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Steer-by-wire (SBW) system, which is characterized by variable gear ratio, better active safety, unmanned drive, has been widely studied to realize a distinctive driving experience. Control strategy acts as a key part of SBW system to achieve the goal. In this paper, a control strategy by bilateral control structure for steer-by-wire system is proposed. To make SBW system has the same function of...
Attracted by the fact that there are lots of demands for robots working in the amphibious environment, this paper proposes a novel, simple and efficient leg for amphibious robots. That leg is made of the elastic material. The leg could deform a curve-like one passively, forced by the resistance when moving on the ground. Moreover, the leg would recover straight, fin-like, promoting the robots swimming...
This paper proposed a control strategy of differential steering specialized for four wheel independent driving (4WID) EVs. Different from traditional single torque-based control method, this strategy is designed to use the advantage of fast speed control of in-wheel motor. Four wheels are regulated to desired differential speed based on the reference vehicle velocity. Combined with Ackermann-Jeantand...
Torque is one of the most important control factors for a vehicle's motion. Compared with internal combustion engine, electric motors can have a more accurate torque feedback. In electric vehicles, direct torque control of the permanent magnet synchronous motor has been studied. However, because of non-ideal back EMF phenomenon, direct torque control of brushless DC motors has not been widely used...
Nano Air Vehicles (NAVs) were proposed as unmanned aerial robots to fulfill the missions in cluster environment. This study designs two types of wing concept as rotary wing and flapping wing for NAV based on the minimum energy loss theory and biologically inspired theory. The hovering performance of the two concepts is compared each other to demonstrate the concept superiority. And the experimental...
Fish are noted for their excellent performances to cruise efficiently, to maneuver and to position themselves accurately. These performances are the result of complex 3D motion and the cooperation of different fins of fish. In this paper, we focus on the research of the pectoral fin, and present a novel mechanical design of flexible pectoral fin capable of 3D undulation, actuated by shape memory alloy...
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