Search Results (28)

Light-duty trucks (LDTs) are often used to tow trailers. Towing increases the load on the engine, and this additional load can affect exhaust emissions. Although heavy-duty towing impacts are widely studied, data on LDT towing impacts is sparse. In this study, portable emissions measurement systems (PEMSs) were used to measure in-use emissions from three common LDTs during towing and non-towing operations. Emission rates were characterized by operating modes defined in the Environmental Protection Agency’s (EPA’s) MOVES (MOtor Vehicle Emissions Simulator) model. The measured emission rates were compared to the default rates used by MOVES, revealing similar overall trends. However, discrepancies between measured rates and MOVES predictions, especially at high speed and high operating modes, indicate a need for refinement in emissions modeling for LDTs under towing operations. Results highlight a general trend of increased CO₂, CO, HC, and NOx when towing a trailer compared to non-towing operations across nearly all operating modes, with distinct CO and HC increases in the higher operating modes. Although emissions were observed to be notably higher in a handful of scenarios, results also indicate that three similar LDTs can have distinctly different emission profiles. Full article

This study presents a techno-economic analysis of hydrogen transportation via liquid organic hydrogen carriers by road, comparing this option with compressed hydrogen (350 bar) and liquefied hydrogen. The analysis includes the simulation of hydrogenation and dehydrogenation reactors for the dibenzyltoluene/perhydro-dibenzyltoluene system using ASPEN Plus, along with a cost assessment of compression, liquefaction, and trucking. A sensitivity analysis is also carried out, evaluating hydrogen transport at varying daily demand levels (1, 2, and 4 t/d) and transport distances (50, 150, and 300 km), with varying electricity prices and capital expenditures for hydrogenation and dehydrogenation units. Results indicate that compressed hydrogen is the most cost-effective solution for short distances up to 150 km, with a levelized cost of transported hydrogen ranging from 1.10 to 1.61 EUR/kg. However, LOHC technology becomes more competitive at longer distances, with LCOTH values between 1.49 and 1.90 EUR/kg at 300 km across all demand levels. Liquefied hydrogen remains the least competitive option, reaching costs up to 5.35 EUR/kg, although it requires fewer annual trips due to higher trailer capacity. Notably, at 150 km, LOHC transport becomes more cost-effective than compressed hydrogen when electricity prices exceed 0.22 EUR/kWh or when the capital costs for hydrogenation and dehydrogenation units are minimized. From an environmental perspective, switching from compressed to liquid hydrogen carriers significantly reduces CO₂ emissions—by 56% for LOHCs and 78% for liquid hydrogen—highlighting the potential of these technologies to support the decarbonization of hydrogen logistics. Full article

The article compares the properties of coatings (cataphoretic, hot-dip zinc, and thermo-diffusion zinc) applied to steel components used in the automotive industry. The research focused on the analysis of corrosion resistance, hardness measurements, and tribological properties conducted on steel guides used in trailer and truck body structures as well as fasteners (M12 × 40 bolts). The base surfaces were cleaned chemically. Corrosion resistance was tested in a salt chamber, while coating thickness was measured using the magnetic induction method. Coating hardness (HV 0.02) was assessed with a microhardness tester, and tribological properties were tested under dry friction conditions. The results showed that the zinc coatings demonstrated corrosion resistance far superior to paint coatings. Full article

This paper tackles the complex problem of trajectory planning for trucks with multiple trailers, with a specific focus on autonomous parking assistance applications. These systems aim to autonomously guide vehicles from a starting position to a target location while effectively navigating real-world obstacles. We propose a novel six-phase approach that combines global and local optimization techniques, enabling the efficient and accurate generation of reference trajectories. Our method is validated in a case study involving a truck with two trailers, illustrating its capability to handle intricate parking scenarios requiring precise obstacle avoidance and high maneuverability. Results demonstrate that the proposed strategy significantly improves trajectory planning efficiency and robustness in challenging environments. Full article

Driven by the rapid development of modern industrial applications, multi-agent systems (MASs), integrating computational and physical resources, have become increasingly important in recent years. However, the performance of MASs can be easily compromised by malicious false data injection attacks (FDIAs) due to the inherent vulnerability of the cyber layer. This work focuses on an event-triggered framework for secure reconstruction and consensus control in MASs subject to both sensor and actuator attacks. First, we introduce a class of Takagi–Sugeno fuzzy multi-agent systems that relax the traditional Lipschitz condition and incorporate realistic system dynamics by considering parameter variations governed by Markovian jump principles. Second, an adaptive fuzzy estimator is developed for the simultaneous reconstruction of states and attacks in MASs. The derived estimates are utilized to design an attack-resilient consensus control strategy that compensates for the effects of FDIAs on the closed-loop consensus error dynamics. Meanwhile, the sufficient conditions for the convergence of both estimation and consensus errors are presented and rigorously proved. Finally, evaluation results on an experimental platform through multiple truck-trailer systems are provided to demonstrate the effectiveness and performance of the proposed approach. Full article

Articulated heavy vehicles exhibit poor lateral stability, which may lead to unstable motion modes, e.g., trailer-sway and jackknifing, causing severe accidents. Varying relevant vehicle parameters improves the static stability but degrades the dynamic stability. The past studies focused either on the static or dynamic stability alone. However, little attention has been paid to exploring the trade-off between the static and dynamic stabilities. To gain design insights for active safety systems for AHVs, this article studies this trade-off systematically. To this end, a systematic method is proposed to conduct the linear stability and trade-off analysis. To implement and demonstrate the proposed method, a linear three-degrees-of-freedom yaw-plane model is generated to represent a tractor/semi-trailer. A trade-off analysis is conducted considering two tractor rear-axle configurations and three trailer payload arrangements. In each case, simulation is performed in both steady-state and transient testing maneuvers. To validate the linear stability analysis based on the linear yaw-plane model, two nonlinear TruckSim models are introduced, and the corresponding simulation is conducted. Insightful understanding of the trade-off is gained through analyzing the simulation results, and the linear stability analysis will provide valuable guidelines for the design and development of active safety systems for AHVs. Full article

This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design approach is straightforward and can be easily extended to configurations with multiple trailers. Using input-to-state stability analysis, we demonstrate the asymptotic stability of the closed-loop system, which is structured in cascade form. Furthermore, we reformulate the path-tracking problem as a curvature-planning challenge and propose an algorithm to determine the desired curvature for the tail trailer. The simulation results validate the effectiveness of this novel algorithm in truck-trailer systems. Full article

Between 20 and 30% of the feedstock delivered cost is the highway hauling. In order to achieve maximum truck productivity, and thus minimize hauling cost, the hauling technology needs to provide for rapid loading and unloading. Three prototype technologies have been proposed to address the hauling issue. The first was developed by Stinger to secure a load of large rectangular bales, and it is identified as the Advanced Load Securing System (ALSS). For this study, the ALSS technology is applied on two trailers hooked in tandem (ALSS-2) loaded with 20 bales each. The second technology (Cable), is a cable system for securing a load of bales (round or rectangular) on a standard flatbed trailer. With the third technology (Rack), bales are loaded into a 20-bale rack at an SSL, and this rack is unloaded as a unit at the biorefinery. Bales remain in the rack until processed, thus avoiding single-bale handling at the receiving facility. A cost comparison, which begins with bales in single-layer ambient storage in SSLs and ends with bales in single file on a conveyor into the biorefinery, was done for the three hauling technologies paired with three load-out technologies. Cost for the nine options ranged from 48.56 USD/Mg (11 load-outs, Cable hauling) to 34.90 USD/Mg (8 loads-outs, ALSS-2 hauling). The most significant cost issue was the reduction in truck cost; 25.54 USD/Mg (20 trucks, Cable) and 15.15 USD/Mg (10 trucks, Rack). Full article

Salt brine is routinely used by transportation agencies to pre-treat critical infrastructure such as bridges, ramps, and underpasses in advance of winter storms. This requires an operator turning on and off brine controls while driving at highway speeds, introducing driver distraction and consistency challenges. In urban areas, such as Indianapolis, a 5500-gallon tractor trailer with a gross vehicle weight of 80,000 pounds is typically used and the driver may have 1200 on/off activations while covering 318 miles during a pre-treatment shift. This study conducted in collaboration with Indiana Department of Transportation has worked with their truck upfitters to adapt geo-fenced agriculture spraying controls to seven trucks that use the Global Positioning System (GPS) position of the truck to activate the sprayer valves when the trucks enter and exit geo-fenced areas that require pre-treatment. This automated brine system enhances safety, reduces driver workload, and ensures the consistent application of brine in designated areas. Furthermore, as additional environmental constraints and reporting requirements evolve, this system has the capability of reducing application rates in sensitive areas and provides a comprehensive geo-coded application history. The Indiana Department of Transportation has scaled deployment for treating interstates and major arterials with brine. This deployment on 5500-gallon tankers, used on I-64/65/69/70/74, and 465, eliminates over 10,000 driver distraction events during every statewide pre-treatment event. Full article

In the past few years, there has been a growing interest among researchers in developing control systems for autonomous vehicles, specifically for tractor-trailer systems. This newfound interest is driven by the potential benefits of enhancing safety, reducing costs, and addressing labor shortages in the industry. Two industries that could reap the rewards of these systems’ advancements are cargo and agriculture transportation. One of the challenging tasks for the truck trailer vehicle is driving in reverse. Backward path tracking of tractor-trailers is a complex control problem with practical applications. The difficulty in controlling the vehicle arises due to its unstable internal dynamics, coupled nonlinear terms, and the under-actuated nature of the system. There is also a limit to the angle at which the steering can be turned before the risk of a jackknife accident increases significantly. In response to these challenges, this paper introduces a robust sliding mode controller designed for path tracking in reverse-driving tractor-trailer systems. The novelty of our work lies in addressing these challenges, which have not been extensively studied in the past. The proposed controller is analyzed, and its performance is tested and verified using different scenarios. The simulation examples show superior control performance, and we anticipate that this novel controller holds the potential to be widely adopted as a fundamental component in the path-tracking algorithms of autonomous truck trailer systems. Full article

Camera-based mirror systems (CBMSs) are a relatively new technology in the automotive industry, and much of the United States’ medium- and heavy-duty commercial fleet has been reluctant to convert from standard glass, or “west coast”, mirrors to CBMSs. CBMSs have the potential to reduce the number of truck and passenger vehicle incidents, improving overall fleet safety. CBMSs also have the potential to improve operational efficiency by improving aerodynamics and reducing drag, resulting in better fuel economy, and improving maneuverability. Improvements in overall safety are also possible; the field of view for the driver is potentially 360° with the addition of trailer cameras, allowing for visibility of the rear of the trailer and the front of the truck. These potential improvements seem promising, but the literature on driver surveys clearly shows that there is reluctance to adopt this technology for many reasons. Additionally, more robust testing in the laboratory and in the field is necessary to determine whether CBMSs are adequate to replace standard mirrors on trucks. This analysis provides an overview of key research questions for CBMS testing based on the current literature on the topic (surveys, standards, and previous testing). The purpose of this analysis is to serve as guidance in developing further testing of CBMSs, especially testing involving human subjects. Full article

Grain supply chain transportation problem is a nontrivial and intractable issue for many developing countries. Grain as a bulk commodity is usually transported by bulk carriers. By taking into account the special condition of Ukraine, we proposed the containerized grain supply chain transportation optimization problem. In this problem, the sustainable supply chain system delivers grains in containers among primary elevators, intermodal yards, and port container terminals. Then, a containerized grain transportation model was developed to minimize the total cost of the sustainable supply chain system. Specifically, 20-foot containers were proven as more reasonable to be used in this paper. We also considered different transportation tools: trucks that can load one 20-foot container, trailers that can load two 20-foot containers, and wagons that can hold two 20-foot containers. Additionally, a disruption model was proposed by considering different disruption scenarios. Based on an analysis of the simulation results, some cost minimization strategies were proposed. Finally, a sensitivity analysis that aimed to analyze the effect of the proposed strategies on the minimal total cost and sustainability of the supply chain was conducted. The main conclusions drawn from the simulation are that the established food supply chain model is meaningful and accurate, and the incorporation of the disruption model aligns with practical requirements. Additionally, an increase in intermodal yard capacity, truck park size, and wagon park size decreases the total cost of the supply chain. The first two have a positive effect on the sustainability of the supply chain, while the latter increases the disruption risk of the supply chain. Full article

With the continuous development of road transport of goods, the issue of safety risks related to the movement of trucks and road trains remains an essential element of the overall road safety system. One of the persistent problems is the braking of such kits, especially in emergencies on the road. The work aims to show how typical changes in operating conditions can affect the basic indicators illustrating the safety of braking (effectiveness indicators, stability symptoms). A simulation method was applied for the analysis, which used a relatively simple (quasi-static) model of the tractor-semitrailer set’s rectilinear motion and models of the braking system and the longitudinal forces in the tyre-road surface contact. Calculations were made for the selected truck-trailer set in nominal condition and for several deviations from the nominal state, such as loading the trailer (load value, location of the semi-trailer’s centre of gravity), reduced surface adhesion, and selected faults of the semitrailer braking system. The results were compared for several qualitative and quantitative criteria for the evaluation of braking safety. Attention was drawn to the problem of the forces in the coupling (which determine the possibility of jack-knifing phenomena), the order of axle locking, and the braking distance. The presented results show that the change of operating conditions as above compared to the nominal condition visibly deteriorates the effectiveness of the braking process. The greatest threat, both related to the braking efficiency and the increase in the force in the coupling, is associated with the lack of braking of the semitrailer axle or a significant reduction in its load. The weight and location of the load’s centre of gravity considerably impact braking safety. In addition to the negative impact on the braking distance or increase in the horizontal force in the coupling, it changes the order of locking the axle. ABS reduces the risk associated with braking safety but does not eliminate it. At the same time, it has been shown that using relatively simple calculation tools makes it possible to indicate the risks related to the braking safety of such articulated vehicles. Full article

With the rapid development of the road transport industry, trucks with semi-trailers have become the main means of transporting goods by road. High quality, durability and reliability of the construction are the main requirements for the production of trailers. Trailer and semi-trailer axles are one of the main and most important components of a truck. Due to the fact that semi-trailer axles are subjected to additional static and dynamic loads during operation, their proper construction is extremely important, therefore they should be carefully designed and tested. The durability of the suspension components refers to the duration of the onset of fatigue. This article presents an analysis of damage to the rear axle of the semi-trailer using macroscopic observations of the damage site and dynamic FEA of stress distribution in the axle material. In order to identify the probable cause of the damage, eight cases of loading the semi-trailer axle were considered. Analytical solutions have shown that in various cases the yield point is exceeded and the strength limit of the modeled semi-trailer axle is reached. The risk of damage to the vehicle’s suspension system components increases on poor roads (bumps and winding road sections). Full article

In order to solve the admissibility problem for a class of nonlinear singular systems with sampling, nonlinearity, and external disturbances, a sample-data control algorithm based on input delay methodology is proposed in this paper. Firstly, the system is converted to a time-delay system based on Takagi–Sugeno fuzzy models via an input delay approach, with many novel time-delay methods being used to deal with the sampled-data control problem. Secondly, both the upper and lower bounds of the sampling period are considered, which has a wider application scope. Thirdly, to obtain less conservative results, an appropriate Lyapunov–Krasovskii function, which involves several symmetric positive definite matrices, is established, and a relaxation variable is introduced by the method of reciprocally convex inequality. Then the conditions of admissibility are given, and the design method of the sampled-data controller is introduced. Finally, a truck-trailer example and two numerical examples are given to prove that the proposed approaches are valid and applicable. Full article