Fig. 8
From: A proposal for an operating cycle description format for road transport missions
Plots from the simulated logging truck mission: the top graphs show wanted and actual speed as functions of time and position; the mid plots show the speed around the curve as functions of time and position; the bottom-left plot shows the different position concepts (Eq. (13) in blue, (14) in black and (15) in dotted yellow); and the bottom-right plot shows the power take-off request and cargo mass as functions of time