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Car following and lane changing are the most common driving behavior in urban roads and highways. Although these two maneuvers have been studied extensively, the effects of lane change on car following maneuver remain elusive. This effect, which is called anticipation and relaxation, is a transient state between two car following maneuvers happening due to the lane change of new leader. During this...
The aim of constant tension control of the yarn is to keep the yarn's tension to be consistent during the winding process by controlling the speed of the motor according to the output voltages of the tension sensor. The mechanical structure of spinning machines such as the winding machine makes the fluctuation of the yarn's tension changes rapidly. In this paper, we propose a new tension control algorithm,...
In this paper, an acceleration sensor is utilized to calculate the absolute acceleration and velocity of the end-effector of a redundant 3-link planar manipulator. Generally speaking, the measurement of the acceleration sensor includes high-frequency noise and initial bias error, so a linear Kalman filter is applied to estimate exact acceleration information of the manipulator. In addition, joint-space...
This paper presents an introduction toward train movement as well as relationship among wheel and train's speeds, and defines the notion of wheel slip including two different operation regions designated as creep and wheelspin areas holding stable and unstable characteristics, respectively. Since the equations of movements must be solve simultaneously, the model of wheel and slip is derived by integrating...
In this paper, two disturbance observer (DOB) based explicit robust force control systems, in which a force sensor and a reaction force observer (RFOB) are used to detect contact forces, are compared in terms of stability, robustness and performance. A force sensor detects contact forces implicitly by estimating the strains of a strain gauge. The compliancy of a force sensor degrades the stability...
This paper presents a real-time system based on Wireless Sensor Network (WSN) capable of detecting collisions of vehicles with motorways' guardrails. The system is based on Service Oriented Architecture (SOA) with web services, where the WSN and other applications, like alarm systems and management of WSNs, are connected. It is also presented a simulation based mathematical model using finite element...
This paper presents a promising solution to the problem of the bad environmental impacts and the high operating cost of the Internal Combustion Engine (ICE) gasoline powered vehicles. In Toronto, the capital of Ontario, the traffic jam is becoming a regular flavor of every day's commute that make the driving pattern featured with low speed and a lot of stops and goes. This driving pattern increases...
Inertial navigation systems have as sensing elements gyroscopes and accelerometers. The accelerometers with a frequency output domain have some outstanding characteristics like output of quasi-digital signals, high sensitivity, high resolution, wide dynamic range, anti-interference capacity and good stability. This work explains how this sensor works inside an inertial navigation unit and how the...
In this paper is described an embedded system for face identification. The system, running on FPGA, is built around LEON3 processor and consists of several IP (Intellectual Property) modules designed as AMBA bus peripherals. The face detection is accelerated with the help of a hardware module while the face recognition is entirely executed in software. The face detection hardware accelerator module...
This paper proposes a classification method of a stored motion-data. Robotic technology has made progress, and robots are demanded to cooperate with human. To realize the human and robot exist together, a motion recognition system is needed. In the conventional method, the stored motion-data is classified in advance to search the motion quickly and accurately. However, the task of the classification...
This paper presents a motion-copying system of different master-slave mechanism in variable speed of motion reproduction. The motion-saving system is performed by bilateral control algorithm to preserve arbitrary motions of human operator to a data memory. The slave actuator is affected by friction; hence, a friction-free disturbance observer is employed for force estimation on the slave side. The...
The paper proposes a method to reduce an operational force in a bilateral control system that realizes simultaneity property under communication delay. A bilateral control that realizes simultaneity property is previously proposed, which is achieved by delaying the own force information. It focused on the fact that the force information is the pure information that actuates the motor, therefore, timing...
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