Dynamics of four-wheel-steering vehicles

In this paper we present an optimised 3 degrees-of-freedom non-linear dynamic model of a four-wheel-steering (4WS) vehicle. As variables, we retain the lateral velocity V, the rolling velocity p and yaw velocity r. The front steer angle δ_f and rear steer angle δ_r are considered to be linear functions of the steering wheel angle θ_s and of dθ_s/dt, the proportionality parameters being k _1f, k _2f for δ_f and k _1r, k _2r for δ_r. The parameters k _1f, k _2f, k _1r, k _2r are optimised by use of the BOX mathematical algorithm. In a first optimisation loop we minimise the sideslip angle β of the vehicle and in a second optimisation loop we assure, that the resultant (taken in the centre of gravity of the vehicle) of all the transversal forces F _y applied on the wheels of the vehicle (reaction forces contained in the road plane), give a component F _yx along the longitudinal axis of the vehicle, that takes a non negative value. This assures, that the motor of the vehicle will not waste fuel to overcome resistance forces originating from the steering system of the vehicle. A numerical application is also presented for a 4WS vehicle negotiating a curve at constant velocity. The results are compared to those obtained by two models frequently used in the literature. The comparison testifies on the superiority of our model for the application presented here.     

Modification of ITO surface using aromatic small molecules with carboxylic acid groups for OLED applications

4-[(3-Methylphenyl)(phenyl)amino]benzoic acid (MPPBA) was synthesized in order to facilitate the hole-injection in Organic Light Emitting Diodes (OLED). MPPBA was applied to form self-assembled monolayer (SAM) on indium tin oxide (ITO) anode to align energy-level at the interface between organic semiconductor material (TPD) and inorganic anode (ITO) in OLED devices. The modified surface was characterized by X-ray photoelectron spectroscopy (XPS), atomic force microscopy (AFM) and Kelvin probe force microscopy (KPFM). KPFM was used to measure the surface potential and work function between the tip and the ITO surface modified by SAM technique using MPPBA. The OLED devices (ITO/MPPBA/TPD/Alq₃/Al) fabricated with SAM-modified ITO substrates showed lower turn-on voltages and enhanced diode current compare to the OLED devices fabricated with bare ITO substrates.