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High-precision scan stages are used for fabrication of integrated circuits, liquid crystal displays and so on. To fabricate such precise devices, not only stages position but also stages attitude needs to be controlled rapidly and precisely. In this paper, an experimental 6-degree-of-freedom (6-DOF) high-precision stage with a novel 6-DOF air bearing called “gravity canceller” is designed and fabricated...
This paper proposes a method which enables wheeled robot to climb a step that is higher than the radius of the wheel. In conventional method, the velocity at the moment of impact and impact force must be increased in order to climb the step, which causes troubles of wheeled robot. This paper proposes a method utilizing variable loads arised by changing speed and anti-dive force from suspension to...
Driver assistance systems such as automatic steering for lane keeping are of particular importance for vehicle's lateral safety, and onboard look-ahead cameras are widely employed to acquire surrounding information for realization of such applications. In fact, vision-based lane keeping and automatic steering have been intensively studied in the past few decades. Meanwhile, electric vehicles, as green...
This paper describes a new method of sideslip angle estimation for electric vehicle stability control system. Multi-rate Kalman filter is designed based on the measurements of yaw rate (updated every 1 ms) and course angle from GPS receiver (updated every 200 ms). By disturbance accommodating method, robust estimation of sideslip angle is achieved. Direct yaw moment generated by in-wheel motors' torque...
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