Wheel System Research Articles

Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System

Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both the driver and support system can share lateral control of the vehicle. However, current haptic guidance steering systems demonstrate some deficiencies in assisting lane changing. This study explored a new steering interaction method, including the design and evaluation of an intention-based haptic shared steering system. Such an intention-based method can support both lane keeping and lane changing assistance, by detecting a driver's lane change intention. By using a deep learning-based method to model a driver's decision timing regarding lane crossing, an adaptive gain control method was proposed for realizing a steering control system. An intention consistency method was proposed to detect whether the driver and the system were acting towards the same target trajectories and to accurately capture the driver's intention. A driving simulator experiment was conducted to test the system performance. Participants were required to perform six trials with assistive methods and one trial without assistance. The results demonstrated that the supporting system decreased the lane departure risk in the lane keeping tasks and could support a fast and stable lane changing maneuver.

BILATERAL INSTRUMENTED WHEEL SYSTEM FOR MEASURING HANDRIM FORCES DURING MANUAL WHEELCHAIR PROPULSION

The purpose of this study was to design and validate a new bilateral instrumented wheel system (IWS) to measure triaxial handrim forces and torques simultaneously during the wheelchair propulsion. The designed and implemented system measures the force applied to the handrims on both sides of a manual wheelchair using 6-axis force/torque sensors. In addition, a user interface receives the measurements from the left and right IWSs. To verify the accuracy of the wheel system, we evaluate force and torque measurements during the static and dynamic tests. The maximum error in static measurements of force and torque are 4.29% and 1.95%, respectively. Likewise, dynamic tests using planar forces and axle torques provide low errors and measurements that are highly correlated with the expected values ([Formula: see text]). The results revealed that the proposed IWS can be used to measure bilateral 3D handrim reaction forces with acceptable accuracy.

MODELING OF AIRCRAFT STEERING CONTROL SYSTEM WITH TRACTION ELECTRIC DRIVE BY USED AN ADAPTIVE FUZZY CONTROLLER

One of the main tasks of the last two decades is to find ways to optimize energy consumptions for aircrafts. The commercial aviation business is increasingly using environmental monitoring systems and electrical control by using AC and DC tires. One of the trends in the development of aircraft control systems is the replacement of hydraulic and pneumatic systems with electrical ones. The aerospace industry and airlines are interested in performing steering operations without major engines. This operation method allows to save fuel, reduce brake wear, eliminates towing and achieve decreasing of environmental pollution. In the future it is necessary to implement electric steering using a traction drive (TD) based on a synchronous motor with permanent magnets (PMSM). This system is powered by an available auxiliary power unit or other sources such as fuel cells or batteries. This study presents a highly efficient electric steering system as a modern solution for improving the ground operations of modern aircraft powered by main engines. The system was investigated using steering profiles for takeoff and landing. The study determined the effectiveness of its use for steering. The influence of external factors and the change of parameters of the electromechanical system of wheel with an elastic tire were investigated. The results of modeling the dynamic processes of an electromechanical system containing elastic links in the conditions of parametric perturbations confirmed the robust stabilization of dynamic control quality indicators based on the laws of fuzzy logic.

Distributed System for Wheel and Rail Detection Based on ZeroMQ

Distributed System for Wheel and Rail Detection Based on ZeroMQ

Autonomous Systems for Rescue Missions: Design, Architecture and Configuration Validation

In the context of disaster management, the intervention of Autonomous Systems brings many benefits to human rescuers. Autonomous Systems can quickly reach regions that may be inaccessible for humans. In addition, they can perform a rapid mapping of the impacted area and therefore enhancing the human knowledge. However, it is necessary to choose the best Autonomous Systems according to (i) mission environment and (ii) mission objectives. In this article, we describe our work on ArcTurius rover, a wheeled Autonomous System in support to disaster management. We validated its design through simulation and formal verification. A first simulation step occurs during the system definition. This allows to formally verify the design choices. A second type of simulation is performed to check the adequacy of the rover with respect to a specific mission. Thus, an Autonomous System can be adapted prior to a real mission to enhance its level of performance.

Algorithms for dynamic stabilization of rear-wheel drive two-axis vehicles with a plug-in rear axle

Currently, two-axis front-wheel drive vehicles are widely used systems that provide increased stability and manageability by connecting the rear axle and redistributing torque between the driving axles and between the driving wheels of the rear axle. To a lesser extent, drive schemes for rear-wheel drive two-axis cars with a plug-in front axle are common, and, accordingly, the issues of traffic stabilization of such cars are not fully studied. The purpose of this work is to increase the stability and controllability of rear-wheel drive two-axis machines with a plug-in front axle by redistributing torques between the driving wheels. The analysis of the effectiveness of the 4x4 vehicle traffic stabilization system by redistributing torques between the driving axles and the wheels carried out by simulation methods allowed us to establish that the following stabilization methods are the most effective for cars with a plug-in front axle• a 4x4 vehicle with a plug-in front axle that redistributes torques between the driving wheels of the rear axle (the effectiveness of these stabilization methods is approximately the same)• a 4x4 vehicle with a plug-in front axle and an automatically locked front-wheel differential;• 4x4 vehicle with a plug-in front axle with individual braking system for individual wheels.

Hydrodynamics of new high-speed surface systems

Until recently, high-speed surface vessels consisted mainly of hydrogliders, airfoil boats, hydrofoil and air-cushion craft. Their hydrodynamic characteristics are well understood and the vessels involved have high speeds and excellent sailing qualities. In recent years, however, there has been some expansion of this group of vessels by means of high-speed surface objects on wheels (baggies) and tracks (snowmobiles), in some cases at speeds far exceeding those of hydrofoil and air-cushion craft. Information on the hydrodynamic characteristics of these vessels is not available in the literature. This prompts us to study their hydrodynamic parameters and to consider the practical use of these vessels. The report describes conditions for water rolling of wheeled and tracked systems with grousers, simulates this phenomenon, derives the dependence of draft and bearing capacity of wheeled systems on the Froude number, and presents the dependence of tracked traction on the dimensionless parameter equal to the ratio of absolute speeds of the lower part of a track and the above-water part of a model.

Vehicle collision avoidance motion planning strategy using artificial potential field with adaptive multi‐speed scheduler

This study presents an adaptive motion planning strategy for automated vehicle collision avoidance systems to be associated with the variation of collision speed region based on the position of the obstacle. This is done by designing the motion planner using an artificial potential field (APF) with the incorporation of an adaptive multi-speed scheduler using fuzzy system in the motion planning structure. The knowledge database information is developed based on the risk perception of the driver that consists of APF parameters and was optimised by using particle swarm optimisation algorithm. This study contributes to the improvement of a feasible reference motion generated by the motion planner that can be converted into desired control signals. The reference motion resulted to provide the control command that managed to avoid collision successfully by evasive manoeuvre without lane departure when adapting to variation in the vehicle speeds with different obstacle positions. The results indicated the reduction of the lateral error with respect to the reference avoidance trajectory data of up to 87% compared to base-type APF with maximum reference lateral motion is reduced of up to 26%. Then, a hardware-in-loop test is conducted to verify the proposed strategy using a steering wheel system.

COMPARISON OF CHARACTERISTICS OF SEARCHING SYSTEMS OF MOBILE MEANS OF RAILS OF RAIL DEFECTOSCOPY

The characteristics of wheel-type search systems and sliding systems used for ultrasonic rail monitoring are considered, and their comparison is performed. It is shown that the use of a wheel-type system, the acoustic path of which contains a liquid medium with an increased propagation time of ultrasonic vibrations, limits the control speed to 60 km/h. It is noted that when passing a wheel-type search system of curved sections of track and rails with lateral wear, a change in the direction of propagation of the ultrasonic beam is observed due to a change in the tilt of the wheel relative to the rolling surface of the rail head, which reduces the reliability of detection of rail defects. The disadvantages of the wheel system also include a complex design, low maintainability, poor protection when operating at low temperatures and mechanical stresses, limitations on the ability to operate at high speeds, complicated alignment and, in general, the complexity of maintenance. The characteristics of the retrieval sliding system developed by the specialists of JSC Firma TVEMA are given that provide detection of rail defects with high reliability, operate at low temperatures, and realize a control speed of up to 140 km/h, including in curved sections of the track. The advantages of the proposed non-contact magnetic centering system of the search system, excluding mechanical contact with the rail and the dependence of the centering accuracy on the state of the working face of the rail head, providing unhindered passage of turnouts, including without reducing the speed of control, are presented.

Modeling and simulation of a control system of wheels of wheelset

Modern light rail vehicles, such as a tram or rail bus, due to the need to provide mobility for the elderly or disabled people and the requirements of operators operating passenger rail transport or transport in urban areas must have a 100% low floor. Structurally, this is associated with the use of wheelset with independently rotating wheels (IRW) in such vehicles. It is also possible to use a bogie structure without the use of a wheelset axle by mounting the wheels directly in the side parts of the bogie frame. This construction is more complex and will not be discussed in this article. Bearing in mind the dynamic behavior of such vehicles during operation (lateral stability, profile wear) in various driving conditions (curve traffic, crossovers) and taking into account operating costs, it becomes necessary to install wheel rotation control systems to maintain center movement mass of the wheelset around the centerline of the track. The subject of the article will be considerations on modeling and simulation of rail vehicle bogie motion with IRW sets including the wheel control system. Nominal and mathematical models of the analyzed vehicle will be presented, as well as a controlled strategy based on the comparison of the angular velocities of the wheels of the wheelset A review of works on solutions of such systems will be presented, and a control concept will be proposed. The summary contains conclusions regarding the possibility of practical use of the proposed method of steering wheels of a wheelset in the c ase of independently rotating wheels.

Development and Experimental Validation of TRNSYS Simulation Model for Heat Wheel Operated in Air Handling Unit

Reducing energy usage to save the environment is one of the main goals for the future. The energy losses in ventilation have a huge impact on energy consumption in buildings. In this work, the energy performance of a heat recovery wheel system equipped in an air handling unit was tested year-round, and the results compared with the simulation output for the system using TRNSYS software. The selected conditioned space was the staff offices of an H&M fashion shop, located in Eger, Hungary. Temperature, relative humidity, and air velocity sensors were placed at the wheel inlet and outlet sections to record data and determine the annual energy saving. The results revealed a good agreement between the measured and simulated results.

Optimization method for dynamics of non-holonomic system based on Gauss’ principle

The real-time control of the non-holonomic wheel robot has put forward higher requirements for the accuracy and speed of dynamical simulation, so it is necessary to study the new dynamic modeling and calculation methods adapting to modern information processing technology. Different from the traditional method solving differential–algebraic equation, the objective is to establish optimization model and effective calculating scheme for dynamics of non-holonomic system based on basic dynamical principle. The optimization model cannot be obtained directly from the traditional Gauss’ principle. By using Gauss’ principle of variational form, this paper deduces the minimum principle in the form of generalized coordinates and quasi-coordinates, respectively, thus allowing dynamical problems of non-holonomic systems to be incorporated into the framework of solving constrained or unconstrained optimization problems. Furthermore, we study a numerical calculation scheme that uses an optimization algorithm for the second form of the above optimization models. As an example, the dynamical problem of a differential-driven wheeled mobile-robot system is discussed. The optimization dynamic model of a non-holonomic robot system and the calculation model of the optimization algorithm are established. Comparing the results of the optimization calculation with the differential–algebraic equations commonly used in dynamical problem for non-holonomic system reveals that the method in this paper is superior in terms of calculation speed and can more effectively handle constraint violations without extra constraint revision needed.

Implementation of Autonomous Control System of The Chain Wheel Robot Using the Backpropagation Artificial Neural Network (ANN) Methods

The purpose of this research is to implement the Artificial Neural Network (ANN) method in combat robots so it can be directed to shoot targets well. The robot control system uses remote control and autonomous. In the autonomous robot system, ANN back propagation method is applied, where the weight value variable depends on ultrasonic sensor, GPS and camera. The microcontroller system will process automatically depending on the sensor input. Output data is used to direct the robot to the target, tracking and shooting. Robot is used chain wheel systems and weapons that used pistol types. The riffle is mounted on the robot can be moved mechanically azimuth and the elevation towards the target then triggered mechanically by the riffle through the activation of data relays from the microcontroller. Thus, the backpropagation method can be applied to robots so it can be functioned autonomously.

Individualized Running Wheel System with a Dynamically Adjustable Exercise Area and Speed for Rats Following Ischemic Stroke.

BackgroundAn innovative animal running wheel with an individualized design was implemented for the rehabilitation of rats following ischemic stroke.Material/MethodsThe design of the running wheel platform included the running wheel and a side plate for exercise area adjustments. A U-curve with a width of 2 cm was drawn on the lower half of the side plate for the dynamic adjustments of five infrared (IR) sensors based on the physical fitness of the rats. The individualized training process for this running wheel consisted of 2 days of free training to record their average and maximum speeds, 3 days of progressive training to determine their exercise areas, and 2 weeks of normal training based on their average speeds, maximum speeds, and exercise areas. Blood samples were obtained from the tail veins of all rats before the operations and on Days 14, 21, and 28 postsurgery to measure cortisol levels. The motor function tests were performed on Days 7 and 28 postsurgery. On Day 28 postsurgery, the rats were sacrificed under anesthesia, and their brains were removed for Nissl and H&E staining.ResultsOn Day 28 after surgery, the motor function, lesion volume, and cell damage of the DEARW and control groups differed significantly, indicating that this device is effective for stroke rehabilitation.ConclusionsThe outcomes of the rats that were rehabilitated using the newly designed training system were better than those of their control-group counterparts, indicating the advantages of this designed system.

Technical analysis of wheeled vehicle steering system

The steering system is an indispensable and important part of the wheeled vehicle, and its performance is directly related to the operational stability of the wheeled vehicle. This article introduces the working principle of the wheeled vehicle steering system. On this basis, it discusses the main components and functions of various types of steering systems. By analyzing the key technologies of the steering system, it provides a certain theoretical basis for the design of the steering system.

Integrated nonlinear robust adaptive control for active front steering and direct yaw moment control systems with uncertainty observer

This paper presents an integrated nonlinear robust adaptive controller with uncertainty observer for active front wheel steering system and direct yaw moment control system. First, an integrated vehicle chassis control model is established as the nominal model with the additive and multiplicative uncertainties of the system. Secondly, an integrated nonlinear robust adaptive control law with the additive uncertainty observer is designed via Lyapunov stability theory to calculate the corrective yaw moment, and an adaptive law is designed based on projection correction method to online estimate and compensate the multiplicative uncertainty of the system. Then, the constrained optimal allocation problem of the corrective yaw moment is transformed into the nonlinear optimization problem, and the sequential quadratic programming method is used to solve the nonlinear optimization problem to coordinate active front wheel steering system and direct yaw moment control system. Finally, the performance of the proposed integrated nonlinear robust adaptive controller is verified via vehicle dynamics simulation software.

Formability analysis of hot-rolled dual-phase steel during the multistage stamping process of wheel disc

For reduction of vehicle weight and higher fatigue property, the hot-rolled dual-phase steel 700DP was developed to produce wheel disc with multistage stamping process. The wheel disc is one critical component of wheel system whose forming precision is extensively concerned. The critical area of the part characterizes nonlinear strain path during the multistage stamping process, which makes it difficult to accurately evaluate the formability through standard forming limit curve (FLC) method. The concept of equivalent plastic strain was reported to be strain path independent. Hence, in this paper, the formability of 700DP steel was studied through tensile test, Nakazima test, and two-step nonlinear formability test. It was certified that the modeling using the equivalent plastic strain–based FLC (ep-FLC) had better agreement with the two-step nonlinear test results. Then based on current die shape, the feasibility of 700DP steel for wheel disc with three-stage stamping process was studied by finite element method (FEM) with both traditional FLC and ep-FLC. Furthermore, the corresponding experiments were conducted for validation. The results show that the location and critical condition for the occurrence of fracture can be more exactly predicted by the ep-FLC compared with the traditional FLC. The process parameters such as the radius of die corner were then optimized by the modeling analysis. Finally, the wheel disc was successfully manufactured with high precision and sound mechanical property.

Analysis and Suppression of Longitudinal Vibration of Electric Wheel System Considering Rotor Position Error

Electric wheel system (EWS) has become a research hotspot of the electric vehicle. As motor torque is directly exerted on wheels, torque ripples could induce longitudinal vibration that is more noticeable than traditional vehicles. In this article, the influence of rotor position error on the longitudinal vibration of the EWS is analyzed and suppressed. First, a bench test of EWS is conducted to observe the characteristics of the longitudinal vibration and harmonic components in the phase current. Then, by constructing an analytical model, the influence of rotor position error on the phase current and torque ripple is discussed. Moreover, with a dynamic model of the EWS, the longitudinal vibration considering the rotor position error is deduced. As the analytical and experimental results are consistent, the accuracy of the models is proven, and the relationship between rotor position error and longitudinal vibration of the EWS is clarified. Finally, to attenuate the longitudinal vibration related to rotor position error, an observer based on the extended Kalman filter is designed to replace the variable reluctance resolver for rotor positioning. The simulation result verifies the feasibility of the observer as well as its effectiveness in longitudinal vibration control.

Investigation on humidification performance of silica gel rotary wheel system in winter

In this study, performance of silica gel rotary wheel system (SRWS) to increase humidity of indoor air in winter is investigated in China. First, an experimental setup is built up to obtain humidification performance of the system under Shanghai winter conditions, and effects of main operation parameters are analyzed. Results show that SRWS can provide satisfied humidification capacity. Then, a mathematical model which is validated by experimental data is established to investigate the feasibility of SRWS in other climatic regions. It is found that SRWS is not recommended in extremely cold areas with low relative humidity. While, it is appropriate for areas with ambient air temperature from −10 to 10 °C and it can realize required humidification effect in a short time. The humidification performance is outstanding in these areas even if the regeneration temperature is only 40 °C and the temperature can be increased according to the requirements of different occasions, during which low-grade thermal energy can be efficiently adopted. Besides, to achieve the best humidification performance, 8 r/h is recommended as an ideal rotary speed and the volumetric flow rate ratio between process and regeneration air can be set as 1.75.

SEGMENT-BASED LIDAR ODOMETRY FOR LESS STRUCTURED OUTDOOR SCENE

Abstract. Accurate registration of sparse sequential point clouds data frames acquired by a 3D light detection and ranging (LiDAR) sensor like VLP-16 is a prerequisite for the back-end optimization of general LiDAR SLAM algorithms to achieve a globally consistent map. This process is also called LiDAR odometry. Aiming to achieve lower drift and robust LiDAR odometry in less structured outdoor scene using a low-cost wheeled robot-borne laser scanning system, a segment-based sampling strategy for LiDAR odometry is proposed in this paper. Proposed method was tested in two typical less structured outdoor scenes and compared with other two state of the art methods. The results reveal that the proposed method achieves lower drift and significantly outperform the state of the art.