With the advent of autonomous driving, concepts like road trains or platoons are becoming more popular. In these arrangements, vehicles travel at separations of only 5 to 10m between them. These short inter-vehicle distances allow compacting vehicle flows resulting in increased throughput on highways. In addition, there are also fuel/energy savings as the magnitude of aerodynamic resistance acting on vehicles is reduced. These benefits increase when reducing inter-vehicle separations to below 5m. However, it becomes extremely difficult to guarantee safety, especially, when braking in an emergency. The longitudinal and lateral control systems developed so far aim to achieve string stability in the cruise scenario, i.e., to prevent that small variations at the lead magnify towards the trail. Unfortunately, this has no relevance during emergency braking, since control systems incur saturation, i.e., the condition where computed output brake forces exceed those that can be applied by actuators. This is because all vehicles have to apply their maximum brake forces in order to minimize the stopping distance of the platoon and reach a complete standstill. As a result, emergency braking requires special attention and needs to be designed and verified independent of the cruise scenario. Braking in an emergency is mainly characterized by the problem of heterogeneous deceleration capabilities of vehicles, e.g., due to their type and/or loading conditions. As a result, a deceleration rate possible by one vehicle may not be achievable by its immediately leading or following vehicles. Not addressing this heterogeneity leads to inter-vehicle collisions. Moreover, transitions in the road profile increase the complexity of such brake maneuvers. Particularly, when there is a transition from a flat road to a steep downhill, an already saturated brake controller cannot counteract the effect of the downhill slope. Hence, its deceleration magnitude will be reduced, potentially leading to intra-platoon crashes that would otherwise not occur on a flat road. In this work, we first analyze the problem of emergency braking in platoons operating at inter-vehicle separations below 5m and under idealized conditions (i.e., flat road, instantaneous deceleration, etc.). For this case, we propose a cyber-physical approach based on exploiting space buffers that are present in the separations between vehicles, and compare it with straightforward schemes (such as Least Platoon Length and Least Stopping Distance) in terms of achieved aerodynamic benefits, overall platoon length, and stopping distance. We then consider realistic conditions (in particular, changing road profiles as mentioned before) and investigate how to design a brake-by-wire controller present at each vehicle that accounts for this. We further extend our proposed cyber-physical approach by adding cooperative behavior. In particular, if an individual vehicle is unable to track its assigned deceleration, it coordinates with all others to avoid inter-vehicle collisions, for which we propose a vehicle-to-vehicle (V2V) communication strategy. Finally, we present a detailed evaluation of the proposed cyber-physical approach based on high-fidelity vehicle models in Matlab/Simulink. Even though more work is needed towards a real-life implementation, our simulation results demonstrate benefits by the proposed approach and, especially, its feasibility.

Due to a need of more compact bogies, the brake discs can be mounted on the railway wheels, bolted through the wheel web. Thus, the wheels are drilled and have multiple areas of contact with the brake discs. To establish maintenance procedures that will be applied to the  wheels,  SNCF  used  the  feedback  from  experience  (as  with  the  train  AGC)  which  gives  perfect  performance  in  terms  of  safety.  However,  to  optimize  the  maintenance  process, numerical  simulations  may  be  preferred  since  they  are  less  conservative.  This  report  describes  the  numerical  simulations,  based  on  the  finite  element  method,  that  were conducted to determine if the Régiolis wheel complies with the standard EN 13979-­‐1 from a mechanical  fatigue  point  of  view.  In  addition,  it  provides  additional  insights  regarding  the  loads and damage suffered by the wheel, which are not taken into account in the standard: the  damage  induced  by  disc  braking  and  the  fretting  that  may  occur  at  the  contact  interfaces. This study has been used as a decision support for the first inspection intervals of the Régiolis wheels.

This thesis work aims at performing a survey of those technologies generally called DriverAssistance Systems (DAS). This thesis work focuses on gathering information in terms ofaccident statistics, sensors and functions and analyzing this information and shall thruaccessible information match functions with accidents, functions with sensors etc.This analysis, based on accidents in United States and Sweden during the period 1998 – 2002and two truck accident studies, shows that of all accidents with fatalities or sever injuriesinvolving a heavy truck almost half are the result of a frontal impact. About one fourth of theaccidents are caused by side impact, whereas single vehicle and rear impact collisions causesaround 14 % each. Of these, about one fourth is collision with unprotected (motorcycles,mopeds, bicycles, and pedestrians) whereas around 60 % are collision with other vehicles.More than 90 % of all accidents are partly the result of driver error and about 75 % aredirectly the result of driver error. Hence there exist a great opportunity to reduce the numberof accidents by introducing DAS.In this work, an analysis of DAS shows that six of the systems discussed today have thepotential to prevent 40 – 50 % of these accidents, whereas 20 – 40 % are estimated to actuallyhaving the chance to be prevented.One of these DAS, automatic emergency brake (AEB), has been analyzed in more detail.Decision models for an emergency brake capable to mitigate rear-end accidents has beendesigned and evaluated. The results show that this model has high capabilities to mitigatecollisions.

This thesis is concerned with design of pedal box for Formula Student vehicle. Summary of design solutions is presented in introductory chapter, especially those used in Formula Student competition. Designed assembly is divided into parts of single pedals and base plate. The proposed design is supported by stress analysis of loaded parts in pedal box. In conclusion, design is reviewed in terms of the results, as well as compared with current pedal box.

This report details the work done in a master thesis project. The project was conducted at the Brake Performance Department at Scania CV AB. The project involves the development of a numerical model (in Matlab) that calculates and predicts air consumption in a truck under different drive cycles. The report first details tests and experiments done so as to acquire the necessary information for the development of the model. The report then presents the model that was created and delves into tests that were conducted for its validation. A model is created that allows the user to select different component combinations on the trucks along with different loading scenarios and drive cycles. Finally the model is used to evaluate air consumption in trucks during particularly strenuous cycles. The model developed is found to be reliable and accurate to with 7% with regard to amount of air consumed. With its help, several recommendations on how air consumption in commercial vehicles can be improved are made. The best components’ combination is also found and presented. / I denna rapport beskrivs ett examensarbete som genomfördes på bromsavdelningen på Scania CV AB. Projektet innefattar utveckling av en numerisk modell (i Matlab) som beräknar och förutspår luftförbrukningen i en lastbil under olika körcykler. I rapporten beskrivs det tester och experiment som gjordes för att ta fram nödvändiga uppgifter för utvecklingen av modellen. Sedan presenteras modellen som skapades och alla valideringstester som genomfördes. Modellen är gjord så att användaren kan kombinera olika komponentkombinationer för lastbilar med olika lastningskonfigurationer och körcykler. Slutligen används modellen för att utvärdera luftförbrukningen i lastbilar under särskilt ansträngande körcykler. Den utvecklade modellen visade sig vara pålitlig och korrekt med en felmarginal på 7% med avseende på mängden luft som konsumeras. Med dess hjälp kunde flera rekommendationer ges om hur luftförbrukningen i kommersiella fordon kan förbättras. De bästa komponentkombinationerna hittades också och presenteras i denna rapport

This thesis assesses climate change during the Hypsithermal Climatic Interval through the analysis of freshwater mussel remains from archaeological sites in Eastern North America. Modern climate data was used as a model to test the mosaic consequences of climate change. Freshwater mussels: can be used as indicators of precipitation by examining changes in overall size through time: larger mussels are found in larger streams, while smaller mussels are found in smaller streams. This study combines morphometric and isotopic data from archaeological freshwater mussels at Modoc Rock Shelter, Watson Brake, Plum Creek, Owens site, and Landerneau mounds to assess past climatic conditions. At Modoc Rock Shelter, oxygen isotopic data corroborate morphometric data and show that climate was fluctuating with a period of stability at the onset of the Hypsithermal. The oxygen isotopic data sets from the Louisiana sites show that the mid-Holocene was much warmer than the late-Holocene.

No description available.

This master’s thesis covers the structuring and implementation of a digital testbench for the air brake system of freight trains. The test bench will serveto further improve the existing brake models at Transrail Sweden AB. Theseare used for the optimised calculation of train speed profiles by the DriverAdvisory System CATO. This work is based on the research of the technicalbackground, as well as the methodical approach to physical modelling anda modular implementation of the test bench. It gives full flexibility for thesimulation of customised train configurations using the European UIC brakesystem. Train length and vehicle arrangement can be adapted to the user’sspecific needs. For example, the test bench could be used for the simulation ofa train with distributed power. The system parameters are stored in a vehiclelibrary for the convenient generation of train configurations. This vehiclelibrary is freely expandable.The simulation is based on an equivalent electric circuit model which iscompleted with nozzle flow modelling. This model involves monitoring themain pipe, brake cylinder and reservoir pressure. Linear approximation is usedto obtain braking forces for the individual wagons and for the whole train. Thedepiction of the brake system behaviour is mostly accurate in the operationalscenarios, which is validated with measurement data. Additional calibrationis required for further reduction of the simulation errors and an extension ofthe model’s domain of validity. The test bench is developed by incrementaland iterative modelling and prepared for further improvements and variations,for example the adaption to the American AAR system variant.The presented work can also be used as a basis for similar implementationssuch as driving simulators. The methods are transferable to other applicationsof modular simulation. / Det här examensarbetet omfattar formgivningen och implementeringen aven digital provbänk för tyckluftsbromssystemet på godståg. Provbänken skaanvändas för att vidareutveckla befintliga bromsmodeller hos Transrail SwedenAB. De används för beräkningen av optimerade hastighetsprofiler förtåg i förarassistanssystemet CATO. Arbetet baserar sig på undersökningenav den tekniska bakgrunden, samt ett metodiskt angreppssätt för fysikaliskmodellering. Verktyget är implementerat på ett modulärt sätt. Provbänkenger full flexibilitet för simuleringen av skräddarsydda tågkonfigurationer somanvänder det europeiska UIC-bromssystemet. Tåglängd och fordonsanordningkan anpassas enligt användarens behov, till exempel för simulering av fördeladtraktion. Systemparametrarna lagras i ett fordonsbiliotek som förenklar inmatningenav tågkonfigurationer. Fordonsbiblioteket kan utvidgas enligt behov.Simuleringen är baserad på en ekvivalent strömkretsmodell, som kompletterasmed modellerad dysströmning. Simuleringen beskriver trycket ihuvudledningen, bromscylindern och förrådsluftsbehållaren. Bromskrafternaapproximeras linjärt efter trycken för de enskilda vagnarna såväl som helatåget. Simuleringen återger beteendet av bromssystemet i alla driftsituationerpå ett verklighetsnära sätt, enligt validering med mätdata från Knorr-Bremse:stestanläggning. Ytterligare kalibrering behövs för att minimera avvikelserna isimuleringen och för att utvidga modellens giltighetsdomän. Provbänken harutvecklats i stegvis modellering och är väl förberedd för vidareutveckling ochanpassning. Ett exempel är anpassningen för att simulera det amerikanskaAAR-bromssystemet.Arbetet som presenteras här är lämplig för användning i liknande applikationer,såsom körsimulatorer. Metoden kan tillämpas allmänt på övrigaanvändningsområden av modulär simulering.

In this paper a 2D coupled thermal-stress finite element model is established and used to predict thermal phenomena at the disc-pad interface of a disc brake system. The importance of certain critical settings and parameters for the 2D FE model has been identified (such as, a limited degree of freedom for a brake pad in place of accepted practice that considers uniform contact), here a non-uniform pressure distribution resulting from friction bending moment effects due to the introduction of a pivot point. These parameters affect the distributions of both interface temperature and pressure. The simulation results show that when the interface conductance h is 10^6 W/m^2K or higher, the interface temperature distribution is no longer sensitive to friction bending moment effects. However, when h is 30000 W/m^2K or lower, the interface temperature distribution and heat partition ratio are significantly affected by the setting used for the rotational degree of freedom of the pad. The simulation results provide a useful reference for a better design of a disc brake system for different applications.

Sports cars need efficient brake cooling as they shall perform well during hard driving conditions, like for example race track driving. Most sports cars use ducts that capture ambient airflow and directs this flow over the brakes to improve the cooling. This project was conducted in cooperation with Koenigsegg Automotive AB and aims to develop more efficient brake cooling ducts for their cars.  Computational Fluid Dynamics was used to analyse the convective cooling of the brake disc and the pads. First was the cooling with the previously used ducts analysed in order to establish a reference.  Then new concepts were created, analysed and developed in an iterative process.  A design is proposed, which have the inlet in the centre of the wheel axle and that directs the air through radial channels to the brake disc. The simulations indicate that the proposed design results in 14% higher heat transfer rate compared to the previously used cooling solution.   In addition to the cooling ducts, some passive cooling devices were also simulated. Simulations with these in combination with the proposed design, indicate up to 25% increase in heat transfer rate, but this cannot be fully confirmed due to limitations in the simulation model. / Sportbilar behöver effektiv bromskylning eftersom de ska prestera väl under hårda körförhållanden, som till exempel bankörning. De flesta sportbilar använder kanaler som fångar omgivande luftflöde och riktar detta flöde över bromsarna för att förbättra kylningen.  Detta projekt genomfördes i samarbete med Koenigsegg Automotive AB och syftar till att utveckla effektivare bromskylkanaler till deras bilar. Computational Fluid Dynamics användes för att analysera den konvektiva kylningen av bromsskivan och bromsbeläggen.  Först analyserades kylningen med den tidigare använda bromskylkanalen i syfte att skapa en referens. Sedan skapades nya koncept som analyserades och utvecklades i en iterativ process.  En konstruktion föreslås, som har inloppet i centrum av hjulaxeln och som sedan styr luften genom radiella kanaler till bromsskivan. Simuleringarna indikerar att den föreslagna konstruktionen resulterar i 14% högre värmeöverföringshastighet än den tidigare använda bromskylningslösningen.  Förutom kylkanalerna har några passiva kylanordningar också simulerats.  Simuleringar med dessa i kombination med den föreslagna konstruktionen, indikerar upp till 25% ökning av värmeöverföringshastigheten, men detta kan inte helt bekräftas på grund av begränsningar i den använda simuleringsmodellen.