito de descrever as diferenças quanto ao padrão angular da pedalada do ciclista, ou seja, o ângulo do pedal relativo ao pedivela, utilizando-se desta nova bicicleta estacionária de ciclismo indoor, comparando a condição chassi fixo com o articulado. Para a instrumentação, foi acoplado um gerador e um encoder junto a roda de inércia tendo controle das variáveis carga e cadência. Para a medição do ângulo do pedal, os pedais (direito e esquerdo) da bicicleta foram substituídos por pedais instrumentados com potenciômetros, já para o registro do ângulo do pedivela, foi utilizado um sensor eletromagnético, do tipo reed switch. A amostra foi composta por cinco praticantes, todos devidamente adaptados com bicicletas de chassi articulado, submetidas a um protocolo pré-estabelecido, variando condição (fixo e articulado) e posição (pedalando no selim e em pé) com carga e cadência determinada. Embora a amplitude de movimento para ambos os pedais não apresentaram diferenças, em análise, os resultados apontaram que o uso do chassi articulado afeta o padrão angular do pedal durante o ciclo da pedalada, menos acentuado quando utilizou-se a posição sentado no selim, e mais acentuado quando estava-se pedalando em pé. Das posições no pedivela que apresentaram as diferenças no padrão angular durante o uso do chassi articulado, 80% foram na parte produtiva da pedalada (ângulo de 0° a 180°), e o ângulo de 150° concentrou 60% destas ocorrências. Já, tratando-se de forças no pedal, o chassi articulado apresenta evidência de ser mais eficiente do que o chassi fixo. / The stationary articulated bicycle is a type of equipment which is available to the fitness market only recently, and therefore it was not investigated in academic or scientific studies yet. Thus, this fact arises some problems of research, from the fact of instrumentation of this equipment to the choice of methods and variables to be studied to maximize its use. This study was conducted with the purpose to describe the differences in the angular pattern of cyclist pedaling, i.e., the angle on the pedal crank, using this new stationary bicycle of indoor cycling, by comparing the condition of the fixed chassis with the articulated one. For the instrumentation, a generator and an encoder were connected to the wheel of inertia, taking control of the load and cadence variables. To measure the angle of the pedal, the left and right pedals of the bicycle were replaced by pedals which were instrumented with potentiometers. To record the angle of the crank, we used an electromagnetic sensor, the reed switch. The sample consisted of five practitioners, all suitably adapted with articulated frame bicycles, which were subjected to a pre-established protocol, varying the condition (fixed or articulated), and the position (pedaling in the saddle or standing up), with determined load and cadence. The results indicated that the use of articulated frame affects the pattern of the pedal angle during the pedaling cycle, less marked when the sitting position on the saddle was used, and more pronounced when pedaling on the standing up position. About the positions of the crank that showed differences in angle while using the articulated frame: 80% were in the productive part of the pedaling (angle from 0° to 180°), and the angle of 150° concentrated 60% of these incidents. The amplitude of angular movement of the pedal showed no differences between fixed and articulated frame. However, in the case of forces on the pedal, the articulated frame shows evidence of being more efficient than the fixed frame.

Este trabalho traz um estudo de veículos rodoviários articulados pesados durante o processo de freagem incluindo uma revisão bibliográfica sobre aspectos humanos, ambientais, legais, veiculares e operacionais relacionados com o desempenho, a estabilidade e a segurança veicular e uma descrição da técnica dos mapas de desempenho. Tal técnica é original e inovadora e foi desenvolvida através de modelo matemático e respectivo programa computacional para analisar o desempenho e a estabilidade de veículo-trator-semi-reboque durante a freagem em trecho retilíneo. Com esta técnica é possível obter o desempenho e a estabilidade direcional de veículos articulados pesados na freagem, obedecendo as restrições geométricas do veículo-trator-semi-reboque e de peso estabelecidas pelo fabricante e pela legislação, para todas as condições de carregamento e qualquer condição operacional. Os resultados teórico-experimentais que validaram o modelo matemático adotado também são mostrados neste trabalho. Este trabalho foi desenvolvido com o apolo da Mercedes-Benz do Brasil, resultando numa integração entre Empresa e Universidade que trouxe uma contribuição efetiva para o uso do veículo-trator-semi-reboque com maior eficiência, e segurança, unindo esforços da Empresa e da Universidade em prol da segurança veicular e do desenvolvimento tecnológico do Brasil. / This work describes a study of articulated heavy vehicles during braking process including the state-of-the-art of human, environmental, legal, vehicular and operational aspects related with performance, stability and vehicular safety and a description of performance charts technique. This technique is original and innovative and was developed with mathematical model and related computer program to analize the tractor-semi-trailer performance and stability during the braking process in a straight line path. With this technique is possible to obtain the performance and directional stability of articulated heavy vehicles during braking process, obeying the geometrical restrictions of the tractor-semi-trailer and the legal and maker\'s weight restrictions, for all states of loading and any operational conditions. The theoretical-experimental results that validated the mathematical model adopted are also shown in this work. This work was developed with the support of Mercedes-Benz of Brazil, resulting in a Company and University integration that brought an effective contribution for the more efficient and safe use of tractor-semi-trailer, enlarging the Company and University efforts to the benefit of vehicular safety and technological development in Brazil.