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This paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively...
Electric vehicles mainly work in urban conditions. Due to frequent acceleration and deceleration, the driving and braking torques vary in a large range as well as the motor efficiency. Distributed drive electric vehicles allow for an independent and accurate torque control of each wheel. Based on that, a novel driving and regenerative braking regulation (DRBR) with respect to energy-saving is developed...
Modular Cascade Machines (MCM) system is a new kind of multi-machine system. It is expected to be well applied to the field of electrical vehicles. This paper deals with the global modelling and inversion-based control of a MCM-based electrical vehicle. Energetic Macroscopic Representation (EMR) is used to organize the dynamic model of the system, and the control scheme is deduced through inversion...
The purpose of this paper is to design a fault tolerant control algorithm for all wheels independent drive and steering electric vehicle on condition that only singular drive wheel is effective. The target of presented fault tolerant control algorithm is to maintain the vehicle performance and release the burden of the driver on fault condition. The sliding model control is used to calculate the desired...
This paper presents a multilink-articulated robot with omni and hemispherical wheels (AIRo-II) for inspecting and exploring winding pipes. To quickly adapt to winding pipes, holonomic rolling movement without moving forward and backward is more useful. However, this requires the replacement of driving actuators with rolling actuators at the expense of the driving force. In this paper, we investigate...
This paper describes a novel methodology for programming grinding tool-paths, tool-path orientations and grinding strategies based on the captured trajectories of a surface finishing tool operated by the Skilled-Operator. In order to extract the grinding parameters and strategy from the trajectory of the skilled operator, the manual tool-path is first segmented into tool-path primitives. The order...
An effective pressure estimation algorithm of ABS for motorcycles was proposed in this paper to get the relatively accurate wheel cylinder pressure. Firstly, the performance characteristics of hydraulic control unit was studied and the vehicle model was established by using BikeSim. Next, the pressure estimation algorithms of master cylinder and wheel cylinder were studied. The estimated pressure...
Pressure servo valve is usually used to regulate the pressure of the braking actuator to stop the wheel in traditional aircraft anti-skid braking system. The disadvantages of pressure servo valve include complex structure, high production costs, and the requirement for high quality of the hydraulic oil. In addition, its pilot stage is easy to block by contamination and has a constant leakage. This...
Finite element models of a large coach and two different dual-wave barriers which utilized on highway normally were established, to study the coach-barrier collision process. Dyna solver was used to simulate the dynamic response process with speed of 60km/h and collision angle of 20°. The results show that the protective effect of the two types of barriers on coach-barrier collision is significantly...
In this study, design of a new robotic mechanism for traversing low diameter pipelines has been addressed. Pipe inspection, especially low diameter kind, for detecting defects has always gathered much interest for researchers in medical or industrial applications. Using a mechanism which move successfully into pipes with different diameters, with an appropriate adaptability while passing complex routes...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
In this paper, a new kind of Angle of Attack (AOA) sensor has been designed and calibrated, which is different from the conventional AOA sensor. The sensor is developed using a ball mouse encoder wheel and two Infrared (IR) modules. The system provides a low cost solution to angle of attack measurements with good precision and accuracy. The sensor has been developed for measuring the angle of attack...
With the arrival of aging society, the passive robot walking helper is introduced to provide safe mobility for the elders, which features continuous energy dissipation from the system and is thus intrinsically safe. As both static and moving obstacles may be present in daily activities, obstacle avoidance during guidance is very imperative for its practical use, which motivates us to propose such...
In this paper, an electronic differential is introduced for an electric vehicle (EV) with rear wheel drive and two electric motors. The proposed architecture consists of driving the two motors by simple motor torque controllers, through splitting the torque equally for each motor. The principle is similar to that of a mechanical differential. The purpose is the improvement of EV's drivetrain efficiency...
Tire force distribution is an important topic in motion control of electric vehicles. For years, many researchers have focused on optimal distribution by minimizing a certain cost function. However, no effort has been paid to the stability analysis of tire force distribution theoretically. Let the actuators (in-wheel-motors and steering motors) be the local agents, the electric vehicle can be seen...
It is very important for railway vehicles to have a good braking performance to avoid the phenomenon of idling and skidding, which can be implemented by looking for and keeping an optimal slip ratio. The optimal slip ratio is a value existing in the creep zone of functions between friction coefficient and slip ratio corresponding to the maximum adhesion. Controller based on the sliding mode control...
This paper considers the possibility of adopting a conical shaped motor for Green Taxiing (GT) application. This topology of motor has been selected in order to obviate the presence of external declutching system (i.e. mechanical or electromagnetic clutch) interposed between the electric actuator and the wheel. An axial force contributes to move the rotor inside-out of the stator (principle of sliding-rotor)...
This paper aims to provide an analysis of battery electric vehicle (BEV) performance based on a comprehensive collection of specifications of over 40 currently globally available BEVs. The analysis comprises dimensional, powertrain, and performance data. The collected data are provided in this paper to facilitate further academic studies. There are a wide variety of BEVs from small to large as well...
This study proposes a novel stair-climbing wheelchair based on lever propulsion control using the human upper body. Wheelchairs are widely used as supporting locomotion devices for people with acquired lower limb disabilities. However, steps and stairs are critical obstacles to locomotion, which restrict their activities when using wheelchairs. Previous research focused on power-assisted, stair-climbing...
Paper presents application of called factitious force method and experiments results using the real mobile skid-steering mobile platform. Due to fact that lateral slippage is needed for changing the orientation, constraints for this phenomena cannot be introduced to the system and, thus, the mobile platform is underactuated on dynamics level. Control problem can be solved by expanding relevant components...
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