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Wheel-base (Model Based Control System Design of Two Wheeled Inverted Pendulum Robot) (Model Based Control System Design of Two Wheeled Inverted Pendulum Robot) LEGO NXT MATLAB/SIMULINK . . . 2 . 2
(Development of Wheel-based Mobile Machine Tools) (Development of Wheel-based Mobile Machine Tools) At present, large machine tool systems are very expensive owing to the guide and machine frame. In addition, the space and energy co nsumption for their operation is high. To overcome this problem, a mobile machining platform is proposed that can machine a large com plex product on a workpiece without a guide-based machine tool frame. Applying the mobile machining system to the machining and mai nte
(PDF based Failure Diagnosis of Reaction Wheel) (PDF based Failure Diagnosis of Reaction Wheel) A model based failure diagnosis problem is studied from the view point of statistics. This scheme consists of two parts; () generation of residuals using measured data, () arrangement of proper thresholds. Data of reaction wheel velocity is obtained and used to detect failur es. Performance of a detector is not reliable with data including noise. A low pass filter is applied to reduce noise effec
Simulation of Texturing Patterns in Wheel Based Micro-grinding Hyoung Joo Ko, Ho Chan Kim, Tae Jo Ko Hyoung Joo Ko, Ho Chan Kim, Tae Jo Ko
VIRTUAL PASSIVITY-BASED DECENTRALIZED CONTROL OF MULTIPLE 3-WHEELED MOBILE ROBOTIC SYSTEMS VIA SYSTEM AUGMENTATION (VIRTUAL PASSIVITY-BASED DECENTRALIZED CONTROL OF MULTIPLE 3-WHEELED MOBILE ROBOTIC SYSTEMS VIA SYSTEM AUGMENTATION) (VIRTUAL PASSIVITY-BASED DECENTRALIZED CONTROL OF MULTIPLE 3-WHEELED MOBILE ROBOTIC SYSTEMS VIA SYSTEM AUGMENTATION) Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. Ho wever, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric
Detection of Critical Driving Situations Based on Wheel-Ground Contact Normal Forces To develop an effective vehicle control system, it is needed to estimate vehicle motions accurately, and theestimation of reliable road fri ctions is one of the most important steps to achieve this goal. In the absence of commercially available transducers to measure the frict ion coefficient directly, various types of estimation methodshave been investigated in the past. Most models in the literatu
(Development of High Wheel Slip Control Algorithm for Improvement of Turning Performance based on Electric Vehicle equipped with In-wheel Motors) (Development of High Wheel Slip Control Algorithm for Improvement of Turning Performance based on Electric Vehicle equipped with In-wheel Motors) This paper describes development of high wheel slip control algorithm in order to enhance turning performance of electric vehicle equipp ed with in wheel-motors. In the case of conventional vehicle, turning radius is definitely limited by kinematic features with respect to whe el base, maximum steering angle and track width. In previous studies in order to resolve this limitation, steering angle and
(Proof-of-Concept of Magnetic Wheel-Based Magnetostrictive Energy Harvester) (Proof-ofConcept of Magnetic Wheel-Based Magnetostrictive Energy Harvester) This paper presents a proof-of-concept of a wheel-based magnetostrictive energy harvester (EH), which is a vibration-based EH. Coil-wo und Galfenol cantilevers with two permanent magnets (PMs) act EH, while rotating wheels provide a forced vibration to EH. Four differen t cantilevers are designed and simulated for various end deflection. As expected from the simulation, the cantilever end deflectio
6 Skid Steering (Skid Steering based Driving Control for Robotic Vehicle with 6 Inwheel Drive) (Skid Steering based Driving Control for Robotic Vehicle with 6 In-wheel Drive) This paper describes a driving control algorithm based on a skid steering for a Robotic Vehicle with Articulated Suspension (RVAS). The RVAS is a kind of unmanned ground vehicle based on a skid steering using independent in-wheel drive at each wheel. The driving contro l algorithm consists of four parts: a speed controller for following a desired speed, a lateral motion controller that computes a y
(Vehicle Stability Control Based on the Wheel Slip Control System) (Vehicle Stability Control Based on the Wheel Slip Control System) The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easil y than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-tim e information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to b
(Development of Algorithm for Advanced Driver Assist based on In-Wheel Hybrid Driveline) (Development of Algorithm for Advanced Driver Assist based on In-Wheel Hybrid Driveline) (Adaptive Cruise Control, ACC) . , 4 , 4 . , ACC . ACC
(Characteristics of Wheel Tread for Urban Train Based on Contact Positions) (Characteristics of Wheel Tread for Urban Train Based on Contact Positions) . , , . . The damaged wheel in railway v ehicle would cause a poor ride comfort, a rise in the maintenance cost and even fracture of the wheel, which then leads to a tremendous social and economi
(Robust Wheel Slip Control Based on the Estimated Braking Forces) (Robust Wheel Slip Control Based on the Estimated Braking Forces) Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conv entional ABS systems. The wheel slip controller requires the information about the tire braking force in order to achieve
(Nonlinear Observer Based Trajectory Tracking Control for a Wheeled Mobile Robot) (Nonlinear Observer Based Trajectory Tracking Control for a Wheeled Mobile Robot) In this paper, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear observer for an unmeasurable orientation error and the controller which exponentially stabilize the tracking error are designed. The controller-observer co mbination scheme globally asymptotically stabilize the system without PE condition of angular velocity. The proof of stabil
(Localization of Outdoor Wheeled Mobile Robots using Indirect Kalman Filter Based Sensor fusion) (Localization of Outdoor Wheeled Mobile Robots using Indirect Kalman Filter Based Sensor fusion) This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalm an filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, diver
- (Safety Evaluation of Wheel-Rail System Based on Fracture Scenarios and Fracture Mechanics) (Safety Evaluation of Wheel-Rail System Based on Fracture Scenarios and Fracture Mechanics) Fracture mechanics approach can be severly hampered unless considerable detailed specific knowledge is available. The problem of rail way wheel-rail system fatigue design is currently undertaken by using assumed conservative design procedures. However, although the failure rate is low, the consequences of any such failure can be far reaching. It has been demonstrated that the tools available for ef
Implementation of Real-time Wheel Order Recognition System Based on the Predictive Parameters for Speaker's Intention (Implementation of Real-time Wheel Order Recognition System Based on the Predictive Parameters for Speaker's Intention) In this paper new enhanced post-process predicting the speaker's intention was suggested to implement the real-time control module for ship's autopilot using speech recognition algorithm. The parameter was developed to predict the likeliest wheel order based on the previo us order and expected to increase the recognition rate more than pre-recognition process depending on the universal speech reco
Model Based In-Wheel VCU (Development of Model Based In-Wheel Vehicle Control Unit and Verification System) (Development of Model Based In-Wheel Vehicle Control Unit and Verification System) As Eco-friendly, high-efficiency vehicles development is accelerating, new electric drive system has been required. In the future the coo perative control technology of engine and in-wheel drive system will be expect to as a critical elements of future eco-friendly & smart ve hicle technology. In this regard, VCU(Vehicle Control Unit) was developed for the Hybrid vehicle which is consist of engine (
(A Guideline Tracing Technique Based on a Virtual Tracing Wheel for Effective Navigation of Vision-based AGVs) (A Guideline Tracing Technique Based on a Virtual Tracing Wheel for Effective Navigation of Vision-based AGVs) Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduc e cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical visionbased guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method,
(Performance Analysis of Binary Scheduling Wheel Structure based on Weighted Round Robin) (Performance Analysis of Binary Scheduling Wheel Structure based on Weighted Round Robin) . WRR . , WRR DBSW . DBSW . DBSW VC DBSW . Round robin scheduling discipline, which is a sort of f
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