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The coupled, dynamic loads from vehicles travelling on a bridge can cause excessive vibration of the bridge and limit its service life. The coupled vehicle–bridge interaction (VBI) is strongly determined by the properties of the vehicle suspension, the vehicle speed, and the bridge flexibility. A bridge-friendly vehicle is designed to minimize the contact force between the tires and the bridge, enhancing the vehicle’s performance and protecting the bridge from damage by optimizing the vehicle suspension system. In this paper, we investigate the concept of bridge-friendly vehicle by optimally tuning the parameters of the vehicle suspension to mitigate the bridge vibration. The vehicle is modeled with an inerter–spring–damper (ISD) suspension. A time-frozen technique is applied to obtain the time-varying displacement transmissibility functions of the coupled system, and effects of the suspension inerter on the time–frequency characteristics of the transmissibility are discussed. The fixed-point principle is applied to derive the optimal values of the ISD, which are shown to depend only on a priori known structural parameters of the bridge and vehicle parameters. Numerical simulations of the coupled system responses are presented to demonstrate the effectiveness of the tuned ISD in mitigating the vibration of the vehicle and the bridge. Effects of considering the inerter in the suspension model in this tuning problem for bridge-friendliness are also discussed. [ABSTRACT FROM AUTHOR]

The investigation on vehicle–bridge interaction systems (VBIS) plays an important role in evaluating the performance of bridges and/or vehicles. However, due to the limitations of traditional simulation methods and testing methods, the impact of vehicle jumping (VJ) on the VBIS has never been precisely disclosed. In order to accurately and comprehensively reveal the impact of VJ on the dynamic performance of VBIS, one real-time hybrid simulation method (RHSM) for VBIS considering the impact of VJ (VBIS-VJ) is proposed in this paper. In the proposed method, the vehicle system is chosen as the experimental substructure loaded by servo-hydraulic actuator loading system in real-time, whilst the bridge system is chosen as the numerical substructure numerically simulated in one computer. During the vehicle jumping, the vehicle and bridge vibrate freely respectively, otherwise, the experimental substructure and numerical substructure are synchronized at the coupling points in terms of force equilibrium and deformation compatibility in RHSM for VBIS-VJ. Firstly, the principle and numerical models of RHSM for VBIS-VJ are proposed. Furthermore, numerical simulations of RHSM for VBIS-VJ are conducted for verifying the feasibility of the proposed method. Finally, the influence of jumping position, jumping height, and driving speed on the VBIS is disclosed by hybrid simulations. It is shown that compared with the ever-known investigation methods, the proposed method could economically and accurately disclose the dynamic performance of VBIS-VJ. It is shown from the simulation results that compared with the referenced results, the quantitative errors of the proposed method with quarter vehicle model and half vehicle model are less than 2.5152% and 3.5599% respectively, which prove the effectiveness and accuracy of proposed RHSM for VBIS-VJ. The peak displacement of the bridge at a quarter-span and mid-span exceeds the three-quarters span by about 1.9–2.9 mm. The influence of jumping position of a quarter span and midspan of bridge is much huger than that in the three-quarters span. The dynamic response of bridge increases with the increase the jumping height, but the deformation of the bridge is reduced when the jumping height is more than 0.05 m. Meanwhile, the requirements for experimental loading equipment are acquired through the hybrid simulations, which could be used as a reference for selecting the loading system of the RHSM for VBIS-VJ. [ABSTRACT FROM AUTHOR]

A split-type two-axle vehicle for bridge indirect measurement is proposed to address the deficiencies of single-axle and conventional two-axle vehicles. At first, the conceptual design of the split-type two-axle vehicle is put forth, and the analytical solution for the vehicle-bridge interaction (VBI) system response is derived. After that, the regularity of the vehicle frequency response function is studied, and the numerical analysis method is utilized to validate the analytical solution. Based on the theoretical findings, the vehicle frequency and speed are studied to investigate their impacts on extracting bridge frequencies from vehicle responses. The results indicate that a peak will form in the frequency response function (FRF) curves when the input frequency is near to the vehicle frequency. The single peak phenomenon will occur when the zero-point condition of the FRF from the contact point to the vehicle body is remarkably close to the second vibration frequency of the vehicle. It is preferable for the first frequency of the vehicle to be higher than that of the bridge since this helps to extract the bridge frequency. On the other hand, at low speeds (≤ 43.2km/h), higher vehicle speeds will result in a greater distance between the peaks of the left- and right-shifted frequencies of the bridge, wider frequency bands, and lower spectral resolution, which is not conducive to bridge frequency identification. [ABSTRACT FROM AUTHOR]

In the vehicle scanning method, using the amplifier as the tuned mass damper in the vehicle–bridge system has been shown to be able to scan the higher bridge frequencies clearly in the amplifier spectrum recently. To design a test vehicle enhanced by one or two amplifiers in practice, the analytical approach undoubtedly serves as the guideline. For this purpose, this study is aimed at deriving the analytical formulation for one amplifier-enhanced vehicle–bridge system and the semi-analytical formulation for two amplifier-enhanced vehicle–bridge system, while a miniature three-mass vehicle model is adopted. The correctness of the analytical formulations is verified by the finite element formulations through the dynamic responses of the amplifier, vehicle body, and bridge; good agreement is observed for all responses. The amplifier spectra are further provided to show the distinctly scanned bridge frequencies. [ABSTRACT FROM AUTHOR]

A significant resonance pattern at high frequencies around 400 Hz to 1000 Hz has been well observed from measured rail accelerations. Such resonances are key issues for rail noise and corrugation. Although this pattern has been noted and discussed in various papers in terms of wave reflections among multiple wheels, the aim of this study is to develop novel dynamic model and reveal generation mechanism of this resonance phenomenon with the train-track coupled system. An infinite Timoshenko beam with continuous supports is adopted for modeling the track system, and the point and transfer receptances of the rail for a moving excitation are explicitly deduced by the residue theorem together with a Fourier transform-based method. A frequency-domain method is then established to calculate the power spectral densities (PSD) of the train-track coupled system responses to stochastic irregularities with the moving vehicle model with multiple wheels. It is found that the high-frequency resonances occur when the reflected waves generated from multiple wheels on the rail are exactly in phase with the initial track irregularity. The load speed has negligible influence on the wheel–rail interaction in the lower frequency range and a small influence in the upper frequency range only for very high train speeds. [ABSTRACT FROM AUTHOR]

Track irregularity is the main factor that affects the safety and comfort of high-speed railway. It is important to study the influence of the track irregularity on the safety service of high speed train–track coupling system. In this paper, a vehicle–track spatial nonlinear coupled system dynamics model is developed with FEM. The model includes vehicle subsystem and track subsystem, which are coupled by wheel–rail interface. The vehicle subsystem is a 31-DOF spatial vehicle model, and the track subsystem is a three-dimensional slab track model composed of the rail, rail pad and track slab. Considering wheel tread profile and rail head profile, the wheel–rail spatial contact geometry relationship is established, and the "Trace method" and the "Minimum distance method" are used to search for wheel–rail contact points. Considering the nonlinear contact between the wheel and the rail, a numerical approach is presented, where the "Trace method" is embedded into the algorithm for solving the vehicle–track nonlinear coupling dynamics equation by cross iteration, realizing searching the wheel–rail contact points and solving the vehicle–track nonlinear coupling equation simultaneously, which greatly improves the efficiency of numerical analysis. As application examples, the dynamic responses of a high speed train–track spatial nonlinear coupled system excited by the track V-shaped local profile irregularity and the track torsional irregularity are analyzed. The results show that the algorithm is effective in solving the vehicle–track spatial nonlinear coupled system dynamics problem, and the track irregularity has significant influence on the dynamic response of vehicle and track structure. [ABSTRACT FROM AUTHOR]

For rail-cum-road bridges with single-level arrangement, there are not only dynamic interference, but also aerodynamic interference between trains and vehicles, which means that the train-induced winds generated by high-speed trains are non-negligible for vehicles. In this work, the test method of moving vehicle model is used to test the aerodynamic characteristics of vehicles under train-induced winds. Then, the model of coupled vibration of train–vehicle–bridge system considering train-induced winds is established. Finally, taking a rail-cum-road bridge with single-level arrangement as an example, the coupled vibration of train–vehicle–bridge system considering train-induced winds is analyzed, and the influence of train-induced winds, lateral spacing between trains and vehicles on train–vehicle–bridge system is discussed. The results show that train-induced winds decrease with the increase of the lateral spacing between trains and vehicles. Without considering train-induced winds, the moving train has a greater impact on the vertical response of the vehicle, and a smaller impact on the lateral response of the vehicle. When considering train-induced winds, the lateral response of the vehicle increases significantly, but decreases with the increase of the lateral spacing. In addition, road conditions and the setting of anti-dazzle plates can change traffic safety under train-induced winds. [ABSTRACT FROM AUTHOR]

To investigate the dynamics of the wind–vehicle–bridge (WVB) system in the multi-body dynamics framework, which avoids the large computation cost of programming the motion equation of complex vehicle models and improves the calculation efficiency, an advanced hybrid method is proposed to optimize the WVB system coupling vibration analysis model. The dummy body coupling (DBC) method is integrated to build the connection between the MBS and the FE model, which cannot change the mechanical characteristics of the MBS vehicle model and the bridge FE model. The proposed method makes full use of the high efficiency of the established structure modeling, the powerful wheel–rail analysis function, and vehicle modeling in the multi-body dynamics framework. The complex bridge is modeled by a number of elements to reflect the actual dynamic characteristics of structure, which cannot satisfy the requirement of calculation in the multi-body dynamics framework. Thus, to avoid forming the wheel–rail relationship function, the bridge modeling as a finite element model would be transferred into multi-body dynamics coupling model of the WVB system as a flexible body. The verification of the relationship among the sub-systems of the multi-body model of the WVB system is investigated by analysis of the wind–vehicle, wind–bridge, and vehicle–bridge sub-systems. Finally, a dynamic analysis of the WVB system based on the proposed method is carried out for a double-track railway continuous bridge, in which the effects of different vehicle speeds and the incoming wind directions are studied. The simulation of the WVB system by the hybrid method has a high computational efficiency and strong practicability. [ABSTRACT FROM AUTHOR]

With the continuous expansion of the city scale and the increasing population, people have put forward higher requirements for the speed, reliability and economy of logistics distribution. Although there have been many achievements in the research on the vehicle optimal scheduling decision model and its solution algorithm, there are some problems such as low solution efficiency, long time consumption, and easy to fall into the local optimal solution. The purpose of this paper is to study the model of vehicle scheduling problem in distribution center based on improved differential evolution algorithm. This paper firstly makes a simple analysis of the vehicle distribution route optimization problem, and points out the main factors that constitute the route optimization problem; then analyzes the principle of the differential evolution algorithm, and on this basis, the differential evolution algorithm is improved. In the experimental part, this paper takes a distribution center as the research object, and proposes the implementation steps of the algorithm of the vehicle scheduling problem based on the improved differential evolution algorithm. And test the running cost of the improved differential evolution algorithm and differential evolution algorithm. Experimental results show that applying the improved differential evolution algorithm to vehicle scheduling problems has certain practicality. When the number of iterations reaches 60, the running cost of the improved differential evolution algorithm is 1,200 yuan, and the running cost of the differential evolution algorithm is 1,300 yuan. [ABSTRACT FROM AUTHOR]

This paper investigates the nonlinear dynamical behaviors of a time-delayed supercavitating vehicle system varying with the system parameters, and proposes control strategies to stabilize the trajectory. A simplified dynamical model of the supercavitating vehicle is firstly constructed and then analyzed on its local and global stability in terms of different parameter values and initial conditions. Due to the forces resulting from the fins and the afterbody plane causing one of the system parameters to become a piecewise constant function of position, the system is described as a linear switched one with time delay. Both theoretical analysis and numerical simulations are adopted to describe the system behaviors. Several special phenomena such as bifurcations, deviation behaviors and period-doubling processes emerging from the system for a given set of parameters are discussed in detail in this paper. Besides, the equilibrium and chaotic solutions are accurately located by plotting the Lyapunov exponent map. Chaotic attractors present different strange forms with the variation of the parameters. Finally, based on the system's global property, the control and anti-control strategies are proposed to stabilize the system or generate desirable chaos and it is shown that the system can be controlled by selecting appropriate control parameters. [ABSTRACT FROM AUTHOR]

Since the bridge is often treated as the uniform beam for simplicity in most numerical studies of vehicle-bridge interaction, this study proposes a non-uniform vehicle-bridge interaction system by incorporating a three-mass vehicle model in a non-uniform bridge for wider applications, in which non-uniform beam elements of constant width and varying depth are considered. For clarity, the inclined ratios of the entire bridge and one beam element are separately defined in order to describe the non-conformity in computation while both mass and stiffness matrices are re-formulated to comply with the finite element sign convention. As the natural frequencies of a non-uniform bridge cannot be accessed directly, the vehicle scanning method is first adopted to obtain the bridge frequencies. Then, the parametric study is conducted by considering vehicle damping, bridge damping, and pavement irregularity. In addition to the vehicle frequency, the numerical results show that the proposed vehicle-bridge interaction system is able to scan the first four bridge frequencies with desired accuracy subject to pavement irregularity. Concerning the pitching effect of the vehicle, it is shown that the locations for installing sensors are actually affected by both the geometry and the cross-sectional geometry of the bridge in the concern of achieving high resolution of frequency identification. [ABSTRACT FROM AUTHOR]

In vision-driven Intelligent Transportation Systems (ITS) where cameras play a vital role, accurate detection and re-identification of vehicles are fundamental demands. Hence, recent approaches have employed a wide range of algorithms to provide the best possible accuracy. These methods commonly generate a vehicle detection model based on its visual appearance features such as license plate, headlights, or some other distinguishable specifications. Among different object detection approaches, Deep Neural Networks (DNNs) have the advantage of magnificent detection accuracy in case a huge amount of training data is provided. In this paper, a robust approach for license plate detection (LPD) based on YOLO v.3 is proposed which takes advantage of high detection accuracy and real-time performance. The mentioned approach can detect the license plate location of vehicles as a general representation of vehicle presence in images. To train the model, a dataset of vehicle images with Iranian license plates has been generated by the authors and augmented to provide a wider range of data for test and train purposes. It should be mentioned that the proposed method can detect the license plate area as an indicator of vehicle presence with no Optical Character Recognition (OCR) algorithm to distinguish characters inside the license plate. Experimental results have shown the high performance of the system with a precision 0.979 and recall 0.972. [ABSTRACT FROM AUTHOR]

Occupancy grids are common tools used in robotics to represent the robot environment, and that may be used to plan trajectories, select additional measurements to acquire, etc. However, deriving information about those occupancy grids from sensor measurements often induce a lot of uncertainty, especially for grid elements that correspond to occluded or far away area from the robot. This means that occupancy information may be quite uncertain and imprecise at some places, while being very accurate at others. Modelling finely this occupancy information is essential to decide the optimal action the robot should take, but a refined modelling of uncertainty often implies a higher computational cost, a prohibitive feature for real-time applications. In this paper, we introduce the notion of credal occupancy grids, using the very general theory of imprecise probabilities to model occupancy uncertainty. We also show how one can perform efficient, real-time inferences with such a model, and show a use-case applying the model to an autonomous vehicle trajectory planning problem. [ABSTRACT FROM AUTHOR]

In this paper, we investigate discrete-time uncertain spatially interconnected systems (USISs), where uncertainties are modeled by linear fractional transformation (LFT). First, the well-posedness, quadratic stability and contractiveness of discrete-time USISs are introduced. Second, a sufficient condition is proposed to guarantee that discrete-time USISs are well-posed, quadratically stable and contractive. Then, a more tractable condition is derived to check the well-posedness, quadratic stability and contractiveness of discrete-time USISs via a modified bilinear transformation. Besides, the robust distributed filters which inherit the structure of the plants are designed. A sufficient and necessary condition is presented to guarantee the existence of the robust distributed filters. Finally, a vehicle platoon model demonstrates the effectiveness of the proposed scheme. [ABSTRACT FROM AUTHOR]

The vehicle–bridge interaction (VBI) is studied using a semi-analytical approach based on a three-mass vehicle model. As most work analyzes vehicle–bridge interaction numerically and/or analytically by treating the vehicle as a simplified lumped mass, to the best of the author's knowledge, this work first presents the theoretical formulation of the three-mass VBI system, where a more realistic vehicle model equipped with a rigid mass and two unsprung mass-spring-damper systems is considered. By assuming the first modal vibration of beam, the semi-analytical solutions are derived, which can be served as the reference solutions for calibrating VBI analyses using different models or methods. [ABSTRACT FROM AUTHOR]

This paper presents a modified numerical substructure method for simulating the dynamic response of vehicle–track–bridge (VTB) systems. The method can be used to analyze large-scale VTB systems accurately and efficiently. Based on the principle of virtual work, the equations of motion are derived for two separate subsystems, i.e. a small-scale of finely modeled VTB substructure and a coarsely meshed large main bridge subsystem using different level of refinement. Different from the conventional dynamic substructuring approaches, the bridge spans close to the vehicle are modeled in both the main and substructure models, and the contradiction of repeatedly modeling is solved using a "nonlinear force corrector". A special wheel–rail interaction (WRI) element is used to simulate the fast-moving interaction force between the vehicle and rail. In this way, the two models remain unchanged while the vehicle moves forward, and the computational accuracy is the same as the large-scale purely refined model, while the efficiency is significantly improved, particularly, for the large-scale long VTB systems. Two examples of realistic VTB systems with either smooth or un-smooth rails are used to verify the proposed method. The results demonstrate that the presented method has remarkable advantages of computational efficiency and accuracy, providing a practically useful tool for analysis of large-scale VTB systems. [ABSTRACT FROM AUTHOR]

This paper deals with the simultaneous identification of road roughness and vehicle parameters, considering the effect of vehicle–structure interaction. The proposed technique avoids the use of bridge response data (which has practical implementation difficulties along with the high chances of corruption with environmental noises) and utilizes the vehicle response data (which is relatively easier to record). Further, vehicle calibration is not needed as the roughness is estimated simultaneously. The identification is carried out by the coupling of an unbiased minimum variance estimator with an optimization scheme. This study considers a quarter-car vehicle model and a half-car vehicle model, instrumented to measure the vehicle vibration data. The unbiased minimum variance estimator (MVE) allows a linear temporal evolution of the state variables, incorporating the roughness as an unknown input term such that the need for linearization is avoided, unlike the traditional nonlinear filters. The optimization scheme helps in choosing a set of optimal solutions for the vehicle parameters as designed in the coupled scheme. The best split of the available measurement data to be used in the two schemes (MVE and optimization scheme) is discussed. The effect of different objective functions is also studied. The proposed technique is successful in terms of simultaneously estimating the vehicle parameters, roughness profile and vehicle responses (states) accurately. [ABSTRACT FROM AUTHOR]

As the surface roughness of a bridge has significant influence on the interaction between a moving vehicle and the bridge itself, it is one of the hurdles for the use of the drive-by technique in the assessment of bridges. Proper identification of the surface roughness of a bridge will help minimize the associated uncertainties and improve the accuracy of numerical simulation. This paper presents a method for estimating the surface roughness profile from the responses extracted from a vehicle instrumented with accelerometers passing on the bridge tested. By letting the vehicle run along the bridge multiple times with different added masses, an estimation of the roughness profile can be obtained based on the vehicle–bridge interaction theory. No baseline data is required. Three simplified vehicle models have been used in this study, i.e. spring–mass model, spring–damper–mass model and half-vehicle model. The feasibility and effectiveness of this method are evaluated by finite element simulation with a simply supported bridge and a continuous bridge. The performance of this method for different levels of road surface roughness is assessed by suitable error indicators. A parametric study about the influence of vehicle and bridge parameters, measurement noise and structural damage on the identified results have been carried out. [ABSTRACT FROM AUTHOR]

The concept of vehicle-bridge interaction (VBI) was originally developed to investigate the dynamic behavior of bridges subjected to moving loads such as high-speed trains. In recent years, the VBI system was introduced to further explore the possibility of identifying bridge frequencies in order to monitor the health of bridges via the use of passing vehicles. Among the models of test vehicles, the sprung mass vehicle model with a single-degree-of-freedom vehicle body is the most common adopted one due to its simplicity. Nevertheless, for a test vehicle moving over the uneven pavement, the pitching effect arising from the vertical and rotational movements of the vehicle actually influences the identification of bridge frequencies. As such, a rigid-mass vehicle model is proposed in this work to improve the sprung mass vehicle model by including both vertical and rotational deflections. The analytical solutions to the rigid-mass VBI system are derived to verify the proposed model, and the numerical examples are provided to investigate the dynamic behavior of the VBI system subjected to road irregularity. [ABSTRACT FROM AUTHOR]

Engineering vehicles are widely used under various harsh working conditions. For many components in them, service loadings they suffered are usually random and nonstationary due to their remarkable characteristic called cyclic operation. To deal with that, section method can be applied. However, this method will neglect those transition cycles caused by switching load section, which can contribute a lot to fatigue. In order to consider those transition cycles, this paper applied the model called "Switching Markov Chain of Turning Points" (SMCTP). Then the expected rain-flow matrix is compared with the overall rain-flow matrix conducted by section method. The comparison result shows that SMCTP can perform well in processing nonstationary loadings. As a result, the Switching Markov Chain method (SMC) was proved to be effective in stochastically characterizing the nonstationary switching loadings of engineering vehicles. [ABSTRACT FROM AUTHOR]

Presented herein is a novel computational approach using the moving element method (MEM) for simulating the dynamic response of Mindlin plate resting on a viscoelastic foundation and subjected to moving loads. The governing equations and the element mass, damping and stiffness matrices are formulated in a convected coordinate system in which the origin is attached to the point of the moving applied load. Thus, the method simply treats moving loads as 'stationary' at the nodes of the plate to avoid updating the locations of moving loads due to the change of the contact points on the plate. To verify the accuracy of the proposed computational approach, static and free vibration analyses of plates are investigated first. Next, the dynamic response of plate resting on a viscoelastic foundation subjected to a moving load is examined. A parametric study is performed to determine the effects of the load's velocity, foundation damping and foundation stiffness on the dynamic response of a plate. Finally, the comparisons of the dynamic response of plates resting on viscoelastic foundation and subjected to moving vehicles with three models of load (single-wheel, single-axle and tandem-axle) are discussed. [ABSTRACT FROM AUTHOR]