Minimum Jerk Traction Control of a Wheeled Mobile Robot Moving Over a Hump

1999 ◽  
Author(s):  
A. Ayalew ◽  
E. Lai ◽  
S. O. Oyadiji
Keyword(s):  
New Technique ◽  
Ground Contact ◽  
Loss Of Control ◽  
Dynamic Effects ◽  
Wheeled Mobile Robots ◽  
Traction Control ◽  
Uneven Terrain ◽  
Minimum Jerk ◽  
Simulation Results ◽  
A New Technique

Abstract A new technique is presented for the minimization of jerk for wheeled mobile robots (WMRs) traveling on uneven terrain. A robot may jerk as it traverses a road obstacle. Consequently, wheel-ground contact loss is one of the undesirable dynamic effects that can cause loss of control and robot instability. By considering the dynamics of the robot with respect to the longitudinal, pitching and vertical motions of the platform, the new technique calculates the dynamic compensation needed to ideally counter the onset of jerk by controlling the magnitude of the input drive torque to the wheels. Simulation results showed that the technique has the potential to substantially reduce the magnitude of jerk of a WMR during longitudinal maneuver over a road obstacle with a positive gradient.

Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain

2003 ◽  
Author(s):  
Nilanjan Chakraborty ◽  
Ashitava Ghosal
Keyword(s):  
Mobile Robot ◽  
Thin Disk ◽  
Wheeled Mobile Robot ◽  
Variable Length ◽  
Ground Contact ◽  
Wheeled Mobile Robots ◽  
Holonomic Constraints ◽  
Uneven Terrain ◽  
Passive Joint ◽  
Simulation Results

This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus and propose the use of a passive joint allowing a lateral degree of freedom. Furthermore, we model the mobile robot, instantaneously, as a hybrid-parallel mechanism with the wheel-ground contact described by differential equations which take into account the geometry of the wheel, the ground and the non-holonomic constraints of no slip. Simulation results show that a three-wheeled WMR can negotiate uneven terrain without slipping. Our proposed approach presents an alternative to variable length axle approach.

scholarly journals Analog Low-Voltage Current-Mode Implementation of Digital Logic Gates

2003 ◽  
Vol 26 (2) ◽  
pp. 111-114 ◽  
Author(s):  
Muhammad Taher Abuelma'atti
Keyword(s):  
Power Series ◽  
Low Voltage ◽  
Logic Gates ◽  
Current Mode ◽  
New Technique ◽  
Basic Logic ◽  
Spice Simulation ◽  
Simulation Results ◽  
A New Technique ◽  
Logic Functions

In this letter a new technique is introduced for implementing the basic logic functions using analog current-mode techniques. By expanding the logic functions in power series expressions, and using summers and multipliers, realization of the basic logic functions is simplified. Since no transistors are working in saturation, the problem of fan-out is alleviated. To illustrate the proposed technique, a circuit for simultaneous realization of the logic functions NOT, OR, NAND and XOR is considered. SPICE simulation results, obtained with 3 V supply, are included

Lissajous Curve of an Auxiliary Winding Voltage Park Components for Diagnosing Multiple Open Switches Faults in Three Phase Inverter

2014 ◽  
Vol 672-674 ◽  
pp. 1224-1233 ◽  
Author(s):  
Lamiaâ El Menzhi ◽  
Abdallah Saad
Keyword(s):  
Induction Motor ◽  
New Technique ◽  
Phase Voltage ◽  
Phase Inverter ◽  
Voltage Inverter ◽  
Three Phase ◽  
Open Switch ◽  
Simulation Results ◽  
A New Technique ◽  
Three Phase Inverter

In this paper, a new technique for diagnosing multiple open switch fault in three phase voltage inverter feeding induction motor is presented. It is based on the so-called the Lissajous curve of an auxiliary winding voltage Park components. For this purpose, expressions of the inserted winding voltage and its Park components are presented. Simulation results curried out for non defected and defected inverter show the effectiveness of the proposed method.

scholarly journals On the Broadening of Single-Layer Metasurface Bandwidth by Coupling Resonances

Materials ◽  
2020 ◽  
Vol 13 (9) ◽  
pp. 2063 ◽  
Author(s):  
Humberto Fernández Álvarez ◽  
María Elena de Cos Gómez ◽  
Fernando Las-Heras Andrés
Keyword(s):  
Equivalent Circuit ◽  
Equivalent Circuit Model ◽  
Single Layer ◽  
Circuit Model ◽  
New Technique ◽  
Unit Cells ◽  
Simulation Results ◽  
A New Technique ◽  
Bandwidth Broadening

In this contribution a new technique to increase the bandwidth of metasurfaces without increasing their profile is presented. This work takes advantage of the potential multiresonant behavior of a metamaterial whose unit cells comprise nested metallization geometries in the same layer. The novelty stems from the possibility of overlapping these resonances for increasing the bandwidth (instead of obtaining a multiresonant metasurface). Several guidelines to achieve the aforementioned bandwidth broadening, which are applicable to all metasurface designs, will be provided. An equivalent circuit model will be used to better explain the presented technique; then, it will be applied to several metasurface absorbers (MTAs), showing not only a bandwidth broadening but also an absorption reinforcement. Measurements will be also presented to corroborate the simulation results.

Performance Upgrade of Pantograph Using Variable Stiffness Device

2010 ◽  
Author(s):  
Yoshitaka Yamashita ◽  
Mitsuru Ikeda
Keyword(s):  
Numerical Simulation ◽  
Dynamic Characteristics ◽  
Variable Stiffness ◽  
Experimental Results ◽  
New Technique ◽  
Current Collection ◽  
Simulation Results ◽  
Basic Characteristics ◽  
A New Technique

This paper proposes a new technique to improve the current collection performance of pantographs. For this purpose, the pan springs, which are usually coil springs, are replaced with variable stiffness devices. The device described in this paper is comprised of two air springs facing each other. This paper firstly outlines the method for the improvement for current collection performance and exhibits some numerical simulation results, which supports the efficacy of the method. It then presents the prototype of the variable stiffness device and shows its basic characteristics. Finally, it shows the experimental results of the dynamic characteristics control of a pantograph using the variable stiffness devices.

scholarly journals MULTI KEY ALGORITHM FOR SECURITY ENHANCEMENT OF RSA ALGORITHM USING MATLAB

2020 ◽  
Vol 3 (1) ◽  
pp. 1-10
Author(s):  
Atyaf Alguraby ◽  
Mohammed Joudah Zaiter
Keyword(s):  
Execution Time ◽  
New Technique ◽  
Public And Private ◽  
Security Enhancement ◽  
Rsa Algorithm ◽  
Simulation Results ◽  
Multiple Keys ◽  
A New Technique

In this paper, a new technique is deployed to afford a strong secure algorithm based on dynamic keys strategy. The objective of this technique is to provide confidentiality and authentication of data between any partners. The proposed technique takes Multiple keys pair(Public and Private) with RSA algorithm that used fast expansion to enhancement the speed of RSA. Simulation results have been achieved using MATLAB R2014a; Single Key RSA (SK-RSA) and proposed Multi Keys RSA (MK-RSA) are compared analysis is made on execution time. Hence, deploying the MK-RSA algorithm is proving more secure than SK-RSA algorithm.

Eigenstructure Assignment by Displacement–Acceleration Feedback for Second-Order Systems

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Taha H. S. Abdelaziz
Keyword(s):  
Dynamic Response ◽  
Necessary Conditions ◽  
Second Order ◽  
New Technique ◽  
Eigenstructure Assignment ◽  
Mass Matrices ◽  
Acceleration Feedback ◽  
Simulation Results ◽  
A New Technique ◽  
Second Order Systems

Abstract This paper presents a new technique for controlling the dynamic response of second-order systems by means of combined displacement and acceleration feedback. The necessary conditions that guarantee the solvability for the problem are formulated. Parametric expressions for the displacement–acceleration gains and the eigenvector matrix are derived. The solution can be applied for the systems with nonsingular or singular mass matrices. Based on the simulation results, we can conclude that the proposed technique is effective.

CONTROLLING THE VEHICLE STATES IN TWO-LANE TRAFFIC

2005 ◽  
Vol 16 (03) ◽  
pp. 501-512
Author(s):  
KEPING LI ◽  
ZIYOU GAO
Keyword(s):  
Traffic Flow ◽  
Control Signal ◽  
Traffic Model ◽  
New Technique ◽  
The Road ◽  
Control Signals ◽  
Simulation Results ◽  
A New Technique ◽  
The Right ◽  
Flow States

In this paper, we propose a new technique to control the vehicle states in two-lane traffic. A type of the control signals has been designated at a given site (i.e., signal point) of the road. Under the effect of control signal, the drivers on the right lane will slow down when their vehicles pass the signal point. We test this technique for the two-lane traffic model that is based on the deterministic NaSch traffic model. The simulation results indicate that the traffic flow states can be changed from disorder to order by the control signal, and these ordered states are safer.

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