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This paper depicts the mechanical design of a mobile robot platform with four independent drive and steering wheels. The wheeled mobile robot is equipped with a thermal imager, a visible camera. The robot's three wheels are independent and can rotate 360 °. The robot is automatically controlled by a remote, which set a good basis for tracking cruise line. Robot during cruise through infrared camera...
As soft computing techniques are more and more widely used in machining process, Artificial Neural Network (ANN) has become an effective way to construct predicting model in grinding process. The present paper reviews the efforts made in recent two decades on modeling grinding process via ANN in a sequence as input and output parameters, ANN topology and the details of the ANN training algorithm....
In this paper, we have proposed a novel localization algorithm for small size transport vehicle with the Short Range of the UHF RFID technology and the wheels odometry that are fused by Sequential Importance Resampling Particle Filter(SIR PF) Instead of the HF RFID because HF RFID have a problem that is a limitation of the moving speed of the mobile robots, so to solve the such problem we used for...
Control design plays a key role in electric-assist bikes. This paper has established dynamic models of electrically assisted biking systems, and then, designed proportion-assisted power controllers (PAPC) in accordance with Taiwan government rules. In the PAPC controllers, current bike speed and pedal torque are used as inputs to determine the assisted torque generated from a motor. On the other hand,...
Based on the model of TFC20 electric forklift, the composition and working principle of the steer by wire (SBW) system is introduced in this paper. And then the relationship between steering handle force characteristics and vehicle speed, the relationship between steering handle force characteristics and steering handle angle, and the relationship between steering handle force characteristics and...
In order to solve the common problems of dual-motor asynchrony in dual-drive synchronization control system, and achieve precise synchronization control of dual-screw drive system, an improved cross coupling control algorithm based on disturbance compensation is proposed in this paper and the corresponding mathematical model is established. First, setting several groups' parameters of the disturbance...
In this paper, a novel dual-motor driving electric power steering (EPS) system for commercial vehicle is proposed. The parameters matching, system structure, and power-assistance characteristics of this dual-motor EPS system are designed according to a commercial vehicle. The power distribution scheme and fault-tolerant control algorithm are designed. Simulation results show that the power steering...
A simple exposition was carried out for the power train's structure of the electric vehicle. Based on this, another simple exposition was designing the electronic differential which was based on various control theories. And detailed exposition was made upon the structure, the object and the control strategy of the electronic differential. Then, the combined simulation of distributed driving electric...
In order to enhance road safety, this article presents a robust methodology for estimation of vehicle's lateral dynamics states, including velocities, sideslip angles, accelerations and tire forces. Awareness of vehicle dynamics states is essential for most intelligent vehicle control systems. However some of these states are not available by direct sensor measurement for technical and economical...
A problem of identification control synthesis is considered. This problem arises when it is necessary to perform a control system synthesis for an object which mathematical model is unknown. To solve the identification control synthesis problem, we use a numerical method of the network operator. The method allows finding both the structure and the parameters of mathematical expressions in the form...
Clustering is a fundamental and widely used method for grouping similar records in one cluster and dissimilar records in the different cluster. In cluster analysis, a major problem is to determine the appropriate number of cluster in advance. It is difficult for a user (data miner) to estimate the appropriate number of clusters in advance. Another limitation of a well-known clustering technique called...
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