A multi-steered general n-trailer is considered in this work. A global pathtracking control strategy for the n-trailer is proposed. Three nonlinear control laws are used to solve the problem by means of a commutation scheme. This commutation scheme allows to avoid the singularities inherent to a feedback linearization scheme. Simulation results show that the proposed scheme has good performance...

Abstract Application of memetic algorithm (MA) is considered in this work to solve the truck and trailer routing problem (TTRP). In TTRP, some customers can be designated as vehicle customers and can be serviced either by a complete vehicle (a trailer pulling by truck) or a single truck. However, some customers are known as truck customers and have to be serviced by a single truck. To employ t...

The nucleotide sequences of the nucleocapsid protein (NP) gene, the intergenic regions in the nucleocapsid protein (NP)-phosphoprotein (P), P-matrix protein (M) and M-fusion glycoprotein gene junctions and the trailer region of a virulent Newcastle disease virus (NDV) strain Beaudette C were determined. The NP gene is 1747 nt long and encodes a protein of 489 amino acids. Each of the intergenic...

The 3' termini of the genomic and antigenomic RNAs of human respiratory syncytial virus (RSV) are identical at 10 of the first 11 nucleotide positions and 21 of the first 26 positions. These conserved 3'-terminal sequences are thought to contain the genomic and antigenomic promoters. Furthermore, the complement of each conserved sequence (i.e., the 5' end of the RNA it encodes) might contain an...

Autonomous guidance of agricultural vehicles is vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Successful research has been concentrated on trajectory control which can pr...

This paper describes two related tests; to navigate an articulated lawn mover and to reverse a mobile robot with a trailer In both cases the vehicle s are to follow a preprecified trajectory. The navigation principal is based on measured directions to several identical beacons, consisting of strips of rejective tapes. The angular sensor is a rotating laser for the illumination of the beacons an...

A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a two-axle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques,...

Passive trailer systems provide a variety of advantages in delivery and transportation applications. The transportation capacity of the truck with multiple trailers can be increased in proportion to the number of trailers. The cost of the car with trailers is much lower than the cost of multiple cars. However, the major drawback of the trailer system is tha...

Tractor–trailer systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. In fact, tractor– trailer wheeled robot has been proposed as a modular robotic system in which an actuated mobile robot tows a passive trailer. This is a highly nonlinear un...

In this paper we develop an iterative insertion heuristic for a site-dependent truck and trailer routing problem with soft and hard time windows and split deliveries. In the considered problem a truck can leave its trailer for unloading or parking, make a truck-subtour to serve truckcustomers, and return back to take the trailer. This can be done several times in one route. In our heuristic eve...