A New Method in Estimating Vehicle Center of Gravity Position Parameters Based on Ackermann’s Steering

2016 ◽  
Author(s):  
Zitian Yu ◽  
Junmin Wang
Keyword(s):  
Front Wheel ◽  
Center Of Gravity ◽  
New Method ◽  
Recursive Least Squares ◽  
Vehicle Model ◽  
3 Dimensional ◽  
Tire Force ◽  
Tire Forces ◽  
System Configurations

The determination of vehicle’s center of gravity position is an important but challenging task for control of advanced vehicles such as automated vehicles, especially under daily usage condition where the system configurations and payload condition may change. To address this problem, a new method is proposed in this paper to estimate the vehicle’s 3-dimensional center of gravity position parameters without relying on detailed suspension configuration parameters or lateral tire force models. In the estimation problem, the vehicle’s planar dynamic equations are synthesized together to reduce the number of unknown lateral tire forces, then the condition of Ackermann’s Steering Geometry can be found to eliminate the influence of the remaining unknown front wheel lateral tire forces. When the unknown tire forces are cancelled, the recursive least squares (RLS) regression technique is used to identify the 3-dimensional center of gravity position parameters. The vehicle model with the sprung mass modeled as an inverted pendulum is developed to assist the analysis and conversion of sensor measured signals. Simulations conducted in a high-fidelity CarSim® vehicle model have demonstrated the capability of this proposed method in estimating the vehicle’s center of gravity position parameters.

Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces

2011 ◽  
Vol 23 (1) ◽  
pp. 83-93 ◽  
Author(s):  
Nobutaka Wada ◽  
◽  
Akihiro Takahashi ◽  
Masami Saeki ◽  
Masaharu Nishimura ◽  
...  
Keyword(s):  
Closed Loop ◽  
Design Method ◽  
Steering System ◽  
Front Wheel ◽  
Slip Angle ◽  
Yaw Control ◽  
Tire Force ◽  
Active Front Steering ◽  
Simulation Results ◽  
Tire Forces

We have proposed a design method of an active front wheel steering controller that guarantees closed-loop stability under lateral tire force saturation. The controller uses lateral tire force information to counteract destabilization caused by such saturation. The controller suppresses slip angle magnitude while lateral tire force is saturated. Numerical simulation results confirmed the effectiveness of the proposed method.

Simultaneous Estimation of Vehicle’s Center of Gravity and Inertial Parameters Based on Ackermann’s Steering Geometry

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Zitian Yu ◽  
Junmin Wang
Keyword(s):  
Estimation Method ◽  
Lateral Force ◽  
Front Wheel ◽  
Center Of Gravity ◽  
Simultaneous Estimation ◽  
Force Model ◽  
Force Term ◽  
Motion Equations ◽  
Tire Force ◽  
Inertial Parameters

Onboard vehicle parameter estimation is an important procedure for advanced vehicle control tasks, especially for vehicles whose payload configurations vary in day-to-day use. This study presents a newly proposed estimation method based on the Ackermann’s steering geometry (ASG) that aims to estimate multiple vehicle's center of gravity (CG) position and inertial parameters at the same time. In this method, the vehicle planar motion equations are first synthesized into a form where only the lateral force of one front wheel and longitudinal forces appear. This way, the influence of uncertainties in the tire lateral force models is greatly reduced. Then, the condition of eliminating the remaining front wheel lateral force term can be derived, which is exactly the Ackermann’s steering geometry. When the influence of lateral tire force terms are eliminated, regression technique is applied to estimate the needed vehicle parameters. Vehicle’s suspension kinematics is also considered in the processing of dynamic signals. Unlike conventional methods in estimating vehicle’s payload related parameters, the new method requires neither lateral tire force model nor accurate suspension property parameters. Simulations in CarSim®-Simulink environment verified that the proposed method is capable of estimating vehicle parameters such as CG position and inertial parameters at the same time.

A new method for the determination of nitrates

1960 ◽  
Vol 23 ◽  
pp. 227-232 ◽  
Author(s):  
P WEST ◽  
G LYLES
Keyword(s):  
New Method

A New Method for the Determination of Plasma Activators of Fibrinolysis

1977 ◽  
Vol 37 (02) ◽  
pp. 210-215 ◽  
Author(s):  
R Margalit ◽  
E Gidron ◽  
Y Shalitin
Keyword(s):  
New Method ◽  
Effective Activator

SummaryThe term “effective activator” of plasminogen is proposed, to denote the resultant of activator-antiactivator interaction, and a method for the determination of the level of these activators is described. By adding axcess plasminogen to the euglobulin fraction of plasma the influence of the level of endogenous plasminogen and of the antiplasmin is eliminated. It is shown that the level of fibrinogen has very little bearing on the results. An effective activator unit is defined as equal to 1 CTA unit of urokinase activity on a fibrinogen-plasminogen substrate.

The Plasmin Inhibitors of Plasma

1964 ◽  
Vol 12 (01) ◽  
pp. 119-125 ◽  
Author(s):  
Y Shamash ◽  
A Rimon
Keyword(s):  
Human Plasma ◽  
New Method ◽  
Normal Amount ◽  
Caseinolytic Activity ◽  
Before And After ◽  
Plasmin Inhibitors

SummaryA new method for the assay of plasmin inhibitors in human plasma is described. The method consists of determination of the caseinolytic activity of a standard plasmin solution before and after incubation with the inhibitor, with lysine added to the mixture as a stabilizer of plasmin. Using this method, it was found that plasma contains enough inhibitors to inactivate 30 caseinolytic units of plasmin, or 10 times the normal amount of plasminogen in human plasma.

AGGLUTINATION INHIBITION REACTIONS FOR THE DETERMINATION OF GONADOTROPHINS

1969 ◽  
Vol 62 (1_Suppl) ◽  
pp. S95-S112 ◽  
Author(s):  
A. H. W. M. Schuurs
Keyword(s):  
Immune System ◽  
Quantitative Determination ◽  
Haemagglutination Inhibition ◽  
Latex Agglutination ◽  
Literature Survey ◽  
New Method ◽  
Test Fluid ◽  
Main Application ◽  
Test Systems

ABSTRACT Various techniques for sensitising erythrocytes and latex particles with gonadotrophins, particularly with HCG, are described. The haemagglutination inhibition reactions are generally interpreted by means of »erythrocyte settling patterns«. By a new method of evaluating these patterns a relatively precise quantitative determination is possible. Latex agglutination inhibition reactions on slides are particularly suitable as rapid qualitative tests. In cases where the maximum attainable sensitivity of the agglutination inhibition tests is insufficient, e. g. for determining LH concentrations in urine, the hormone in the test fluid has to be concentrated or extracted. An alternative method is a modified haemagglutination inhibition test for large volumes which is applicable to unconcentrated urine. Due to non-specific inhibitions the above-mentioned tests cannot be applied to unprocessed serum. Agglutination inhibition tests with HCG are already well advanced, pregnancy diagnosis being their main application. Now that highly purified HCG is available, a satisfactory specificity for these tests can be attained. If the immune system for HCG is used for estimating LH, it has to meet additional specificity requirements. Furthermore, the measure of cross-reaction and the choice of standard merit special attention. Finally, a literature survey is given of test systems in which LH and FSH were used as antigens.

Development of a New Method for Determination of the Oil Content from Microalgae Lipid Fraction

2017 ◽  
Vol 68 (4) ◽  
pp. 671-674
Author(s):  
Ana Maria Galan ◽  
Ioan Calinescu ◽  
Elena Radu ◽  
Elena Emilia Oprescu ◽  
Gabriel Vasilievici ◽  
...  
Keyword(s):  
Sunflower Oil ◽  
Oil Content ◽  
Lipid Fraction ◽  
New Method ◽  
Ms Analysis ◽  
Qualitative Determination ◽  
Tga Analysis

The purpose of this study was to develop a method for rapid quantitative and qualitative determination of the oil from microalgae lipid fraction obtained from Nannochloris sp biomass. The lipid fraction was first refluxed with 4% KOH in MeOH (60, 90, 120 min), followed by reaction with 20% BF3 in MeOH, using different times of reflux (90,120, 150 min) for each time of reflux with 4% KOH in MeOH. The FAME samples were analyzed by GC-MS analysis. 120 min reflux with 4% KOH in MeOH, 90 min with 20% BF3 in MeOH and a ratio lipid fraction: 4% KOH in MeOH: 20% BF3 in MeOH=1:20:27, were required to obtain the higher percent of oil in the microalgae lipid fraction. The relevance of the method developed was proved by TGA analysis and by transesterification of a sunflower oil sample in the same conditions.

METHOD FOR ESTIMATING ERRORS IN MEASURING INSTRUMENTS BY THE SPACE CATALOGUE ORBITS

2018 ◽  
pp. 76-84
Author(s):  
K. V. Sorokin ◽  
E. A. Sunarchina
Keyword(s):  
Dynamic Model ◽  
New Method ◽  
Measuring Instruments ◽  
Measuring Instrument ◽  
Software Complex

Improvement of orbits precision is one of the most important tasks of space surveillance catalogue maintenance. The solution of this problem is directly related to an adequate consideration of the errors of the coordinate information from the measuring instruments. The article consideresd a new method for estimating the precision of measuring instruments on the catalog orbits. To carry out such analysis, in PJSC «VIMPEL» special technological program was created. Main results of a study of radar errors with orbits of space surveillance catalogue was presented. Also, the results were compared with data of measuring instrument's calibration software complex. This software complex provides determination of satellite's position with errors less than 10 m. A new dynamic model of measuring instrument errors is proposed.

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