Steering Wheel Research Articles

Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming.

The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.

Research on automatic emergency steering collision avoidance and stability control of intelligent driving vehicle.

In view of the need for emergency steering to avoid collision when the vehicle is in a dangerous scene, and the stability control of the vehicle during collision avoidance. This paper proposes a planning and control framework. A path planner considering the kinematics and dynamics of the vehicle system is used to formulate the safe driving path under emergency conditions. LQR lateral control algorithm is designed to calculate the output steering wheel angle. On this basis, adaptive MPC control algorithm and four-wheel braking force distribution control algorithm are designed to achieve coordinated control of vehicle driving stability and collision avoidance safety. The simulation results show that the proposed algorithm can complete the steering collision avoidance task quickly and stably.

Active signal-generating spacer-fabric-type continuous touch/pressure sensor

Attention toward automated driving has recently increased. This has also increased the need to monitor drivers’ actions, such as finger touch/pressure sensing on the steering wheel. This study demonstrates an active signal-generating spacer-fabric-type continuous touch/pressure sensor comprising five yarn layers: surface-insulating cotton, upper conductive, monofilament spacer, lower conductive and bottom-insulating cotton yarn. The sensor actively generates signals, and the magnitude of the voltage output through a diode bridge and capacitor circuit determines if the fingers are ‘not touching’, ‘touching’, ‘pushing’ or ‘pushing hard’. This demonstrates that the proposed sensor can be operated as an active signal-generating touch/pressure sensor and can also detect ‘pushing hard’ actions. Furthermore, the active signal-generating operation originates from the electromagnetic waves emitted by electrical appliances and cables powered by a commercial power supply frequency in the environment. The proposed sensor will contribute to developing high-cushioning touch/pressure sensors with low power consumption and excellent air permeability that can be used in electric and autonomous vehicles.

Effects of additives on properties of self-skinning polyurethane foam for automobile steering wheel

Commercialized polyurethane foam products for automobile steering wheels have been committed to the development of products with comprehensive properties such as low density, high production efficiency and environmental protection. Based on this, this article has launched a series of experiments to explore the effects of different types of chain extenders, blowing agents and catalysts on the mechanical properties, cell structure, skin and reactivity of self-skinning polyurethane foams for automobile steering wheels. The results show that the hardness and tensile strength of the foam gradually decrease with the chain growth of small molecular chain extenders (ethylene glycol, 1.3-propanediol, 1.4-butanediol), and the elongation at break increases gradually. The foaming agent formic acid is more conducive than water as it favors the formation of small but compact cells, thus dense skin. The catalytic efficiency of non-reactive catalysts (A1, KC101 and DabcoEG) is higher than that of reactive catalysts (LED-103, ZR-50, DPA). The theoretical research for the development of high-performance and high-efficiency polyurethane foam products for automobile steering wheels.

A Study on the Entire Take-Over Process-Based Emergency Obstacle Avoidance Behavior.

Nowadays, conditional automated driving vehicles still need drivers to take-over in the scenarios such as emergency hazard events or driving environments beyond the system's control. This study aimed to explore the changing trend of the drivers' takeover behavior under the influence of traffic density and take-over budget time for the entire take-over process in emergency obstacle avoidance scenarios. In the driving simulator, a 2 × 2 factorial design was adopted, including two traffic densities (high density and low density) and two kinds of take-over budget time (3 s and 5 s). A total of 40 drivers were recruited, and each driver was required to complete four simulation experiments. The driver's take-over process was divided into three phases, including the reaction phase, control phase, and recovery phase. Time parameters, dynamics parameters, and operation parameters were collected for each take-over phase in different obstacle avoidance scenarios. This study analyzed the variability of traffic density and take-over budget time with take-over time, lateral behavior, and longitudinal behavior. The results showed that in the reaction phase, the driver's reaction time became shorter as the scenario urgency increased. In the control phase, the steering wheel reversal rate, lateral deviation rate, braking rate, average speed, and takeover time were significantly different at different urgency levels. In the recovery phase, the average speed, accelerating rate, and take-over time differed significantly at different urgency levels. For the entire take-over process, the entire take-over time increased with the increase in urgency. The lateral take-over behavior tended to be aggressive first and then became defensive, and the longitudinal take-over behavior was defensive with the increase in urgency. The findings will provide theoretical and methodological support for the improvement of take-over behavior assistance in emergency take-over scenarios. It will also be helpful to optimize the human-machine interaction system.

Mathematical Model and Simulation for Improving Brake, Bump and Roll Steers in Light Commercial Vehicle (LCV)

Due to recent infrastructural developments and emerging competitive automotive market in India, there is seen a huge shift in customer demand and vehicle drivability pattern for small commercial vehicles. Various factors contributing to driver’s fatigue include driver negligence, inappropriate driving habits and vehicle inherent design error due to which a driver is forced to make frequent steering wheel corrections so as to make the vehicle run in a straight line. Thus, optimization of steering, suspension and front axle geometry becomes important for improving the overall vehicle drivability and reducing the driver fatigue. Mentioned herewith are the major kinematic characteristics in a vehicle which plays vital role for ensuring vehicle improved drivability – Brake steer, Bump steer, Roll steer and Ackerman Geometry. As on today, the above analysis for deriving optimized linkages hard points for steering, suspension and front axle system are done in customized Multi body dynamics software’s like ADAMS/Trucksim. Although the derived hard points in such MBD software’s are precise yet there are several drawbacks in such approach like increase in overall project time plan, mainly due to the vehicle packaging issues for the proposed hard points and also these software customized license and AMC are quite high which increases the overall operating cost of a project. In this paper, an approach has been developed so as to derive these linkages hard points through mathematical calculation and kinematic simulation model in product design Catia platform itself. This helps the designer to derive the optimized hard points of linkages for “n” number of design iterations at the concept stage itself. Thus, this design methodology saves not only on the project design cost but also it reduces the overall product design lifecycle and gives the respective designer to choose the optimum hard point based upon the vehicle packaging feasibility Brake steer, Bump steer, Roll steer, Catia 2D layout, Camber, TCD, Ackermann error.
 

Gender and Anthropometric Effects on Seat-to-Head Transmissibility Responses to Vertical Whole-Body Vibration of Humans Seated on an Elastic Seat

This study investigated the effects of gender and ten different anthropometric parameters on the vertical vibration transmission from seat to the head of the body seated on an elastic seat. The seat-to-head transmissibility (STHT) responses in the vertical and fore-aft directions of 58 participants (31 males and 27 females) were measured under three levels of vertical vibration (root mean square acceleration: 0.25, 0.50, and 0.75 m/s2) in the 0.50–20 Hz range, when sitting on a viscoelastic seat with and without a vertical back support, and with hands on a steering wheel. Apart from the important effects of elastic coupling between the body and seat, the results show distinctly different vertical and fore-aft STHT responses from the two genders. Moreover, the gender effect was strongly coupled with back support and excitation conditions. The primary resonance frequencies of male subjects were higher than those of female subjects, while the peak vertical STHT magnitudes were comparable. Owing to the strong coupled effects of gender and anthropometric dimensions, the study is designed to reduce the coupling by considering datasets for subjects with comparable chosen dimensions. Among the various anthropometric dimensions considered, the body mass and fat mass revealed strong influences on the primary resonance frequency, which was similar for male and female subjects with comparable body mass index and body fat mass. The vertical STHT magnitude of the two genders with the same lean body mass was also nearly identical. The peak fore-aft STHT magnitudes of the male subjects were notably higher than those of the female subjects with comparable anthropometric dimensions with the exception of the body mass.

Low-visibility commercial ground operations: An objective and subjective evaluation of a multimodal display

AbstractFlight crews’ capacity to conduct take-off and landing in near zero visibility conditions has been partially addressed by advanced surveillance and cockpit display technology. This capability is yet to be realised within the context of manoeuvring aircraft within airport terminal areas. In this paper the performance and workload benefits of user-centre designed visual and haptic taxi navigational cues, presented via a head-up display (HUD) and active sidestick, respectively, were evaluated in simulated taxiing trials by 12 professional pilots. In addition, the trials sought to examine pilot acceptance of side stick nose wheel steering. The HUD navigational cues demonstrated a significant task-specific benefit by reducing centreline deviation during turns and the frequency of major taxiway deviations. In parallel, the visual cues reduced self-report workload. Pilot’s appraisal of nose wheel steering by sidestick was positive, and active sidestick cues increased confidence in the multimodal guidance construct. The study presents the first examination of how a multimodal display, combining visual and haptic cues, could support the safety and efficiency in which pilots are able to conduct a taxi navigation task in low-visibility conditions.

The Borderlands

The Borderlands

Study on Control Strategy of Electric Power Steering for Commercial Vehicle Based on Multi-Map

In order to solve the problem where the traditional electric power steering system (EPS) provides too much assist torque under low load and low adhesion coefficient, which damages the driver’s road feeling and affects driving safety, this paper designs a multi-map EPS control strategy. First, based on the change of steering resistance torque under different front axle loads and adhesion coefficients, EPS power characteristics considering the front axle load and adhesion coefficient were designed. In addition, the BP (Back Propagation, BP) neural network is used to determine steering resistance torque under different front axle loads and adhesion coefficients. Furthermore, the EPS control strategy based on multi-map is proposed. The proposed control strategy is evaluated through the co-simulation of Trucksim and Simulink. Simulation results show that the proposed EPS control strategy gives the vehicle good steering portability, with the handling torque meeting the ideal handling torque for a commercial vehicle. Under light load and low adhesion coefficient conditions, the lateral acceleration and yaw rate with traditional EPS are 0.1674 g and 5.641 deg/s, and with multi-map EPS are 0.1399 g and 4.715 deg/s. Therefore, the vehicle’s handliitung stability is improved. The steering wheel torque gradient is also increased, and the driver’s road feeling is improved.

Shock Absorber Leakage Impact on Aircraft Lateral Stability During Ground Handling Maneuvers

Aircraft braking maneuvers are safety-critical on-ground motions that exhibit complex dynamics and significant dependence on system operating conditions. The fundamental interface between the aircraft and the ground is the landing gear. Among the landing gear components, the shock absorbers may be subject to gas leakage during their lifetime, which is an anomaly that could compromise the lateral stability properties of the aircraft on the operating regimes found during braking maneuvers. In this paper, an explicit link is established between main landing gear shock absorber leakage and aircraft lateral stability. To investigate lateral stability, a high-fidelity multibody nonlinear aircraft simulator is developed in a MATLAB/Simulink framework and validated against experimental data. To generate insight into the problem and to quantify shock absorber leakage impact on aircraft lateral stability, two simple but descriptive analytical models are also developed, each one on a different operating mode of the system. The analysis of the models reveals that shock absorber leakage can have a significant effect on aircraft lateral stability, especially at high velocities and highly damped nose wheel steering conditions. The models developed in this work may be used by aircraft control system designers to come up with more effective lateral stability controllers in the event of main landing gear shock absorber leakage.

A case of early pulmonary embolism following blunt trauma to chest and a long bone fracture: a case report

BackgroundAfter substantial trauma, pulmonary embolism (PE) carries a high risk of morbidity and mortality. Early post-traumatic PE in the absence of deep vein thrombosis (DVT) is a distinct entity that might be connected to rare mechanisms or unidentified biochemical processes.Case presentationA driver of a car was presented with worsening chest pain and shortness of breath (SOB) following a road traffic accident in which he suffered an impact on the chest against the steering wheel and a closed fracture of the right femur. Radiological investigations revealed a pulmonary embolism in the left posterior segment pulmonary artery, without evidence of internal chest injuries or DVT within 12 h from the incident. D-dimer, troponin I, and creatinine kinase were elevated without evidence of myocardial infarction or myocardial injury. Other parameters were within the normal range.ConclusionsPossibilities of early PE in the absence of detectable DVT could be due to hyper-coagulability states, clots from the lower extremity completely getting detached and embolizing to the pulmonary circulation, screening errors, and “de novo” thrombi in the pulmonary circulation. Chest trauma is an identified risk factor for early or late pulmonary embolism. Action of the post-traumatic adrenergic response causing vascular endothelial inflammation and the synthesis of circulating adhesion molecules leading to localized thrombosis have also been suggested as causes for this phenomenon. A greater understanding of rare risk factors for early PE and the possibility of rare complications of chest trauma is useful in detecting and treating them in time, reducing morbidity and mortality.

Present Status of Newborn Screening in Bangladesh through the Participation of Health Professionals

This paper suggests a biomechanical analysis of the joint motion of the arm based on the 3-dimensional motion analysis technique in the steering wheel action. The three-dimensional motion trajectory of the arm is obtained using the motion capture system, and the inverse kinematic analysis and inverse dynamics analysis are performed on the musculoskeletal model of the arm using this result. By doing this, the displacement of the arm joint and the magnitude of the joint torque are calculated. The rotational motion of each joint occurs simultaneously and in the joint motion, it can be confirmed that pronation-supination of the elbow joint, adduction-abduction of the shoulder joint, flexion-extension and flexion-extension of the wrist joint are the main movement parameters. Using this biomechanical motion analysis of joint segmental range of motion, it can be extended to analyze the behavior of passengers indoors in the autonomous vehicles.

Development of a Motion Control for a highly dynamic, self-propelled driving simulator

The new concept of the self-propelled driving simulator comprises a hexapod, a yaw joint and a wheel-based motion platform with four individually steerable wheels. This concept provides a theoretically unlimited motion range, which especially enables highly dynamic drive maneuvers. To ensure an omnidirectional motion, the motion platform has to accelerate instantly in any direction. This requirement leads to the main challenges in the control system of the simulator: taking into account the nonlinear and transient tire characteristics and generating the target accelerations as expected by the driver. According to these requirements, the Motion Control is only for controlling the horizontal dynamics of the motion platform. The Motion Control presented in this paper includes various model definitions, especially regarding the essential tire characteristics considered within an extended HSRI (Highway Safety Research Institute) tire model. The Motion Control as Two-Degrees-of-Freedom control contains a Feedforward for generating target body forces, a Control Allocation for an optimal force distribution to the wheels, a Single Wheel Control as a specific control of the tire forces, and a Compensation Control on acceleration level. Investigation of this control by simulation, using a simplified reference model, already revealed a high controller performance regarding accuracy and quality. The optimal force distribution leads to an equal adhesion utilization and the Compensation Control compensates the remaining Single Wheel Control deviations. Difficulties only occur for the steering angle in the case of low velocity up to a standstill. Due to the exact input–output linearization, the Single Wheel Control leads to a singularity and instability. Therefore, the steering angle requires exceptional control in this case.

Integrated Vehicle Controller for Path Tracking with Rollover Prevention of Autonomous Articulated Electric Vehicle Based on Model Predictive Control

This paper presents an integrated controller for an autonomous articulated electric vehicle (AAEV) for path tracking and rollover prevention. The AAEV is vulnerable to rollover due to the characteristics of the articulated frame steering (AFS) mechanism, which shows improved maneuverability and agility but not front wheel steering. In addition, the ratio between height and track width is high, so the AAEV is prone to rolling over. Therefore, the proposed controller was designed to achieve the two goals, following the reference path and managing the velocity to improve the safety of the AAEV. Vehicle behavior was modeled by a kinematic model with actuation delay. A local linearization was used to improve the accuracy of the vehicle model and reduce the computational load. Reference states of the position and heading were determined to follow the reference path and prevent the rollover. A model predictive control (MPC)-based reference state tracker was designed to optimize the articulation angle rate and longitudinal acceleration commands. The simulation study was conducted to evaluate the proposed algorithm with a comparison of the base algorithms. The reference path for the simulation was an S-shaped path with discontinuous curvature. Simulation results showed that the proposed algorithm reduces the path tracking error and load-transfer ratio.

Клінічний випадок: лікування гострого перикардиту в пацієнта з вибуховою травмою

Гострий перикардит є найпоширенішим проявом захворювань перикарда, що вражає осіб обох статей, і є важливою причиною захворюваності. Перикардит з перикардіальним випотом або без нього, що виникає в результаті ураження перикарда, є синдром посткардіальної травми.Посттравматичний перикардит особливо рідкісний, у літературі описано кілька випадків, а схема виникнення та патофізіологія недостатньо вивчені. У більшості зареєстрованих випадків посттравматичного перикардиту документують в історії пряму травму грудної клітки, спричинену зокрема кермом під час автомобільних аварій або механічним ушкодженням грудної клітки різного генезу.Запропоновано багато методів лікування запальних хвороб перикарда – від паліативних до радикальних. Найпоширенішими серед них є черезшкірна пункція перикарда, позаплевральна перикардіотомія, або фенестрація, часткова або субтотальна резекція перикарда. Вибір хірургічної тактики значною мірою залежить від спеціаліста, що його виконує, та клініки, в якій лікується травмований, а не від конкретної ситуації. Запальний перикардіальний синдром може бути встановлений за наявності не менш ніж 2 із 4 наведених критеріїв: перикардіальний грудний біль; перикардіальний шум; поява нової поширеної випуклої елевації сегмента ST, або депресії сегмента PR (у декількох відведеннях за винятком aVR та іноді V1) на електрокардіограмі; перикардіальний випіт (новий, або збільшення вираженості наявного за даними ехокардіографії та рентгенографії органів грудної порожнини). До додаткових ознак належить: зростання концентрації маркерів запалення (С-реактивного протеїну, швидкості осідання еритроцитів, лейкоцитоз) та маркери пошкодження міокарда (креатинфосфокіназа, тропонін І); ознаки запального процесу в перикарді при проведенні методів візуалізації (комп’ютерної томографії, магнітно-резонансної томографії).

Driver Identification Using Statistical Features of Motor Activity and Genetic Algorithms.

Driver identification refers to the process whose primary purpose is identifying the person behind the steering wheel using collected information about the driver him/herself. The constant monitoring of drivers through sensors generates great benefits in advanced driver assistance systems (ADAS), to learn more about the behavior of road users. Currently, there are many research works that address the subject in search of creating intelligent models that help to identify vehicle users in an efficient and objective way. However, the different methodologies proposed to create these models are based on data generated from sensors that include different vehicle brands on routes established in real environments, which, although they provide very important information for different purposes, in the case of driver identification, there may be a certain degree of bias due to the different situations in which the route environment may change. The proposed method seeks to intelligently and objectively select the most outstanding statistical features from motor activity generated in the main elements of the vehicle with genetic algorithms for driver identification, this process being newer than those established by the state-of-the-art. The results obtained from the proposal were an accuracy of 90.74% to identify two drivers and 62% for four, using a Random Forest Classifier (RFC). With this, it can be concluded that a comprehensive selection of features can greatly optimize the identification of drivers.

Telemetry System For The Steering System

Telemetry System For The Steering System

A Friction-Driven Strategy for Agile Steering Wheel Manipulation by Humanoid Robots.

Vehicle driving can substantially enhance the maneuverability of humanoid robots. Agile steering wheel manipulation requires rapid rotation in narrow spaces such as a cab, serving as the foundation for increasing driving speed, especially in an obstacle avoidance scenario. Generally, there are 3 human driving strategies, "Hand-to-Hand," "Hand-over-Hand," and "One-Hand." Based on the human driving motion data, we quantitatively analyze these strategies from 3 aspects, motion range of joint combination, motion region of the shoulder, and velocity of the manipulation. Then, a friction-driven manipulation strategy using one hand is proposed utilizing the similarity between a humanoid robot and a driver (human). It effectively addresses the requirements of both a small range of motion and rapid manipulation. To prevent the deformation of the steering wheel caused by excessive force, we construct an operating force model specifically for the steering wheel. This model accurately describes the relationship between the rotation resistance and the state of the steering wheel. In addition, we propose a quadratic programming (QP)-based control framework to servo the robot to track the end-effector position and target wrench output by this model. Finally, the effectiveness of this paper is evaluated through an obstacle avoidance scenario, achieving a maximum rotation velocity of 3.14 rad/s.

Drowsiness Detection System in Real Time Based on Behavioral Characteristics of Driver using Machine Learning Approach

The process of determining if a person, generally a driver, is becoming sleepy or drowsy while performing a task such as driving is known as drowsiness detection. It is a necessary system for detecting and alerting drivers to their tiredness, which might impair their driving ability and lead to accidents. The project aims to create a reliable and efficient system capable of real-time detection of drowsiness using OpenCV, Dlib, and facial landmark detection technologies. The project's results show that the sleepiness detection method can accurately and precisely identify tiredness in real time. The technology is less intrusive and more economical than conventional sleepiness detection techniques. The system is based on a 68 facial landmark detector, which is a highly trained and effective detector capable of recognizing human face points. The detector aids in assessing whether the driver's eyes are closed or open. The system analyses the data collected by the detector using machine learning methods to discover patterns associated with drowsiness. When drowsiness is detected, the system incorporates a warning mechanism, such as an alarm or a vibration in the steering wheel, to notify the driver. A variety of studies with different drivers and driving conditions were used to evaluate the performance of the real-time driver drowsiness detection system. The results show that the technology can detect tiredness properly and deliver timely warnings to the driver. This method can assist in preventing drowsy driving incidents, enhancing road safety, and saving lives. The results indicated that the algorithm had an average accuracy rate of 94% for identifying tiredness in drivers.