The effect of velocity on rigid wheel performance

A simulation model to predict the effect of velocity on rigid-wheel performance for off-road terrain was examined. The soil–wheel simulation model is based on determining the forces acting on a wheel in steady state conditions. The stress distribution at the interface was analyzed from the instantaneous equilibrium between wheel and soil elements. The soil was presented by its reaction to penetration and shear. The simulation model describes the effect of wheel velocity on the soil–wheel interaction performances such as: wheel sinkage, wheel slip, net tractive ratio, gross traction ratio, tractive efficiency and motion resistance ratio. Simulation results from several soil-wheel configurations corroborate that the effect of velocity should be considered. It was found that wheel performance such as net tractive ratio and tractive efficiency, increases with increasing velocity. Both, relative wheel sinkage and relative free rolling wheel force ratio, decrease as velocity increases. The suggested model improves the performance prediction of off-road operating vehicles and can be used for applications such as controlling and improving off-road vehicle performance.     

Distributed computation of virtual coordinates for greedy routing in sensor networks

Sensor networks are emerging as a paradigm for future computing, but pose a number of challenges in the fields of networking and distributed computation. One challenge is to devise a greedy routing protocol—one that routes messages through the network using only information available at a node or its neighbors. Modeling the connectivity graph of a sensor network as a 3-connected planar graph, we describe how to compute on the network in a distributed and local manner a special geometric embedding of the graph. This embedding supports a geometric routing protocol called “greedy routing” based on the “virtual” coordinates of the nodes derived from the embedding.     

A piecewise-linearized algorithm based on the Krylov subspace for solving stiff ODEs

Numerical methods for solving Ordinary Differential Equations (ODEs) have received considerable attention in recent years. In this paper a piecewise-linearized algorithm based on Krylov subspaces for solving Initial Value Problems (IVPs) is proposed. MATLAB versions for autonomous and non-autonomous ODEs of this algorithm have been implemented. These implementations have been compared with other piecewise-linearized algorithms based on Padé approximants, recently developed by the authors of this paper, comparing both precisions and computational costs in equal conditions. Four case studies have been used in the tests that come from stiff biology and chemical kinetics problems. Experimental results show the advantages of the proposed algorithms, especially when the dimension is increased in stiff problems.     

The Transit Route Arc-Node Service Maximization problem

This article presents a new method for determining optimal transit routes. The Transit Route Arc-Node Service Maximization model is a mathematical model that maximizes the service value of a route, rather than minimizing cost. Cost (distance) is considered as a budget constraint on the extent of the route. The mathematical formulation modifies and exploits the structure of linear programming problems designed for the traveling salesman problem. An innovative divide-and-conquer solution procedure is presented that not only makes the transit routing problem tractable, but also provides a range of high-quality alternate routes for consideration, some of which have substantially varying geometries. Variant formulations are provided for several common transit route types. The model is tested through its application to an existing street network in Richardson, TX. Optimal numeric results are obtained for several problem instances, and these results demonstrate that increased route cost is not correlated with increased service provision.     

Maritime inventory routing with multiple products: A case study from the cement industry

This paper considers a maritime inventory routing problem faced by a major cement producer. A heterogeneous fleet of bulk ships transport multiple non-mixable cement products from producing factories to regional silo stations along the coast of Norway. Inventory constraints are present both at the factories and the silos, and there are upper and lower limits for all inventories. The ship fleet capacity is limited, and in peak periods the demand for cement products at the silos exceeds the fleet capacity. In addition, constraints regarding the capacity of the ships’ cargo holds, the depth of the ports and the fact that different cement products cannot be mixed must be taken into consideration. A construction heuristic embedded in a genetic algorithmic framework is developed. The approach adopted is used to solve real instances of the problem within reasonable solution time and with good quality solutions.     

完备格上基于Sup-T合成算子的矩阵的平方根

对于完备格L上给定的|I|×|I|的矩阵R,若存在|I|×|I|的L上的矩阵S满足S⊙S=R,则称S为R的平方根,其中I表示指标集|I|的基数,⊙在本文中指的是sup-T合成算子并且T是无限∨分配的保序的算子。本文给出了完备格上基于sup-T合成算子的矩阵平方根存在的充要条件以及相应的理论上的算法求解所有的平方根。     

An instrumented vehicle for offroad dynamics testing

The paper presents an instrumented vehicle that was equipped with measuring systems to perform complete dynamics tests, especially in off-road conditions. The equipment consists of four wheel dynamometers, a steering robot, and a differential GPS system together with an inertial platform, a non-contact vehicle speed sensor, and an on-board computer with software to control the devices and collect experimental data. The four wheel dynamometers measure six elements; based on strain gage force transducers, it measures three orthogonal forces and three moments. The steering robot can control the steering wheel of the vehicle at a variety of excitation modes; it can carry out typical vehicle dynamics tests (ISO 7401, ISO 4138, ISO/TR3888, etc.) as well as custom engineered tests at a wide range of setting parameters (steer angle rate up to 1600 deg/s). The differential GPS system gives true time vehicle kinematics data (velocities, accelerations, angles, etc.) at 10-ns sample rate and 20-mm accuracy. The base vehicle, a Suzuki Vitara 4 × 4, required no special modifications or changes to install the measuring equipment. The paper also describes typical tests performed with the use of the instrumented vehicle together with sample results.     

On the N-wave equations and soliton interactions in two and three dimensions

Several important examples of the N-wave equations are studied. These integrable equations can be linearized by formulation of the inverse scattering as a local Riemann-Hilbert problem (RHP). Several nontrivial reductions are presented. Such reductions can be applied to the generic N-wave equations but mainly the 3- and 4-wave interactions are presented as examples. Their one and two-soliton solutions are derived and their soliton interactions are analyzed. It is shown that additional reductions may lead to new types of soliton solutions. In particular the 4-wave equations with ?₂ × ?₂ reduction group allow breather-like solitons. Finally it is demonstrated that RHP with sewing function depending on three variables t, x and y provides some special solutions of the N-wave equations in three dimensions.     

Column generation for vehicle routing problems with multiple synchronization constraints

Synchronization of workers and vehicles plays a major role in many industries such as logistics, healthcare or airport ground handling. In this paper, we focus on operational ground handling planning and model it as an archetype of vehicle routing problems with multiple synchronization constraints, coined as “abstract vehicle routing problem with worker and vehicle synchronization” (AVRPWVS). The AVRPWVS deals with routing workers to ground handling jobs such as unloading baggage or refuelling an aircraft, while meeting each job’s time window. Moreover, each job can be performed by a variable number of workers. As airports span vast distances and due to security regulations, workers use vehicles to travel between locations. Furthermore, each vehicle, moved by a driver, can carry several workers. We propose two mathematical multi-commodity flow formulations based on time-space networks to efficiently model five synchronization types including movement and load synchronization. Moreover, we develop a branch-and-price heuristic that employs both conventional variable branching and a novel variable fixing strategy. We demonstrate that the procedure achieves results close to the optimal solution in short time when compared to the two integer models.     

A column generation approach for location-routing problems with pickup and delivery

In this paper we formulate an integer programming model for the Location and Routing Problem with Pickup and Delivery. We propose a column generation scheme and implement, for the subproblem, a label-setting algorithm for the shortest path with pickup and delivery and time windows problem. We also propose a set of heuristics to speed up this process. To validate the model, we implement the column generation scheme and test it on different instances developed in this paper. We also provide an analysis of how the costs of opening depots and the fixed cost of routes affect the optimal solution.