Abstract: Electro-hydraulic power steering (EHPS) system for
the fuel rate reduction and steering feel improvement is comprised of
ECU including the logic which controls the steering system and BL
DC motor and produces the best suited cornering force, BLDC motor,
high pressure pump integrated module and basic oil-hydraulic circuit
of the commercial HPS system.
Electro-hydraulic system can be studied in two ways such as
experimental and computer simulation. To get accurate results in
experimental study of EHPS system, the real boundary management is
necessary which is difficult task. And the accuracy of the experimental
results depends on the preparation of the experimental setup and
accuracy of the data collection. The computer simulation gives
accurate and reliable results if the simulation is carried out considering
proper boundary conditions. So, in this paper, each component of
EHPS was modeled, and the model-based analysis and control logic
was designed by using AMESim
Abstract: In this paper, an automatic guided mobile robot using a new magnetic position meter is described. In order to measure the lateral position of a mobile robot, a new magnetic position meter is developed. The magnetic position meter can detect the position of a magnetic wire on the center of road. A mobile robot in designed with a sensing system, a steering system and a driving system. The designed mobile robot is tested to verify the performance of automatic guidance.
Abstract: In this paper, an intelligent automatic parking control method is proposed. First, the dynamical equation of the rear parking control is derived. Then a fuzzy logic control is proposed to perform the parking planning process. Further, a rear neural network is proposed for the steering control. Through the simulations and experiments, the intelligent auto-parking mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances. To improve some shortcomings and limitations in conventional parking mode control and further to reduce consumption time and prime cost.
Abstract: In recent years, an increased competition and lower profit margins have necessitated a focus on improving the performance of the product development process, an area that traditionally have been excluded from detailed steering and evaluation. A systematic improvement requires a good understanding of the current performance, wherefore the interest for product development performance measurement has increased dramatically. This paper presents a case study that evaluates the performance of the product development performance measurement system used in a Swedish company that is a part of a global corporate group. The study is based on internal documentation and eighteen in-depth interviews with stakeholders involved in the product development process. The results from the case study includes a description of what metrics that are in use, how these are employed, and its affect on the quality of the performance measurement system. Especially, the importance of having a well-defined process proved to have a major impact on the quality of the performance measurement system in this particular case.
Abstract: An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.
Abstract: Planar systems of electrodes arranged on both sides of dielectric piezoelectric layer are applied in numerous transducers. They are capable of electronic beam-steering of generated wave both in azimuth and elevation. The wave-beam control is achieved by addressable driving of two-dimensional transducer through proper voltage supply of electrodes on opposite surfaces of the layer. In this paper a semi-analytical method of analysis of the considered transducer is proposed, which is a generalization of the well-known BIS-expansion method. It was earlier exploited with great success in the theory of interdigital transducers of surface acoustic waves, theory of elastic wave scattering by cracks and certain advanced electrostatic problems. The corresponding nontrivial electrostatic problem is formulated and solved numerically.
Abstract: The roll center is one of the key parameters for designing a suspension. Several driving characteristics are affected significantly by the migration of the roll center during the suspension-s motion. The strut/SLA (strut/short-long-arm) suspension, which is widely used in production cars, combines the space-saving characteristics of a MacPherson strut suspension with some of the preferred handling characteristics of an SLA suspension. In this study, a front strut/SLA suspension is modeled by ADAMS/Car software. Kinematic roll analysis is then employed to investigate how the rolling characteristics change under the wheel travel and steering input. The related parameters, including the roll center height, roll camber gain, toe change, scrub radius and wheel track width change, are analyzed and discussed. It is found that the strut/SLA suspension clearly has a higher roll center than strut and SLA suspensions do. The variations in the roll center height under roll analysis are very different as the wheel travel displacement and steering angle are added. The results of the roll camber gain, scrub radius and wheel track width change are considered satisfactory. However, the toe change is too large and needs fine-tuning through a sensitivity analysis.
Abstract: The paper presents a novel method for the 3D shaping
of different materials using a high-pressure abrasive water jet and a
flat target image. For steering movement process of the jet a principle
similar to raster image way of record and readout was used.
However, respective colors of pixel of such a bitmap are connected
with adequate jet feed rate that causes erosion of material with
adequate depth. Thanks to that innovation, one can observe spatial
imaging of the object. Theoretical basis as well as spatial model of
material shaping and experimental stand including steering program
are presented in. There are also presented methodic and some
experimental erosion results as well as practical example of object-s
bas-relief made of metal.
Abstract: A concept of switched beam antennas consisting of
2×2 rectangular array spaced by λ/4 accompanied with a null locating
has been proposed in the previous work. In this letter, the
performance evaluations of its prototype are presented. The benefits
of using proposed system have been clearly measured in term of
signal quality, throughput and delays. Also, the impact of position
shift which mesh router is not located on the expected beam direction
has also been investigated.
Abstract: A variable structure model reference adaptive control
(VS-MRAC) strategy for active steering assistance of a two wheel
steering car is proposed. An ideal steering system with fixed
properties and moving on an ideal road is used as the reference
model, and the active steering assistance system is forced to attain
the same behavior as the reference model. The proposed system can
treat the nonlinear relationships between the side slip angles and
lateral forces on tire, and the uncertainties on friction of the road
surface, whose compensation are very important under critical
situations. Simulation results show improvements on yaw rate and
side slip.
Abstract: In this paper we present a noise reduction filter for video processing. It is based on the recently proposed two dimensional steering kernel, extended to three dimensions and further augmented to suit the spatial-temporal domain of video processing. Two alternative filters are proposed - the time symmetric kernel and the time asymmetric kernel. The first reduces the noise on single sequences, but to handle the problems at scene shift the asymmetric kernel is introduced. The performance of both are tested on simulated data and on a real video sequence together with the existing steering kernel. The proposed kernels improves the Rooted Mean Squared Error (RMSE) compared to the original steering kernel method on video material.
Abstract: This paper addresses issues of integral steering of
vehicles with two steering axles, where the rear wheels are pivoted in
the direction of the front wheels, but also in the opposite direction.
The steering box of the rear axle is presented with simple linkages
(single contour) that correlate the pivoting of the rear wheels
according to the direction of the front wheels, respectively to the
rotation angle of the steering wheel. The functionality of the system
is analyzed – the extent to which the requirements of the integral
steering are met by the considered/proposed mechanisms. The paper
highlights the quality of the single contour linkages, with two driving
elements for meeting these requirements, emphasizing diagrams of
mechanisms with 2 driving elements. Cam variants are analyzed and
proposed for the rear axle steering box. Cam profiles are determined
by various factors.
Abstract: The performance of adaptive beamforming degrades
substantially in the presence of steering vector mismatches. This
degradation is especially severe in the near-field, for the
3-dimensional source location is more difficult to estimate than the
2-dimensional direction of arrival in far-field cases. As a solution, a
novel approach of near-field robust adaptive beamforming (RABF) is
proposed in this paper. It is a natural extension of the traditional
far-field RABF and belongs to the class of diagonal loading
approaches, with the loading level determined based on worst-case
performance optimization. However, different from the methods
solving the optimal loading by iteration, it suggests here a simple
closed-form solution after some approximations, and consequently,
the optimal weight vector can be expressed in a closed form. Besides
simplicity and low computational cost, the proposed approach reveals
how different factors affect the optimal loading as well as the weight
vector. Its excellent performance in the near-field is confirmed via a
number of numerical examples.
Abstract: This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.
Abstract: Complexity, as a theoretical background has made it
easier to understand and explain the features and dynamic behavior
of various complex systems. As the common theoretical background
has confirmed, borrowing the terminology for design from the
natural sciences has helped to control and understand urban
complexity. Phenomena like self-organization, evolution and
adaptation are appropriate to describe the formerly inaccessible
characteristics of the complex environment in unpredictable bottomup
systems. Increased computing capacity has been a key element in
capturing the chaotic nature of these systems.
A paradigm shift in urban planning and architectural design has
forced us to give up the illusion of total control in urban
environment, and consequently to seek for novel methods for
steering the development. New methods using dynamic modeling
have offered a real option for more thorough understanding of
complexity and urban processes. At best new approaches may renew
the design processes so that we get a better grip on the complex
world via more flexible processes, support urban environmental
diversity and respond to our needs beyond basic welfare by liberating
ourselves from the standardized minimalism.
A complex system and its features are as such beyond human
ethics. Self-organization or evolution is either good or bad. Their
mechanisms are by nature devoid of reason. They are common in
urban dynamics in both natural processes and gas. They are features
of a complex system, and they cannot be prevented. Yet their
dynamics can be studied and supported.
The paradigm of complexity and new design approaches has been
criticized for a lack of humanity and morality, but the ethical
implications of scientific or computational design processes have not
been much discussed. It is important to distinguish the (unexciting)
ethics of the theory and tools from the ethics of computer aided
processes based on ethical decisions. Urban planning and architecture
cannot be based on the survival of the fittest; however, the natural
dynamics of the system cannot be impeded on grounds of being
“non-human".
In this paper the ethical challenges of using the dynamic models
are contemplated in light of a few examples of new architecture and
dynamic urban models and literature. It is suggested that ethical
challenges in computational design processes could be reframed
under the concepts of responsibility and transparency.
Abstract: This paper considers the problem of Null-Steering beamforming using Neural Network (NN) approach for antenna array system. Two cases are presented. First, unlike the other authors, the estimated Direction Of Arrivals (DOAs) are used for antenna array weights NN-based determination and the imprecise DOAs estimations are taken into account. Second, the blind null-steering beamforming is presented. In this case the antenna array outputs are presented at the input of the NN without DOAs estimation. The results of computer simulations will show much better relative mean error performances of the first NN approach compared to the NNbased blind beamforming.
Abstract: In this paper motion analysis on a winding
stair-climbing is investigated using our proposed rotational arm type
of robotic wheelchair. For now, the robotic wheelchair is operated in
an open mode to climb winding stairs by a dynamic turning, therefore,
the dynamics model is required to ensure a passenger-s safety.
Equations of motion based on the skid-steering analysis are developed
for the trajectory planning and motion analysis on climbing winding
stairs. Since the robotic wheelchair must climb a winding staircase
stably, the winding trajectory becomes a constraint equation to be
followed, and the Baumgarte-s method is used to solve for the
constrained dynamics equations. Experimental results validate the
behavior of the prototype as it climbs a winding stair.
Abstract: Public administration institutions in cooperation with
politicians are not the sole policy decision makers in full meaning
any longer. Meanwhile, a special role, namely steering the decision
making process, could be delegated to them.
Despite the wide scientific discussion on different aspects what
has direct impact on policy creation, there is a lack of holistic
practical managerial advice, which could integrate infrastructure of
policy decision making with intellectual capital and with
interconnection of partnership. The proposed harmonized decision
making model of process, people and partnership entitled by
acronym HM-3P is analyzed as a framework for implementation of
public administration steering role seeking the coherent social
involvement in policy decision making.
Abstract: Numerical studies have been carried out using a
validated two-dimensional RNG k-epsilon turbulence model for the
design optimization of a thrust vector control system using shock
induced supersonic secondary jet. Parametric analytical studies have
been carried out with various secondary jets at different divergent
locations, jet interaction angles, jet pressures. The results from the
parametric studies of the case on hand reveal that the primary nozzle
with a small divergence angle, downstream injections with a distance
of 2.5 times the primary nozzle throat diameter from the primary
nozzle throat location warrant higher efficiency over a certain range
of jet pressures and jet angles. We observed that the supersonic
secondary jet opposing the core flow with jets interaction angle of
40o to the axis far downstream of the nozzle throat facilitates better
thrust vectoring than the secondary jet with same direction as that of
core flow with various interaction angles. We concluded that fixing
of the supersonic secondary jet nozzle pointing towards the throat
direction with suitable angle at a distance 2 to 4 times of the primary
nozzle throat diameter, as the case may be, from the primary nozzle
throat location could facilitate better thrust vectoring for the
supersonic aerospace vehicles.
Abstract: In this paper, a Smart Home Service Robot, McBot II,
which performs mess-cleanup function etc. in house, is designed much
more optimally than other service robots. It is newly developed in
much more practical system than McBot I which we had developed
two years ago. One characteristic attribute of mobile platforms
equipped with a set of dependent wheels is their omni- directionality
and the ability to realize complex translational and rotational
trajectories for agile navigation in door. An accurate coordination of
steering angle and spinning rate of each wheel is necessary for a
consistent motion. This paper develops trajectory controller of
3-wheels omni-directional mobile robot using fuzzy azimuth estimator.
A specialized anthropomorphic robot manipulator which can be
attached to the housemaid robot McBot II, is developed in this paper.
This built-in type manipulator consists of both arms with 3 DOF
(Degree of Freedom) each and both hands with 3 DOF each. The
robotic arm is optimally designed to satisfy both the minimum
mechanical size and the maximum workspace. Minimum mass and
length are required for the built-in cooperated-arms system. But that
makes the workspace so small. This paper proposes optimal design
method to overcome the problem by using neck joint to move the arms
horizontally forward/backward and waist joint to move them
vertically up/down. The robotic hand, which has two fingers and a
thumb, is also optimally designed in task-based concept. Finally, the
good performance of the developed McBot II is confirmed through
live tests of the mess-cleanup task.