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This work proposes a new linear motor for an electric bus propulsion system. The vehicle is powered by a new topology of permanent magnet synchronous linear motor. The slider of the motor is integrally attached to the floor of the vehicle to propel. The motor is fed with an alternating voltage conveniently applied to a three-phased stator coils which are distributed in the rails that attach the vehicle...
For a full x-by-wire electric vehicle, an integrated chassis control method is proposed with optimal tire force distribution. The aim is to achieve better performance for vehicle handling and stability. A quadratic programming method is used in the optimal tire force distribution, in which the desired vehicle body forces, including longitudinal and lateral forces and yaw moment, are optimally distributed...
Dynamic of driver arm plays an important role in the understanding of driver intentions. Combined with mechanical driving variables and human-related parameters, it allows building a road safety system based on driving intensions and could possibly provide corrections to driving mistakes. Mechanical arm admittance is a driving related parameter which represents the reaction of driver facing a steering...
Effect of firing force from the gun turret causes external disturbance to an armored vehicle. This disturbance has effected the dynamic performance of the armored vehicle while firing in a moving situation. Therefore, an active safety system is required in order to minimize the effect of firing disturbance to improve the dynamic performance and directional stability of the armored vehicle. In this...
Accompanying a person is one of the core capacities of a companion service robot and demands a smooth movement function with collision avoidance. In previous studies, on companion service robots, a robot moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a robot should lead its partner. A robot that leads its...
Braking force distribution (BFD) for electrified vehicles for maximizing energy regeneration has been a challenging research topic, due to the complex operating conditions and tradeoff among different vehicle performance measures. It is known that the level of tire-road friction has a significant impact on the braking force boundaries that define the locking conditions of front and rear wheels. However,...
Inertial reference and positioning based on measurement and processing of acceleration data is needed for guidance and function controls of Autonomous Underwater Vehicles (AUVs). This work proposes a method to implements a low cost inertial navigation and positioning for remote monitoring system. The simulation presented involved of AUV receiving a simulated command to following at a particular trajectories...
In recent years, realistic simulation of vehicles on soft terrain has increasingly gained importance due to its use in operator training, mission planning and design. In this work we present a method which is tailored to the requirements of real-time simulation of soft soil in Virtual Reality applications. We combine models from terramechanics and soil mechanics in order to represent the interaction...
This paper investigates real-time on-road motion planning algorithms for autonomous passenger vehicles (APV) in urban environments, and propose a computationally efficient planning formulation. Two key properties, tunability and stability, are emphasized when designing the proposed planner. The main contributions of this paper are: • A computationally efficient decoupled space-time trajectory planning...
Without sufficient payload capacity to carry necessary electronic components, flying robots at the scale of insects cannot fly autonomously. Using a simple scaling heuristic to determine a few salient vehicle properties, we develop a vehicle design that possesses the requisite payload capacity for the full suite of required components for control autonomy. We construct the vehicle using state-of-the-art...
This paper presents a method that enables highspeed, steady flight in confined spaces for tethered quadrocopters. Thanks to the centripetal force exerted by the tether, high-speed trajectories along circles at different velocities, accelerations, and orientations in space can be flown. Various circular maneuvers are experimentally demonstrated, and tangential velocities of up to 15 m/s and centripetal...
Traditional underwater vehicle-manipulator systems (UVMS) consist mainly of an underwater vehicle on which a manipulator is mounted. In addition to the vehicle thrusters, this paper proposes to use cables to actuate UVMSs. The main goal of this extra source of actuation is to enhance UVMS work capabilities. Similarly to cable-driven parallel robots, the cables are attached to the UVMS and a set of...
A typical feature of city tram transportation is increasing its effectivity. The main effort of public transportation companies is seeking savings for decreasing the energy intensity of mass transit. During operative measurement of power consumption in the tram cars it was found that on the whole the tram energy consumption have well-known influences such as tram occupancy, use of heating etc., and...
We present the design and implementation of a small Vertical-Take-Off-and-Landing (VTOL) aircraft. The vehicle requires minimal additional components to achieve the hover capability and is thus very efficient in forward flight. We improve over the state of the art by using a single controller in all flight modes without using blending between hover condition and fixed wing controllers or gain scheduling...
To gain high mobility on challenging terrains, a mobile robot based on eccentric paddle mechanism (ePaddle) with locomotion versatility has been proposed. In this paper, a paddle-aided stair-climbing motion is presented for this ePaddle-based robot. The robot can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles. Robot-stair interaction...
The modeling and control of a vectoring tricopter UAV are developed in this article. The UAV is actuated by three thrust motors, each guided by suitable actuators, thus forming a platform able to independently track any desired attitude and trajectory. The derivation of the equations of motion is followed by the development of a vectoring controller that is supplemented by an allocation strategy....
Teams of fixed wing micro-aerial vehicles (MAVs) could provide a wide area coverage and relay data in wireless ad-hoc networks. In such applications fixed wing MAVs have to be able to regulate an inter-robot distance. Fixed wing MAVs have reduced maneuverability, that is, they cannot perform sharp turns or hover on the spot. This kinematic property presents the main challenge to design a formation...
This paper introduces an adaptive tuning method for the controllers of a 4 degrees-of-freedom autonomous underwater vehicle. The proposed scheme consists of two control loops, one for position control and an inner one for velocity control. The gains of the controller are determined on-line, according to the position/velocity errors. Using the proposed adaptive architecture, the uncertainties in the...
In this work, we examine several wing designs for a motor-driven, flapping-wing micro air vehicle capable of liftoff. The full system consists of two wings independently driven by geared pager motors that include a spring in parallel with the output shaft. The linear transmission allows for resonant operation, while control is achieved by direct drive of the wing angle. Wings used in previous work...
Here we present a suite of theoretical, computational, and experimental studies culminating in the first aerial and aquatic capable insect-scale robot. We develop a computational fluid dynamics (CFD) simulation to model fluid-wing interaction in air and water. From CFD and a system dynamics analysis we predict that a multi-modal flapping strategy will enable locomotion in both air and water for a...
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