scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

Horizontal Curve Driving Performance and Safety Affected by Road Geometry and Lead Vehicle

2017 ◽  
Vol 61 (1) ◽  
pp. 1629-1633 ◽  
Author(s):  
Heejin Jeong ◽  
Yili Liu
Keyword(s):  
Driving Performance ◽  
Driving Safety ◽  
Steering Wheel ◽  
Horizontal Curve ◽  
Car Following ◽  
Road Geometry ◽  
The Mean ◽  
Lane Position ◽  
Lane Keeping ◽  
Lead Vehicle

To help enhance safety and reduce crashes occurred on horizontal curved roads, it is important to understand their potential causes. The study reported in this paper aimed to examine the effects of road geometry (i.e., road curvature and curve direction) and lead vehicle on horizontal curve driving performance. Twenty-four participants performed two driving tasks (i.e., car-following and free- flow conditions) in simulated driving scenarios including curved roads in both right and left directions to measure their driving performance (e.g., speed, lane position, steering wheel angle, and time and distance headways). The results showed that road curvature affected driving performance, especially in mean speed, variability of lane-keeping performance, and headway. Moreover, the mean speed was affected by both road curvature and whether a lead vehicle existed. Findings from this study provide empirical data that can be used for driving safety on horizontal curved roads.

scholarly journals HAULAGE TRUCKS MODEL WITH FOUR ELECTRIC SEPARATE WHEEL DRIVES

Transport ◽  
2005 ◽  
Vol 20 (1) ◽  
pp. 51-54 ◽  
Author(s):  
Rafal Setlak
Keyword(s):  
Control System ◽  
Permanent Magnets ◽  
Force Feedback ◽  
Feedback System ◽  
Steering System ◽  
Vehicle Control ◽  
Steering Wheel ◽  
Vehicle Model ◽  
Dc Motors ◽  
Electrical Motors

This article contains a course of work of the construction of a vehicle model that has four electrical motors built into each wheel. During the project two models of a vehicle were constructed (Figs 3,5). A microprocessor based control system has also been designed and built. A vehicle is controlled by a steering unit (Fig 8) which contains a steering wheel with a force feedback system, push buttons, an accelerator and a brake. The connection between a steering unit and a model is realized by interface RS‐485. The driving motors are dc motors with permanent magnets. Power supply consists of an acid battery located in the vehicle. The vehicle control system is divided into two parts. The first part is built into the vehicle (Fig 7) and operates as a vehicle main control system and the second is built into a steering unit and operates as the main control steering system.

Vibration Spectra as a Feedback for Controlling Multicylinder Engine Performance

1992 ◽  
Vol 3 (2) ◽  
pp. 176-192
Author(s):  
T.W. Abou-Arab ◽  
M. Othman ◽  
Y.S.H. Najjar
Keyword(s):  
Engine Speed ◽  
Engine Performance ◽  
Feedback System ◽  
Operating Conditions ◽  
Flow Induced Vibration ◽  
Vibration Spectra ◽  
Parametric Studies ◽  
Vibration Pattern ◽  
Engine Components ◽  
Heat And Fluid Flow

Increasing requirements for vehicle confort, economy and reliability lead some investigators to consider the relationships between the mechanical vibrations with the heat and fluid flow induced vibration and noise in a more accurate manner. This paper describes the variation of the vibration phenomena associated with the motion of some engine components under different operating conditions. The measured vibration spectra indicates its capability in predicting symptoms of early engine failures, hence, expediting their control using a suitable feedback system. Parametric studies involving the effect of air-fuel ratio, ignition timing and engine speed on the vibration pattern are also carried out. These studies indicate that the amplitude of vibration decreases as the speed increases then increases again after certain engine speed. The effect of ignition system characteristic on the induced vibration are obtained and the correlation between the developed power and the engine dynamics over a range of operating conditions are discussed.

scholarly journals Electronic Control System for Steer by Wire

2021 ◽  
Vol 9 (VI) ◽  
pp. 4161-4166
Author(s):  
Eeshan Ranade
Keyword(s):  
Electric Power ◽  
Engine Performance ◽  
Steering System ◽  
Electric Power System ◽  
Driving Safety ◽  
Steering Wheel ◽  
Hydraulic Systems ◽  
Compact Structure ◽  
Steer By Wire ◽  
Improved Performance

Automobile industry’s focus is on efficiency, safety and performance has resulted in the rapid introduction of electronics in vehicle safety systems and engine management. Mechanical and Hydraulic systems are now gradually being replaced by electronic controllers to achieve the objectives of optimizing power consumption, improving driver convenience, and maximizing driver safety resulting in an overall improved performance and experience. Vehicle steering systems have transitioned from mechanical to hydraulic power to an electric power assisted steering system and now to the state of the art, Steer by Wire (SbW) system. Traditional mechanical systems included a steering wheel, column, gear, rack and pinion and did not support any power steering. The next generation hydraulic systems were more stable, safer and required comparatively lesser effort. Electric or DC motors drove the Electric Power System addressing the drawbacks of the hydraulic systems especially those related to environment and acoustics with the added advantage of a compact structure and power-on-demand engine performance. By-wire steering technologies was originally introduced in the Concord aircraft in 1970s. The SbW is a steering system with no steering column. The mechanical interface between the steering wheel and the wheels is replaced with by-wire electrical connection/electronic actuators. SbW system has significant advantages in terms of driving safety due to the availability of the steering command in electronic form and the removal of the steering shaft, cruising comfort with driving manoeuvring due to no space constraint and favourable to the environment with the non-usage of hydraulic oils.

Evidence of positive force feedback among hindlimb extensors in the intact standing cat

1995 ◽  
Vol 73 (6) ◽  
pp. 2578-2583 ◽  
Author(s):  
C. A. Pratt
Keyword(s):  
Force Feedback ◽  
Functional Organization ◽  
Force Plate ◽  
Feedback System ◽  
Implanted Electrodes ◽  
Golgi Tendon Organs ◽  
Ia Afferents ◽  
Extensor Muscles ◽  
Stimulation Of ◽  
Positive Force

1. The functional organization of heterogenic reflexes produced by activation of extensor force receptors (Golgi tendon organs) was studied in intact cats during stationary stance. Intramuscular stimulation (200 Hz, 20 ms) of hindlimb extensor muscles via chronically implanted electrodes was used to evoke weak muscle contractions and naturally activate Golgi tendon organ Ib afferents while cats stood unrestrained with each paw on a moveable triaxial force plate. 2. Intramuscular stimulation of every hindlimb extensor muscle tested in this study evoked excitatory responses that were widely distributed among hindlimb extensor muscles. Source and target specializations in the functional organization of this positive force feedback system were also observed. For example, stimulation of ankle extensors typically excited extensors and flexors at the ankle and hip (but not knee), whereas stimulation of hip extensors typically excited only extensors at all three joints. In addition, intramuscular stimulation of either lateral (LG) or medial (MG) gastrocnemius consistently inhibited soleus while exciting other extensors at the ankle and more proximal joints. 3. The electromyographic (EMG) reflex responses described above are attributed to the natural (via muscle contraction) activation of extensor group Ib afferents. Direct activation of intramuscular afferents by the stimulus was unlikely because there was no evidence that Ia afferents, which have the lowest electrical thresholds, were activated. Both the observed inhibition of the synergist, soleus, and the excitation of the antagonist, tibialis anterior, produced by gastrocnemius stimulation are opposite to the reflex effects that would be produced at the ankle by activation of gastrocnemius Ia afferents.(ABSTRACT TRUNCATED AT 250 WORDS)

scholarly journals Method for the Detection of Tumor Blood Vessels in Neurosurgery Using a Gripping Force Feedback System

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5157
Author(s):  
Hiroki Yokota ◽  
Takeshi Yoneyama ◽  
Tetsuyou Watanabe ◽  
Yasuo Sasagawa ◽  
Mitsutoshi Nakada
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Force Feedback ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Force Sensor ◽  
Robot System ◽  
Blood Vessel Detection ◽  
Operating Space ◽  
Gripping Force

Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial because achieving hemostasis in a narrow operating space is challenging. However, when the location of a blood vessel in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. This study proposes a method for tumor blood vessel detection using a master–slave surgical robot system equipped with a force sensor in the slave gripper. Using this method, blood pulsation inside a tumor was detected, displayed as a gripping force wave, via the slave force sensor. The characteristics of gripping force due to blood pulsation were extracted by measuring the fluctuation of the force in real time. The presence or absence of blood vessels was determined on the basis of cross-correlation coefficients between the gripping force fluctuation waveform due to blood pulsation and model fluctuation waveform. Experimental validation using two types of simulated tumors (soft: E = 6 kPa; hard: E = 38 kPa) and a simulated blood vessel (E = 1.9 MPa, radius = 0.5 mm, thickness = 0.1 mm) revealed that the presence of blood vessels could be detected while gripping at a constant angle and during transient gripping.

scholarly journals Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 19 ◽  
Author(s):  
Bao Tri Diep ◽  
Ngoc Diep Nguyen ◽  
Thanh T. Tran ◽  
Quoc Hung Nguyen
Keyword(s):  
Control System ◽  
Shoulder Joint ◽  
Experimental Validation ◽  
Force Feedback ◽  
Feedback System ◽  
Radial Force ◽  
Experimental Results ◽  
The Other ◽  
Sliding Joint ◽  
End Effectors

This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.

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