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A laboratory study was conducted to investigate the effects of lateral and horizontal vibration on the difference threshold of vertical vibration. Twelve male subjects sat on a rigid seat and were exposed to four different vibration conditions (pure vertical vibration; combination of horizontal and vertical vibration; combination of lateral and vertical vibration; combination of horizontal, lateral...
Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation...
This paper first presents a simplified single wheel model for underground mining electric vehicles with bounds of system uncertainties. Then, a fuzzy parameter tuning (FPT) technique is used to adjust the parameters in the sliding mode control (SMC) to improve system stability and robustness at an unexpected external disturbances and unbound system uncertainties. The comparison of the simulation results...
This paper discusses the design, development and elevation of a oleo strut suspension system for use on 1.3 m/s, 1000 kg automatic guided vehicle in place of a traditional mechanical spring dampener system. The system is investigated due to the possibility of implementation of semi-active suspension and adjustable ride height. Motivation behind development stems from the unevenness commonly found...
A novel eco-routing navigation strategy and energy consumption modeling approach for electric vehicles are presented in this work. Speed fluctuations and road network infrastructure have a large impact on vehicular energy consumption. Neglecting these effects may lead to large errors in eco-routing navigation, which could trivially select the route with the lowest average speed. We propose an energy...
Real-time information about the current tyre-road friction coefficient is important for vehicles with increasing levels of automation to adapt intervention thresholds and vehicle velocity. Online friction estimation poses large challenges in terms of availability and accuracy of the estimate. When estimating the friction based on the slip and force of a tyre, the accuracy of the estimate depends on...
The optimal speed trajectory for a heavy duty truck is calculated by using the Pontryagin's maximum principle. The truck motion depends on controllable tractive and braking forces and external forces such as air and rolling resistance and road slope. The solution is subject to restrictions such as maximum power and position dependent speed restrictions. The intended application is driving in environments...
Intelligent vehicle safety systems are based on the awareness of vehicle's dynamics states. In this article, we propose the development of an onboarded software (called virtual sensor) aiming at estimating the non-measured vehicle dynamics states, based on the fusion of different vehicle models. The virtual sensor developed in this paper is a system consisted of four observers, which is able to extract...
This paper aims to control roll, pitch and vertical displacement of the suspended mass in a passenger vehicle during on-road drive by means of controlling the active suspension system. One of the goals of this control is to isolate the suspended mass in the vehicle from any road perturbation to ensure a big amount of comfort to the passengers (less roll, less pitch and less vibrations). Two strategies...
Aimed to solve the armored vehicles' features and the steering control problem, a dual steering control strategy based on DYC and the traction control is established. Based on the DYC, which is controlled by yaw angular velocity tracking control, the armored vehicles' dual steering and slip optimal control are realized. It improve the vehicles' performance in steering and steady effectively. And the...
In this paper, the energetic management of the Segway PT i2 is studied. The Segway PT is a human transporter that uses two electric machines, one on each wheel. Each electric machines uses redundant set of windings to guarantee the safety. A multi-set of windings system offers several operating modes. Different kinds of control can then be obtained in normal and fault mode. First simulation results...
Parallel Hybrid Electric Vehicles (HEVs) with Discrete and Continuous Variable Transmissions (DVT and CVT) are studied. A common Energetic Macroscopic Representation (EMR) is developed for both kinds of parallel HEVs. Then, a common control structure is deduced from this EMR. Optimization-based Energy Management Strategies (EMSs) are developed. Simulation results are provided and comparison between...
Vehicle performance tests are conducted to evaluate factors of vehicle performance such as fuel consumption and durability. Robotic drivers are often used in these tests to ensure that performance evaluate is reproducible, and various types of vehicles have been tested. Manual transmission (MT) vehicles are widely used and represent about 50% of vehicles in the world. When the driver selects the gear...
In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model that enables the robot to compensate...
Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board IMU with wind tunnel measurements. The IMU based estimation...
This paper aims to present a methodology that helps improving systems modelling by using Process Integration and Design Optimization technologies. Then, the methodology has been applied on an automotive case study: the improvement of the hybrid vehicle TOYOTA PRIUS III modelling. This work has been carried out in the context of the international research program PLACIS (PLAteforme Collaborative d'Ingénierie...
This special session will introduce participants to our method for supporting integrative learning about key science and math concepts via engineering design challenges. Engineering Teaching Kit (ETKs) are self-contained STEM education standards-based units grounded in the constructivist philosophy of education and the principles of guided inquiry and active learning. An ETK introduces P-12 students...
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 electric/hybrid vehicle are promising technologies and practical for the transport and the environment. For energy management, the vehicle longitudinal dynamics used to estimate vehicle power demands depend on several parameters, including its mass and its rolling conditions. This study compared the methods of estimating the rolling resistance coefficient and mass to establish energy planning...
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