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The road topography can significantly affect the tyre vertical load and the vehicle dynamics response in off-road scenarios, which will greatly impact the autonomous vehicle's stability, trajectory planning and trajectory tracking performance. However, the road topography information is less focused in current literature. This study focuses on the local trajectory planning and tracking method by assuming waypoints along the global route are already available. First an innovative spatiotemporal-based local trajectory planning algorithm is proposed to select the desired trajectory with minimum road gradient and bank angle. After that, a 8 degrees-of-freedom (DOF) vehicle dynamics model is proposed to better present the dynamics performance. Finally a double-layer control strategy for trajectory tracking is designed to follow the desired planned trajectory. It is proved by simulations results that the peak bank angle and road gradient could be avoided, and the trajectory tracking per ....
Despite large volumes of cattle stocks in the Sahel, most exports of cattle products remain as live animal sales rather than meat. However, there is increased interest amongst donors and governments to increase value-added exports of beef. In this paper, we provide results from a simulation analysis that explores the prospective competitiveness and benefits of exporting beef from Burkina Faso to Ghana rather than live animals. The paper reviews trading patterns in live animals along the corridor and meat imports from overseas destinations to Ghana. Model results highlight limited competitiveness of the main products demanded in destination markets (offals). Market segmentation strategies, infrastructure development, and animal productivity all generate marginal improvements in competitiveness, but not enough to compete with third-country supplies. Only specific, largely external macroeconomic conditions provide for significant improvements in competitiveness. The paper further reveals ....
Ford Puma ST/Hyundai Kona: Vergleichstest autozeitung.de - get the latest breaking news, showbiz & celebrity photos, sport news & rumours, viral videos and top stories from autozeitung.de Daily Mail and Mail on Sunday newspapers.
Mon 12 Apr, 2021 – 8:45 AM ET Fitch Ratings – Hong Kong – 12 Apr 2021: Fitch Ratings has revised the Outlook on Cameroon’s Long-Term Foreign-Currency Issuer Default Rating (IDR) to Stable from Negative and affirmed the IDR at ‘B’. KEY RATING DRIVERS The revision of the Outlook reflects that the pandemic shock caused only a mild deterioration in public finances, which Fitch expects will be reversed, and confidence that the government will secure sufficient funding in the medium term, limiting debt service and refinancing risks. Cameroon’s public finances have proven relatively resilient to the pandemic shock and we expect the deficit to be on a downward path over the medium term. The fiscal deficit on a cash basis widened in 2020 to 4.5% of GDP from 3.0% in 2019, owing to an only mild hit to tax collection and limited expenditure increases in response to the coronavirus shock (1.3% of GDP), given financing constraints. The phasing-out of pandemic-relat ....
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