Driving Speed Estimation and Trapped Drivers’ Detection inside Tunnels Using Distributed MIMO Bluetooth Devices

Accidents in highway tunnels involving trucks carrying flammable cargoes can be dangerous, needing immediate confrontation to detect and safely evacuate the trapped people to lead them to the safety exits. Unfortunately, existing sensing technologies fail to detect and track trapped persons or moving vehicles inside tunnels in such an environment. This paper presents a distributed Bluetooth system architecture that uses detection equipment following a MIMO approach. The proposed equipment uses two long-range Bluetooth and one BLE transponder to locate vehicles and trapped people in motorway tunnels. Moreover, the detector’s parts and distributed architecture are analytically described, along with interfacing with the authors’ resources management system implementation. Furthermore, the authors also propose a speed detection process, based on classifier training, using RSSI input and speed calculations from the tunnel inductive loops as output, instead of the Friis equation with Kalman filtering steps. The proposed detector was experimentally placed at the Votonosi tunnel of the EGNATIA motorway in Greece, and its detection functionality was validated. Finally, the detector classification process accuracy is evaluated using feedback from the existing tunnel inductive loop detectors. According to the evaluation process, classifiers based on decision trees or random forests achieve the highest accuracy.

Analysis of safety impact of paved shoulder width on Czech secondary roads

Traffic safety is influenced, among other factors, by characteristics of the roads, which include the width of the shoulder. Shoulder width was noted to have a large effect on crash frequency, as well as on traffic speed. In this paper, we focused on paved shoulders. Previous studies confirmed that increasing the width of the paved shoulder is associated with a decrease in crash frequency. However, wider shoulders may encourage higher driving speed, which is related to an increase of impact speed and crash severity – this issue was hypothesized, but not statistically investigated. Thus, conclusions based on crashes and speeds contradict each other, and there is no simple answer to the question of the safety impact of wide shoulders. To address this gap, we analyzed a sample of two most typical categories of Czech secondary roads, which differ only in the paved shoulder width (S9.5 roads with 0.75m-wide shoulder, and S11.5 roads with 1.75m-wide shoulder) and thus present a suitable example for studying the safety impact of paved shoulder width. We used generalized linear models of crash frequency, and multinomial logistic models of crash severity (separately for single-vehicle and multi-vehicle crashes), as well as a statistical test of differences in speed for the two road categories. The results showed that: Firstly, there were fewer crashes on S11.5 roads compared to S9.5 roads; this was true for both single-vehicle and multi-vehicle crashes. Secondly, single-vehicle crashes on S11.5 roads were more severe compared to S9.5 roads; the change of severity in multi-vehicle crashes was not statistically significant. Thirdly, driving speeds on S11.5 roads were approx. by 7 km/h higher compared to S9.5 roads. These findings support the hypothesis of an association between wider shoulders, higher speeds, and increased crash severity, especially in the case of single-vehicle crashes. As a practical solution, various speed management measures, including widening to a 2+1 road, may be recommended.

Assessment of Risky Cornering on a Horizontal Road Curve by Improving Vehicle Suspension Performance

Vehicle stability during cornering on horizontal road curves is a risky stage of travel because of additional factors acting. The main stability factor is centrifugal force, which depends on road curve sharpness and is very sensitive to driving speed usually controlled by the driver. However, the counterforce is produced at tire-road interaction, where different pavement types and states cause a wide variation of tire contact forces and vehicle stability. In the paper, the part of vehicle suspension performance while moving on a sharp horizontal road curve with different levels of pavement roughness was simulated by 14 degrees of freedom vehicle model. The model was built in MATLAB/Simulink software with available pavement roughness selection according to ISO 8608. The influence of variable suspension damping available in modern vehicles on risky cornering is analysed when a vehicle reaches the edge of the pavement with its specific roughness. Critical parameters of vehicle stability depending on road curvature, pavement roughness and driving speed are selected to assess the solutions for safe cornering.

Maximum automobile acceleration

Problem. The disadvantage of current dependences for determining the acceleration indicators at engine maximum brake power and driving tire-to-surface friction coefficients is that they are adequate only if the engine and transmission parameters provide power input to the drive wheels rolling without slipping regardless to speed. To eliminate this drawback, it is necessary to take into account that the power input to the drive wheels depends on the engine shaft speed, and therefore on the speed of the vehicle when accelerating. Goal. The purpose of the work is to further develop the theory of the automobile by improving the dependencies that allow determining the automobile acceleration rates and assessing the nature of its acceleration process from the design factors. Methodology. The approaches taken to achieve this goal are based on laws of physics, theoretical mechanics and the theory of automobile. Results. Analytic dependences for determining maximum and limiting automobile acceleration when speeding up depending on its design factors and speed have been improved. Dependences for determining the range of drive wheel slipping on the automobile speed when accelerating and the limiting automobile acceleration under the condition of its pitch stability have been obtained. When studying the automobile acceleration process theoretically it was found that the developed dependences allow determining the nature of automobile movement and assessing the influence of its design factors on the acceleration indicators. Originality. The obtained dependences for determining the maximum and limiting acceleration, the range of driving speeds with wheel slip when automobile accelerating allowed us to clarify the idea of the nature of movement during acceleration and the influence of automobile design factors on the acceleration indicators. Practical value. The obtained dependences can be used in designing new and improving racing cars such as dragsters, and analysing the dynamics of the vehicle when accelerating with full fuel delivery and determining the nature of driving tire-to-surface friction depending on the driving speed.

Development of Transport for Disabled People on the Example of Wheelchair Propulsion with Cam-Thread Drive

The increasingly frequent use of electric drives is a new direction of development in personal transport. Sometimes these drives take over the work of human muscles, and sometimes they only support them. This is particularly evident in means of transport such as bicycles and scooters, but also in transporting people with disabilities. This study questions whether this is the only right development direction, and explores the possibility of developing means of transport for the more effective use of human muscles by proposing new structural solutions. We identified that such an action favors the minimization of the environmental load generated by technical facilities and, at the same time, may be a response to social needs resulting from the principles of sustainable development. This paper presents the operation principle of the innovative Wheelchair Cam-thread Drive (WCD), followed by field tests, laboratory measurements and biomechanical analyses of the WCD, comparing it with a typical Wheelchair Push-rim Drive (WPD). We found that the WCD allows efficient driving on flat and level surfaces, but its propulsion method can adversely alter the location of the center of gravity on the human-wheelchair system. A brake is also required to control the driving speed. Ultimately, the WCD was found to put less strain on the human movement system, so it could be used for rehabilitation exercises. The WCD appears to be a promising design, deserving further research into the drive biomechanics and the optimization of the mechanism operation. Such an innovative manual drive presents an interesting alternative to electric drives.

Determination of Speed-Dependent Roadway Luminance for an Adequate Feeling of Safety at Nighttime Driving

The purpose of this work is to determine as a function of velocity the minimal roadway luminance that is required to be judged as being bright enough for a driver to perform a nighttime driving task with an adequate feeling of safety. In this context, it shall also be evaluated which areas of the vehicle forefield are most crucial for the driver’s general brightness perception. A field study with 23 subjects and dimmable LED headlights was conducted, in which the subjects were given the task to assess their perceived brightness for different luminance levels caused by the headlights’ low-beam distribution in the vehicle’s forefield on a 5-step rating scale. The experiments were repeated for three different driving velocities of 0 km h−1 (static case), 30 km h−1, and 60 km h−1, respectively. Results for the static case indicate that, for the roadway to be perceived as bright enough by 50% of the subjects, an average roadway luminance of 0.88 cd m−2 is required in an area up to 32 m in front of the vehicle. Furthermore, a significant effect of driving speed is observed. For example, at 60 km h−1, the luminance must be increased to 1.54 cd m−2 to be still perceived as sufficiently bright by 50% of the subjects.

Tunable stiffness in fish robotics: mechanisms and advantages

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one “best” stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about 1) the propulsive benefits of flexibility, particularly tunable flexibility, and 2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.

Conceptual Robot Design For The Automated Layout of Building Structures By Integrating QFD And TRIZ

According to the increase in building size and lack of skilled laborers, layout operation has high demands on automation for productivity and quality improvement. With such a background, research has been recently undertaken to develop an automated layout system based on marking robots for structural work in Korea. Although there are several robot-based automation systems under development targeted at interior works, the system for structural work has different functional needs and technical requirements in designing the robots compared with the existing ones. Therefore, this study proposes a conceptual robot design for an automated layout of building structures, based on a systematic design process, by integrating quality function deployment (QFD) and the theory of creative problem solving (TRIZ). With the support of the approach, 11 user requirements and 16 relevant technical characteristics were derived and prioritized, and 15 creative ideas were derived to solve the technical contradictions. The selected design solution improves driving speed by separating driving and marking operations, and the two-wheeled steering drive system with a suspension device allows easier driving control in a narrow and uneven driving environment. The noncontact type of printer head also minimizes the complexity of the device and provides excellent performance in securing marking precision and quality in response to floor conditions. The results of this study will be used for the detailed design of the layout robot system, and the design process can be utilized for designing and evaluating other construction robots and automation systems.