The gasoline vehicles’ on-road emission experiments were carried out with the portable emission measuring system (PEMS) during the clear time and the congestive time. Then the emission characteristics during each time period were analyzed. The experiment data show that a traffic jam increases the CO and HC emission and the peak values appear during the accelerating period. But the NOX emission is reduced due to the low engine temperature during the traffic jam.
Experiments were done to the same car with engine capacity of 1.6 liter on three typical road conditions in Shenzhen for emission characteristics of CO、HC and NOx with SEMTECH-DS manufactured by Sensors Company in USA. Through analysis on the experimental data it is indicated that emission factors with the measurement unit of g/km produced inflection points at the vehicle speed of 7.5~10 Km/h, and its variable rate is big at low speed interval and stable at high speed interval; average emission factors of CO and HC for car running in secondary city main roads is two or five times than those in city main roads; emissions of CO and HC of car at idle and low speed conditions take higher proportion.
The taxies’ emission experiments on urban roads are carried out with a high-precision mobile emission analyzer. Then the emission characteristics are analyzed. The experiment data show that the high speed, the low acceleration and the low VSP will be helpful to decrease the emission and the long mileage will worsen the emission.
This paper deals with facility layout analysis and path planning of a robot palletizing production line using a 4-DOF partial closed-loop palletizing robot and two carton conveyors. The layout of the production line is arranged by the reachable workspace of the robot with a goal to achieve the minimum footprint. A straight-line and arc based motion planning approach is proposed under the constraints of joint velocity and acceleration to achieve higher productivity and easier implementation. An example is given to demonstrate the effective of this method.
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