Research on Handling Stability of Steering-by-wire System

Directory of Open Access Journals (Sweden)

Yuan Ying

2017-01-01

Full Text Available The main function of steer-by-wire (SBW system are improving steering characteristics, security and stability of the vehicle. In this paper, the variable steering ratio of SBW system is analyzed, and the method of steering ratio based on fuzzy control and neural network are researched. In order to solve the actual working condition, the wheel angle may not reach the expected value, this paper establishes a twodegree-of-freedom (2-DOF vehicle model, and a Matlab/Simulink simulation model, in which a control strategy based on PID controller is put forward to control the front wheel steering angle. Simulation results show that proposed control strategy based on fuzzy neural network can effectively reduce lateral deviation and improve the handling stability and comfortability of the vehicle.

Vehicle steering by side stick: optimising steering characteristics

NARCIS (Netherlands)

Zuurbier, J.; Hogema, J.H.; Brekelmans, J.A.W.J.

2000-01-01

This paper describes a study that was conducted to investigate the possibilities for optimizing task performance when driving a side stick-steered vehicle. Using steer-by-wire technology, a conventional steering system was mimicked, thus yielding the possibility to modify the steering

Four-Wheel Vehicle Suspension System

Science.gov (United States)

Bickler, Donald B.

1990-01-01

Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

Stochastic stability of four-wheel-steering system

International Nuclear Information System (INIS)

Huang Dongwei; Wang Hongli; Zhu Zhiwen; Feng Zhang

2007-01-01

A four-wheel-steering system subjected to white noise excitations was reduced to a two-degree-of-freedom quasi-non-integrable-Hamiltonian system. Subsequently we obtained an one-dimensional Ito stochastic differential equation for the averaged Hamiltonian of the system by using the stochastic averaging method for quasi-non-integrable-Hamiltonian systems. Thus, the stochastic stability of four-wheel-steering system was analyzed by analyzing the sample behaviors of the averaged Hamiltonian at the boundary H = 0 and calculating its Lyapunov exponent. An example given at the end demonstrated that the conclusion obtained is of considerable significance

Optimization of Automotive Suspension System by Design of Experiments: A Nonderivative Method

Directory of Open Access Journals (Sweden)

Anirban C. Mitra

2016-01-01

Full Text Available A lot of health issues like low back pain, digestive disorders, and musculoskeletal disorders are caused as a result of the whole body vibrations induced by automobiles. This paper is concerned with the enhancement and optimization of suspension performance by using factorial methods of Design of Experiments, a nonderivative method. It focuses on the optimization of ride comfort and determining the parameters which affect the suspension behavior significantly as per the guidelines stated in ISO 2631-1:1997 standards. A quarter car test rig integrated with a LabVIEW based data acquisition system was developed to understand the real time behavior of a vehicle. In the pilot experiment, only three primary suspension parameters, that is, spring-stiffness, damping, and sprung mass, were considered and the full factorial method was implemented for the purpose of optimization. But the regression analysis of the data obtained rendered a very low goodness of fit which indicated that other parameters are likely to influence the response. Subsequently, steering geometry angles, camber and toe and tire pressure, were included in the design. Fractional factorial method with six factors was implemented to optimize ride comfort. The resultant optimum combination was then verified on the test rig with high correlation.

Static load simulation of steering knuckle for a formula student race car

Science.gov (United States)

Saputro, Bagus Aulia; Ubaidillah, Triono, Dicky Agus; Pratama, Dzaky Roja; Cahyono, Sukmaji Indro; Imaduddin, Fitrian

2018-02-01

This research aims to determine the stress distribution which occurs on the steering knuckle and to define its safety factor number. Steering knuckle is the most critical part of a car's steering system. Steering knuckle supports the tie rod, brake caliper, and the wheels to provide stability. Steering knuckle withstands the load which given on the front wheels and functions as the wheel's axis. Balljoint and king support the rotation of the suspension arm. When the car is in idle position, knuckle hold the weight of the car, it gets braking force when it's braking and cornering. Knuckle is designed to have the strength that could withstand load and to have a good safety factor value. Knuckle is designed using Fusion software then simulated using Fusion simulation software with a static load, moment braking force, and cornering force as the loads in this simulation. The simulation works in ideal condition. The result of this simulation is satisfying. This simulation produces a maximum displacement of 0.01281mm, the maximum shear stress is 3.707 MPa on the stub hole, and the safety factor is 5.24. The material used for this product is mild steel AISI 1018.

Research on Sliding Mode Control for Steer-by-Wire System in Forklift

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Huang Jun-Jie

2017-01-01

Full Text Available Aiming at steering stability and wheel angle tracking of steer-by-wire (SBW three wheeled forklift, steering dynamic model and SBW system mathematical model of three wheeled forklift are established. A control strategy for the ideal transmission ratio is introduced based on this model, which ensures forklift steering gain invariant. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and external disturbances. The results of simulation show the control strategies above can effectively reduce the sideslip angle when the forklift is steering and improve the sensitivity and stability of the steering forklift; at the same time can effectively restrain the parameter perturbation of internal system and external disturbance, which improves the tracking performance of the wheel angle.

EVALUATION OF A CONCEPTUAL VEHICLE STEERING SYSTEM FOR INDEPENDENT WHEEL CONTROL

Directory of Open Access Journals (Sweden)

Ryszard BUCHALIK

2017-03-01

Full Text Available This paper presents a brief description of an unconventional steering system involving electronic stability control and its influence on vehicle motion. The proposed configuration enables individual changes in steering angle for each single wheel, in contrast to the mechanical linkage solution. An analysis of vehicle behaviour during emergency braking on a heterogeneous surface is conducted, especially with regard to the undesirable rotation of the vehicle body. The benefits of using this active steering system, implemented in the steer-by-wire mode, are characterized, while the problems for further consideration and the potential benefits of such a solution are described.

Demonstration of Multisetting One-Way Einstein-Podolsky-Rosen Steering in Two-Qubit Systems

Science.gov (United States)

Xiao, Ya; Ye, Xiang-Jun; Sun, Kai; Xu, Jin-Shi; Li, Chuan-Feng; Guo, Guang-Can

2017-04-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability of one party to remotely affect another's state through local measurements. One of the most distinguishable properties of EPR steering is its asymmetric aspect. Steering can work in one direction but fail in the opposite direction. This type of one-way steering, which is different from the symmetry concepts of entanglement and Bell nonlocality, has garnered much interest. However, an experimental demonstration of genuine one-way EPR steering in the simplest scenario, i.e., one that employs two-qubit systems, is still lacking. In this Letter, we experimentally demonstrate one-way EPR steering with multimeasurement settings for a class of two-qubit states, which are still one-way steerable even with infinite settings. The steerability is quantified by the steering radius, which represents a necessary and sufficient steering criterion. The demonstrated one-way steering in the simplest bipartite quantum system is of fundamental interest and may provide potential applications in one-way quantum information tasks.

46 CFR 122.320 - Steering gear, controls, and communication system tests.

Science.gov (United States)

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Steering gear, controls, and communication system tests... communication system tests. The master of a vessel shall have examined and tested the steering gear, signaling whistle, propulsion controls, and communication systems of the vessel prior to getting underway for a...

49 CFR 570.8 - Suspension systems.

Science.gov (United States)

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Suspension systems. 570.8 Section 570.8 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.8 Suspension systems. (a) Suspension condition. Ball joint seals shall not be cut or...

One-way EPR steering and genuine multipartite EPR steering

Science.gov (United States)

He, Qiongyi; Reid, Margaret D.

2012-11-01

We propose criteria and experimental strategies to realise the Einstein-Podolsky-Rosen (EPR) steering nonlocality. One-way steering can be obtained where there is asymmetry of thermal noise on each system. We also present EPR steering inequalities that act as signatures and suggest how to optimise EPR correlations in specific schemes so that the genuine multipartite EPR steering nonlocality (EPR paradox) can also possibly be realised. The results presented here also apply to the spatially separated macroscopic atomic ensembles.

Design of Model-based Controller with Disturbance Estimation in Steer-by-wire System

Directory of Open Access Journals (Sweden)

Jung Sanghun

2018-01-01

Full Text Available The steer-by-wire system is a next generation steering control technology that has been actively studied because it has many advantages such as fast response, space efficiency due to removal of redundant mechanical elements, and high connectivity with vehicle chassis control, such as active steering. Steer-by-wire system has disturbance composed of tire friction torque and self-aligning torque. These disturbances vary widely due to the weight or friction coefficient change. Therefore, disturbance compensation logic is strongly required to obtain desired performance. This paper proposes model-based controller with disturbance compensation to achieve the robust control performance. Targeted steer-by-wire system is identified through the experiment and system identification method. Moreover, model-based controller is designed using the identified plant model. Disturbance of targeted steer-by-wire is estimated using disturbance observer(DOB, and compensate the estimated disturbance into control input. Experiment of various scenarios are conducted to validate the robust performance of proposed model-based controller.

49 CFR 570.61 - Suspension system.

Science.gov (United States)

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Suspension system. 570.61 Section 570.61... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION VEHICLE IN USE INSPECTION STANDARDS Vehicles With GVWR of More Than 10,000 Pounds § 570.61 Suspension system. (a) Suspension condition. Ball joint seals shall not be cut...

Calculation of the beam injector steering system using Helmholtz coils

International Nuclear Information System (INIS)

Passaro, A.; Sircilli Neto, F.; Migliano, A.C.C.

1991-03-01

In this work, a preliminary evaluation of the beam injector steering system of the IEAv electron linac is presented. From the existing injector configuration and with the assumptions of monoenergetic beam (100 keV) and uniform magnetic field, two pairs of Helmholtz coils were calculated for the steering system. Excitations of 105 A.turn and 37 A.turn were determined for the first and second coils, respectively. (author)

A hybrid system for beam steering and wavefront control

Science.gov (United States)

Nikulin, Vladimir V.

2004-06-01

Performance of long-range mobile laser systems operating within Earth's atmosphere is generally limited by several factors. Movement of the communicating platforms, such as aircraft, terrain vehicles, etc., complemented by mechanical vibrations, is the main cause of pointing errors. In addition, atmospheric turbulence causes changes of the refractive index along the propagation path that lead to phase distortions (aberrations), thus creating random redistribution of optical energy in the spatial domain. The combined effect of these factors leads to an increased bit-error probability under adverse operation conditions. While traditional approaches provide separate treatment of these problems, suggesting the development of high-bandwidth beam steering systems to perform tracking and jitter rejection, and wavefront control for the mitigation of atmospheric effects, the two tasks could be integrated. In this paper we present a hybrid laser beam steering/wavefront control system comprising an electrically addressed spatial light modulator (SLM) installed on the Omni-Wrist sensor mount platform. The function of the Omni-Wrist is to provide coarse steering over a wide range of pointing angles, while the purpose of the SLM is twofold: it performs wavefront correction and fine steering. The control law for the Omni-Wrist is synthesized using the decentralized approach that provides independent access to the azimuth and declination channels, while the algorithm for calculating the required phase profile for the SLM is optimization-based. This paper presents the control algorithms, the approach to coordinating the operation of the both systems and the simulation results.

Experimental verification of multidimensional quantum steering

Science.gov (United States)

Li, Che-Ming; Lo, Hsin-Pin; Chen, Liang-Yu; Yabushita, Atsushi

2018-03-01

Quantum steering enables one party to communicate with another remote party even if the sender is untrusted. Such characteristics of quantum systems not only provide direct applications to quantum information science, but are also conceptually important for distinguishing between quantum and classical resources. While concrete illustrations of steering have been shown in several experiments, quantum steering has not been certified for higher dimensional systems. Here, we introduce a simple method to experimentally certify two different kinds of quantum steering: Einstein-Podolsky-Rosen (EPR) steering and single-system (SS) steering (i.e., temporal steering), for dimensionality (d) up to d = 16. The former reveals the steerability among bipartite systems, whereas the latter manifests itself in single quantum objects. We use multidimensional steering witnesses to verify EPR steering of polarization-entangled pairs and SS steering of single photons. The ratios between the measured witnesses and the maximum values achieved by classical mimicries are observed to increase with d for both EPR and SS steering. The designed scenario offers a new method to study further the genuine multipartite steering of large dimensionality and potential uses in quantum information processing.

Development of steering system in network environment

International Nuclear Information System (INIS)

Kanagawa, Fumihiro; Noguchi, So; Yamashita, Hideo

2002-01-01

We have been developing the steering system, which can successively observe the-data obtained during the numerical computation and change the parameters in the analysis. Moreover, this system is also extended to link the network. By using this system, a user can easily detect errors immediately and achieve the rapid and accurate analysis with lower computation cost. (Author)

Roll and pitch independently tuned interconnected suspension: modelling and dynamic analysis

Science.gov (United States)

Xu, Guangzhong; Zhang, Nong; Roser, Holger M.

2015-12-01

In this paper, a roll and pitch independently tuned hydraulically interconnected passive suspension is presented. Due to decoupling of vibration modes and the improved lateral and longitudinal stability, the stiffness of individual suspension spring can be reduced for improving ride comfort and road grip. A generalised 14 degree-of-freedom nonlinear vehicle model with anti-roll bars is established to investigate the vehicle ride and handling dynamic responses. The nonlinear fluidic model of the hydraulically interconnected suspension is developed and integrated with the full vehicle model to investigate the anti-roll and anti-pitch characteristics. Time domain analysis of the vehicle model with the proposed suspension is conducted under different road excitations and steering/braking manoeuvres. The dynamic responses are compared with conventional suspensions to demonstrate the potential of enhanced ride and handling performance. The results illustrate the model-decoupling property of the hydraulically interconnected system. The anti-roll and anti-pitch performance could be tuned independently by the interconnected systems. With the improved anti-roll and anti-pitch characteristics, the bounce stiffness and ride damping can be optimised for better ride comfort and tyre grip.

Relation between front suspension layout and handling performance. Analysis depending on the Taguchi method and ADAMS; Front suspension layout to soda tokusei no kankei ni tsuite. Kiko kaiseki gengo wo mochiita hinshitsu kogaku ni yoru kaiseki

Energy Technology Data Exchange (ETDEWEB)

Okada, K [Daihatsu Motor Co. Ltd., Osaka (Japan)

1997-10-01

A variation of suspension layout gives an influence to the vehicle dynamics. Examined the suspension layout variation to make the handling performance change small. Analyzed the effect of suspension layout variation about steering response delay and gain besides the tire wear effect and movable load. 3 refs., 12 figs., 4 tabs.

Attractive and repulsive magnetic suspension systems overview

Science.gov (United States)

Cope, David B.; Fontana, Richard R.

1992-01-01

Magnetic suspension systems can be used in a wide variety of applications. The decision of whether to use an attractive or repulsive suspension system for a particular application is a fundamental one which must be made during the design process. As an aid to the designer, we compare and contrast attractive and repulsive magnetic suspension systems and indicate whether and under what conditions one or the other system is preferred.

A Vehicle Steering Recognition System Based on Low-Cost Smartphone Sensors

Directory of Open Access Journals (Sweden)

Xinhua Liu

2017-03-01

Full Text Available Recognizing how a vehicle is steered and then alerting drivers in real time is of utmost importance to the vehicle and driver’s safety, since fatal accidents are often caused by dangerous vehicle maneuvers, such as rapid turns, fast lane-changes, etc. Existing solutions using video or in-vehicle sensors have been employed to identify dangerous vehicle maneuvers, but these methods are subject to the effects of the environmental elements or the hardware is very costly. In the mobile computing era, smartphones have become key tools to develop innovative mobile context-aware systems. In this paper, we present a recognition system for dangerous vehicle steering based on the low-cost sensors found in a smartphone: i.e., the gyroscope and the accelerometer. To identify vehicle steering maneuvers, we focus on the vehicle’s angular velocity, which is characterized by gyroscope data from a smartphone mounted in the vehicle. Three steering maneuvers including turns, lane-changes and U-turns are defined, and a vehicle angular velocity matching algorithm based on Fast Dynamic Time Warping (FastDTW is adopted to recognize the vehicle steering. The results of extensive experiments show that the average accuracy rate of the presented recognition reaches 95%, which implies that the proposed smartphone-based method is suitable for recognizing dangerous vehicle steering maneuvers.

A new model to compute the desired steering torque for steer-by-wire vehicles and driving simulators

Science.gov (United States)

Fankem, Steve; Müller, Steffen

2014-05-01

This paper deals with the control of the hand wheel actuator in steer-by-wire (SbW) vehicles and driving simulators (DSs). A novel model for the computation of the desired steering torque is presented. The introduced steering torque computation does not only aim to generate a realistic steering feel, which means that the driver should not miss the basic steering functionality of a modern conventional steering system such as an electric power steering (EPS) or hydraulic power steering (HPS), and this in every driving situation. In addition, the modular structure of the steering torque computation combined with suitably selected tuning parameters has the objective to offer a high degree of customisability of the steering feel and thus to provide each driver with his preferred steering feel in a very intuitive manner. The task and the tuning of each module are firstly described. Then, the steering torque computation is parameterised such that the steering feel of a series EPS system is reproduced. For this purpose, experiments are conducted in a hardware-in-the-loop environment where a test EPS is mounted on a steering test bench coupled with a vehicle simulator and parameter identification techniques are applied. Subsequently, how appropriate the steering torque computation mimics the test EPS system is objectively evaluated with respect to criteria concerning the steering torque level and gradient, the feedback behaviour and the steering return ability. Finally, the intuitive tuning of the modular steering torque computation is demonstrated for deriving a sportier steering feel configuration.

46 CFR 185.320 - Steering gear, controls, and communication system tests.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering gear, controls, and communication system tests. 185.320 Section 185.320 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) OPERATIONS Miscellaneous Operating Requirements § 185.320 Steering...

Introducing Dual Suspension System in Road Vehicles

Directory of Open Access Journals (Sweden)

Imtiaz Hussain

2013-04-01

Full Text Available The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability. The paper proposes the use of primary and secondary suspension to suppress the vibrations more effectively.

Robust H2/H∞ Control for the Electrohydraulic Steering System of a Four-Wheel Vehicle

Directory of Open Access Journals (Sweden)

Min Ye

2014-01-01

Full Text Available To shorten the steer diameter and to improve the maneuverability flexibility of a construction vehicle, four wheels’ steering system is presented. This steering system consists of mechanical-electrical-hydraulic assemblies. Its diagram and principle are depicted in detail. Then the mathematical models are derived step by step, including the whole vehicle model and the hydraulic route model. Considering the nonlinear and time-varying uncertainty of the steering system, robust H2/H∞ controller is put forward to guarantee both the system performance and the robust stability. The H∞ norm of the sensitive function from the parameter perturbation of the hydraulic system to the yaw velocity of the vehicle is taken as the evaluating index of the robustness and the H2 norm of the transfer function from the external disturbance to the steering angle of the wheel as the index of linear quadratic Gaussian. The experimental results showed that the proposed scheme was superior to classical PID controller and can guarantee both the control performance and the robustness of the steering system.

Study on Dynamic Behaviour of Wishbone Suspension System

International Nuclear Information System (INIS)

Kamal, M; Rahman, M M

2012-01-01

This paper presents the characteristic model of the wishbone suspension system using the quarter car model approach. Suspension system in an automobile provides vehicle control and passenger comfort by providing isolation from road disturbances. This makes it essential that the detailed behavior of suspension should be known to optimize the performance. A kinetic study is performed using multi body system (MBS) analysis. The dirt road profile is considered as an applied loading. The spring constant, damping coefficient and sprung mass are studied on the performance of the suspension system. It can be observed that the spring constant is inversely related with time required to return to initial position and the amount of deformations. The damping ratio affects the suppression of spring oscillations, beyond a certain limit damping ration has the negligible effect. Sprung mass effected the equilibrium position of the suspension system with a small effect on its oscillation behavior. It is shown that the spring constant, damping ratio and sprung mass are significant parameters to design the suspension system. This study is essential for complete understanding of working of the suspension system and a future study with real geometries.

Analysis of Train Suspension System Using MR dampers

Science.gov (United States)

RamaSastry, DVA; Ramana, K. V.; Mohan Rao, N.; Siva Kumar, SVR; Priyanka, T. G. L.

2016-09-01

This paper deals with introducing MR dampers to the Train Suspension System for improving the ride comfort of the passengers. This type of suspension system comes under Semi-active suspension system which utilizes the properties of MR fluid to damp the vibrations. In case of high speed trains, the coach body is subjected to vibrations due to vertical displacement, yaw and pitch movements. When the body receives these disturbances from the ground,the transmission of vibrations to the passenger increases which affect the ride comfort. In this work, the equations of motion of suspension system are developed for both conventional passive system and semi-active system and are modelled in Matlab/Simulink and analysis has been carried out. The passive suspension system analysis shows that it is taking more time to damp the vibrations and at the same time the transmissibility of vibrations is more.Introducing MR dampers,vertical and angular displacements of the body are computed and compared. The results show that the introduction of MR dampers into the train suspension system improves ride comfort.

Study on a New Steering Mechanism for Point-the-Bit Rotary Steerable System

Directory of Open Access Journals (Sweden)

Yuanzhi Li

2014-02-01

Full Text Available This paper presents a novel steering mechanism embedded in a point-the-bit rotary steerable system (RSS for oilfield exploitation. The new steering mechanism adopts a set of universal joints to alleviate the high alternative strain on drilling mandrel and employs a specially designed planetary gear small tooth number difference (PGSTD to achieve directional steering. Its principle and characteristics are explained and examined through a series of analyses. First, the eccentric displacement vector of the offset point on the drilling mandrel is formulated and kinematic solutions are established. Next, structural design for the new steering mechanism is addressed. Then, procedures and program architectures for simulating offset state of the drilling mandrel and motion trajectory of the whole steering mechanism are presented. After that, steering motion simulations of the new steering mechanism for both 2D and 3D well trajectories are then performed by combining LabVIEW and SolidWorks. Finally, experiments on the steering motion control of the new steering mechanism prototype are carried out. The simulations and experiments reveal that the steering performance of the new steering mechanism is satisfied. The research can provide good guidance for further research and engineering application of the point-the-bit RSS.

Automated steering systems applied to complex horizontal well in South Italy

Energy Technology Data Exchange (ETDEWEB)

Calderoni, A.; Ligrone, A.; Trampini, A. [ENI AGIP (Italy); Oppelt, J.; Gauld, S. [Baker Hughes INTEQ (United States)

1998-12-31

A new drilling system that not only improved the quality of the borehole trajectory, but also resulted in significant savings in capital cost is described. The new concept in drilling is the result of a joint development between a major oil company and an oilfield service provider. Through providing a breakthrough technology in directional steering systems the accuracy of the borehole steering has been substantially improved. The new concept involves the use of a straight hole drilling system (SDD) in the upper hole section, in combination with the rotary steering system, AutoTrak, in the 8.5 inch hole size. By synergistically using the new automated tools, the well was drilled much more efficiently than offset wells, producing substantial time savings, a smoother trajectory and less friction. Details of the different automated directional drilling systems that were used together in a well for the first time at Monte Enoc 9 in South Italy are described. 2 refs., 3 tabs., 9 figs.

Introducing Dual Suspension System in Road Vehicles

OpenAIRE

Imtiaz Hussain; Jawaid Daudpoto; Ali Asghar Memon

2013-01-01

The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability...

Beam steered millimeter-wave fiber-wireless system for 5G indoor coverage

NARCIS (Netherlands)

Cao, Z.; Wang, Q.; Tessema, N.M.; Leijtens, X.J.M.; Soares, F.M.; Koonen, A.M.J.

2016-01-01

A 38GHz beam steered fiber-wireless system, enabled by a novel integrated optical tunable delay line, is demonstrated for 5G indoor coverage. The beam steering gains 14dBm spatial power focusing and 6 times EVM improvement.

Nonlinear Predictive Sliding Mode Control for Active Suspension System

Directory of Open Access Journals (Sweden)

Dazhuang Wang

2018-01-01

Full Text Available An active suspension system is important in meeting the requirements of the ride comfort and handling stability for vehicles. In this work, a nonlinear model of active suspension system and a corresponding nonlinear robust predictive sliding mode control are established for the control problem of active suspension. Firstly, a seven-degree-of-freedom active suspension model is established considering the nonlinear effects of springs and dampers; and secondly, the dynamic model is expanded in the time domain, and the corresponding predictive sliding mode control is established. The uncertainties in the controller are approximated by the fuzzy logic system, and the adaptive controller reduces the approximation error to increase the robustness of the control system. Finally, the simulation results show that the ride comfort and handling stability performance of the active suspension system is better than that of the passive suspension system and the Skyhook active suspension. Thus, the system can obviously improve the shock absorption performance of vehicles.

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

OpenAIRE

Dell'Amico, Alessandro

2016-01-01

This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. The power steer...

Displacement and force coupling control design for automotive active front steering system

Science.gov (United States)

Zhao, Wanzhong; Zhang, Han; Li, Yijun

2018-06-01

A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

Steering handbook

CERN Document Server

Pfeffer, Peter

2017-01-01

This edited volume presents basic principles as well as advanced concepts of the computational modeling of steering systems. Moreover, the book includes the components and functionalities of modern steering system, which are presented comprehensively and in a practical way. The book is written by more than 15 leading experts from the automotive industry and its components suppliers. The target audience primarily comprises practicing engineers, developers, researchers as well as graduate students who want to specialize in this field.

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

Science.gov (United States)

Kurata, Yoshinori; Wada, Takahiro; Kamiji, Norimasa; Doi, Shun'ichi

Disturbances decrease vehicle stability and increase driver's mental and physical workload. Especially unexpected disturbances such as lateral winds have severe effect on vehicle stability and driver's workload. This study aims at building a driver model of steering operations in lateral wind toward developing effective driver assistance system. First, the relationship between the driver's lateral motion and its reactive quick steering behavior is investigated using driving simulator with lateral 1dof motion. In the experiments, four different wind patterns are displayed by the simulator. As the results, strong correlation was found between the driver's head lateral jerk by the lateral disturbance and the angular acceleration of the steering wheel. Then, we build a mathematical model of driver's steering model from lateral disturbance input to steering torque of the reactive quick feed-forward steering based on the experimental results. Finally, validity of the proposed model is shown by comparing the steering torque of experimental results and that of simulation results.

Experimental Evaluation of Mountain Bike Suspension Systems

Directory of Open Access Journals (Sweden)

J. Titlestad

2003-01-01

Full Text Available A significant distinction between competitive mountain bikes is whether they have a suspension system. Research studies indicate that a suspension system gives advantages, but it is difficult to quantify the benefits because they depend on so many variables, including the physiology and psychology of the cyclist, the roughness of the track and the design of the suspension system. A laboratory based test rig has been built that allows the number of variables in the system to be reduced and test conditions to be controlled. The test rig simulates regular impacts of the rear wheel with bumps in a rolling road. The physiological variables of oxygen consumption and heart rate were measured, together with speeds and forces at various points in the system. Physiological and mechanical test results both confirm a significant benefit in using a suspension system on the simulated rough track, with oxygen consumption reduced by around 30 % and power transmitted through the pedals reduced by 30 % to 60 %.

Intelligent systems of the vehicles’ suspension

Science.gov (United States)

Yurlin, D.

2018-02-01

The article is devoted to the current condition of car’s active suspension system. It presents the tendencies in development of the active systems of suspension system, adjustable elements incorporated in them and the companies succeeded in designing such systems. It also mirrors the problem of impact of active systems on car’s safety and their importance for the driver. Advantages and disadvantages of the most common types of active elements are being described, analyzed and compared. The author concludes about the perspectives of these systems’ development.

A Vehicle Haptic Steering by Wire System Based on High Gain GPI Observers

Directory of Open Access Journals (Sweden)

A. Rodriguez-Angeles

2014-01-01

Full Text Available A vehicle steering by wire (SBW haptic system based on high gain generalized proportional integral (GPI observers is introduced. The observers are considered for the estimation of dynamic perturbations that are present at the tire and steering wheel. To ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle, the estimated perturbations are on line canceled. As to provide a haptic interface with the driver, the estimated dynamic effects at the steering rack are fed back to the steering wheel, yielding a master-slave haptic system with bilateral communication. For implementation purposes few sensors and minimum knowledge of the dynamic model are required, which is a major advantage compared to other approaches. Only position tracking errors are fed back, while all other signals are estimated by the high gain GPI observers. The scheme is robust to uncertainty on the input gain and cancels dynamic perturbation effects such as friction and aligning forces on the tire. Experimental results are presented on a prototype platform.

Optimal Vibration Control for Tracked Vehicle Suspension Systems

Directory of Open Access Journals (Sweden)

Yan-Jun Liang

2013-01-01

Full Text Available Technique of optimal vibration control with exponential decay rate and simulation for vehicle active suspension systems is developed. Mechanical model and dynamic system for a class of tracked vehicle suspension vibration control is established and the corresponding system of state space form is described. In order to prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an optimal vibration controller with exponential decay rate is designed. Numerical simulations are carried out, and the control effects of the ordinary optimal controller and the proposed controller are compared. Numerical simulation results illustrate the effectiveness of the proposed technique.

Multifunctional Converter Drive for Automotive Electric Power Steering Systems

NARCIS (Netherlands)

Hackner, T.J.

2013-01-01

In this thesis it is shown that in the case of an automotive electric power steering system, critical pulse power loads can be decoupled from the power net with a storage element and a multifunctional converter. A multifunctional converter system is proposed because it uses the motor drive system as

Driver steering model for closed-loop steering function analysis

Science.gov (United States)

Bolia, Pratiksh; Weiskircher, Thomas; Müller, Steffen

2014-05-01

In this paper, a two level preview driver steering control model for the use in numerical vehicle dynamics simulation is introduced. The proposed model is composed of cascaded control loops: The outer loop is the path following layer based on potential field framework. The inner loop tries to capture the driver's physical behaviour. The proposed driver model allows easy implementation of different driving situations to simulate a wide range of different driver types, moods and vehicle types. The expediency of the proposed driver model is shown with the help of developed driver steering assist (DSA) function integrated with a conventional series production (Electric Power steering System with rack assist servo unit) system. With the help of the DSA assist function, the driver is prevented from over saturating the front tyre forces and loss of stability and controllability during cornering. The simulation results show different driver reactions caused by the change in the parameters or properties of the proposed driver model if the DSA assist function is activated. Thus, the proposed driver model is useful for the advanced driver steering and vehicle stability assist function evaluation in the early stage of vehicle dynamics handling and stability evaluation.

Driver behavior following an automatic steering intervention.

Science.gov (United States)

Fricke, Nicola; Griesche, Stefan; Schieben, Anna; Hesse, Tobias; Baumann, Martin

2015-10-01

The study investigated driver behavior toward an automatic steering intervention of a collision mitigation system. Forty participants were tested in a driving simulator and confronted with an inevitable collision. They performed a naïve drive and afterwards a repeated exposure in which they were told to hold the steering wheel loosely. In a third drive they experienced a false alarm situation. Data on driving behavior, i.e. steering and braking behavior as well as subjective data was assessed in the scenarios. Results showed that most participants held on to the steering wheel strongly or counter-steered during the system intervention during the first encounter. Moreover, subjective data collected after the first drive showed that the majority of drivers was not aware of the system intervention. Data from the repeated drive in which participants were instructed to hold the steering wheel loosely, led to significantly more participants holding the steering wheel loosely and thus complying with the instruction. This study seems to imply that without knowledge and information of the system about an upcoming intervention, the most prevalent driving behavior is a strong reaction with the steering wheel similar to an automatic steering reflex which decreases the system's effectiveness. Results of the second drive show some potential for countermeasures, such as informing drivers shortly before a system intervention in order to prevent inhibiting reactions. Copyright © 2015 Elsevier Ltd. All rights reserved.

Modeling of electronic power steering system for IKCO SAMAND vehicle and investigating on its performance via CARSIM software

Science.gov (United States)

Haghgoo, Esmail; Zamani, Mohammad; Sharbati, Ali

2017-02-01

The point of this article is introducing the usage of electronic power steering (ESP) system in IKCO SAMAND vehicle and investigating on it's benefit's. Also the operation of electronic steering system and it's performance in IKCO SAMAND vehicle have been described. The optimization of IC engine efficiency and it's fuel consumption have been simulated via ADVISOR software used in MATLAB software. Usually, mechanical steering systems and hydraulic steering systems are producing inside IRAN that the mechanical types have not accepted because of it's too many disadvantages. The hydraulic steering systems, that have been replaced with mechanical types, indeed have the same features with mechanical types but with a difference which they have a hydraulic booster to facilitate the rotation of steering wheel. Beside advantages in hydraulic systems, they are some disadvantages in this system that one of the most important of them is reducing the output power of engine. To restore this power dissipated, we use ESP systems. In this article output diagrams given by software, are showing that IKCO SAMAND vehicle which equipped with ESP system, exerts less torque and power on steering wheel. This improves the safety of driver and also performance of the vehicle at high speeds and reduces fuel consumption beside increasing the efficiency of IC engine.

Driver assistance system for lane departure avoidance by steering and differential braking

OpenAIRE

MINOIU-ENACHE, N; MAMMAR, S; GLASER, S; LUSETTI, B

2010-01-01

Lane departure avoidance systems assist actively the driver during inattention or drowsiness and increase driving safety. Most of the lane departure avoidance systems use for the lateral control of the vehicle in closed loop a DC motor similar to the electrical powered steering (EPS) assistance. Important difficulties and limits of this approach are the shared control with the driver on the steering wheel and the vehicle handling at limits. In this paper a combined lateral control using a DC ...

Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

Directory of Open Access Journals (Sweden)

Eduardo Paciência Godoy

2012-01-01

Full Text Available A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA. One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS. This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

Effect of castration and carcass suspension method on the quality and fatty acid profile of beef from male dairy cattle.

Science.gov (United States)

Nian, Yingqun; Allen, Paul; Harrison, Sabine M; Kerry, Joseph P

2018-02-12

The use of bulls rather than steers for beef production offers some considerable advantages; however, the eating quality of bull beef is an issue of marketing concern. This study assessed the physicochemical characteristics of young Holstein-Friesian (HF) bull and steer beef. Steer carcasses were suspended by the Achilles tendon (AS) and by pelvic suspension (PS). HF steer beef had higher redness, yellowness and chroma values, whereas bulls had higher ultimate pH and darker muscle. Warner-Bratzler shear force, cook loss at different ageing times, moisture, and insoluble and total collagen were higher for HF bull beef, whereas intramuscular fat, soluble collagen and collagen solubility were higher for steer beef. HF steer beef had a higher proportion of saturated fatty acids (SFA) and monounsaturated fatty acids (MUFA), whereas bull beef had higher proportions of polyunsaturated fatty acids (PUFA), PUFA/SFA and n-6/n-3 PUFA ratios. In comparison to AS, PS increased redness and chroma after 24 h blooming; PS improved tenderness up to 7 days of ageing and accelerated the ageing process. For young dairy cattle, steer beef would likely have superior eating quality but a relatively less favourable nutritional fatty acid profile to bull beef. Suspension method affected the tenderness and colour intensity of dairy steer beef at different ageing times. © 2018 Society of Chemical Industry. © 2018 Society of Chemical Industry.

46 CFR 182.610 - Main steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Main steering gear. 182.610 Section 182.610 Shipping...) MACHINERY INSTALLATION Steering Systems § 182.610 Main steering gear. (a) A vessel must be provided with a main steering gear that is: (1) Of adequate strength and capable of steering the vessel at all service...

System and technique for ultrasonic characterization of settling suspensions

Energy Technology Data Exchange (ETDEWEB)

Greenwood, Margaret S [Richland, WA; Panetta, Paul D [Richland, WA; Bamberger, Judith A [Richland, WA; Pappas, Richard A [Richland, WA

2006-11-28

A system for determining properties of settling suspensions includes a settling container, a mixer, and devices for ultrasonic interrogation transverse to the settling direction. A computer system controls operation of the mixer and the interrogation devices and records the response to the interrogating as a function of settling time, which is then used to determine suspension properties. Attenuation versus settling time for dilute suspensions, such as dilute wood pulp suspension, exhibits a peak at different settling times for suspensions having different properties, and the location of this peak is used as one mechanism for characterizing suspensions. Alternatively or in addition, a plurality of ultrasound receivers are arranged at different angles to a common transmitter to receive scattering responses at a variety of angles during particle settling. Angular differences in scattering as a function of settling time are also used to characterize the suspension.

Steering and evasion assist

NARCIS (Netherlands)

Dang, T.; Desens, J.; Franke, U.; Gavrila, D.; Schäfers, L.; Ziegler, W.; Eskandarian, A.

2012-01-01

Steering and evasion assistance defines a new and future class of driver assistance systems to avoid an impending collision with other traffic participants. Dynamic and kinematic considerations reveal that an evasive steering maneuver has high potential for collision avoidance in many driving

Einstein-Podolsky-Rosen paradox and quantum steering in a three-mode optomechanical system

Science.gov (United States)

He, Qiongyi; Ficek, Zbigniew

2014-02-01

We study multipartite entanglement, the generation of Einstein-Podolsky-Rosen (EPR) states, and quantum steering in a three-mode optomechanical system composed of an atomic ensemble located inside a single-mode cavity with a movable mirror. The cavity mode is driven by a short laser pulse, has a nonlinear parametric-type interaction with the mirror and a linear beam-splitter-type interaction with the atomic ensemble. There is no direct interaction of the mirror with the atomic ensemble. A threshold effect for the dynamics of the system is found, above which the system works as an amplifier and below which as an attenuator of the output fields. The threshold is determined by the ratio of the coupling strengths of the cavity mode to the mirror and to the atomic ensemble. It is shown that above the threshold, the system effectively behaves as a two-mode system in which a perfect bipartite EPR state can be generated, while it is impossible below the threshold. Furthermore, a fully inseparable tripartite entanglement and even further a genuine tripartite entanglement can be produced above and below the threshold. In addition, we consider quantum steering and examine the monogamy relations that quantify the amount of bipartite steering that can be shared between different modes. It is found that the mirror is more capable for steering of entanglement than the cavity mode. The two-way steering is found between the mirror and the atomic ensemble despite the fact that they are not directly coupled to each other, while it is impossible between the output of cavity mode and the ensemble which are directly coupled to each other.

Complex Education Systems: From Steering Change to Governance

Science.gov (United States)

Michel, Alain

2016-01-01

The theories and approaches of steering/monitoring a process of change within education systems have evolved over the last 20 years or so as a result of many factors such as globalisation and decentralisation, a faster pace of change, increasing expectations and demands from various stakeholders (parents, employers, teacher unions, etc.) and the…

Vehicle Systems Engineering and Integration Activities

Science.gov (United States)

2012-08-31

liter turbo diesel Bolt on armor required upgraded suspension, engine, and steering Mattracks or wheels Imbalance in cupola required motorized...liter turbo diesel engine, a new transmission, improved suspension and frame for an increased armor capability, 1,800- 4,400 lb payload and GVW 18,000...space (14 cubic feet), enhanced 6500 turbo diesel engine, higher capacity transmission, air induction system and exhaust systems. Lessons

Phase control of entanglement and quantum steering in a three-mode optomechanical system

Science.gov (United States)

Sun, F. X.; Mao, D.; Dai, Y. T.; Ficek, Z.; He, Q. Y.; Gong, Q. H.

2017-12-01

The theory of phase control of coherence, entanglement and quantum steering is developed for an optomechanical system composed of a single mode cavity containing a partially transmitting dielectric membrane and driven by short laser pulses. The membrane divides the cavity into two mutually coupled optomechanical cavities resulting in an effective three-mode closed loop system, two field modes of the two cavities and a mechanical mode representing the oscillating membrane. The closed loop in the coupling creates interfering channels which depend on the relative phase of the coupling strengths of the field modes to the mechanical mode. Populations and correlations of the output modes are calculated analytically and show several interesting phase dependent effects such as reversible population transfer from one field mode to the other, creation of collective modes, and induced coherence without induced emission. We find that these effects result from perfect mutual coherence between the field modes which is preserved even if one of the modes is not populated. The inseparability criterion for the output modes is also investigated and we find that entanglement may occur only between the field modes and the mechanical mode. We show that depending on the phase, the field modes can act on the mechanical mode collectively or individually resulting, respectively, in tripartite or bipartite entanglement. In addition, we examine the phase sensitivity of quantum steering of the mechanical mode by the field modes. Deterministic phase transfer of the steering from bipartite to collective is predicted and optimum steering corresponding to perfect EPR state can be achieved. These different types of quantum steering can be distinguished experimentally by measuring the coincidence rate between two detectors adjusted to collect photons of the output cavity modes. In particular, we find that the minima of the interference pattern of the coincidence rate signal the bipartite steering

Analysis of Vehicle Steering and Driving Bifurcation Characteristics

Directory of Open Access Journals (Sweden)

Xianbin Wang

2015-01-01

Full Text Available The typical method of vehicle steering bifurcation analysis is based on the nonlinear autonomous vehicle model deriving from the classic two degrees of freedom (2DOF linear vehicle model. This method usually neglects the driving effect on steering bifurcation characteristics. However, in the steering and driving combined conditions, the tyre under different driving conditions can provide different lateral force. The steering bifurcation mechanism without the driving effect is not able to fully reveal the vehicle steering and driving bifurcation characteristics. Aiming at the aforementioned problem, this paper analyzed the vehicle steering and driving bifurcation characteristics with the consideration of driving effect. Based on the 5DOF vehicle system dynamics model with the consideration of driving effect, the 7DOF autonomous system model was established. The vehicle steering and driving bifurcation dynamic characteristics were analyzed with different driving mode and driving torque. Taking the front-wheel-drive system as an example, the dynamic evolution process of steering and driving bifurcation was analyzed by phase space, system state variables, power spectral density, and Lyapunov index. The numerical recognition results of chaos were also provided. The research results show that the driving mode and driving torque have the obvious effect on steering and driving bifurcation characteristics.

AUTOMOTIVE DIESEL MAINTENANCE 1. UNIT XXIII, I--MAINTAINING THE FUEL SYSTEM, PART II--CATERPILLAR DIESEL ENGINE, II--UNDERSTANDING STEERING SYSTEMS.

Science.gov (United States)

Minnesota State Dept. of Education, St. Paul. Div. of Vocational and Technical Education.

THIS MODULE OF A 30-MODULE COURSE IS DESIGNED TO DEVELOP AN UNDERSTANDING OF THE OPERATION AND MAINTENANCE OF THE DIESEL ENGINE FUEL INJECTION SYSTEM AND THE STEERING SYSTEM OF DIESEL POWERED VEHICLES. TOPICS ARE FUEL INJECTION SECTION, AND DESCRIPTION OF THE STEERING SYSTEM. THE MODULE CONSISTS OF A SELF-INSTRUCTIONAL BRANCH PROGRAMED TRAINING…

Steer-by-wire innovations and demonstrator

NARCIS (Netherlands)

Lupker, H.A.; Zuurbier, J.; Verschuren, R.M.A.F.; Jansen, S.T.H.; Willemsen, D.M.C.

2002-01-01

Arguments for 'by-wire' systems include production costs, packaging and traffic safety. Innovations concern both product and development process e.g. combined virtual engineering and Hardware-in-the-loop testing. Three Steer-by-wire systems are discussed: a steering system simulator used as a

Fault Risk Assessment of Underwater Vehicle Steering System Based on Virtual Prototyping and Monte Carlo Simulation

Directory of Open Access Journals (Sweden)

He Deyu

2016-09-01

Full Text Available Assessing the risks of steering system faults in underwater vehicles is a human-machine-environment (HME systematic safety field that studies faults in the steering system itself, the driver’s human reliability (HR and various environmental conditions. This paper proposed a fault risk assessment method for an underwater vehicle steering system based on virtual prototyping and Monte Carlo simulation. A virtual steering system prototype was established and validated to rectify a lack of historic fault data. Fault injection and simulation were conducted to acquire fault simulation data. A Monte Carlo simulation was adopted that integrated randomness due to the human operator and environment. Randomness and uncertainty of the human, machine and environment were integrated in the method to obtain a probabilistic risk indicator. To verify the proposed method, a case of stuck rudder fault (SRF risk assessment was studied. This method may provide a novel solution for fault risk assessment of a vehicle or other general HME system.

Improvement of motor inertia influence of electric power steering; Dendoshiki power steering no motor kansei no eikyo to hosho

Energy Technology Data Exchange (ETDEWEB)

Takehara, S; Sakamoto, K; Hanamoto, Y [Mazda Motor Corp., Hiroshima (Japan); Noritsugu, T [Okayama University, Okayama (Japan)

1997-10-01

Motor inertia of electric power steering affects not only steering characteristics but vehicle dynamics. We have investigated the influence of motor inertia and proposed a feedback strategy to compensate it. Weight of the test vehicle is 1100Kg and the steering system is pinion type electric power steering. By using simulation model and vehicle test, we have realized natural steering maneuvering and stable vehicle dynamics. 4 refs., 11 figs.

Design of a suspension system and determining suspension parameters of a medium downforce small Formula type car

Directory of Open Access Journals (Sweden)

Biswal Sadjyot

2017-01-01

Full Text Available The focus of the paper is on designing a suspension system for a medium downforce small Formula type race car. The paper not only focusses on step by step design for a double wishbone type suspension but will also show the use and role of kinematics software in determining the optimized suspension of the car. The paper will also focus on the use of tire data in determining suspension parameters and the design of the double wishbone suspension. Various parameters, their design importance and the process to optimize them according to suspension design goals will be covered. The easiest and best ways to change the suspension parameters to get the best results will also be covered.

A universal suspension test rig for electrohydraulic active and passive automotive suspension system

Directory of Open Access Journals (Sweden)

Mahmoud Omar

2017-12-01

Full Text Available A fully active electro-hydraulic and passive automotive quarter car suspensions with their experimental test-rigs are designed and implemented. Investigation of the active performance compared against the passive is performed experimentally and numerically utilizing SIMULINK's Simscape library. Both systems are modeled as single-degree-of-freedom in order to simplify the validation process. Economic considerations were considered during the rig's implementation. The rig consists of two identical platforms fixed side by side allowing testing two independent suspensions simultaneously. Position sensors for sprung and unsprung masses on both platforms are installed. The road input is introduced by a cam and a roller follower mechanism driven by 1.12 kW single phase induction motor with speed reduction assembly. The active hydraulic cylinder was the most viable choice due to its high power-to-weight ratio. The active control is of the proportional-integral-differential (PID type. Though this technique is quite simple and not new, yet the emphasis of this paper is the engineering, design and implementation of the experimental setup and controller. A successful validation process is performed. Ride comfort significantly improved with active suspension, as shown by the results; 24.8% sprung mass vibration attenuation is achieved. The details of the developed system with the analytical and experimental results are presented. Keywords: Active suspension, Passive suspension, Servo, Hydraulic, Control, PID

Beam Steering Devices Reduce Payload Weight

Science.gov (United States)

2012-01-01

Scientists have long been able to shift the direction of a laser beam, steering it toward a target, but often the strength and focus of the light is altered. For precision applications, where the quality of the beam cannot be compromised, scientists have typically turned to mechanical steering methods, redirecting the source of the beam by swinging the entire laser apparatus toward the target. Just as the mechanical methods used for turning cars has evolved into simpler, lighter, power steering methods, so has the means by which researchers can direct lasers. Some of the typical contraptions used to redirect lasers are large and bulky, relying on steering gimbals pivoted, rotating supports to shift the device toward its intended target. These devices, some as large and awkward as a piece of heavy luggage, are subject to the same issues confronted by mechanical parts: Components rub, wear out, and get stuck. The poor reliability and bulk not to mention the power requirements to run one of the machines have made mechanical beam steering components less than ideal for use in applications where weight, bulk, and maneuverability are prime concerns, such as on an unmanned aerial vehicle (UAV) or a microscope. The solution to developing reliable, lighter weight, nonmechanical steering methods to replace the hefty steering boxes was to think outside the box, and a NASA research partner did just that by developing a new beam steering method that bends and redirects the beam, as opposed to shifting the entire apparatus. The benefits include lower power requirements, a smaller footprint, reduced weight, and better control and flexibility in steering capabilities. Such benefits are realized without sacrificing aperture size, efficiency, or scanning range, and can be applied to myriad uses: propulsion systems, structures, radiation protection systems, and landing systems.

46 CFR 58.25-20 - Piping for steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Piping for steering gear. 58.25-20 Section 58.25-20... MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-20 Piping for steering gear. (a) Pressure piping must... the hydraulic system can be readily recharged from within the steering-gear compartment and must be...

A Frictionless Steering Mechanism for the Front Steering ECCD ITER Upper Port Launcher

International Nuclear Information System (INIS)

Chavan, R; Henderson, M A; Sanchez, F

2005-01-01

A FS launcher is being designed for the ITER upper port, which offers enhanced physics performance over the RS launcher. A two mirror system is used to decouple the focusing and steering aspects of the launcher and provide a relatively small beam waist ( 1.6 m from the steering mirror). The resulting NTM stabilization efficiency (maximum CD density divided by the local bootstrap current >1.6) is above marginal for the q = 2 and 3/2 rational flux surfaces of the relevant ITER equilibria (scenarios 2, 3a and 5) and a factor of ∼3 relative to an equivalent RS launcher. The performance of the FS launcher strongly depends on the reliability of the steering mechanism, which is used to rotate the plasma facing steering mirror. CRPP has designed a frictionless steering mechanism assembled in a compact cartridge capable of up to ±10 deg. rotation (corresponding to a poloidal steering range of up to ±20 deg. for the microwave beam around a fixed axis of rotation) that offers a high operation reliability despite the close proximity to the thermal and neutron flux coming from the ITER plasma

15 CFR 2011.207 - Suspension of the certificate system.

Science.gov (United States)

2010-01-01

..., SYRUPS AND MOLASSES Specialty Sugar § 2011.207 Suspension of the certificate system. (a) Suspension. The.... Notice of such suspension and the effective date thereof shall be published in the Federal Register. (b... such reinstatement and the effective date thereof shall be published in the Federal Register. (c...

Design and analysis of an intelligent controller for active geometry suspension systems

Science.gov (United States)

Goodarzi, Avesta; Oloomi, Ehsan; Esmailzadeh, Ebrahim

2011-02-01

An active geometry suspension (AGS) system is a device to optimise suspension-related factors such as toe angle and roll centre height by controlling vehicle's suspension geometry. The suspension geometry could be changed through control of suspension mounting point's position. In this paper, analysis and control of an AGS system is addressed. First, the effects of suspension geometry change on roll centre height and toe angle are studied. Then, based on an analytical approach, the improvement of the vehicle's stability and handling due to the control of suspension geometry is investigated. In the next section, an eight-degree-of-freedom handling model of a sport utility vehicle equipped with an AGS system is introduced. Finally, a self-tuning proportional-integral controller has been designed, using the fuzzy control theory, to control the actuator that changes the geometry of the suspension system. The simulation results show that an AGS system can improve the handling and stability of the vehicle.

Comparison of vibration damping of standard and PDCPD housing of the electric power steering system

Science.gov (United States)

Płaczek, M.; Wróbel, A.; Baier, A.

2017-08-01

A comparison of two different types of electric power steering system housing is presented. The first considered type of the housing was a standard one that is made of an aluminium alloy. The second one is made of polydicyclopentadiene polymer (PDCPD) and was produced using the RIM technology. Considered elements were analysed in order to verify their properties of vibrations damping. This property is very important taking into account noise generated by elements of a car’s power steering system. During the carried out tests vibrations of analysed power steering housings were measured using Marco Fiber Composite (MFC) piezoelectric transducers. Results obtained for both considered power steering housings in case of the same parameters of vibrations excitations were measured and juxtaposed. Obtained results were analysed in order to verify if the housing made of PDCPD polymer has better properties of vibration damping than the standard one.

Active Return-to-Center Control Based on Torque and Angle Sensors for Electric Power Steering Systems.

Science.gov (United States)

Du, Pan-Pan; Su, Hao; Tang, Gong-You

2018-03-14

This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT). Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a state switch between the steering assist state and the RTC state. In order to avoid the sudden change of the output torque for the driving motor when the state switches frequently between the steering assist state and the RTC state, we design an undisturbed state switching logic algorithm. This state switching logic algorithm ensures that the output value of the RTC controller is set to an initial value and increases in given steps up to a maximum value after entering the RTC state, and the output value of the RTC controller will reduce in given steps down to zero when exiting the RTC state. This therefore ensures smooth switch control between the two states and improves the driver's steering feeling. Third, we design the RTC controller, which depends upon the feedback signals of the steering wheel angle and the angular velocity. In addition, the controller increases the auxiliary control function of the RTC torque based on vehicle speed. The experimental results show that the active RTC control method does not affect the basic assist characteristics, which effectively reduces the residual angle of the steering wheel at low vehicle speed and improves the RTC performance of the vehicle.

Fatigue Life Prediction of Package of Suspension Automotive Under Random Vibration Based on Road Roughness

Directory of Open Access Journals (Sweden)

Kazem Reza Kashyzadeh

2015-09-01

Full Text Available The impact of a suitable suspension system for passenger comfort and vehicle steering is an obvious order and direct impact on the safety of passengers must be considered, to do so different kinds of tests must be exerted, one of these is fatigue testing which is one of the most significant ones. Another issue is the high cost in practical ways, and to cope with this issue various ways must be assessed and analyzed, one of the best and the most efficient ways is modelling and testing in virtual software environments. In the present paper, predict fatigue life of suspension component and package of automotive suspension are the main purposes. First, using MATLAB software, road roughness according to the intercity roads for constant vehicle velocity (100 Km/h has been studied. After that frequency response of components has been analysed, its critical points determined to calculate the fatigue life of the part, and the amount of critical stress obtained based on Von Misses, Tresca and Max Principle criterion for a quarter car model (passive suspension System in 206 Peugeot. Fatigue life of the vehicle components are calculated in terms of kilo-Meters in specialized fatigue software such as 116944, 92638.9, 46388.9 and 191388.9 Km respectively wheel hub, pitman arm, suspension arm and package of suspension. Finally, to prove the given results of the finite element method compared with reported results by other researchers and the results match very well with those.

Analysis of a front suspension system for UniART FSAE car using FEA

Science.gov (United States)

Zaidie, M. N. A.; Hashim, M. S. M.; Tasyrif, M.; Basha, M. H.; Ibrahim, I.; Kamaruddin, N. S.; Shahriman, A. B.

2017-10-01

In recent years, many research works from institutions that participated in Formula SAE had highlighted on suspension systems. The aim is to improve the system in term of performance and robustness. However, every suspension system for a racing car is tailored to the car itself. Thus, this paper proposes a new design for front suspension system for UniART FSAE car. The new design was than being compared to the previous suspension system for enhancement. The analysis covered in this paper based on several conditions such as braking, cornering and bumping condition and was carried out using finite element analysis. Each main component for the suspension system such as lower arm, upper arm and knuckle has been analysed in term of strength and performance. From the results, the proposed new design of the suspension system has improved in term of strength and performance compared to the previous suspension system.

Investigation on a Power Coupling Steering System for Dual-Motor Drive Tracked Vehicles Based on Speed Control

Directory of Open Access Journals (Sweden)

Li Zhai

2017-08-01

Full Text Available Double-motor drive tracked vehicles (2MDTV are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.

Holographic memory using beam steering

Science.gov (United States)

Chao, Tien-Hsin (Inventor); Hanan, Jay C. (Inventor); Reyes, George F. (Inventor); Zhou, Hanying (Inventor)

2006-01-01

A method, apparatus, and system provide the ability for storing holograms at high speed. A single laser diode emits a collimated laser beam to both write to and read from a photorefractice crystal. One or more liquid crystal beam steering spatial light modulators (BSSLMs) or Micro-Electro-Mechanical Systems (MEMS) mirrors steer a reference beam, split from the collimated laser beam, at high speed to the photorefractive crystal.

Active Return-to-Center Control Based on Torque and Angle Sensors for Electric Power Steering Systems

Directory of Open Access Journals (Sweden)

Pan-Pan Du

2018-03-01

Full Text Available This paper presents a complete control strategy of the active return-to-center (RTC control for electric power steering (EPS systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT. Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a state switch between the steering assist state and the RTC state. In order to avoid the sudden change of the output torque for the driving motor when the state switches frequently between the steering assist state and the RTC state, we design an undisturbed state switching logic algorithm. This state switching logic algorithm ensures that the output value of the RTC controller is set to an initial value and increases in given steps up to a maximum value after entering the RTC state, and the output value of the RTC controller will reduce in given steps down to zero when exiting the RTC state. This therefore ensures smooth switch control between the two states and improves the driver’s steering feeling. Third, we design the RTC controller, which depends upon the feedback signals of the steering wheel angle and the angular velocity. In addition, the controller increases the auxiliary control function of the RTC torque based on vehicle speed. The experimental results show that the active RTC control method does not affect the basic assist characteristics, which effectively reduces the residual angle of the steering wheel at low vehicle speed and improves the RTC performance of the vehicle.

A Kinematic, Kevlar(registered) Suspension System for an ADR

Science.gov (United States)

Voellmer, George M.; Jackson, Michael L.; Shirron, Peter J.; Tuttle, James G.

2003-01-01

The High Resolution Airborne Wideband Camera (HAWC) and the Submillimeter And Far Infrared Experiment (SAFIRE) will use identical Adiabatic Demagnetization Refrigerators (ADR) to cool their bolometer detectors to 200mK and 100mK, respectively. In order to minimize thermal loads on the salt pill, a Kevlar@ suspension system is used to hold it in place. An innovative, kinematic suspension system is presented. The suspension system is unique in that it consists or two parts that can be assembled and tensioned offline, and later bolted onto the salt pill. The resulting assembly constrains each degree of freedom only once, yielding a kinematic, tensile structure.

MEMS mass-spring-damper systems using an out-of-plane suspension scheme

KAUST Repository

Abdel Aziz, Ahmed Kamal Said; Sharaf, Abdel Hameed; Serry, Mohamed Yousef; Sedky, Sherif Salah

2014-01-01

MEMS mass-spring-damper systems (including MEMS gyroscopes and accelerometers) using an out-of-plane (or vertical) suspension scheme, wherein the suspensions are normal to the proof mass, are disclosed. Such out-of-plane suspension scheme helps such MEMS mass-spring-damper systems achieve inertial grade performance. Methods of fabricating out-of-plane suspensions in MEMS mass-spring-damper systems (including MEMS gyroscopes and accelerometers) are also disclosed.

MEMS mass-spring-damper systems using an out-of-plane suspension scheme

KAUST Repository

Abdel Aziz, Ahmed Kamal Said

2014-02-04

MEMS mass-spring-damper systems (including MEMS gyroscopes and accelerometers) using an out-of-plane (or vertical) suspension scheme, wherein the suspensions are normal to the proof mass, are disclosed. Such out-of-plane suspension scheme helps such MEMS mass-spring-damper systems achieve inertial grade performance. Methods of fabricating out-of-plane suspensions in MEMS mass-spring-damper systems (including MEMS gyroscopes and accelerometers) are also disclosed.

15 CFR 2011.110 - Suspension of certificate system.

Science.gov (United States)

2010-01-01

..., SYRUPS AND MOLASSES Certificate of Quota Eligibility § 2011.110 Suspension of certificate system. (a... of such suspension and the effective date thereof shall be published in the Federal Register. (b... such reinstatement and the effective date thereof shall be published in the Federal Register. (c...

46 CFR 58.25-10 - Main and auxiliary steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Main and auxiliary steering gear. 58.25-10 Section 58.25... AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-10 Main and auxiliary steering gear. (a) Power-operated main and auxiliary steering gear must be separate systems that are independent throughout their...

Automotive mechatronic systems. General developments and examples

Energy Technology Data Exchange (ETDEWEB)

Isermann, R. [Technische Univ. Darmstadt (Germany). Inst. fuer Automatisierungstechnik, FG Regelungstechnik und Prozessautomatisierung

2006-08-15

Automobiles are showing an increasing integration of mechanics with digital electronics and information processing. This integration is between the components (hardware) and by the information-driven functions (software), resulting in integrated systems called mechatronic systems. Their development involves finding an optimal balance between the basic mechanical structure, sensor and actuator implementation, communication, automatic information processing and overall control. This contribution summarizes some ongoing developments for mechatronic systems in automobiles, shows design approaches and examples and considers the various embedded control functions and systems integrity. Some examples of automotive mechatronic systems are shown in more detail. Great progress can be observed in braking systems (ABS, ESP), the first brake-by-wire electro-hydraulic brake system (EHB), steering systems (electrical power steering, active front steering) and active suspension systems. (orig.)

Evaluation of metal matrix composite to replace spheroidal graphite iron for a critical component, steering knuckle

International Nuclear Information System (INIS)

Vijayarangan, S.; Rajamanickam, N.; Sivananth, V.

2013-01-01

Highlights: ► A FE model is developed to study the suitability of MMC for steering knuckle. ► Structural analysis of steering knuckle is carried out for 12 load cases. ► The cross section of the critical region is optimized using genetic algorithm. ► The life of the MMC (Al-10 wt.% TiC) knuckle is compared before and after optimization. ► MMC material could replace SG iron for automotive steering knuckle. -- Abstract: Steering knuckle is considered as one of the critical component in automotive suspension system. It is subjected to time varying loads during its service life, leading to fatigue failure. Therefore, its design is an important aspect in the product development cycle. Currently, spheroidal graphite (SG) iron is widely used to manufacture steering knuckle in the commercial automobile sector. It has been observed from the knuckle manufacturers that advanced materials and weight reduction are the real need for the current automobile industry. Due to their high strength to weight ratio, Metal Matrix Composites (MMCs) have the potential to meet the demanded design requirements of the automotive industry, compared to conventional materials. In this work, an aluminum alloy reinforced with titanium carbide particulate is suggested as an alternate material in place of existing SG iron. Structural analysis of steering knuckle made of alternate material Al-10 wt.% TiC was performed using commercial code ANSYS. The results of steering knuckle made of MMC (Al-10 wt.% TiC) were compared with that of aluminum alloy and SG iron steering knuckles for its performance based on real time load cases. It is found from this analysis, the knuckle strut region has maximum stress and deflection during its life time. The critical strut region cross section area of knuckle was analyzed and geometrically optimized for minimum bending stress and deflection using genetic algorithm available in MatLab. Since, the knuckle experiences time varying loads, fatigue analysis also

Computation of magnetic suspension of maglev systems using dynamic circuit theory

Science.gov (United States)

He, J. L.; Rote, D. M.; Coffey, H. T.

1992-01-01

Dynamic circuit theory is applied to several magnetic suspensions associated with maglev systems. These suspension systems are the loop-shaped coil guideway, the figure-eight-shaped null-flux coil guideway, and the continuous sheet guideway. Mathematical models, which can be used for the development of computer codes, are provided for each of these suspension systems. The differences and similarities of the models in using dynamic circuit theory are discussed in the paper. The paper emphasizes the transient and dynamic analysis and computer simulation of maglev systems. In general, the method discussed here can be applied to many electrodynamic suspension system design concepts. It is also suited for the computation of the performance of maglev propulsion systems. Numerical examples are presented in the paper.

Development of a Computational Steering Framework for High Performance Computing Environments on Blue Gene/P Systems

KAUST Repository

Danani, Bob K.

2012-07-01

Computational steering has revolutionized the traditional workflow in high performance computing (HPC) applications. The standard workflow that consists of preparation of an application’s input, running of a simulation, and visualization of simulation results in a post-processing step is now transformed into a real-time interactive workflow that significantly reduces development and testing time. Computational steering provides the capability to direct or re-direct the progress of a simulation application at run-time. It allows modification of application-defined control parameters at run-time using various user-steering applications. In this project, we propose a computational steering framework for HPC environments that provides an innovative solution and easy-to-use platform, which allows users to connect and interact with running application(s) in real-time. This framework uses RealityGrid as the underlying steering library and adds several enhancements to the library to enable steering support for Blue Gene systems. Included in the scope of this project is the development of a scalable and efficient steering relay server that supports many-to-many connectivity between multiple steered applications and multiple steering clients. Steered applications can range from intermediate simulation and physical modeling applications to complex computational fluid dynamics (CFD) applications or advanced visualization applications. The Blue Gene supercomputer presents special challenges for remote access because the compute nodes reside on private networks. This thesis presents an implemented solution and demonstrates it on representative applications. Thorough implementation details and application enablement steps are also presented in this thesis to encourage direct usage of this framework.

Progress towards extreme attitude testing with Magnetic Suspension and Balance Systems

Science.gov (United States)

Britcher, Colin P.; Parker, David H.

1988-01-01

Progress is reported in a research effort aimed towards demonstration of the feasibility of suspension and aerodynamic testing of models at high angles of attack in wind tunnel Magnetic Suspension and Balance Systems. Extensive modifications, described in this paper, have been made to the Southampton University suspension system in order to facilitate this work. They include revision of electromagnet configuration, installation of all-new position sensors and expansion of control system programs. An angle of attack range of 0 to 90 deg is expected for axisymmetric models. To date, suspension up to 80 deg angle of attack has been achieved.

Measurements on an electromagnetic active suspension system for automotive applications

NARCIS (Netherlands)

Gysen, B.L.J.; Paulides, J.J.H.; Lomonova, E.A.; Encica, L.; Gysen, B.L.J.; Jansen, J.W.; Krop, D.C.J.

2008-01-01

Abstract—This paper describes the specifications for active suspension systems and provides an electromagnetic solution. Electromagnetic actuation and preliminary control strategies are investigated in order to achieve a suspension system with the ability to absorb road irregularities and perform

ADDJUST - An automated system for steering Centaur launch vehicles in measured winds

Science.gov (United States)

Swanson, D. C.

1977-01-01

ADDJUST (Automatic Determination and Dissemination of Just-Updated Steering Terms) is an automated computer and communication system designed to provide Atlas/Centaur and Titan/Centaur launch vehicles with booster-phase steering data on launch day. Wind soundings are first obtained, from which a smoothed wind velocity vs altitude relationship is established. Design for conditions at the end of the boost phase with initial pitch and yaw maneuvers, followed by zero total angle of attack through the filtered wind establishes the required vehicle attitude as a function of altitude. Polynomial coefficients for pitch and yaw attitude vs altitude are determined and are transmitted for validation and loading into the Centaur airborne computer. The system has enabled 14 consecutive launches without a flight wind delay.

Interactive visual steering--rapid visual prototyping of a common rail injection system.

Science.gov (United States)

Matković, Kresimir; Gracanin, Denis; Jelović, Mario; Hauser, Helwig

2008-01-01

Interactive steering with visualization has been a common goal of the visualization research community for twenty years, but it is rarely ever realized in practice. In this paper we describe a successful realization of a tightly coupled steering loop, integrating new simulation technology and interactive visual analysis in a prototyping environment for automotive industry system design. Due to increasing pressure on car manufacturers to meet new emission regulations, to improve efficiency, and to reduce noise, both simulation and visualization are pushed to their limits. Automotive system components, such as the powertrain system or the injection system have an increasing number of parameters, and new design approaches are required. It is no longer possible to optimize such a system solely based on experience or forward optimization. By coupling interactive visualization with the simulation back-end (computational steering), it is now possible to quickly prototype a new system, starting from a non-optimized initial prototype and the corresponding simulation model. The prototyping continues through the refinement of the simulation model, of the simulation parameters and through trial-and-error attempts to an optimized solution. The ability to early see the first results from a multidimensional simulation space--thousands of simulations are run for a multidimensional variety of input parameters--and to quickly go back into the simulation and request more runs in particular parameter regions of interest significantly improves the prototyping process and provides a deeper understanding of the system behavior. The excellent results which we achieved for the common rail injection system strongly suggest that our approach has a great potential of being generalized to other, similar scenarios.

Adaptive tracking control for active suspension systems with non-ideal actuators

Science.gov (United States)

Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

2017-07-01

As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

Operational Modal Analysis and the Performance Assessment of Vehicle Suspension Systems

Directory of Open Access Journals (Sweden)

L. Soria

2012-01-01

Full Text Available Comfort, road holding and safety of passenger cars are mainly influenced by an appropriate design of suspension systems. Improvements of the dynamic behaviour can be achieved by implementing semi-active or active suspension systems. In these cases, the correct design of a well-performing suspension control strategy is of fundamental importance to obtain satisfying results. Operational Modal Analysis allows the experimental structural identification in those that are the real operating conditions: Moving from output-only data, leading to modal models linearised around the more interesting working points and, in the case of controlled systems, providing the needed information for the optimal design and verification of the controller performance. All these characters are needed for the experimental assessment of vehicle suspension systems. In the paper two suspension architectures are considered equipping the same car type. The former is a semi-active commercial system, the latter a novel prototypic active system. For the assessment of suspension performance, two different kinds of tests have been considered, proving ground tests on different road profiles and laboratory four poster rig tests. By OMA-processing the signals acquired in the different testing conditions and by comparing the results, it is shown how this tool can be effectively utilised to verify the operation and the performance of those systems, by only carrying out a simple, cost-effective road test.

A novel magnetic lead screw active suspension system for vehicles

DEFF Research Database (Denmark)

Berg, Nick Ilsø; Holm, Rasmus Koldborg; Rasmussen, Peter Omand

2014-01-01

This paper encompasses a detailed study of the redesign of a novel Magnetic Lead Screw (MLS) active suspension system for possible regeneration of the energy dispatched in the suspension system and active control of vehicle body movement. The MLS converts a low speed high force linear motion...... of a translator into a high speed low torque rotational motion of a rotor through helically shaped magnets. The paper describes the drawback of the first MLS prototype v1.0 developed for active suspension system, which lead to a new design of the MLS prototype named v1.5. Furthermore the paper introduces detailed...

Design of power steering systems for heavy-duty long-haul vehicles

NARCIS (Netherlands)

Silvas, E.; Backx, E.A.; Hofman, T.; Voets, H.; Steinbuch, M.

2014-01-01

Conventionally, all auxiliaries present in a heavy-duty vehicle (e.g., power-steering pump, air-conditioning compressor) are engine-driven systems, which put high constraints on their performance. Outputs (e.g., speed, temperature) and energy consumption are dictated by engine speed, while most

Fuzzy-Skyhook Control for Active Suspension Systems Applied to a Full Vehicle Model

Directory of Open Access Journals (Sweden)

Aref M.A. Soliman

2012-04-01

Full Text Available Nowadays, most modern vehicles are equipped with controlled suspension systems for improving the vehicle ride comfort. Therefore, this paper is concerned with a theoretical study for the ride comfort performance of the vehicle. The theoretical investigation includes a suggestion of an active suspension system controller using fuzzy-skyhook control theory, which offers new opportunities for the improvement of vehicle ride performance. The ride comfort of the active suspension system has been evaluated using a 7 degree of freedom full vehicle mathematical model. The simulation results are presented in the time and frequency domain, also in terms of RMS values, and it’s shown that the proposed active suspension system with fuzzy-skyhook control improved the vehicle ride quality in terms of body acceleration, suspension working space and dynamic tyre load in comparison with the passive and skyhook suspension systems.

A new variable stiffness suspension system: passive case

Directory of Open Access Journals (Sweden)

O. M. Anubi

2013-02-01

Full Text Available This paper presents the design, analysis, and experimental validation of the passive case of a variable stiffness suspension system. The central concept is based on a recently designed variable stiffness mechanism. It consists of a horizontal control strut and a vertical strut. The main idea is to vary the load transfer ratio by moving the location of the point of attachment of the vertical strut to the car body. This movement is controlled passively using the horizontal strut. The system is analyzed using an L2-gain analysis based on the concept of energy dissipation. The analyses, simulation, and experimental results show that the variable stiffness suspension achieves better performance than the constant stiffness counterpart. The performance criteria used are; ride comfort, characterized by the car body acceleration, suspension deflection, and road holding, characterized by tire deflection.

Development of an Air Pneumatic Suspension System for Transtibial Prostheses

Directory of Open Access Journals (Sweden)

Gholamhossein Pirouzi

2014-09-01

Full Text Available The suspension system and socket fitting of artificial limbs have major roles and vital effects on the comfort, mobility, and satisfaction of amputees. This paper introduces a new pneumatic suspension system that overcomes the drawbacks of current suspension systems in donning and doffing, change in volume during daily activities, and pressure distribution in the socket-stump interface. An air pneumatic suspension system (APSS for total-contact sockets was designed and developed. Pistoning and pressure distribution in the socket-stump interface were tested for the new APSS. More than 95% of the area between each prosthetic socket and liner was measured using a Tekscan F-Scan pressure measurement which has developed matrix-based pressure sensing systems. The variance in pressure around the stump was 8.76 kPa. APSS exhibits less pressure concentration around the stump, improved pressure distribution, easy donning and doffing, adjustability to remain fitted to the socket during daily activities, and more adaptability to the changes in stump volume. The volume changes were adjusted by utility of air pressure sensor. The vertical displacement point and reliability of suspension were assessed using a photographic method. The optimum pressure in every level of loading weight was 55 kPa, and the maximum displacement was 6 mm when 90 N of weight was loaded.

Steering Maps and Their Application to Dimension-Bounded Steering

Science.gov (United States)

Moroder, Tobias; Gittsovich, Oleg; Huber, Marcus; Uola, Roope; Gühne, Otfried

2016-03-01

The existence of quantum correlations that allow one party to steer the quantum state of another party is a counterintuitive quantum effect that was described at the beginning of the past century. Steering occurs if entanglement can be proven even though the description of the measurements on one party is not known, while the other side is characterized. We introduce the concept of steering maps, which allow us to unlock sophisticated techniques that were developed in regular entanglement detection and to use them for certifying steerability. As an application, we show that this allows us to go beyond even the canonical steering scenario; it enables a generalized dimension-bounded steering where one only assumes the Hilbert space dimension on the characterized side, with no description of the measurements. Surprisingly, this does not weaken the detection strength of very symmetric scenarios that have recently been carried out in experiments.

A magnetic suspension system for measuring liquid density

Directory of Open Access Journals (Sweden)

Luz María Centeno González

2013-01-01

Full Text Available Density is a derived quantity of mass and length; it is defined as mass per volume unit and its SI unit is kg/m3. National metrology institutes have been designing and building their own magnetic suspension systems during the last 5 decades for making fluid density measurements; this has allowed them to carry out research into liquids and gases’ physical characteristics. This paper was aimed at designing and developing a magnetic suspension system for a magnetic balance used in determining liquid density to be used in CENAM’s metrology density laboratories.

Collision-model approach to steering of an open driven qubit

Science.gov (United States)

Beyer, Konstantin; Luoma, Kimmo; Strunz, Walter T.

2018-03-01

We investigate quantum steering of an open quantum system by measurements on its environment in the framework of collision models. As an example we consider a coherently driven qubit dissipatively coupled to a bath. We construct local nonadaptive and adaptive as well as nonlocal measurement scenarios specifying explicitly the measured observable on the environment. Our approach shows transparently how the conditional evolution of the open system depends on the type of the measurement scenario and the measured observables. These can then be optimized for steering. The nonlocal measurement scenario leads to maximal violation of the used steering inequality at zero temperature. Further, we investigate the robustness of the constructed scenarios against thermal noise. We find generally that steering becomes harder at higher temperatures. Surprisingly, the system can be steered even when bipartite entanglement between the system and individual subenvironments vanishes.

Development of active rear steer actuator. Development of four wheel steer actuator for active safety; Active rear steer actuator no kaihatsu. Yobo anzen ni muketa 4WS actuator no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Yamanaka, T [Aisin Seiki Co. Ltd., Aichi (Japan)

1997-10-01

Recently, ecology, energy saving and safety have become important issues. And Active Safety is spotlighted in vehicle control area. Many researches and developments on four wheel steer system have been done to improve vehicle stability. We have developed the Active Rear Steer system with electromechanical Actuator, which is mass-productive, compact, and high response and durable. 10 figs., 5 tabs.

Vibration Reduction System Using Magnetic Suspension Technology

Directory of Open Access Journals (Sweden)

Spychała Jarosław

2015-01-01

Full Text Available The article presents considerations concerning the construction of vibration reduction system using magnetic suspension technology. Presents the results of simulation, numerical and experimental the bearingless electric motor, for which successfully used this type of solution. Positive results of research and testing have become the basis for the development of the concept of building this type of active vibration reduction system , at the same time acting as a support for a technical object, which is a jet engine. Bearing failures are manifested by loss or distortion of their mass, which leads to a total destruction of the roller bearing, and thus reflected in the security. The article presents the concept of building active magnetic suspension to eliminate the bearing system of classical rolling bearing and replace it with magnetic bearing.

BEAMLINE-CONTROLLED STEERING OF SOURCE-POINT ANGLE AT THE ADVANCED PHOTON SOURCE

Energy Technology Data Exchange (ETDEWEB)

Emery, L.; Fystro, G.; Shang, H.; Smith, M.

2017-06-25

An EPICS-based steering software system has been implemented for beamline personnel to directly steer the angle of the synchrotron radiation sources at the Advanced Photon Source. A script running on a workstation monitors "start steering" beamline EPICS records, and effects a steering given by the value of the "angle request" EPICS record. The new system makes the steering process much faster than before, although the older steering protocols can still be used. The robustness features of the original steering remain. Feedback messages are provided to the beamlines and the accelerator operators. Underpinning this new steering protocol is the recent refinement of the global orbit feedback process whereby feedforward of dipole corrector set points and orbit set points are used to create a local steering bump in a rapid and seamless way.

Monogamy inequalities for the Einstein-Podolsky-Rosen paradox and quantum steering

Science.gov (United States)

Reid, M. D.

2013-12-01

Monogamy inequalities for the way bipartite Einstein-Podolsky-Rosen (EPR) steering can be distributed among N systems are derived. One set of inequalities is based on witnesses with two measurement settings, and may be used to demonstrate correlation of outcomes between two parties, that cannot be shared with more parties. It is shown that the monogamy for steering is directional. Two parties cannot independently demonstrate steering of a third system, using the same two-setting steering witness, but it is possible for one party to steer two independent systems. This result explains the monogamy of two-setting Bell inequality violations and the sensitivity of the continuous variable (CV) EPR criterion to losses on the steering party. We generalize to m settings. A second type of monogamy relation gives the quantitative amount of sharing possible, when the number of parties is less than or equal to m, and takes a form similar to the Coffman-Kundu-Wootters relation for entanglement. The results enable characterization of the tripartite steering for CV Gaussian systems and qubit Greenberger-Horne-Zeilinger and W states.

Two-Dimensional Fuzzy Sliding Mode Control of a Field-Sensed Magnetic Suspension System

Directory of Open Access Journals (Sweden)

Jen-Hsing Li

2014-01-01

Full Text Available This paper presents the two-dimensional fuzzy sliding mode control of a field-sensed magnetic suspension system. The fuzzy rules include both the sliding manifold and its derivative. The fuzzy sliding mode control has advantages of the sliding mode control and the fuzzy control rules are minimized. Magnetic suspension systems are nonlinear and inherently unstable systems. The two-dimensional fuzzy sliding mode control can stabilize the nonlinear systems globally and attenuate chatter effectively. It is adequate to be applied to magnetic suspension systems. New design circuits of magnetic suspension systems are proposed in this paper. ARM Cortex-M3 microcontroller is utilized as a digital controller. The implemented driver, sensor, and control circuits are simpler, more inexpensive, and effective. This apparatus is satisfactory for engineering education. In the hands-on experiments, the proposed control scheme markedly improves performances of the field-sensed magnetic suspension system.

Decoupling control of vehicle chassis system based on neural network inverse system

Science.gov (United States)

Wang, Chunyan; Zhao, Wanzhong; Luan, Zhongkai; Gao, Qi; Deng, Ke

2018-06-01

Steering and suspension are two important subsystems affecting the handling stability and riding comfort of the chassis system. In order to avoid the interference and coupling of the control channels between active front steering (AFS) and active suspension subsystems (ASS), this paper presents a composite decoupling control method, which consists of a neural network inverse system and a robust controller. The neural network inverse system is composed of a static neural network with several integrators and state feedback of the original chassis system to approach the inverse system of the nonlinear systems. The existence of the inverse system for the chassis system is proved by the reversibility derivation of Interactor algorithm. The robust controller is based on the internal model control (IMC), which is designed to improve the robustness and anti-interference of the decoupled system by adding a pre-compensation controller to the pseudo linear system. The results of the simulation and vehicle test show that the proposed decoupling controller has excellent decoupling performance, which can transform the multivariable system into a number of single input and single output systems, and eliminate the mutual influence and interference. Furthermore, it has satisfactory tracking capability and robust performance, which can improve the comprehensive performance of the chassis system.

Progress of magnetic-suspension systems and magnetic bearings in the USSR

International Nuclear Information System (INIS)

Kuzin, A.V.

1992-01-01

This paper traces the development and progress of magnetic suspension systems and magnetic bearings in the USSR. The paper describes magnetic bearings for turbomachines, magnetic suspension systems for vibration isolation, some special measuring devices, wind tunnels, and other applications. The design, principles of operation, and dynamic characteristics of the system are presented

46 CFR 182.620 - Auxiliary means of steering.

Science.gov (United States)

2010-10-01

... TONS) MACHINERY INSTALLATION Steering Systems § 182.620 Auxiliary means of steering. (a) Except as... personnel hazards during normal or heavy weather operation. (b) A suitable hand tiller may be acceptable as...

Development of a non-piston MR suspension rod for variable mass systems

Science.gov (United States)

Deng, Huaxia; Han, Guanghui; Zhang, Jin; Wang, Mingxian; Ma, Mengchao; Zhong, Xiang; Yu, Liandong

2018-06-01

The semi-active suspension systems for variable mass systems require long work stroke and variable damping, while the currently piston structure limits the work stroke for the magnetorheological (MR) dampers. The main work of this paper is to design a semi-active non-piston MR (NPMR) suspension rod for the reduction of the vibration of an automatic impeller washing machine, which is a typical variable mass system. The designed suspension rod locates in the suspension system that links the internal tub to the washing machine cabinet. The NPMR suspension rod includes a MR part and a air part. The MR part can provide low initial damping force and the unlimited work stroke compared with the piston MR damper. The hysteretic response tests and vibration performance evaluation with different loadings are conducted to verify the dynamic performance for the designed rod. The measured damping force of the MR part varies from 5 to 20 N. Studies of dehydration mode experiments of the washing machine indicate that its vibration acceleration with the NPMR suspension rods can reduce to half of the original passive ones in certain conditions.

Millimeter wave beam steered fiber wireless systems for 5G indoor coverage : Integrated circuits and systems

NARCIS (Netherlands)

Cao, Zizheng; Zhang, Xuebing; Zhao, Xinran; Shen, Longfei; Deng, Xiong; Yin, Xin; Koonen, Ton

2017-01-01

In this talk, we review our recent progress and on-going research on millimeter wave beam steered fiber wireless systems for 5G indoor coverage enabled by the advanced photonic integrated circuit and well-designed fiber-wireless networks.

Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

Science.gov (United States)

Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

2012-01-01

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

Neural control of magnetic suspension systems

Science.gov (United States)

Gray, W. Steven

1993-01-01

The purpose of this research program is to design, build and test (in cooperation with NASA personnel from the NASA Langley Research Center) neural controllers for two different small air-gap magnetic suspension systems. The general objective of the program is to study neural network architectures for the purpose of control in an experimental setting and to demonstrate the feasibility of the concept. The specific objectives of the research program are: (1) to demonstrate through simulation and experimentation the feasibility of using neural controllers to stabilize a nonlinear magnetic suspension system; (2) to investigate through simulation and experimentation the performance of neural controllers designs under various types of parametric and nonparametric uncertainty; (3) to investigate through simulation and experimentation various types of neural architectures for real-time control with respect to performance and complexity; and (4) to benchmark in an experimental setting the performance of neural controllers against other types of existing linear and nonlinear compensator designs. To date, the first one-dimensional, small air-gap magnetic suspension system has been built, tested and delivered to the NASA Langley Research Center. The device is currently being stabilized with a digital linear phase-lead controller. The neural controller hardware is under construction. Two different neural network paradigms are under consideration, one based on hidden layer feedforward networks trained via back propagation and one based on using Gaussian radial basis functions trained by analytical methods related to stability conditions. Some advanced nonlinear control algorithms using feedback linearization and sliding mode control are in simulation studies.

: Light Steering Projection Systems and Attributes for HDR Displays

KAUST Repository

Damberg, Gerwin

2017-06-02

New light steering projectors in cinema form images by moving light away from dark regions into bright areas of an image. In these systems, the peak luminance of small features can far exceed full screen white luminance. In traditional projectors where light is filtered or blocked in order to give shades of gray (or colors), the peak luminance is fixed. The luminance of chromatic features benefit in the same way as white features, and chromatic image details can be reproduced at high brightness leading to a much wider overall color gamut coverage than previously possible. Projectors of this capability are desired by the creative community to aid in and enhance storytelling. Furthermore, reduced light source power requirements of light steering projectors provide additional economic and environmental benefits. While the dependency of peak luminance level on (bright) image feature size is new in the digital cinema space, display technologies with identical characteristics such as OLED, LED LCD and Plasma TVs are well established in the home. Similarly, direct view LED walls are popular in events, advertising and architectural markets. To enable consistent color reproduction across devices in today’s content production pipelines, models that describe modern projectors and display attributes need to evolve together with HDR standards and available metadata. This paper is a first step towards rethinking legacy display descriptors such as contrast, peak luminance and color primaries in light of new display technology. We first summarize recent progress in the field of light steering projectors in cinema and then, based on new projector and existing display characteristics propose the inclusion of two simple display attributes: Maximum Average Luminance and Peak (Color) Primary Luminance. We show that the proposed attributes allow a better prediction of content reproducibility on HDR displays. To validate this assertion, we test professional content on a commercial HDR

Frequency Invariant Beam Steering for Short-Pulse Systems with a Rotman Lens

Directory of Open Access Journals (Sweden)

Andreas Lambrecht

2010-01-01

Full Text Available A promising approach for beam steering of high-voltage transient signals for HPEM-systems (High Power Electro Magnetic is presented. The inherent capability of the Rotman lens to provide true time delays is used to develop a prototype beam steering device for an antielectronics HPEM system in the frequency range from 350 MHz to 5 GHz. Results of analytical calculations, simulations, and measurements from a hardware prototype are presented. The detailed mechanical setup of the Rotman lens is presented. Additionally the output pulses are investigated when inputting a Gaussian-like transient signal. Then time domain measures of quality (full width at half maximum, ringing, delay spread, maximum of transfer function are investigated for these output transients, and the simulation and measurement results are compared. A concluding analysis of the realizable time domain array pattern shows the radiated pulse form.

Optimization of Steering System of Forklift Vehicle for Idle Performance

Directory of Open Access Journals (Sweden)

Yuan Shen

2015-01-01

Full Text Available This paper presents an optimal design process for the steering system of a forklift vehicle. An efficient procedure for minimizing the engine-induced idle vibration is developed in this study. Reciprocating unbalance and gas pressure torque as two major sources of engine excitation are studied. Using the field vibration tests and FEM analysis, the cause and characteristics of steering system’s idle vibration are recognized. So as to distribute the characteristic modes based on the optimization strategy, global sensitivity analysis of the main parameters is also carried out to achieve the optimal combination of the optimization factors. Based on all analysis above, some structure modifications for optimization are presented to control the idle vibration. The effectiveness and rationality of the improvements are also verified through experimental prototyping testing. This study also makes it possible to provide a design guideline using CAE (computer aided engineering analysis for some other objects.

Hyperspectral and in situ data fusion for the steering of plant production systems

Science.gov (United States)

Verstraeten, W. W.; Coppin, P.

2009-04-01

Plant production systems are governed by biotic and a-biotic factors and by management practices. Some of the relevant parameters have already been identified and incorporated as inputs into existing models for production assessment, early-warning, and process management. These parameters originate nowadays primarily from in-situ measurements and observations. Non-invasive remotely sensed data, the diagnostic tools of excellence where it concerns the interaction of solar energy with biomass, have seldom been included and if so, mostly to support yield assessment and harvest monitoring only. The availability of new-generation hyperspectral/hypertemporal signatures will greatly facilitate their integration into full-fledged plant production model either via direct use, forcing, assimilation or re-initialization strategies. The main objective of IS-HS (Integration of In Situ data and HyperSpectral remote sensing for plant production modeling) is to set up a multidisciplinary research platform to deepen our system understanding and to develop production-oriented schemes to steer capital-intensive vegetation scenarios. Real-time steering in a 10-15 year timeframe is envisaged, where current system state is monitored, and steered towards an ideal state in terms of production quantity and quality. IS-HS focuses on hyperspectral sensor design, time series analysis tools for remote sensing data of vegetation systems, on the establishment of two stream communication between satellite and ground sensors, on the development of citrus plant production systems, and on the design of in-situ data sensor networks. The general framework of this system approach will be presented. In time, this integration should allow to cross the bridge from post-harvest assessment to near real-time potential and actual yield monitoring in terms of crop.

Opportunities to Investigate the Steering System for Improvement of Truck Driving Properties under Critical Road Conditions

Science.gov (United States)

Gidlewski, Mirosław

2011-09-01

Application of an electric steering system in a truck gives new opportunities to obtain desirable and safe motion path under critical road conditions. Analysis of the opportunity to take advantage of the steering system for improvement of truck driving properties will be carried out on the basis of the results of model tests. The paper describes model of the vehicle applied in simulation tests and methodology as well as anticipated results. The scheduled tests will be carried out within the framework of an research project No. NN509 568439 headed by the author.

Magnetic suspension of a rotating system. Application to inertial flywheels

International Nuclear Information System (INIS)

Lemarquand, Guy

1984-01-01

The various possible magnetic suspension configurations compatible with rotating mechanical systems are defined from studies of the characteristics of different types of magnetic bearings. The results obtained are used in the design and realization of a magnetic suspension for an inertial flywheel. (author) [fr

First experience with THE AUTOLAP™ SYSTEM: an image-based robotic camera steering device.

Science.gov (United States)

Wijsman, Paul J M; Broeders, Ivo A M J; Brenkman, Hylke J; Szold, Amir; Forgione, Antonello; Schreuder, Henk W R; Consten, Esther C J; Draaisma, Werner A; Verheijen, Paul M; Ruurda, Jelle P; Kaufman, Yuval

2018-05-01

Robotic camera holders for endoscopic surgery have been available for 20 years but market penetration is low. The current camera holders are controlled by voice, joystick, eyeball tracking, or head movements, and this type of steering has proven to be successful but excessive disturbance of surgical workflow has blocked widespread introduction. The Autolap™ system (MST, Israel) uses a radically different steering concept based on image analysis. This may improve acceptance by smooth, interactive, and fast steering. These two studies were conducted to prove safe and efficient performance of the core technology. A total of 66 various laparoscopic procedures were performed with the AutoLap™ by nine experienced surgeons, in two multi-center studies; 41 cholecystectomies, 13 fundoplications including hiatal hernia repair, 4 endometriosis surgeries, 2 inguinal hernia repairs, and 6 (bilateral) salpingo-oophorectomies. The use of the AutoLap™ system was evaluated in terms of safety, image stability, setup and procedural time, accuracy of imaged-based movements, and user satisfaction. Surgical procedures were completed with the AutoLap™ system in 64 cases (97%). The mean overall setup time of the AutoLap™ system was 4 min (04:08 ± 0.10). Procedure times were not prolonged due to the use of the system when compared to literature average. The reported user satisfaction was 3.85 and 3.96 on a scale of 1 to 5 in two studies. More than 90% of the image-based movements were accurate. No system-related adverse events were recorded while using the system. Safe and efficient use of the core technology of the AutoLap™ system was demonstrated with high image stability and good surgeon satisfaction. The results support further clinical studies that will focus on usability, improved ergonomics and additional image-based features.

Analysis of the Kinematics and Compliance of a Passive Suspension System using Adams Car

Directory of Open Access Journals (Sweden)

N. Ikhsan

2015-06-01

Full Text Available The experimental approach is usually used as the way to develop or modify a suspension system to obtain maximum ride comfort and handling characteristics. This approach is a time-consuming process, costly, and may not guarantee the optimum solution. Thus, to avoid this, a virtual vehicle suspension system is necessary. In this paper, a half-car body of an actual suspension system based on the PROTON WRM 44 P0-34 was modeled and simulated. In total, 10 components comprised each front McPherson strut and rear multilink suspension consisting of different joint types and a number of degrees of freedom. The model was developed by defining the location of the hard point or coordinate before specifying the component characteristics and joint type. The completed suspension model was simulated using the vertical parallel and vertical oppose movement test, the same tests conducted with the actual experimental parameter setup. The kinematics and compliance (K&C of the simulation is compared with the experimental data to verify the suspension model. The outcome from the simulation showed a verified virtual suspension system model with a very minimum percentage of error and different characteristics of the static performance of the suspension system when subjected to the test as explained further in the paper.

Magnetic suspension motorized spindle-cutting system dynamics analysis and vibration control review

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Xiaoli QIAO

2016-10-01

Full Text Available The performance of high-speed spindle directly determines the development of high-end machine tools. The cutting system's dynamic characteristics and vibration control effect are inseparable with the performance of the spindle,which influence each other, synergistic effect together the cutting efficiency, the surface quality of the workpiece and tool life in machining process. So, the review status on magnetic suspension motorized spindle, magnetic suspension bearing-flexible rotor system dynamics modeling theory and status of active control technology of flexible magnetic suspension motorized spindle rotor vibration are studied, and the problems which present in the magnetic suspension flexible motorized spindle rotor systems are refined, and the development trend of magnetic levitation motorized spindle and the application prospect is forecasted.

Design and analysis of the SSC [Superconducting Super Collider] dipole magnet suspension system

International Nuclear Information System (INIS)

Nicol, T.H.; Niemann, R.C.; Gonczy, J.D.

1989-03-01

The design of the suspension system for Superconducting Super Collider (SSC) dipole magnets has been driven by rigorous thermal and structural requirements. The current system, designed to meet those requirements, represents a significant departure from previous superconducting magnet suspension system designs. This paper will present a summary of the design and analysis of the vertical and lateral suspension as well as the axial anchor system employed in SSC dipole magnets. 5 refs., 9 figs., 4 tabs

Drowsy Driver Detection via Steering Wheel

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Herlina ABDUL RAHIM

2010-09-01

Full Text Available The main purpose of this project is to produce a safety system especially for fatigue car driver so as to prevent from accidents. The statistic on road fatality shows that human error constitute of 64.84 % road accidents fatality and 17.4 % due to technical factors. These systems encompassed the approach of hand pressure applied on the steering wheel. The steering will be installed with pressure sensors. At the same time these sensors can be used to measure gripping force while driving.

Improving Einstein–Podolsky–Rosen steering inequalities with state information

International Nuclear Information System (INIS)

Schneeloch, James; Broadbent, Curtis J.; Howell, John C.

2014-01-01

We discuss the relationship between entropic Einstein–Podolsky–Rosen (EPR)-steering inequalities and their underlying uncertainty relations along with the hypothesis that improved uncertainty relations lead to tighter EPR-steering inequalities. In particular, we discuss how using information about the state of a quantum system affects one's ability to witness EPR-steering. As an example, we consider the recent improvement to the entropic uncertainty relation between pairs of discrete observables (Berta et al., 2010 [10]). By considering the assumptions that enter into the development of a steering inequality, we derive correct steering inequalities from these improved uncertainty relations and find that they are identical to ones already developed (Schneeloch et al., 2013 [9]). In addition, we consider how one can use state information to improve our ability to witness EPR-steering, and develop a new continuous variable symmetric EPR-steering inequality as a result.

Creation of quantum steering by interaction with a common bath

Science.gov (United States)

Sun, Zhe; Xu, Xiao-Qiang; Liu, Bo

2018-05-01

By applying the hierarchy equation method, we computationally study the creation of quantum steering in a two-qubit system interacting with a common bosonic bath. The calculation does not adopt conventional approximate approaches, such as the Born, Markov, rotating-wave, and other perturbative approximations. Three kinds of quantum steering, i.e., Einstein-Podolsky-Rosen steering (EPRS), temporal steering (TS), and spatiotemporal steering (STS), are considered. Since the initial state of the two qubits is chosen as a product state, there does not exist EPRS at the beginning. During the evolution, we find that STS as well as EPRS are generated at the same time. An inversion relationship between STS and TS is revealed. By varying the system-bath coupling strength from weak to ultrastrong regimes, we find the nonmonotonic dependence of STS, TS, and EPRS on the coupling strength. It is interesting to study the dynamics of the three kinds of quantum steering by using an exactly numerical method, which is not considered in previous researches.

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

Science.gov (United States)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Application of MEMS Accelerometers and Gyroscopes in Fast Steering Mirror Control Systems

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Jing Tian

2016-03-01

Full Text Available In a charge-coupled device (CCD-based fast steering mirror (FSM tracking control system, high control bandwidth is the most effective way to enhance the closed-loop performance. However, the control system usually suffers a great deal from mechanical resonances and time delays induced by the low sampling rate of CCDs. To meet the requirements of high precision and load restriction, fiber-optic gyroscopes (FOGs are usually used in traditional FSM tracking control systems. In recent years, the MEMS accelerometer and gyroscope are becoming smaller and lighter and their performance have improved gradually, so that they can be used in a fast steering mirror (FSM to realize the stabilization of the line-of-sight (LOS of the control system. Therefore, a tentative approach to implement a CCD-based FSM tracking control system, which uses MEMS accelerometers and gyroscopes as feedback components and contains an acceleration loop, a velocity loop and a position loop, is proposed. The disturbance suppression of the proposed method is the product of the error attenuation of the acceleration loop, the velocity loop and the position loop. Extensive experimental results show that the MEMS accelerometers and gyroscopes can act the similar role as the FOG with lower cost for stabilizing the LOS of the FSM tracking control system.

Development of an algorithm for the servo-assisted control of an electro-mechanical steering system; Entwicklung eines Algorithmus zur Servokraftregelung einer elektromechanischen Lenkung

Energy Technology Data Exchange (ETDEWEB)

Dannoehl, Caroline

2010-07-01

Electromechanical steering systems increasingly replace hydraulic power steering systems, since they have substantial advantages such as a reduced consumption of fuel. A substantial aspect of each power steering is the correct choice of the support strength as a function of the driving conditions. The contribution under consideration reports on different approaches of regulation for an adjustment of the desired target hand moment for an electromechanical power steering. The requirements of the instantaneous control are deduced and specified by target values for selected characteristic numbers. The different automatic controllers are compared with the help of numeric simulation. Among other things, a special H{sub {infinity}} approach is used which is suitable very well for the regulation under consideration. The behaviour of the controller action is analyzed both in simulation as well as in a test vehicle. The steering system is modelled for the systems analysis, controller synthesis and controller simulation. The model validation is accomplished by test stand measurements.

Optical demodulation system for digitally encoded suspension array in fluoroimmunoassay

Science.gov (United States)

He, Qinghua; Li, Dongmei; He, Yonghong; Guan, Tian; Zhang, Yilong; Shen, Zhiyuan; Chen, Xuejing; Liu, Siyu; Lu, Bangrong; Ji, Yanhong

2017-09-01

A laser-induced breakdown spectroscopy and fluorescence spectroscopy-coupled optical system is reported to demodulate digitally encoded suspension array in fluoroimmunoassay. It takes advantage of the plasma emissions of assembled elemental materials to digitally decode the suspension array, providing a more stable and accurate recognition to target biomolecules. By separating the decoding procedure of suspension array and adsorption quantity calculation of biomolecules into two independent channels, the cross talk between decoding and label signals in traditional methods had been successfully avoided, which promoted the accuracy of both processes and realized more sensitive quantitative detection of target biomolecules. We carried a multiplexed detection of several types of anti-IgG to verify the quantitative analysis performance of the system. A limit of detection of 1.48×10-10 M was achieved, demonstrating the detection sensitivity of the optical demodulation system.

Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

Science.gov (United States)

Huang, Shiuh-Jer; Chen, Hung-Yi

In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

Wheeled Vehicle Steering Systems. Military Curriculum Materials for Vocational and Technical Education.

Science.gov (United States)

Army Ordnance Center and School, Aberdeen Proving Ground, MD.

This course is one of several subcourses that make up the entire Army correspondence course on wheeled vehicle maintenance. The subcourse is designed to provide the student with information about the operation, malfunction diagnosis, maintenance, and repair of wheeled vehicle steering systems. It provides the basic theory, and also includes…

Effect of yearling steer sequence grazing of perennial and annual forages in an integrated crop and livestock system on grazing performance, delayed feedlot entry, finishing performance, carcass measurements, and systems economics.

Science.gov (United States)

Sentürklü, Songul; Landblom, Douglas G; Maddock, Robert; Petry, Tim; Wachenheim, Cheryl J; Paisley, Steve I

2018-06-04

In a 2-yr study, spring-born yearling steers (n = 144), previously grown to gain <0.454 kg·steer-1·d-1, following weaning in the fall, were stratified by BW and randomly assigned to three retained ownership rearing systems (three replications) in early May. Systems were 1) feedlot (FLT), 2) steers that grazed perennial crested wheatgrass (CWG) and native range (NR) before FLT entry (PST), and 3) steers that grazed perennial CWG and NR, and then field pea-barley (PBLY) mix and unharvested corn (UC) before FLT entry (ANN). The PST and ANN steers grazed 181 d before FLT entry. During grazing, ADG of ANN steers (1.01 ± SE kg/d) and PST steers (0.77 ± SE kg/d) did not differ (P = 0.31). But even though grazing cost per steer was greater (P = 0.002) for ANN vs. PST, grazing cost per kg of gain did not differ (P = 0.82). The ANN forage treatment improved LM area (P = 0.03) and percent i.m. fat (P = 0.001). The length of the finishing period was greatest (P < 0.001) for FLT (142 d), intermediate for PST (91 d), and least for ANN (66 d). Steer starting (P = 0.015) and ending finishing BW (P = 0.022) of ANN and PST were greater than FLT steers. Total FLT BW gain was greater for FLT steers (P = 0.017), but there were no treatment differences for ADG, (P = 0.16), DMI (P = 0.21), G: F (P = 0.82), and feed cost per kg of gain (P = 0.61). However, feed cost per steer was greatest for FLT ($578.30), least for ANN ($276.12), and intermediate for PST ($381.18) (P = 0.043). There was a tendency for FLT steer HCW to be less than ANN and PST, which did not differ (P = 0.076). There was no difference between treatments for LM area (P = 0.094), backfat depth (P = 0.28), marbling score (P = 0.18), USDA yield grade (P = 0.44), and quality grade (P = 0.47). Grazing steer net return ranged from an ANN system high of $9.09/steer to a FLT control system net loss of -$298 and a PST system that was slightly less than the ANN system (-$30.10). Ten-year (2003 to 2012) hedging and net return

Methodologies for steering clocks

Science.gov (United States)

Chadsey, Harold

1995-01-01

One of the concerns of the PTTI community is the coordination of one time scale with another. This is accomplished through steering one clock system to another, with a goal of a zero or constant offset in time and frequency. In order to attain this goal, rate differences are calculated and allowed for by the steering algorithm. This paper will present several of these different methods of determining rate differences. Ideally, any change in rate should not cause the offset to change sign (overshoot) by any amount, but certainly not by as much as its previous absolute value. The advantages and disadvantages of each depend on the user's situation.

A comparison of optimal semi-active suspension systems regarding vehicle ride comfort

Science.gov (United States)

Koulocheris, Dimitrios; Papaioannou, Georgios; Chrysos, Emmanouil

2017-10-01

The aim of this work is to present a comparison of the main semi active suspension systems used in a passenger car, after having optimized the suspension systems of the vehicle model in respect with ride comfort and road holding. Thus, a half car model, equipped with controllable dampers, along with a seat and a driver was implemented. Semi-active suspensions have received a lot of attention since they seem to provide the best compromise between cost (energy consumption, actuators/sensors hardware) and performance in comparison with active and passive suspensions. In this work, the semi active suspension systems studied are comfort oriented and consist of (a) the two version of Skyhook control (two states skyhook and skyhook linear approximation damper), (b) the acceleration driven damper (ADD), (c) the power driven damper (PDD), (d) the combination of Skyhook and ADD (Mixed Skyhook-ADD) and (e) the combination of the two with the use of a sensor. The half car model equipped with the above suspension systems was excited by a road bump, and was optimized using genetic algorithms (GA) in respect with ride comfort and road holding. This study aims to highlight how the optimization of the vehicle model could lead to the best compromise between ride comfort and road holding, overcoming their well-known trade-off. The optimum results were compared with important performance metrics regarding the vehicle’s dynamic behaviour in general.

Decoupling Control Design for the Module Suspension Control System in Maglev Train

Directory of Open Access Journals (Sweden)

Guang He

2015-01-01

Full Text Available An engineering oriented decoupling control method for the module suspension system is proposed to solve the coupling issues of the two levitation units of the module in magnetic levitation (maglev train. According to the format of the system transfer matrix, a modified adjoint transfer matrix based decoupler is designed. Then, a compensated controller is obtained in the light of a desired close loop system performance. Optimization between the performance index and robustness index is also carried out to determine the controller parameters. However, due to the high orders and complexity of the obtained resultant controller, model reduction method is adopted to get a simplified controller with PID structure. Considering the modeling errors of the module suspension system as the uncertainties, experiments have been performed to obtain the weighting function of the system uncertainties. By using this, the robust stability of the decoupled module suspension control system is checked. Finally, the effectiveness of the proposed decoupling design method is validated by simulations and physical experiments. The results illustrate that the presented decoupling design can result in a satisfactory decoupling and better dynamic performance, especially promoting the reliability of the suspension control system in practical engineering application.

Time response analysis in suspension system design of a high-speed car

Science.gov (United States)

Pagwiwoko, Cosmas Pandit

2010-03-01

A land speed record vehicle is designed to run on a flat surface like salt lake where the wheels are normally made from solid metal with a special suspension system. The suspension is designed to provide a stable platform to keep the wheel treads on tract, to insulate the car and the driver from the surface irregularities and to take part of good handling properties. The surface condition of the lake beds is basically flat without undulations but with inconsistent surface textures and ridges. Spring with nonlinear rate is used with the reason that the resistance builds up roughly proportional to the aerodynamic download for keeping the height more nearly constant. The objective of the work is to produce an efficient method for assisting the design of suspension system. At the initial step, the stiffness and the damping constants are determined based on RMS optimization by following the optimization strategy i.e. to minimize the absolute acceleration respect to the relative displacement of the suspension. Power bond graph technique is then used to model the nonlinearity of the components i.e. spring and dashpot of the suspension system. This technique also enables to incorporate the interactions of dynamic response of the vehicle's body with aerodynamic flow as a result of the base excitation of the ground to the wheels. The simulation is conducted on the platform of Simulink-MATLAB and the interactions amongst the components within the system are observed in time domain to evaluate the effectiveness of the suspension.

Ride performance of a high speed rail vehicle using controlled semi active suspension system

Science.gov (United States)

Sharma, Sunil Kumar; Kumar, Anil

2017-05-01

The rail-wheel interaction in a rail vehicle running at high speed results in large amplitude vibration of carbody that deteriorates the ride comfort of travellers. The role of suspension system is crucial to provide an acceptable level of ride performance. In this context, an existing rail vehicle is modelled in vertical, pitch and roll motions of carbody and bogies. Additionally, nonlinear stiffness and damping parameters of passive suspension system are defined based on experimental data. In the secondary vertical suspension system, a magneto-rheological (MR) damper is included to improve the ride quality and comfort. The parameters of MR damper depend on the current, amplitude and frequency of excitations. At different running speeds, three semi-active suspension strategies with MR damper are analysed for periodic track irregularity and the resulting performance indices are juxtaposed with the nonlinear passive suspension system. The disturbance rejection and force tracking damper controller algorithms are applied to control the desired force of MR damper. This study reveals that the vertical vibrations of a vehicle can be reduced significantly by using the proposed semi-active suspension strategies. Moreover, it naturally results in improved ride quality and passenger’s comfort in comparison to the existing passive system.

The impact of force feedback level on steering performance

NARCIS (Netherlands)

Anand, S.; Terken, J.; Hogema, J.H.

2013-01-01

Steer-by-wire systems provide designers the ability to customize and personalize force feedback on the steering wheel, based on individual preferences. Earlier studies using subjective responses have shown that there are individual differences in preferences for force feedback. It has also been

An isotropic suspension system for a biaxial accelerometer using electroplated thick metal with a HAR SU-8 mold

International Nuclear Information System (INIS)

Lee, Jin Seung; Lee, Seung S

2008-01-01

In this paper, a novel approach is developed to design an isotropic suspension system using thick metal freestanding micro-structures combining bulk micro-machining with electroplating based on a HAR SU-8 mold. An omega-shape isotropic suspension system composed of circular curved beams that have free switching of imaginary boundary conditions is proposed. This novel isotropic suspension design is not affected by geometric dimensional parameters and always achieves matching stiffness along the principle axes of elasticity. Using the finite element method, the isotropic suspension system was compared with an S-shaped meandering suspension system. In order to realize the suggested isotropic suspension system, a cost-effective fabrication process using electroplating with the SU-8 mold was developed to avoid expensive equipment and materials such as deep reactive-ion etching (DRIE) or a silicon-on-insulator (SOI) wafer. The fabricated isotropic suspension system was verified by electromagnetic actuation experiments. Finally, a biaxial accelerometer with isotropic suspension system was realized and tested using a vibration generator system. The proposed isotropic suspension system and the modified surface micro-machining technique based on electroplating with an SU-8 mold can contribute towards minimizing the system size, simplifying the system configuration, reducing the system price of and facilitating mass production of various types of low-cost sensors and actuators

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

Science.gov (United States)

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-01-01

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

Design analysis of formula student race car suspension system

Science.gov (United States)

Wirawan, Julian Wisnu; Ubaidillah, Aditra, Rama; Alnursyah, Rafli; Rahman, Rizki Abdul; Cahyono, Sukmaji Indro

2018-02-01

Design analysis of suspension especially for racecar suspension is very crucial to achieve maximum performance and handling. Suspension design may vary depending on the road terrain and the vehicle purpose itself, such as high speed or off-road vehicle. This paper focused on the suspension which used for racecar vehicle. The suspension type used was unequal double wishbone. This model is used because of its stability for high-speed usage compared to another kind of suspension. The suspension parameter was calculated to achieve desired performance. The result is the motion ratio of the designed suspension geometry. The obtained value of motion ratio was 1:2 for front suspension and 1:1 for the rear suspension. These calculation result the front suspension is still too soft, which the optimal motion ratio should be kept around 1:1 for better handling. This problem caused by the lack of space for suspension linkage.

Steering smog prediction

NARCIS (Netherlands)

R. van Liere (Robert); J.J. van Wijk (Jack)

1997-01-01

textabstractThe use of computational steering for smog prediction is described. This application is representative for many underlying issues found in steering high performance applications: high computing times, large data sets, and many different input parameters. After a short description of the

Design and experiment study of a semi-active energy-regenerative suspension system

International Nuclear Information System (INIS)

Shi, Dehua; Chen, Long; Wang, Ruochen; Jiang, Haobin; Shen, Yujie

2015-01-01

A new kind of semi-active energy-regenerative suspension system is proposed to recover suspension vibration energy, as well as to reduce the suspension cost and demands for the motor-rated capacity. The system consists of an energy-regenerative damper and a DC-DC converter-based energy-regenerative circuit. The energy-regenerative damper is composed of an electromagnetic linear motor and an adjustable shock absorber with three regulating levels. The linear motor just works as the generator to harvest the suspension vibration energy. The circuit can be used to improve the system’s energy-regenerative performance and to continuously regulate the motor’s electromagnetic damping force. Therefore, although the motor works as a generator and damps the isolation without an external power source, the motor damping force is controllable. The damping characteristics of the system are studied based on a two degrees of freedom vehicle vibration model. By further analyzing the circuit operation characteristics under different working modes, the double-loop controller is designed to track the desired damping force. The external-loop is a fuzzy controller that offers the desired equivalent damping. The inner-loop controller, on one hand, is used to generate the pulse number and the frequency to control the angle and the rotational speed of the step motor; on the other hand, the inner-loop is used to offer the duty cycle of the energy-regenerative circuit. Simulations and experiments are conducted to validate such a new suspension system. The results show that the semi-active energy-regenerative suspension can improve vehicle ride comfort with the controllable damping characteristics of the linear motor. Meanwhile, it also ensures energy regeneration. (paper)

Steering Dynamics in the Dutch Education System

Science.gov (United States)

Waslander, Sietske; Hooge, Edith; Drewes, Tineke

2016-01-01

Based on detailed empirical analyses, we paint a layered picture of emerging steering dynamics. Inspired by Foucault, we put the focus on roles stakeholders define both for themselves and others, how they give sense to policy, how they work together in policy elaboration and implementation, and the subtle and sometimes deceitful function of soft…

Muscle Activation during Push-Ups with Different Suspension Training Systems

Directory of Open Access Journals (Sweden)

Joaquin Calatayud, Sebastien Borreani, Juan C. Colado, Fernando F Martín, Michael E. Rogers

2014-09-01

Full Text Available The purpose of this study was to analyze upper extremity and core muscle activation when performing push-ups with different suspension devices. Young fit male university students (n = 29 performed 3 push-ups each with 4 different suspension systems. Push-up speed was controlled using a metronome and testing order was randomized. Average amplitude of the electromyographic root mean square of Triceps Brachii, Upper Trapezius, Anterior Deltoid, Clavicular Pectoralis, Rectus Abdominis, Rectus Femoris, and Lumbar Erector Spinae was recorded. Electromyographic signals were normalized to the maximum voluntary isometric contraction (MVIC. Electromyographic data were analyzed with repeated-measures analysis of variance with a Bonferroni post hoc. Based upon global arithmetic mean of all muscles analyzed, the suspended push-up with a pulley system provided the greatest activity (37.76% of MVIC; p < 0.001. Individually, the suspended push-up with a pulley system also provided the greatest triceps brachii, upper trapezius, rectus femoris and erector lumbar spinae muscle activation. In contrast, more stable conditions seem more appropriate for pectoralis major and anterior deltoid muscles. Independent of the type of design, all suspension systems were especially effective training tools for reaching high levels of rectus abdominis activation.

The modecleaner system and suspension aspects of GEO 600

CERN Document Server

Gossler, S; Freise, A; Grote, H; Lück, H B; McNamara, P; Plissi, M V; Robertson, D I; Robertson, N A; Skeldon, K D; Strain, K A; Torrie, C I; Ward, H; Willke, B; Hough, J; Danzmann, K

2002-01-01

GEO 600 uses two 8 m triangular ring cavities as a modecleaner system for the stabilization of the laser. To isolate the cavities with respect to the seismic noise the optical components are suspended as double pendulums. The resonances of these pendulums are damped by a local-control loop via magnet-coil actuators acting on the intermediate masses. The suspension scheme and the measured key data (i.e. finesse, linewidth, visibility, throughput and in-lock durations of the cavities, as well as the isolation performance and the resulting frequency stability) of the modecleaner system will be given in this paper. Furthermore an overview of the GEO 600 interferometer suspension will be given.

Optimization of damping in the passive automotive suspension system with using two quarter-car models

Science.gov (United States)

Lozia, Z.; Zdanowicz, P.

2016-09-01

The paper presents the optimization of damping in the passive suspension system of a motor vehicle moving rectilinearly with a constant speed on a road with rough surface of random irregularities, described according to the ISO classification. Two quarter-car 2DoF models, linear and non-linear, were used; in the latter, nonlinearities of spring characteristics of the suspension system and pneumatic tyres, sliding friction in the suspension system, and wheel lift-off were taken into account. The smoothing properties of vehicle tyres were represented in both models. The calculations were carried out for three roads of different quality, with simulating four vehicle speeds. Statistical measures of vertical vehicle body vibrations and of changes in the vertical tyre/road contact force were used as the criteria of system optimization and model comparison. The design suspension displacement limit was also taken into account. The optimum suspension damping coefficient was determined and the impact of undesirable sliding friction in the suspension system on the calculation results was estimated. The results obtained make it possible to evaluate the impact of the structure and complexity of the model used on the results of the optimization.

Self-powered suspension criterion and energy regeneration implementation scheme of motor-driven active suspension

Science.gov (United States)

Yan, Shuai; Sun, Weichao

2017-09-01

Active suspension systems have advantages on mitigating the effects of vehicle vibration caused by road roughness, which are one of the most important component parts in influencing the performances of vehicles. However, high amount of energy consumption restricts the application of active suspension systems. From the point of energy saving, this paper presents a self-powered criterion of the active suspension system to judge whether a motor-driven suspension can be self-powered or not, and then a motor parameter condition is developed as a reference to design a self-powered suspension. An energy regeneration implementation scheme is subsequently proposed to make the active suspension which has the potential to be self-powered achieve energy-saving target in the real application. In this implementation scheme, operating electric circuits are designed based on different working status of the actuator and power source and it is realizable to accumulate energy from road vibration and supply energy to the actuator by switching corresponding electric circuits. To apply the self-powered suspension criterion and energy regeneration implementation scheme, an active suspension system is designed with a constrained H∞ controller and calculation results indicate that it has the capability to be self-powered. Simulation results show that the performances of the self-powered active suspension are nearly the same as those of the active suspension with an external energy source and can achieve energy regeneration at the same time.

Kineto-dynamic design optimisation for vehicle-specific seat-suspension systems

Science.gov (United States)

Shangguan, Wen-Bin; Shui, Yijie; Rakheja, Subhash

2017-11-01

Designs and analyses of seat-suspension systems are invariably performed considering effective vertical spring rate and damping properties, while neglecting important contributions due to kinematics of the widely used cross-linkage mechanism. In this study, a kineto-dynamic model of a seat-suspension is formulated to obtain relations for effective vertical suspension stiffness and damping characteristics as functions of those of the air spring and the hydraulic damper, respectively. The proposed relations are verified through simulations of the multi-body dynamic model of the cross-linkage seat-suspension in the ADAMS platform. The validity of the kineto-dynamic model is also demonstrated through comparisons of its vibration transmission response with the experimental data. The model is used to identify optimal air spring coordinates to attain nearly constant natural frequency of the suspension, irrespective of the seated body mass and seated height. A methodology is further proposed to identify optimal damping requirements for vehicle-specific suspension designs to achieve minimal seat effective amplitude transmissibility (SEAT) and vibration dose value (VDV) considering vibration spectra of different classes of earthmoving vehicles. The shock and vibration isolation performance potentials of the optimal designs are evaluated under selected vehicle vibration superimposed with shock motions. Results show that the vehicle-specific optimal designs could provide substantial reductions in the SEAT and VDV values for the vehicle classes considered.

Genetic algorithm–based varying parameter linear quadratic regulator control for four-wheel independent steering vehicle

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Linlin Gao

2015-11-01

Full Text Available From the perspective of vehicle dynamics, the four-wheel independent steering vehicle dynamics stability control method is studied, and a four-wheel independent steering varying parameter linear quadratic regulator control system is proposed with the help of expert control method. In the article, a four-wheel independent steering linear quadratic regulator controller for model following purpose is designed first. Then, by analyzing the four-wheel independent steering vehicle dynamic characteristics and the influence of linear quadratic regulator control parameters on control performance, a linear quadratic regulator control parameter adjustment strategy based on vehicle steering state is proposed to achieve the adaptive adjustment of linear quadratic regulator control parameters. In addition, to further improve the control performance, the proposed varying parameter linear quadratic regulator control system is optimized by genetic algorithm. Finally, simulation studies have been conducted by applying the proposed control system to the 8-degree-of-freedom four-wheel independent steering vehicle dynamics model. The simulation results indicate that the proposed control system has better performance and robustness and can effectively improve the stability and steering safety of the four-wheel independent steering vehicle.

Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

Science.gov (United States)

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L; Reina, Antonio J; García-Cerezo, Alfonso

2013-04-03

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

Directory of Open Access Journals (Sweden)

Antonio J. Reina

2013-04-01

Full Text Available Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

An investigation on motor-driven power steering-based crosswind disturbance compensation for the reduction of driver steering effort

Science.gov (United States)

Kim, Kyuwon; Kim, Boemjun; Go, Youngil; Park, Jaeyong; Park, Joonhong; Suh, Insoo; Yi, Kyongsu

2014-07-01

This paper describes a lateral disturbance compensation algorithm for an application to a motor-driven power steering (MDPS)-based driver assistant system. The lateral disturbance including wind force and lateral load transfer by bank angle reduces the driver's steering refinement and at the same time increases the possibility of an accident. A lateral disturbance compensation algorithm is designed to determine the motor overlay torque of an MDPS system for reducing the manoeuvreing effort of a human driver under lateral disturbance. Motor overlay torque for the compensation of driver's steering torque induced by the lateral disturbance consists of human torque feedback and feedforward torque. Vehicle-driver system dynamics have been investigated using a combined dynamic model which consists of a vehicle dynamic model, driver steering dynamic model and lateral disturbance model. The human torque feedback input has been designed via the investigation of the vehicle-driver system dynamics. Feedforward input torque is calculated to compensate additional tyre self-aligning torque from an estimated lateral disturbance. The proposed compensation algorithm has been implemented on a developed driver model which represents the driver's manoeuvreing characteristics under the lateral disturbance. The developed driver model has been validated with test data via a driving simulator in a crosswind condition. Human-in-the-loop simulations with a full-scale driving simulator on a virtual test track have been conducted to investigate the real-time performance of the proposed lateral disturbance compensation algorithm. It has been shown from simulation studies and human-in-the-loop simulation results that the driver's manoeuvreing effort and a lateral deviation of the vehicle under the lateral disturbance can be significantly reduced via the lateral disturbance compensation algorithm.

Modal and Dynamic Analysis of a Vehicle with Kinetic Dynamic Suspension System

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Bangji Zhang

2016-01-01

Full Text Available A novel kinetic dynamic suspension (KDS system is presented for the cooperative control of the roll and warp motion modes of off-road vehicles. The proposed KDS system consists of two hydraulic cylinders acting on the antiroll bars. Hence, the antiroll bars are not completely replaced by the hydraulic system, but both systems are installed. In this paper, the vibration analysis in terms of natural frequencies of different motion modes in frequency domain for an off-road vehicle equipped with different configurable suspension systems is studied by using the modal analysis method. The dynamic responses of the vehicle with different configurable suspension systems are investigated under different road excitations and maneuvers. The results of the modal and dynamic analysis prove that the KDS system can reduce the roll and articulation motions of the off-road vehicle without adding extra bounce stiffness and deteriorating the ride comfort. Furthermore, the roll stiffness is increased and the warp stiffness is decreased by the KDS system, which could significantly enhance handing performance and off-road capability.

Non-Mechanical Beam Steering in Free-Space Optical Communication Transceivers

Science.gov (United States)

Shortt, Kevin

Free-space optical communications systems are a rapidly growing field as they carry many of the advantages of traditional fibre-based communications systems without the added investment of installing complex infrastructure. Moreover, these systems are finding key niches in mobile platforms in order to take advantage of the increased bandwidth over traditional RF systems. Of course, the inevitable problem of tracking arises when dealing with mobile stations. To compound the problem in the case of communications to low Earth or geosynchronous orbits, FSOC systems typically operate with tightly confined beams over great distances often requiring pointing accuracies on the order of micro-radians or smaller. Mechanisms such as gimbal mounts and fine-steering mirrors are the usual candidates for platform stabilization, however, these clearly have substantial power requirements and inflate the mass of the system. Spatial light modulators (also known as optical phased arrays), on the other hand, offer a suitable alternative for beam-pointing stabilization. Some of the advantages of spatial light modulators over fine-steering mirrors include programmable multiple simultaneous beams, dynamic focus/defocus and moderate to excellent optical power handling capability. This thesis serves as an investigation into the implementation of spatial light modulators as a replacement for traditional fine-steering mirrors in the fine-pointing subsystem. In particular, pointing accuracy and scanning ability will be highlighted as performance metrics in the context of a variety of communication scenarios. Keywords: Free-space optical communications, beam steering, fine-steering mirror, spatial light modulator, optical phased array.

Networks: structure and action : steering in and steering by policy networks

NARCIS (Netherlands)

Dassen, A.

2010-01-01

This thesis explores the opportunities to build a structural policy network model that is rooted in social network theories. By making a distinction between a process of steering in networks, and a process of steering by networks, it addresses the effects of network structures on network dynamics as

Multivectored Superficial Muscular Aponeurotic System Suspension for Facial Paralysis.

Science.gov (United States)

Leach, Garrison; Kurnik, Nicole; Joganic, Jessica; Joganic, Edward

2017-06-01

Facial paralysis is a devastating condition that may cause severe cosmetic and functional deformities. In this study we describe our technique for superficial muscular aponeurotic system (SMAS) suspension using barbed suture and compare the vectors of suspension in relation to the underlying musculature. This study also quantifies the improvements in postoperative symmetry using traditional anthropologic landmarks. The efficacy of this procedure for improving facial paralysis was determined by comparing anthropometric indices and using Procrustes distance between 4 groupings of homologous landmarks plotted on each patient's preoperative and postoperative photos. Geometric morphometrics was used to evaluate change in facial shape and improvement in symmetry postoperatively.To analyze the vector of suspension in relation to the underlying musculature, specific anthropologic landmarks were used to calculate the vector of the musculature in 3 facial hemispheres from cadaveric controls against the vector of repair in our patients. Ten patients were included in our study. Subjectively, great improvement in functional status was achieved. Geometric morphometric analysis demonstrated a statistically significant improvement in facial symmetry. Cadaveric dissection demonstrated that the suture should be placed in the SMAS in vectors parallel to the underlying musculature to achieve these results. There were no complications in our study to date. In conclusion, multivectored SMAS suture suspension is an effective method for restoring static suspension of the face after facial paralysis. This method has the benefit of producing quick, reliable results with improved function, low cost, and low morbidity.

Lateral Vibration Attenuation by the Dynamic Adjustment of Bias Currents in Magnetic Suspension System

International Nuclear Information System (INIS)

Mizuno, Takeshi; Takasaki, Masaya; Ishino, Yuji

2016-01-01

Switching stiffness control is applied to attenuate vibration in the lateral directions in an active magnetic suspension system with electromagnets operated in differential mode. The magnetic suspension system using the attractive force between magnetized bodies is inherently unstable in the normal direction so that feedback control is necessary to achieve stable suspension. In contrast, it can be stable in the lateral directions due to the edge effects in the magnetic circuits. In several applications, such passive suspension is used in combination with the active one to reduce cost and space. However, damping in the lateral directions is generally small. As a result, induced vibrations in these directions are hardly attenuated. To suppress such vibration without any additional actuator (electromagnet), switching stiffness control is applied to an magnetic suspension system operated in the differential mode. The stiffness in the lateral direction is adjusted by varying the bias currents of an opposed pair of electromagnets located in the normal direction simultaneously according to the motion of the suspended object. When the varied bias currents are adjusted for the additive normal forces cancel each other, such control does not affect the suspension in the normal direction. The effectiveness of the proposed control methods is confirmed experimentally. (paper)

76 FR 15903 - Federal Motor Vehicle Safety Standards; Roof Crush Resistance

Science.gov (United States)

2011-03-22

..., power train, steering system, suspension system, and braking system, in the state that those systems are..., Light Vehicle Brake Systems; 204, Steering Control Rearward Displacement; 201, Occupant Protection in... the incomplete vehicle by final-stage manufacturers, the regulatory system of ``pass-through...

Self-testing through EPR-steering

International Nuclear Information System (INIS)

Šupić, Ivan; Hoban, Matty J

2016-01-01

The verification of quantum devices is an important aspect of quantum information, especially with the emergence of more advanced experimental implementations of quantum computation and secure communication. Within this, the theory of device-independent robust self-testing via Bell tests has reached a level of maturity now that many quantum states and measurements can be verified without direct access to the quantum systems: interaction with the devices is solely classical. However, the requirements for this robust level of verification are daunting and require high levels of experimental accuracy. In this paper we discuss the possibility of self-testing where we only have direct access to one part of the quantum device. This motivates the study of self-testing via EPR-steering, an intermediate form of entanglement verification between full state tomography and Bell tests. Quantum non-locality implies EPR-steering so results in the former can apply in the latter, but we ask what advantages may be gleaned from the latter over the former given that one can do partial state tomography? We show that in the case of self-testing a maximally entangled two-qubit state, or ebit, EPR-steering allows for simpler analysis and better error tolerance than in the case of full device-independence. On the other hand, this improvement is only a constant improvement and (up to constants) is the best one can hope for. Finally, we indicate that the main advantage in self-testing based on EPR-steering could be in the case of self-testing multi-partite quantum states and measurements. For example, it may be easier to establish a tensor product structure for a particular party’s Hilbert space even if we do not have access to their part of the global quantum system. (paper)

Online Adaptive Optimal Control of Vehicle Active Suspension Systems Using Single-Network Approximate Dynamic Programming

Directory of Open Access Journals (Sweden)

Zhi-Jun Fu

2017-01-01

Full Text Available In view of the performance requirements (e.g., ride comfort, road holding, and suspension space limitation for vehicle suspension systems, this paper proposes an adaptive optimal control method for quarter-car active suspension system by using the approximate dynamic programming approach (ADP. Online optimal control law is obtained by using a single adaptive critic NN to approximate the solution of the Hamilton-Jacobi-Bellman (HJB equation. Stability of the closed-loop system is proved by Lyapunov theory. Compared with the classic linear quadratic regulator (LQR approach, the proposed ADP-based adaptive optimal control method demonstrates improved performance in the presence of parametric uncertainties (e.g., sprung mass and unknown road displacement. Numerical simulation results of a sedan suspension system are presented to verify the effectiveness of the proposed control strategy.

Integrated null-flux suspension and multiphase propulsion system for magnetically-levitated vehicles

Science.gov (United States)

Rote, D.M.; He, J.; Johnson, L.R.

1994-01-04

A propulsion and stabilization system are described comprising a series of coils mounted vertically on the walls of the guideway to provide suspension, lateral guidance, and propulsion of a magnetically levitated vehicle. This system further allows for altering the magnetic field effects by changing the relative position of the loops comprising the coils either longitudinally and/or vertically with resulting changes in the propulsion, the vertical stability, and the suspension. 8 figures.

Integrated null-flux suspension and multiphase propulsion system for magnetically-levitated vehicles

Science.gov (United States)

Rote, Donald M.; He, Jianliang; Johnson, Larry R.

1994-01-01

A propulsion and stabilization system comprising a series of FIG. 8 coils mounted vertically on the walls of the guideway to provide suspension, lateral guidance and propulsion of a magnetically levitated vehicle. This system further allows for altering the magnetic field effects by changing the relative position of the loops comprising the FIG. 8 coils either longitudinally and/or vertically with resulting changes in the propulsion, the vertical stability, and the suspension.

Effects of feeding system on growth performance, plasma biochemical components and hormones, and carcass characteristics in Hanwoo steers

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Chan Sung Chung

2017-08-01

Full Text Available Objective This study was conducted to compare growth performance, blood components and carcass traits by two feeding systems (concentrate with roughage separately [CON] vs total mixed ration [TMR] in Hanwoo steers, and to learn the relationship between blood components during fattening or finishing phases and carcass traits in Hanwoo steers. Methods Sixty steers aged 8 months were allotted to two feeding systems and fed similar amounts of average dry matter and total digestible nutrient throughout whole experimental period according to each feeding program. Steers were weighed monthly, taken blood at the end of growing, fattening and finishing periods, and slaughtered at 30 month of age. Results Growing performance was higher (p<0.05 in the CON group compared to the TMR group during fattening and finishing periods. The CON group was lower (p<0.05 in blood aspartic acid transaminase, blood urea nitrogen and retinol levels during growing period, but higher in triglyceride and cholesterol levels during fattening and finishing periods compared to the TMR group. The CON group was greater (p<0.05 in rib-eye area, and lighter (p<0.05 red in meat color compared to the TMR group. In the correlation coefficients between blood components of steers and carcass traits, retinol had a negative (p<0.05 correlation with marbling score and rib-eye area. Leptin had a positive (p<0.05 correlation with back fat thickness. Blood cholesterol and triglyceride were positively (p<0.05 correlated with carcass weight and rib-eye area. Conclusion Growth performance, carcass ribeye area and meat color showed a more desirable result in the CON compared to the TMR in Hanwoo steers. Assessing the accumulated data of carcass traits with blood components including hormones—particularly retinol, cholesterol, triglyceride, and leptin—during the fattening or finishing phases, it may be possible to find a biomarker for determining beef quality in living animals.

Progress on the ITER H&CD EC upper launcher steering-mirror control system

NARCIS (Netherlands)

Collazos, A.; Bertizzolo, R.; Chavan, R.; Dolizy, F.; Felici, F.; Goodman, T.P.; Henderson, M.A.; Landis, J.-D.; Sanchez, F.

2010-01-01

The ITER Heating and Current Drive Upper Launcher (H&CD EC UL) uses a pneumomechanical steering-mirror assembly (SMA) to steer the RF beams for their deposition in the appropriate location in the plasma to control magnetohydrodynamic activity (neoclassical tearing modes (NTMs) and sawtooth

A theoretical model of speed-dependent steering torque for rolling tyres

Science.gov (United States)

Wei, Yintao; Oertel, Christian; Liu, Yahui; Li, Xuebing

2016-04-01

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange-Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.

On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

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Wu Zhicheng

2017-01-01

Full Text Available The steering performance of multi-axle vehicle with independent driving system is affected by the distribution of the wheel driving force. A nonlinear vehicle dynamics model including magic formula tire model for describing 11 DoF four-axle vehicle with dual-front-axle-steering (DFAS system was presented. The influence of different driving force distribution scheme on the steering performance of the vehicle was analyzed. A control strategy for improving the steady response and transient response of the vehicle steering is proposed. The results show: For the steady response, setting different drive force for internal and external wheels according to the actual steering characteristics of the vehicle can effectively improve its steering characteristics; For the transient response, adopting the zero sideslip angle control strategy and using the PID control algorithm to control the driving force of the outside wheel of tear-two-axle, under angle step input, the vehicle sideslip angle can quickly stabilize to 0 and yaw rate also significantly decreases.

Quantum steering in cascaded four-wave mixing processes.

Science.gov (United States)

Wang, Li; Lv, Shuchao; Jing, Jietai

2017-07-24

Quantum steering is used to describe the "spooky action-at-a-distance" nonlocality raised in the Einstein-Podolsky-Rosen (EPR) paradox, which is important for understanding entanglement distribution and constructing quantum networks. Here, in this paper, we study an experimentally feasible scheme for generating quantum steering based on cascaded four-wave-mixing (FWM) processes in hot rubidium (Rb) vapor. Quantum steering, including bipartite steering and genuine tripartite steering among the output light fields, is theoretically analyzed. We find the corresponding gain regions in which the bipartite and tripartite steering exist. The results of bipartite steering can be used to establish a hierarchical steering model in which one beam can steer the other two beams in the whole gain region; however, the other two beams cannot steer the first beam simultaneously. Moreover, the other two beams cannot steer with each other in the whole gain region. More importantly, we investigate the gain dependence of the existence of the genuine tripartite steering and we find that the genuine tripartite steering exists in most of the whole gain region in the ideal case. Also we discuss the effect of losses on the genuine tripartite steering. Our results pave the way to experimental demonstration of quantum steering in cascaded FWM process.

Suspension system vibration analysis with regard to variable type ability to smooth road irregularities

Science.gov (United States)

Rykov, S. P.; Rykova, O. A.; Koval, V. S.; Makhno, D. E.; Fedotov, K. V.

2018-03-01

The paper aims to analyze vibrations of the dynamic system equivalent of the suspension system with regard to tyre ability to smooth road irregularities. The research is based on static dynamics for linear systems of automated control, methods of correlation, spectral and numerical analysis. Input of new data on the smoothing effect of the pneumatic tyre reflecting changes of a contact area between the wheel and road under vibrations of the suspension makes the system non-linear which requires using numerical analysis methods. Taking into account the variable smoothing ability of the tyre when calculating suspension vibrations, one can approximate calculation and experimental results and improve the constant smoothing ability of the tyre.

Vibration control of an MR vehicle suspension system considering both hysteretic behavior and parameter variation

International Nuclear Information System (INIS)

Choi, Seung-Bok; Seong, Min-Sang; Ha, Sung-Hoon

2009-01-01

This paper presents vibration control responses of a controllable magnetorheological (MR) suspension system considering the two most important characteristics of the system; the field-dependent hysteretic behavior of the MR damper and the parameter variation of the suspension. In order to achieve this goal, a cylindrical MR damper which is applicable to a middle-sized passenger car is designed and manufactured. After verifying the damping force controllability, the field-dependent hysteretic behavior of the MR damper is identified using the Preisach hysteresis model. The full-vehicle suspension model is then derived by considering vertical, pitch and roll motions. An H ∞ controller is designed by treating the sprung mass of the vehicle as a parameter variation and integrating it with the hysteretic compensator which produces additional control input. In order to demonstrate the effectiveness and robustness of the proposed control system, the hardware-in-the-loop simulation (HILS) methodology is adopted by integrating the suspension model with the proposed MR damper. Vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and random road conditions

The Front Steering Launcher Design for the ITER ECRH Upper Port

International Nuclear Information System (INIS)

Henderson, M A; Chavan, R; Heidinger, R; Nikkola, P; Ramponi, G; Saibene, G; Sanchez, F; Sauter, O; Serikov, A; Zohm, H

2005-01-01

The ECRH ITER upper port antenna's role is to stabilize the neoclassical tearing mode (NTM) on either the q = 2 or 3/2 rational flux surfaces, which requires a narrow current deposition profile (j CD ) over a wide range along the resonance surfaces. The width of j CD should be equivalent to the marginal island width to fully stabilise the NTM. Two antenna concepts are under consideration for the upper port launcher: front steering (FS) and remote steering (RS). The FS launcher decouples the steering and focusing aspects using a two mirror system (one focusing and one steering), achieving a wider steering range and higher current density for NTM stabilisation than required by ITER, offering a threefold increase in NTM stabilization efficiency over the RS launcher. The improved physics performance has motivated the further design study of the FS launcher aiming toward a build to print launcher. The present design is compatible with ≥2.0 MW CW operation and 8 beams per port plug. A frictionless backlashfree system is envisioned for the steering mechanism. An overview of the launcher design, the calculated physics performance and the possibility of using the upper port launcher for extended physics applications (beyond NTM stabilisation) are discussed

Design and Optimization of Intelligent Service Robot Suspension System Using Dynamic Model

International Nuclear Information System (INIS)

Choi, Seong Hoon; Park, Tae Won; Lee, Soo Ho; Jung, Sung Pil; Jun, Kab Jin; Yoon, J. W.

2010-01-01

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components

DESIGN AND APPLICATION OF MAGNETIC BEARING SUSPENSION SYSTEM IN A THREE PHASE INDUCTION MOTOR

Directory of Open Access Journals (Sweden)

Osman GÜRDAL

1998-03-01

Full Text Available The current popularity of suspension and levitation stems no doubt the possibilities in high-speed ground transportation schemes. Although these are both challenging and exciting, there is considerable scope for application of suspension techniques to achieving frictionless bearing. The requirement in this case is often for close tolerances, low power consumption, small airgaps and ingeneral, compactness. Thus, magnetic suspension using DC electromagnets schemes have received more attention than the other techniques of repulsion levitation. Proposed prototype system consists of a conventional stator and its rotor without iron core, set of electromagnets for suspension of rotor shaft and set of compensation circuits feedbacked by optical-transducers. Prototyped system is aimed as a laboratory demonstration tool so there is no challenging to exceed the speeds of 1500 rev/min that is the speed of motor with mechanical bearings. Magnetic bearing suspension system provides a high impact visual demonstration of many principles in undergraduate educational programs in electrical education, e.g., electromagnetic design, PD controlled compensation of a unstable control system and power amplifier design. The system is capable of giving a good comparison between mechanical and magnetic bearing up to speeds 350 rev/min. Power losses without load show about 15% reduction with magnetic bearing. The noise of the motor is also decreased to a low level.

Discrete-time sliding mode control for MR vehicle suspension system

Energy Technology Data Exchange (ETDEWEB)

Sohn, J W; Choi, S B [Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Wereley, N M [Smart Structures Laboratory, Department of Aerospace Engineering, University of Maryland, College Park, MD 20742 (United States)], E-mail: seungbok@inha.ac.kr

2009-02-01

This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

Discrete-time sliding mode control for MR vehicle suspension system

International Nuclear Information System (INIS)

Sohn, J W; Choi, S B; Wereley, N M

2009-01-01

This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

Administrative license suspension: Does length of suspension matter?

Science.gov (United States)

Fell, James C; Scherer, Michael

2017-08-18

Administrative license revocation (ALR) laws, which provide that the license of a driver with a blood alcohol concentration at or over the illegal limit is subject to an immediate suspension by the state department of motor vehicles, are an example of a traffic law in which the sanction rapidly follows the offense. The power of ALR laws has been attributed to how swiftly the sanction is applied, but does the length of suspension matter? Our objectives were to (a) determine the relationship of the ALR suspension length to the prevalence of drinking drivers relative to sober drivers in fatal crashes and (b) estimate the extent to which the relationship is associated to the general deterrent effect compared to the specific deterrent effect of the law. Data comparing the impact of ALR law implementation and ALR law suspension periods were analyzed using structural equation modeling techniques on the ratio of drinking drivers to nondrinking drivers in fatal crashes from the Fatality Analysis Reporting System (FARS). States with an ALR law with a short suspension period (1-30 days) had a significantly lower drinking driver ratio than states with no ALR law. States with a suspension period of 91-180 days had significantly lower ratios than states with shorter suspension periods, while the three states with suspension lengths of 181 days or longer had significantly lower ratios than states with shorter suspension periods. The implementation of any ALR law was associated with a 13.1% decrease in the drinking/nondrinking driver fatal crash ratio but only a 1.8% decrease in the intoxicated/nonintoxicated fatal crash ratio. The ALR laws and suspension lengths had a significant general deterrent effect, but no specific deterrent effect. States might want to keep (or adopt) ALR laws for their general deterrent effects and pursue alternatives for specific deterrent effects. States with short ALR suspension periods should consider lengthening them to 91 days or longer.

Chaos vibration of pinion and rack steering trapezoidal mechanism containing two clearances

Science.gov (United States)

Wei, Daogao; Wang, Yu; Jiang, Tong; Zheng, Sifa; Zhao, Wenjing; Pan, Zhijie

2017-08-01

The multi-clearances of breaking type steering trapezoidal mechanism joints influences vehicle steering stability. Hence, to ascertain the influence of clearance value on steering stability, this paper takes the steering mechanism of a certain vehicle type as a prototype that can be simplified into a planar six-bar linkage, then establishes the system dynamic differential equations after considering the two clearances of tie rods and the steering knuckle arms. The influence of the clearance parameters on the movement stability of the steering mechanism is studied using a numerical computation method. Results show that when the two clearances are equal, the planar movement of the tie rods changes from period-doubling to chaos as the clearances increase. When the two clearances are 0.25 mm and 1.5 mm respectively, the planar movements of the two side tie rods come into chaos, causing the steering stability to deteriorate. Moreover, with the increase of clearances, turning moment fluctuates more intensively and the peak value increases.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

Directory of Open Access Journals (Sweden)

Wenqing Zhang

2013-01-01

Full Text Available The suspension module control system model has been established based on MIMO (multiple input and multiple output state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module’s antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling suspension controller based on magnetic flux feedback.

Science.gov (United States)

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Dissipation induced asymmetric steering of distant atomic ensembles

Science.gov (United States)

Cheng, Guangling; Tan, Huatang; Chen, Aixi

2018-04-01

The asymmetric steering effects of separated atomic ensembles denoted by the effective bosonic modes have been explored by the means of quantum reservoir engineering in the setting of the cascaded cavities, in each of which an atomic ensemble is involved. It is shown that the steady-state asymmetric steering of the mesoscopic objects is unconditionally achieved via the dissipation of the cavities, by which the nonlocal interaction occurs between two atomic ensembles, and the direction of steering could be easily controlled through variation of certain tunable system parameters. One advantage of the present scheme is that it could be rather robust against parameter fluctuations, and does not require the accurate control of evolution time and the original state of the system. Furthermore, the double-channel Raman transitions between the long-lived atomic ground states are used and the atomic ensembles act as the quantum network nodes, which makes our scheme insensitive to the collective spontaneous emission of atoms.

Multiobjective optimization of a steering linkage

Energy Technology Data Exchange (ETDEWEB)

Sleesonsom, S.; Bureerat, S. [Sustainable and Infrastructure Research and Development Center, Dept. of Mechanical Engineering, Faculty of Engineering, Khon Kaen University, Khon Kaen (Thailand)

2016-08-15

In this paper, multi-objective optimization of a rack-and-pinion steering linkage is proposed. This steering linkage is a common mechanism used in small cars with three advantages as it is simple to construct, economical to manufacture, and compact and easy to operate. In the previous works, many researchers tried to minimize a steering error but minimization of a turning radius is somewhat ignored. As a result, a multi-objective optimization problem is assigned to simultaneously minimize a steering error and a turning radius. The design variables are linkage dimensions. The design problem is solved by the hybrid of multi-objective population-based incremental learning and differential evolution with various constraint handling schemes. The new design strategy leads to effective design of rack-and-pinion steering linkages satisfying both steering error and turning radius criteria.

Multiobjective optimization of a steering linkage

International Nuclear Information System (INIS)

Sleesonsom, S.; Bureerat, S.

2016-01-01

In this paper, multi-objective optimization of a rack-and-pinion steering linkage is proposed. This steering linkage is a common mechanism used in small cars with three advantages as it is simple to construct, economical to manufacture, and compact and easy to operate. In the previous works, many researchers tried to minimize a steering error but minimization of a turning radius is somewhat ignored. As a result, a multi-objective optimization problem is assigned to simultaneously minimize a steering error and a turning radius. The design variables are linkage dimensions. The design problem is solved by the hybrid of multi-objective population-based incremental learning and differential evolution with various constraint handling schemes. The new design strategy leads to effective design of rack-and-pinion steering linkages satisfying both steering error and turning radius criteria

Demonstration of a switchable damping system to allow low-noise operation of high-Q low-mass suspension systems

Science.gov (United States)

Hennig, Jan-Simon; Barr, Bryan W.; Bell, Angus S.; Cunningham, William; Danilishin, Stefan L.; Dupej, Peter; Gräf, Christian; Hough, James; Huttner, Sabina H.; Jones, Russell; Leavey, Sean S.; Pascucci, Daniela; Sinclair, Martin; Sorazu, Borja; Spencer, Andrew; Steinlechner, Sebastian; Strain, Kenneth A.; Wright, Jennifer; Zhang, Teng; Hild, Stefan

2017-12-01

Low-mass suspension systems with high-Q pendulum stages are used to enable quantum radiation pressure noise limited experiments. Utilizing multiple pendulum stages with vertical blade springs and materials with high-quality factors provides attenuation of seismic and thermal noise; however, damping of these high-Q pendulum systems in multiple degrees of freedom is essential for practical implementation. Viscous damping such as eddy-current damping can be employed, but it introduces displacement noise from force noise due to thermal fluctuations in the damping system. In this paper we demonstrate a passive damping system with adjustable damping strength as a solution for this problem that can be used for low-mass suspension systems without adding additional displacement noise in science mode. We show a reduction of the damping factor by a factor of 8 on a test suspension and provide a general optimization for this system.

Novel Microstrip Patch Antennas with Frequency Agility, Polarization Reconfigurability, Dual Null Steering Capability and Phased Array Antenna with Beam Steering Performance

Science.gov (United States)

Babakhani, Behrouz

Nowadays the wireless communication technology is playing an important role in our daily life. People use wireless devices not only as a conventional communication device but also as tracking and navigation tool, web browsing tool, data storage and transfer tool and so for many other reasons. Based on the user demand, wireless communication engineers try to accommodate as many as possible wireless systems and applications in a single device and therefore, creates a multifunctional device. Antenna, as an integral part of any wireless communication systems, should also be evolved and adjusted with development of wireless transceiver systems. Therefore multifunctional antennas have been introduced to support and enhance the functionality on modern wireless systems. The main focus and contribution of this thesis is design of novel multifunctional microstrip antennas with frequency agility, polarization reconfigurablity, dual null steering capability and phased array antenna with beam steering performance. In this thesis, first, a wide bandwidth(1.10 GHz to 1.60 GHz) right-handed circularly polarized (RHCP) directional antenna for global positioning system (GPS) satellite receive application has been introduced which covers all the GPS bands starting from L1 to L5. This design consists of two crossed bow-tie dipole antennas fed with sequentially phase rotated feed network backed with an artificial high impedance surface (HIS) structure to generate high gain directional radiation patterns. This design shows good CP gain and axial ratio (AR) and wide beamwidth performance. Although this design has good radiation quality, the size and the weight can be reduced as future study. In the second design, a frequency agile antenna was developed which also covers the L-band (L1 to L5) satellite communication frequencies. This frequency agile antenna was designed and realized by new implementation of varactor diodes in the geometry of a circular patch antenna. Beside wide frequency

Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

Science.gov (United States)

Pan, Huihui; Jing, Xingjian; Sun, Weichao

2017-05-01

This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

Fundamental X-mode electron cyclotron current drive using remote-steering symmetric direction antenna at larger steering angles

International Nuclear Information System (INIS)

Idei, H.; Hanada, K.; Zushi, H.; Sato, K.N.; Sakamoto, M.; Iyomasa, A.; Kawasaki, S.; Nakashima, H.; Higashijima, A.; Ohkubo, K.; Kubo, S.; Shimozuma, T.; Ito, S.; Hasegawa, M.; Nakamura, K.; Notake, T.; Hoshika, H.; Maezono, N.; Nishi, S.; Nakashima, K.

2005-01-01

A remote steering antenna has been newly developed for Electron Cyclotron Heating and Current Drive (ECH/ECCD) experiments on the TRIAM-1M tokamak. It is a first application of the remote steering antenna to the ECH/ECCD experiments under the conditions relevant to International Thermonuclear Experimental Reactor. Our launcher is a symmetric direction antenna with extended steering capability. The larger steering angles of 8-19 degrees are available, in addition to that near 0 degree. The output beam from the antenna is the well-defined Gaussian beam with a correct steering angle. The Gaussian content and the steering angle accuracy are 0.85 and -0.3 degrees, respectively. Antenna transmission efficiency in the high power test is evaluated as 0.95. The efficiencies at the low and high power tests are consistent with those in the calculation with higher-order modes. The difference between plasma currents increased at co- and counter-steering injections [+/-19 degrees] is clearly observed in the superposition to the Lower Hybrid Current Driven (LHCD) plasma of the fundamental X-mode injection. (author)

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Directory of Open Access Journals (Sweden)

Jurkiewicz Andrzej

2017-09-01

Full Text Available The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous sky-hook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

Digital control of wind tunnel magnetic suspension and balance systems

Science.gov (United States)

Britcher, Colin P.; Goodyer, Michael J.; Eskins, Jonathan; Parker, David; Halford, Robert J.

1987-01-01

Digital controllers are being developed for wind tunnel magnetic suspension and balance systems, which in turn permit wind tunnel testing of aircraft models free from support interference. Hardware and software features of two existing digital control systems are reviewed. Some aspects of model position sensing and system calibration are also discussed.

Worm gear efficiency model considering misalignment in electric power steering systems

Directory of Open Access Journals (Sweden)

S. H. Kim

2018-05-01

Full Text Available This study proposes a worm gear efficiency model considering misalignment in electric power steering systems. A worm gear is used in Column type Electric Power Steering (C-EPS systems and an Anti-Rattle Spring (ARS is employed in C-EPS systems in order to prevent rattling when the vehicle goes on a bumpy road. This ARS plays a role of preventing rattling by applying preload to one end of the worm shaft but it also generates undesirable friction by causing misalignment of the worm shaft. In order to propose the worm gear efficiency model considering misalignment, geometrical and tribological analyses were performed in this study. For geometrical analysis, normal load on gear teeth was calculated using output torque, pitch diameter of worm wheel, lead angle and normal pressure angle and this normal load was converted to normal pressure at the contact point. Contact points between the tooth flanks of the worm and worm wheel were obtained by mathematically analyzing the geometry, and Hertz's theory was employed in order to calculate contact area at the contact point. Finally, misalignment by an ARS was also considered into the geometry. Friction coefficients between the tooth flanks were also researched in this study. A pin-on-disk type tribometer was set up to measure friction coefficients and friction coefficients at all conditions were measured by the tribometer. In order to validate the worm gear efficiency model, a worm gear was prepared and the efficiency of the worm gear was predicted by the model. As the final procedure of the study, a worm gear efficiency measurement system was set and the efficiency of the worm gear was measured and the results were compared with the predicted results. The efficiency considering misalignment gives more accurate results than the efficiency without misalignment.

Design, Modeling And Control Of Steering And Braking For An Urban Electric Vehicle

OpenAIRE

Maciua, Dragos

1996-01-01

This report describes research which involved the design modification, modeling and control of automatic steering and braking systems for an urban electric vehicle. The vehicle is equipped with four-wheel independent drive, four-wheel independent braking and four-wheel steering. Control algorithms were developed for steering and braking. Simulation results show the feasibility of the algorithms.

22 CFR 208.110 - What is the purpose of the nonprocurement debarment and suspension system?

Science.gov (United States)

2010-04-01

... 22 Foreign Relations 1 2010-04-01 2010-04-01 false What is the purpose of the nonprocurement debarment and suspension system? 208.110 Section 208.110 Foreign Relations AGENCY FOR INTERNATIONAL... the nonprocurement debarment and suspension system? (a) To protect the public interest, the Federal...

Performance Testing of Suspension Plasma Sprayed Thermal Barrier Coatings Produced with Varied Suspension Parameters

Directory of Open Access Journals (Sweden)

Nicholas Curry

2015-07-01

Full Text Available Suspension plasma spraying has become an emerging technology for the production of thermal barrier coatings for the gas turbine industry. Presently, though commercial systems for coating production are available, coatings remain in the development stage. Suitable suspension parameters for coating production remain an outstanding question and the influence of suspension properties on the final coatings is not well known. For this study, a number of suspensions were produced with varied solid loadings, powder size distributions and solvents. Suspensions were sprayed onto superalloy substrates coated with high velocity air fuel (HVAF -sprayed bond coats. Plasma spray parameters were selected to generate columnar structures based on previous experiments and were maintained at constant to discover the influence of the suspension behavior on coating microstructures. Testing of the produced thermal barrier coating (TBC systems has included thermal cyclic fatigue testing and thermal conductivity analysis. Pore size distribution has been characterized by mercury infiltration porosimetry. Results show a strong influence of suspension viscosity and surface tension on the microstructure of the produced coatings.

An automatic beam steering system for the NSLS X-17T beam line using closed orbit feedback

International Nuclear Information System (INIS)

Nawrocky, R.J.; Ma, Li; Rarback, H.M.; Singh, O.V.; Yu, L.H.

1987-01-01

Initial observations of motion of the undulator radiation in the NSLS X-17T beam line clearly indicated that the beam had to be stabilized in both directions to be usable for the planned soft x-ray imaging experiments. The low frequency spectra of beam motion contained peaks in the range from dc to 60 Hz and at higher frequencies. A beam steering system employing closed orbit feedback has been designed and installed to stabilize the beam in both planes. In each plane of motion, beam position is measured with a beam position detector and a correction signal is fed back to a local four magnet orbit bump to dynamically control the angle of the radiation at the source. This paper describes the design and performance of the beam steering system

The Active Fractional Order Control for Maglev Suspension System

Directory of Open Access Journals (Sweden)

Peichang Yu

2015-01-01

Full Text Available Maglev suspension system is the core part of maglev train. In the practical application, the load uncertainties, inherent nonlinearity, and misalignment between sensors and actuators are the main issues that should be solved carefully. In order to design a suitable controller, the attention is paid to the fractional order controller. Firstly, the mathematical model of a single electromagnetic suspension unit is derived. Then, considering the limitation of the traditional PD controller adaptation, the fractional order controller is developed to obtain more excellent suspension specifications and robust performance. In reality, the nonlinearity affects the structure and the precision of the model after linearization, which will degrade the dynamic performance. So, a fractional order controller is addressed to eliminate the disturbance by adjusting the parameters which are added by the fractional order controller. Furthermore, the controller based on LQR is employed to compare with the fractional order controller. Finally, the performance of them is discussed by simulation. The results illustrated the validity of the fractional order controller.

Violation of Continuous-Variable Einstein-Podolsky-Rosen Steering with Discrete Measurements

Science.gov (United States)

Schneeloch, James; Dixon, P. Ben; Howland, Gregory A.; Broadbent, Curtis J.; Howell, John C.

2013-03-01

In this Letter, we derive an entropic Einstein-Podolsky-Rosen (EPR) steering inequality for continuous-variable systems using only experimentally measured discrete probability distributions and details of the measurement apparatus. We use this inequality to witness EPR steering between the positions and momenta of photon pairs generated in spontaneous parametric down-conversion. We examine the asymmetry between parties in this inequality, and show that this asymmetry can be used to reduce the technical requirements of experimental setups intended to demonstrate the EPR paradox. Furthermore, we develop a more stringent steering inequality that is symmetric between parties, and use it to show that the down-converted photon pairs also exhibit symmetric EPR steering.

Design considerations for a semi-active electromagnetic suspension system

NARCIS (Netherlands)

Paulides, J.J.H.; Encica, L.; Lomonova, E.A.; Vandenput, A.J.A.

2006-01-01

Vehicle manufacturers always strive to improve the vehicle handling and passenger safety and comfort. One of the focus points for the automotive industry is the (semi-)active suspension system for which various commercial technologies are existing, varying from pneumatic to hydraulic. This paper

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

International Nuclear Information System (INIS)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-01-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points. (paper)

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

Science.gov (United States)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-09-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.

Demand side management using profile steering

NARCIS (Netherlands)

Gerards, Marco Egbertus Theodorus; Toersche, Hermen; Hoogsteen, Gerwin; van der Klauw, Thijs; Hurink, Johann L.; Smit, Gerardus Johannes Maria

2015-01-01

Many Demand Side Management (DSM) approaches use energy prices as steering signals. This paper shows that such steering signals may result in power quality problems and high losses. As an alternative, this paper proposes to use desired (e.g., flat) power profiles as steering signals and presents an

Compressible Fluid Suspension Performance Testing

National Research Council Canada - National Science Library

Hoogterp, Francis

2003-01-01

... compressible fluid suspension system that was designed and installed on the vehicle by DTI. The purpose of the tests was to evaluate the possible performance benefits of the compressible fluid suspension system...

Experimental temporal quantum steering

Czech Academy of Sciences Publication Activity Database

Bartkiewicz, K.; Černoch, Antonín; Lemr, K.; Miranowicz, A.; Nori, F.

2016-01-01

Roč. 6, Nov (2016), 1-8, č. článku 38076. ISSN 2045-2322 R&D Projects: GA ČR GAP205/12/0382 Institutional support: RVO:68378271 Keywords : temporal quantum steering * EPR steering Subject RIV: BH - Optics, Masers, Lasers Impact factor: 4.259, year: 2016

Vehicle systems: coupled and interactive dynamics analysis

Science.gov (United States)

Vantsevich, Vladimir V.

2014-11-01

This article formulates a new direction in vehicle dynamics, described as coupled and interactive vehicle system dynamics. Formalised procedures and analysis of case studies are presented. An analytical consideration, which explains the physics of coupled system dynamics and its consequences for dynamics of a vehicle, is given for several sets of systems including: (i) driveline and suspension of a 6×6 truck, (ii) a brake mechanism and a limited slip differential of a drive axle and (iii) a 4×4 vehicle steering system and driveline system. The article introduces a formal procedure to turn coupled system dynamics into interactive dynamics of systems. A new research direction in interactive dynamics of an active steering and a hybrid-electric power transmitting unit is presented and analysed to control power distribution between the drive axles of a 4×4 vehicle. A control strategy integrates energy efficiency and lateral dynamics by decoupling dynamics of the two systems thus forming their interactive dynamics.

Optimization of Front Axle Suspension System of Articulated Dump Truck

DEFF Research Database (Denmark)

Langer, Thomas Heegaard; Christensen, Brian B.; Mouritsen, Ole Ø.

2010-01-01

that has been subjected to comfort improvement is a two axle articulated dump truck. The comfort has been in terms of whole body vibration exposure and the overall improvement has been made possible by adding front axle suspension. However, a hydraulic stabilizing system between the tractor and trailer...... to evaluate the whole body vibrations. By use of a multibody simulation model of the dump truck the whole body vibration exposure has been computed using the predefined work cycle as model input. The design parameters comprise the components of the hydraulic subsystem of the suspension, i.e., the size...

Multiobjective Robust Design of the Double Wishbone Suspension System Based on Particle Swarm Optimization

Directory of Open Access Journals (Sweden)

Xianfu Cheng

2014-01-01

Full Text Available The performance of the suspension system is one of the most important factors in the vehicle design. For the double wishbone suspension system, the conventional deterministic optimization does not consider any deviations of design parameters, so design sensitivity analysis and robust optimization design are proposed. In this study, the design parameters of the robust optimization are the positions of the key points, and the random factors are the uncertainties in manufacturing. A simplified model of the double wishbone suspension is established by software ADAMS. The sensitivity analysis is utilized to determine main design variables. Then, the simulation experiment is arranged and the Latin hypercube design is adopted to find the initial points. The Kriging model is employed for fitting the mean and variance of the quality characteristics according to the simulation results. Further, a particle swarm optimization method based on simple PSO is applied and the tradeoff between the mean and deviation of performance is made to solve the robust optimization problem of the double wishbone suspension system.

Multiobjective Robust Design of the Double Wishbone Suspension System Based on Particle Swarm Optimization

Science.gov (United States)

Lin, Yuqun

2014-01-01

The performance of the suspension system is one of the most important factors in the vehicle design. For the double wishbone suspension system, the conventional deterministic optimization does not consider any deviations of design parameters, so design sensitivity analysis and robust optimization design are proposed. In this study, the design parameters of the robust optimization are the positions of the key points, and the random factors are the uncertainties in manufacturing. A simplified model of the double wishbone suspension is established by software ADAMS. The sensitivity analysis is utilized to determine main design variables. Then, the simulation experiment is arranged and the Latin hypercube design is adopted to find the initial points. The Kriging model is employed for fitting the mean and variance of the quality characteristics according to the simulation results. Further, a particle swarm optimization method based on simple PSO is applied and the tradeoff between the mean and deviation of performance is made to solve the robust optimization problem of the double wishbone suspension system. PMID:24683334

Multiobjective robust design of the double wishbone suspension system based on particle swarm optimization.

Science.gov (United States)

Cheng, Xianfu; Lin, Yuqun

2014-01-01

The performance of the suspension system is one of the most important factors in the vehicle design. For the double wishbone suspension system, the conventional deterministic optimization does not consider any deviations of design parameters, so design sensitivity analysis and robust optimization design are proposed. In this study, the design parameters of the robust optimization are the positions of the key points, and the random factors are the uncertainties in manufacturing. A simplified model of the double wishbone suspension is established by software ADAMS. The sensitivity analysis is utilized to determine main design variables. Then, the simulation experiment is arranged and the Latin hypercube design is adopted to find the initial points. The Kriging model is employed for fitting the mean and variance of the quality characteristics according to the simulation results. Further, a particle swarm optimization method based on simple PSO is applied and the tradeoff between the mean and deviation of performance is made to solve the robust optimization problem of the double wishbone suspension system.

Muscle Activation during Push-Ups with Different Suspension Training Systems.

Science.gov (United States)

Calatayud, Joaquin; Borreani, Sebastien; Colado, Juan C; Martín, Fernando F; Rogers, Michael E; Behm, David G; Andersen, Lars L

2014-09-01

The purpose of this study was to analyze upper extremity and core muscle activation when performing push-ups with different suspension devices. Young fit male university students (n = 29) performed 3 push-ups each with 4 different suspension systems. Push-up speed was controlled using a metronome and testing order was randomized. Average amplitude of the electromyographic root mean square of Triceps Brachii, Upper Trapezius, Anterior Deltoid, Clavicular Pectoralis, Rectus Abdominis, Rectus Femoris, and Lumbar Erector Spinae was recorded. Electromyographic signals were normalized to the maximum voluntary isometric contraction (MVIC). Electromyographic data were analyzed with repeated-measures analysis of variance with a Bonferroni post hoc. Based upon global arithmetic mean of all muscles analyzed, the suspended push-up with a pulley system provided the greatest activity (37.76% of MVIC; p push-up with a pulley system also provided the greatest triceps brachii, upper trapezius, rectus femoris and erector lumbar spinae muscle activation. In contrast, more stable conditions seem more appropriate for pectoralis major and anterior deltoid muscles. Independent of the type of design, all suspension systems were especially effective training tools for reaching high levels of rectus abdominis activation. Key PointsCompared with standard push-ups on the floor, suspended push-ups increase core muscle activation.A one-anchor system with a pulley is the best option to increase TRICEP, TRAPS, LUMB and FEM muscle activity.More stable conditions such as the standard push-up or a parallel band system provide greater increases in DELT and PEC muscle activation.A suspended push-up is an effective method to achieve high muscle activity levels in the ABS.

DC electrostatic gyro suspension system for the Gravity Probe B experiment

Science.gov (United States)

Wu, Chang-Huei

1994-12-01

The Gravity Probe B experiment is a satellite-based experiment primarily designed to test two aspects of Einstein's General Theory of Relativity by observing the spin axis drift of near-perfect gyroscopes in a 650-km circular polar orbit. The goal of this experiment is to measure the drift angles to an accuracy of 0.3 milli-arcsec after one year in orbit. As a result, electrostatically suspended free-spinning gyroscopes operating at a very low temperature became the final choice for their ultra-low Newtonian torque-induced drift rate. The Conventional AC current-driven suspension system faces two fundamental difficulties for ground gyro testing. Field emission causes rotor charging and arcing with an imperfect electrode or rotor surfaces because the electric field intensity needed to support a solid rotor in the 1-g field is more than 107 V/m. The system not only becomes unstable at a high rotor charge, which can be more than 500 volts, but may also lose control in case of arcing. Both the high voltage AC suspension signal and the high frequency (1 MHz) signal for rotor position sensing interfere with the superconducting SQUID magnetometer for spin axis readout through inductive coupling. These problems were resolved by using DC voltage to generate a suspension force and a low frequency position sensor. In addition to the Input/Output linearization algorithm developed to remove the system nonlinearity for global stability and dynamic performance, we also minimized the electric field intensity to reduce rotor charging. Experimental results verified the desired global stability and satisfactory dynamic performance. The problem of rotor charging is virtually eliminated. More importantly, the DC system is compatible with the SQUID readout system in the Science Mission configuration. Consequently, experiments in low magnetic field at a sub-micro-gauss level for SQUID design verification and trapped flux distribution study were finally realizable in ground environment

Loophole-free Einstein-Podolsky-Rosen experiment via quantum steering

International Nuclear Information System (INIS)

Wittmann, Bernhard; Ramelow, Sven; Zeilinger, Anton; Steinlechner, Fabian; Langford, Nathan K; Ursin, Rupert; Brunner, Nicolas; Wiseman, Howard M

2012-01-01

Tests of the predictions of quantum mechanics for entangled systems have provided increasing evidence against local realistic theories. However, there remains the crucial challenge of simultaneously closing all major loopholes—the locality, freedom-of-choice and detection loopholes—in a single experiment. An important sub-class of local realistic theories can be tested with the concept of ‘steering’. The term ‘steering’ was introduced by Schrödinger in 1935 for the fact that entanglement would seem to allow an experimenter to remotely steer the state of a distant system as in the Einstein-Podolsky-Rosen (EPR) argument. Einstein called this ‘spooky action at a distance’. EPR-steering has recently been rigorously formulated as a quantum information task opening it up to new experimental tests. Here, we present the first loophole-free demonstration of EPR-steering by violating three-setting quadratic steering inequality, tested with polarization-entangled photons shared between two distant laboratories. Our experiment demonstrates this effect while simultaneously closing all loopholes: both the locality loophole and a specific form of the freedom-of-choice loophole are closed by having a large separation of the parties and using fast quantum random number generators, and the fair-sampling loophole is closed by having high overall detection efficiency. Thereby, we exclude—for the first time loophole-free—an important class of local realistic theories considered by EPR. Besides its foundational importance, loophole-free steering also allows the distribution of quantum entanglement secure event in the presence of an untrusted party. (paper)

Loophole-free Einstein-Podolsky-Rosen experiment via quantum steering

Science.gov (United States)

Wittmann, Bernhard; Ramelow, Sven; Steinlechner, Fabian; Langford, Nathan K.; Brunner, Nicolas; Wiseman, Howard M.; Ursin, Rupert; Zeilinger, Anton

2012-05-01

Tests of the predictions of quantum mechanics for entangled systems have provided increasing evidence against local realistic theories. However, there remains the crucial challenge of simultaneously closing all major loopholes—the locality, freedom-of-choice and detection loopholes—in a single experiment. An important sub-class of local realistic theories can be tested with the concept of ‘steering’. The term ‘steering’ was introduced by Schrödinger in 1935 for the fact that entanglement would seem to allow an experimenter to remotely steer the state of a distant system as in the Einstein-Podolsky-Rosen (EPR) argument. Einstein called this ‘spooky action at a distance’. EPR-steering has recently been rigorously formulated as a quantum information task opening it up to new experimental tests. Here, we present the first loophole-free demonstration of EPR-steering by violating three-setting quadratic steering inequality, tested with polarization-entangled photons shared between two distant laboratories. Our experiment demonstrates this effect while simultaneously closing all loopholes: both the locality loophole and a specific form of the freedom-of-choice loophole are closed by having a large separation of the parties and using fast quantum random number generators, and the fair-sampling loophole is closed by having high overall detection efficiency. Thereby, we exclude—for the first time loophole-free—an important class of local realistic theories considered by EPR. Besides its foundational importance, loophole-free steering also allows the distribution of quantum entanglement secure event in the presence of an untrusted party.

Adiabatically steered open quantum systems: Master equation and optimal phase

International Nuclear Information System (INIS)

Salmilehto, J.; Solinas, P.; Ankerhold, J.; Moettoenen, M.

2010-01-01

We introduce an alternative way to derive the generalized form of the master equation recently presented by J. P. Pekola et al. [Phys. Rev. Lett. 105, 030401 (2010)] for an adiabatically steered two-level quantum system interacting with a Markovian environment. The original derivation employed the effective Hamiltonian in the adiabatic basis with the standard interaction picture approach but without the usual secular approximation. Our approach is based on utilizing a master equation for a nonsteered system in the first superadiabatic basis. It is potentially efficient in obtaining higher-order equations. Furthermore, we show how to select the phases of the adiabatic eigenstates to minimize the local adiabatic parameter and how this selection leads to states which are invariant under a local gauge change. We also discuss the effects of the adiabatic noncyclic geometric phase on the master equation.

Preview based control of suspension systems for commercial vehicles

NARCIS (Netherlands)

Muijderman, J.H.E.A.; Kok, J.J.; Huisman, R.G.M.; Veldpaus, F.E.; van Heck, J.G.A.M.

1999-01-01

An active suspension with preview is developed for the rear axle of a commercial vehicle. The obtained improvements are promising and justify further investigation of the more feasible semi-active suspensions with preview. The inherent non-linearity of semi-active suspensions with switching shock

Operator space approach to steering inequality

International Nuclear Information System (INIS)

Yin, Zhi; Marciniak, Marcin; Horodecki, Michał

2015-01-01

In Junge and Palazuelos (2011 Commun. Math. Phys. 306 695–746) and Junge et al (2010 Commun. Math. Phys. 300 715–39) the operator space theory was applied to study bipartite Bell inequalities. The aim of the paper is to follow this line of research and use the operator space technique to analyze the steering scenario. We obtain a bipartite steering functional with unbounded largest violation of steering inequality, as well as constructing all ingredients explicitly. It turns out that the unbounded largest violation is obtained by a non maximally entangled state. Moreover, we focus on the bipartite dichotomic case where we construct a steering functional with unbounded largest violation of steering inequality. This phenomenon is different to the Bell scenario where only the bounded largest violation can be obtained by any bipartite dichotomic Bell functional. (paper)

Autonomous Shepherding Behaviors of Multiple Target Steering Robots.

Science.gov (United States)

Lee, Wonki; Kim, DaeEun

2017-11-25

This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots' position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots

Directory of Open Access Journals (Sweden)

Wonki Lee

2017-11-01

Full Text Available This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots’ position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach.

Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

Science.gov (United States)

Mehrabi, Naser; Sharif Razavian, Reza; McPhee, John

2015-10-01

The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver-vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human-machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.

Biogas production from steer manures in Vietnam

DEFF Research Database (Denmark)

Pham, Cuong H.; Saggar, Surinder; Vu, Cuong C.

2017-01-01

manures collected from two different experiments of steers fed diets containing feed supplements. BMP was 110.1 (NLkg-1 VS) for manure from steers receiving a control diet, significantly lower 79.0 (NL kg-1 VS) for manure from steers fed a diet containing 0.3% tannin (%DM), but then showed an increasing...... trend to 90.9 and 91.2 (NL kg-1 VS) for manures from steers receiving 0.4 and 0.5% tannin (%DM) supplements, respectively. Similarly, the CH4 production (NL kg-1 VS) of manure from steers was 174 for control, 142 for control supplemented concentrate (C), 143 for control added rice straw treated...

Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

Directory of Open Access Journals (Sweden)

Taochang Li

2014-01-01

Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

Design aspects of an active electromagnetic suspension system for automotive applications

NARCIS (Netherlands)

Gysen, B.L.J.; Janssen, J.L.G.; Paulides, J.J.H.; Lomonova, E.A.

2008-01-01

This paper is concerned with the design aspects of an active electromagnet suspension system for automotive applications which combines a brushless tubular permanent magnet actuator (TPMA) with a passive spring. This system provides for additional stability and safety by performing active roll and

Design aspects of an active electromagnetic suspension system for automotive applications

NARCIS (Netherlands)

Gysen, B.L.J.; Janssen, J.L.G.; Paulides, J.J.H.; Lomonova, E.

2009-01-01

This paper is concerned with the design aspects of an active electromagnet suspension system for automotive applications which combines a brushless tubular permanent-magnet actuator with a passive spring. This system provides for additional stability and safety by performing active roll and pitch

46 CFR 108.641 - Instructions for changing steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Instructions for changing steering gear. 108.641 Section... steering gear. Instructions stating, in order, the different steps to be taken for changing to emergency and secondary steering gear must be posted in the steering gear room and at each secondary steering...

Nonlinear Robust Observer-Based Fault Detection for Networked Suspension Control System of Maglev Train

Directory of Open Access Journals (Sweden)

Yun Li

2013-01-01

Full Text Available A fault detection approach based on nonlinear robust observer is designed for the networked suspension control system of Maglev train with random induced time delay. First, considering random bounded time-delay and external disturbance, the nonlinear model of the networked suspension control system is established. Then, a nonlinear robust observer is designed using the input of the suspension gap. And the estimate error is proved to be bounded with arbitrary precision by adopting an appropriate parameter. When sensor faults happen, the residual between the real states and the observer outputs indicates which kind of sensor failures occurs. Finally, simulation results using the actual parameters of CMS-04 maglev train indicate that the proposed method is effective for maglev train.

Design and test of a novel magnetic lead screw for active suspension system in a vehicle

DEFF Research Database (Denmark)

Berg, Nick Ilsø; Holm, Rasmus Koldborg; Rasmussen, Peter Omand

2014-01-01

. Furthermore the Magnetic Lead Screw is introduced and its benefits when used with an active suspension system are discussed. Based on a model of a quarter car, the design specifications for the MLS active suspension system are found, which leads to a design study. The design study investigates the relation...

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

OpenAIRE

Zhen-Feng Wang; Ming-Ming Dong; Liang Gu; Jagat-Jyoti Rath; Ye-Chen Qin; Bin Bai

2017-01-01

Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steer...

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

Science.gov (United States)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

Method of Controlling Steering of a Ground Vehicle

Science.gov (United States)

Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor)

2016-01-01

A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

Adaptive suspension strategy for a double wishbone suspension through camber and toe optimization

Directory of Open Access Journals (Sweden)

C. Kavitha

2018-02-01

Full Text Available A suspension system is responsible for the safety of vehicle during its manoeuvre. It serves the dual purpose of providing stability to the vehicle while providing a comfortable ride quality to the occupants. Recent trends in suspension system have focused on improving comfort and handling of vehicles while keeping the cost, space and feasibility of manufacturing in the constraint. This paper proposes a method for improving handling characteristics of a vehicle by controlling camber and toe angle using variable length arms in an adaptive manner. In order to study the effect of dynamic characteristics of the suspension system, a simulation study has been done in this work. A quarter car physical model with double wishbone suspension geometry is modelled in SolidWorks. It is then imported and simulated using SimMechanics platform in MATLAB. The output characteristics of the passive system (without variable length arms were validated on MSC ADAMS software. The adaptive system intends to improve vehicle handling characteristics by controlling the camber and toe angles. This is accomplished by two telescopic arms with an actuator which changes the camber and toe angle of the wheel dynamically to deliver best possible traction and manoeuvrability. Two PID controllers are employed to trigger the actuators based on the camber and toe angle from the sensors for reducing the error existing between the actual and desired value. The arms are driven by actuators in a closed loop feedback manner with help of a separate control system. Comparison between active and passive systems is carried out by analysing graphs of various parameters obtained from MATLAB simulation. From the results, it is observed that there is a reduction of 58% in the camber and 96% in toe gain. Hence, the system provides the scope of considerable adaptive strategy in controlling dynamic characteristics of the suspension system.

A new pneumatic suspension system with independent stiffness and ride height tuning capabilities

Science.gov (United States)

Yin, Zhihong; Khajepour, Amir; Cao, Dongpu; Ebrahimi, Babak; Guo, Konghui

2012-12-01

This paper introduces a new pneumatic spring for vehicle suspension systems, allowing independent tuning of stiffness and ride height according to different vehicle operating conditions and driver preferences. The proposed pneumatic spring comprises a double-acting pneumatic cylinder, two accumulators and a tuning subsystem. This paper presents a detailed description of the pneumatic spring and its working principle. The mathematical model is established based on principles of thermo and fluid dynamics. An experimental setup has been designed and fabricated for testing and evaluating the proposed pneumatic spring. The analytical and experimental results confirm the capability of the new pneumatic spring system for independent tuning of stiffness and ride height. The mathematical model is verified and the capabilities of the pneumatic spring are further proved. It is concluded that this new pneumatic spring provides a more flexible suspension design alternative for meeting various conflicting suspension requirements for ride comfort and performance.

Observation of quantum-memory-assisted entropic uncertainty relation under open systems, and its steering

Science.gov (United States)

Chen, Peng-Fei; Sun, Wen-Yang; Ming, Fei; Huang, Ai-Jun; Wang, Dong; Ye, Liu

2018-01-01

Quantum objects are susceptible to noise from their surrounding environments, interaction with which inevitably gives rise to quantum decoherence or dissipation effects. In this work, we examine how different types of local noise under an open system affect entropic uncertainty relations for two incompatible measurements. Explicitly, we observe the dynamics of the entropic uncertainty in the presence of quantum memory under two canonical categories of noisy environments: unital (phase flip) and nonunital (amplitude damping). Our study shows that the measurement uncertainty exhibits a non-monotonic dynamical behavior—that is, the amount of the uncertainty will first inflate, and subsequently decrease, with the growth of decoherence strengths in the two channels. In contrast, the uncertainty decreases monotonically with the growth of the purity of the initial state shared in prior. In order to reduce the measurement uncertainty in noisy environments, we put forward a remarkably effective strategy to steer the magnitude of uncertainty by means of a local non-unitary operation (i.e. weak measurement) on the qubit of interest. It turns out that this non-unitary operation can greatly reduce the entropic uncertainty, upon tuning the operation strength. Our investigations might thereby offer an insight into the dynamics and steering of entropic uncertainty in open systems.

Test of Einstein-Podolsky-Rosen steering based on the all-versus-nothing proof.

Science.gov (United States)

Wu, Chunfeng; Chen, Jing-Ling; Ye, Xiang-Jun; Su, Hong-Yi; Deng, Dong-Ling; Wang, Zhenghan; Oh, C H

2014-03-06

In comparison with entanglement and Bell nonlocality, Einstein-Podolsky-Rosen steering is a newly emerged research topic and in its incipient stage. Although Einstein-Podolsky-Rosen steering has been explored via violations of steering inequalities both theoretically and experimentally, the known inequalities in the literatures are far from well-developed. As a result, it is not yet possible to observe Einstein-Podolsky-Rosen steering for some steerable mixed states. Recently, a simple approach was presented to identify Einstein-Podolsky-Rosen steering based on all-versus-nothing argument, offering a strong condition to witness the steerability of a family of two-qubit (pure or mixed) entangled states. In this work, we show that the all-versus-nothing proof of Einstein-Podolsky-Rosen steering can be tested by measuring the projective probabilities. Through the bound of probabilities imposed by local-hidden-state model, the proposed test shows that steering can be detected by the all-versus-nothing argument experimentally even in the presence of imprecision and errors. Our test can be implemented in many physical systems and we discuss the possible realizations of our scheme with non-Abelian anyons and trapped ions.

Automatic local beam steering systems for NSLS x-ray storage ring: Design and implementation

International Nuclear Information System (INIS)

Singh, O.V.; Nawrocky, R.; Flannigan, J.

1991-01-01

Recently, two local automatic steering systems, controlled by microprocessors, have been installed and commissioned in the NSLS X- Ray storage ring. In each system, the position of the electron beam is stabilized at two locations by four independent servo systems. This paper describes three aspects of the local feedback program: design; commissioning; and limitation. The system design is explained by identifying major elements such as beam position detectors, signal processors, compensation amplifiers, ratio amplifiers, trim equalizers and microprocessor feedback controllers. System commissioning involves steps such as matching trim compensation, determination of local orbit bumps, measurement of open loop responses and design of servo circuits. Several limitations of performance are also discussed. 7 refs., 2 figs

46 CFR 61.20-1 - Steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Steering gear. 61.20-1 Section 61.20-1 Shipping COAST... Periodic Tests of Machinery and Equipment § 61.20-1 Steering gear. (a) The marine inspector must inspect the steering gear at each inspection for certification for vessels whose Certificate of Inspections...

Conditional steering under the von Neumann scenario

Science.gov (United States)

Mukherjee, Kaushiki; Paul, Biswajit; Karmakar, Sumana; Sarkar, Debasis; Mukherjee, Amit; Bhattacharya, Some Sankar; Roy, Arup

2017-08-01

In Phys. Lett. A 166, 293 (1992), 10.1016/0375-9601(92)90711-T, Popescu and Rohrlich characterized nonlocality of pure n -partite entangled systems by studying bipartite violation of local realism when n -2 number of parties perform projective measurements on their particles. A pertinent question in this scenario is whether similar characterization is possible for n -partite mixed entangled states also. In the present work we have followed an analogous approach so as to explore whether given a tripartite mixed entangled state the conditional bipartite states obtained by performing projective measurement on the third party demonstrate a weaker form of nonlocality, quantum steering. We also compare this phenomenon of conditional steering with existing notions of tripartite correlations.

Flagellated Magnetotactic Bacteria as Controlled MRI-trackable Propulsion and Steering Systems for Medical Nanorobots Operating in the Human Microvasculature.

Science.gov (United States)

Martel, Sylvain; Mohammadi, Mahmood; Felfoul, Ouajdi; Lu, Zhao; Pouponneau, Pierre

2009-04-01

Although nanorobots may play critical roles for many applications in the human body such as targeting tumoral lesions for therapeutic purposes, miniaturization of the power source with an effective onboard controllable propulsion and steering system have prevented the implementation of such mobile robots. Here, we show that the flagellated nanomotors combined with the nanometer-sized magnetosomes of a single Magnetotactic Bacterium (MTB) can be used as an effective integrated propulsion and steering system for devices such as nanorobots designed for targeting locations only accessible through the smallest capillaries in humans while being visible for tracking and monitoring purposes using modern medical imaging modalities such as Magnetic Resonance Imaging (MRI). Through directional and magnetic field intensities, the displacement speeds, directions, and behaviors of swarms of these bacterial actuators can be controlled from an external computer.

Relative entropy of steering: on its definition and properties

International Nuclear Information System (INIS)

Kaur, Eneet; Wilde, Mark M

2017-01-01

In Gallego and Aolita (2015 Phys. Rev . X 5 041008), the authors proposed a definition for the relative entropy of steering and showed that the resulting quantity is a convex steering monotone. Here we advocate for a different definition for relative entropy of steering, based on well grounded concerns coming from quantum Shannon theory. We prove that this modified relative entropy of steering is a convex steering monotone. Furthermore, we establish that it is uniformly continuous and faithful, in both cases giving quantitative bounds that should be useful in applications. We also consider a restricted relative entropy of steering which is relevant for the case in which the free operations in the resource theory of steering have a more restricted form (the restricted operations could be more relevant in practical scenarios). The restricted relative entropy of steering is convex, monotone with respect to these restricted operations, uniformly continuous, and faithful. (paper)

Motion control of a large gap magnetic suspension system for microrobotic manipulation

Energy Technology Data Exchange (ETDEWEB)

Craig, David; Khamesee, Mir Behrad [Department of Mechanical and Mechatronics Engineering, University of Waterloo, Ontario, N2L 3G1 (Canada)

2007-06-07

Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 x 22 x 20 mm{sup 3}, with an RMS error on the order of 18 {mu}m in the vertical direction and 8 {mu}m in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation.

Motion control of a large gap magnetic suspension system for microrobotic manipulation

International Nuclear Information System (INIS)

Craig, David; Khamesee, Mir Behrad

2007-01-01

Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 x 22 x 20 mm 3 , with an RMS error on the order of 18 μm in the vertical direction and 8 μm in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation

System Identification and Steering Control Characteristic of Rice Combine Harvester Model

Science.gov (United States)

Sutisna, S. P.; Setiawan, R. P. A.; Subrata, I. D. M.; Mandang, T.

2018-05-01

This study is a preliminary research of rice combine harvester trajectory. A vehicle model of rice combine used crawler with differential steering. Turning process of differential steering used speed difference of right and left tracks This study aims to learn of rice combine harvester steering control. In real condition, the hydraulic break on each track produced the speed difference. The model used two DC motors with maximum speed 100 rpm for each tracks. A rotary encoder with resolution 600 pulse/rotation was connected to each DC motors shaft to monitor the speed of tracks and connected to the input shaft of a gearbox with ratio 1:46. The motor speed control for each track used pulse width modulation to produce the speed difference. A gyroscope sensor with resolution 0.01° was used to determine the model orientation angle. Like the real rice combine, the tracks can not rotate to the opposite direction at the same time so it makes the model can not perform the pivot turn. The turn radius of the model was 28 cm and the forward maximum speed was 17.8 cm/s. The model trajectory control used PID odometry controller. Parameters input were the speed of each track and the orientation of the vehicle. The straight line test showed the controller can control the rice combine model trajectory with the average error 0.67 cm.

Wireless traffic steering for green cellular networks

CERN Document Server

Zhang, Shan; Zhou, Sheng; Niu, Zhisheng; Shen, Xuemin (Sherman)

2016-01-01

This book introduces wireless traffic steering as a paradigm to realize green communication in multi-tier heterogeneous cellular networks. By matching network resources and dynamic mobile traffic demand, traffic steering helps to reduce on-grid power consumption with on-demand services provided. This book reviews existing solutions from the perspectives of energy consumption reduction and renewable energy harvesting. Specifically, it explains how traffic steering can improve energy efficiency through intelligent traffic-resource matching. Several promising traffic steering approaches for dynamic network planning and renewable energy demand-supply balancing are discussed. This book presents an energy-aware traffic steering method for networks with energy harvesting, which optimizes the traffic allocated to each cell based on the renewable energy status. Renewable energy demand-supply balancing is a key factor in energy dynamics, aimed at enhancing renewable energy sustainability to reduce on-grid energy consum...

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Directory of Open Access Journals (Sweden)

Zhen-Feng Wang

2017-06-01

Full Text Available Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steering wheel input on vehicle roll behavior. Then, a 9 degree of freedom (9-DOF full-car roll nonlinear model including vertical and lateral dynamics was developed to study vehicle roll dynamics with or without of road excitation. Based on a 6-DOF half-car roll model and 9-DOF full-car nonlinear model, relationship between three-dimensional (3-D road excitation and various steering wheel inputs on vehicle roll performance was studied. Finally, an E-Class (SUV level car model in CARSIM® was used, as a benchmark, with and without road input conditions. Both half-car and full-car models were analyzed under steering wheel inputs of 5°, 10° and 15°. Simulation results showed that the half-car model considering road input was found to have a maximum accuracy of 65%. Whereas, the full-car model had a minimum accuracy of 85%, which was significantly higher compared to the half-car model under the same scenario.

An efficient recursive least square-based condition monitoring approach for a rail vehicle suspension system

Science.gov (United States)

Liu, X. Y.; Alfi, S.; Bruni, S.

2016-06-01

A model-based condition monitoring strategy for the railway vehicle suspension is proposed in this paper. This approach is based on recursive least square (RLS) algorithm focusing on the deterministic 'input-output' model. RLS has Kalman filtering feature and is able to identify the unknown parameters from a noisy dynamic system by memorising the correlation properties of variables. The identification of suspension parameter is achieved by machine learning of the relationship between excitation and response in a vehicle dynamic system. A fault detection method for the vertical primary suspension is illustrated as an instance of this condition monitoring scheme. Simulation results from the rail vehicle dynamics software 'ADTreS' are utilised as 'virtual measurements' considering a trailer car of Italian ETR500 high-speed train. The field test data from an E464 locomotive are also employed to validate the feasibility of this strategy for the real application. Results of the parameter identification performed indicate that estimated suspension parameters are consistent or approximate with the reference values. These results provide the supporting evidence that this fault diagnosis technique is capable of paving the way for the future vehicle condition monitoring system.

The Design and Simulation of the Modular Vehicle Air Suspension Height Control System Based on ECAS

Directory of Open Access Journals (Sweden)

Yang Peigang

2014-02-01

Full Text Available Based on ECAS, this paper intended to develop a modular air suspension height control system with WABCO4728800010 two-position three way solenoid valves and Free scale MC9S12D64 microprocessor as its core components. And a simulation test was conducted in MATLAB/Simulink environment. The air suspension height control strategy of this system was divided into four modules: start control module, dynamic adjustment module, manual adjustment module and errors adjustment module, which were controlled by module select switch. Simulation tests indicated that the air suspension height control strategy is featured by its logical control accuracy and debug convenience, and the modular design greatly reduced the system complexity and software development cycle and costs as well.

Individual addressing of trapped {sup 171}Yb{sup +} ion qubits using a microelectromechanical systems-based beam steering system

Energy Technology Data Exchange (ETDEWEB)

Crain, S.; Mount, E.; Baek, S.; Kim, J., E-mail: jungsang@duke.edu [Electrical and Computer Engineering Department, Fitzpatrick Institute for Photonics, Duke University, Durham, North Carolina 27708 (United States)

2014-11-03

The ability to individually manipulate the increasing number of qubits is one of the many challenges towards scalable quantum information processing with trapped ions. Using micro-mirrors fabricated with micro-electromechanical systems technology, we focus laser beams on individual ions in a linear chain and steer the focal point in two dimensions. We demonstrate sequential single qubit gates on multiple {sup 171}Yb{sup +} qubits and characterize the gate performance using quantum state tomography. Our system features negligible crosstalk to neighboring ions (<3×10{sup −4}), and switching speed comparable to typical single qubit gate times (<2 μs)

MAcro-Electro-Mechanical Systems (MÆMS) based concept for microwave beam steering in reflectarray antennas

Energy Technology Data Exchange (ETDEWEB)

Momeni Hasan Abadi, Seyed Mohamad Amin, E-mail: momenihasana@wisc.edu; Booske, John H., E-mail: jhbooske@wisc.edu; Behdad, Nader, E-mail: behdad@wisc.edu [Department of Electrical and Computer Engineering, University of Wisconsin-Madison, 1415 Engineering Drive, Madison, Wisconsin 53706 (United States)

2016-08-07

We present a new approach to perform beam steering in reflecting type apertures such as reflectarray antennas. The proposed technique exploits macro-scale mechanical movements of parts of the structure to achieve two-dimensional microwave beam steering without using any solid-state devices or phase shifters integrated within the aperture of the antenna. The principles of operation of this microwave beam steering technique are demonstrated in an aperture occupied by ground-plane-backed, sub-wavelength capacitive patches with identical dimensions. We demonstrate that by tilting the ground plane underneath the entire patch array layer, a phase shift gradient can be created over the aperture of the reflectarray that determines the direction of the radiated beam. Changing the direction and slope of this phase shift gradient on the aperture allows for performing beam steering in two dimensions using only one control parameter (i.e., tilt vector of the ground plane). A proof-of-concept prototype of the structure operating at X-band is designed, fabricated, and experimentally characterized. Experiments demonstrate that small mechanical movements of the ground plane (in the order of 0.05λ{sub 0}) can be used to steer the beam direction in the ±10° in two dimensions. It is also demonstrated that this beam scanning range can be greatly enhanced to ±30° by applying this concept to the same structure when its ground plane is segmented.

Adaptive neural networks control for camera stabilization with active suspension system

Directory of Open Access Journals (Sweden)

Feng Zhao

2015-08-01

Full Text Available The camera always suffers from image instability on the moving vehicle due to unintentional vibrations caused by road roughness. This article presents an adaptive neural network approach mixed with linear quadratic regulator control for a quarter-car active suspension system to stabilize the image captured area of the camera. An active suspension system provides extra force through the actuator which allows it to suppress vertical vibration of sprung mass. First, to deal with the road disturbance and the system uncertainties, radial basis function neural network is proposed to construct the map between the state error and the compensation component, which can correct the optimal state-feedback control law. The weights matrix of radial basis function neural network is adaptively tuned online. Then, the closed-loop stability and asymptotic convergence performance is guaranteed by Lyapunov analysis. Finally, the simulation results demonstrate that the proposed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.

A method of detecting a structure in a field, a method of steering an agricultural vehicle and an agricultural vehicle

DEFF Research Database (Denmark)

2011-01-01

An agricultural vehicle (2) comprises a steering system providing steering signals, said steering system comprising an imaging device (11) for imaging surroundings of the vehicle and an image processing device (13), said steering system operating to provide by means of the imaging device (11......) an image of the field (21), analyse the image to obtain texture information, assign to a plurality of areas of the image probability-values reflecting the likelihood that the respective area relates to a specific structure (12), assume at least one geometric property of said specific structure (12...

Automated beam steering using optimal control

Energy Technology Data Exchange (ETDEWEB)

Allen, C. K. (Christopher K.)

2004-01-01

We present a steering algorithm which, with the aid of a model, allows the user to specify beam behavior throughout a beamline, rather than just at specified beam position monitor (BPM) locations. The model is used primarily to compute the values of the beam phase vectors from BPM measurements, and to define cost functions that describe the steering objectives. The steering problem is formulated as constrained optimization problem; however, by applying optimal control theory we can reduce it to an unconstrained optimization whose dimension is the number of control signals.

Speed choice and steering behavior in curve driving

NARCIS (Netherlands)

Winsum, W. van; Godthelp, J.

1996-01-01

The relation between speed choice and steering performance during curve negotiation was studied in a driving simulator. The hypothesis was that curve radius and steering competence both affect steering error during curve driving, resulting in compensatory speed choice. In this, the control of safety

Design of a steering stabilizer based on CAN bus

Science.gov (United States)

Zhan, Zhaomin; Yan, Yibin

2018-04-01

This design realizes a posture correction device of griping steering wheel based on CAN bus, which is embedded in the steering wheel of vehicles. The system aims to detect the drivers' abnormal griping postures and provides drivers with classification alerts, by combining the recorded griping postures data and the vehicle speed data that are obtained via the CAN bus. The warning information are automatically stored and retained in the device for 12 months. To enhance the alerting effect, the count of this warning message for both the latest month and the last 12 months are displayed on the dashboard panel. In addition to prevent itself from being blocked and self-detect any faults in advance, the appliance also provide a self-test function, which will communicate with the integrated instrument system in vehicle and do simulation test right after the vehicle power on. This appliance can help to urge and ensure drivers to operate the steering wheel correctly, effectively, and timely; prevent some typical incorrect behaviors which commonly happen along with the change of griping postures, such as the using cellphone, and ultimately, reduce the incidence of traffic accidents.

Adiabatic photo-steering theory in topological insulators

Science.gov (United States)

Inoue, Jun-ichi

2014-12-01

Feasible external control of material properties is a crucial issue in condensed matter physics. A new approach to achieving this aim, named adiabatic photo-steering, is reviewed. The core principle of this scheme is that several material constants are effectively turned into externally tunable variables by irradiation of monochromatic laser light. Two-dimensional topological insulators are selected as the optimal systems that exhibit a prominent change in their properties following the application of this method. Two specific examples of photo-steered quantum phenomena, which reflect topological aspects of the electronic systems at hand, are presented. One is the integer quantum Hall effect described by the Haldane model, and the other is the quantum spin Hall effect described by the Kane-Mele model. The topological quantities associated with these phenomena are the conventional Chern number and spin Chern number, respectively. A recent interesting idea, time-reversal symmetry breaking via a temporary periodic external stimulation, is also discussed.

Adiabatic photo-steering theory in topological insulators

International Nuclear Information System (INIS)

Inoue, Jun-ichi

2014-01-01

Feasible external control of material properties is a crucial issue in condensed matter physics. A new approach to achieving this aim, named adiabatic photo-steering, is reviewed. The core principle of this scheme is that several material constants are effectively turned into externally tunable variables by irradiation of monochromatic laser light. Two-dimensional topological insulators are selected as the optimal systems that exhibit a prominent change in their properties following the application of this method. Two specific examples of photo-steered quantum phenomena, which reflect topological aspects of the electronic systems at hand, are presented. One is the integer quantum Hall effect described by the Haldane model, and the other is the quantum spin Hall effect described by the Kane–Mele model. The topological quantities associated with these phenomena are the conventional Chern number and spin Chern number, respectively. A recent interesting idea, time-reversal symmetry breaking via a temporary periodic external stimulation, is also discussed. (focus issue review)

Control of intravascular catheters using an array of active steering coils.

Science.gov (United States)

Gudino, N; Heilman, J A; Derakhshan, J J; Sunshine, J L; Duerk, J L; Griswold, M A

2011-07-01

To extend the concept of deflecting the tip of a catheter with the magnetic force created in an MRI system through the use of an array of independently controllable steering coils located in the catheter tip, and to present methods for visualization of the catheter and/or surrounding areas while the catheter is deflected. An array of steering coils made of 42-gauge wire was built over a 2.5 Fr (0.83 mm) fiber braided microcatheter. Two of the coils were 70 turn axial coils separated by 1 cm, and the third was a 15-turn square side coil that was 2 x 4 mm2. Each coil was driven independently by a pulse width modulation (PWM) current source controlled by a microprocessor that received commands from a MATLAB routine that dynamically set current amplitude and direction for each coil. The catheter was immersed in a water phantom containing 1% Gd-DTPA that was placed at the isocenter of a 1.5 T MRI scanner. Deflections of the catheter tip were measured from image-based data obtained with a real-time radio frequency (RF) spoiled gradient echo sequence (GRE). The small local magnetic fields generated by the steering coils were exploited to generate a hyperintense signal at the catheter tip by using a modified GRE sequence that did not include slice-select rewinding gradients. Imaging and excitation modes were implemented by synchronizing the excitation of the steering coil array with the scanner by ensuring that no current was driven through the coils during the data acquisition window; this allowed visualization of the surrounding tissue while not affecting the desired catheter position. Deflections as large as 2.5 cm were measured when exciting the steering coils sequentially with a 100 mA maximum current per coil. When exciting a single axial coil, the deflection was half this value with 30% higher current. A hyperintense catheter tip useful for catheter tracking was obtained by imaging with the modified GRE sequence. Clear visualization of the areas surrounding the

Theoretical and FEM analysis of suspension and propulsion system with HTS hybrid electromagnets in an EMS Maglev model

Energy Technology Data Exchange (ETDEWEB)

Chung, Y.D., E-mail: ydchung@suwon.ac.kr [Department of Electrical Engineering, Suwon University, Bongdang Eup, Hwaseong Si 445-743 (Korea, Republic of); Lee, C.Y. [Korea Railroad Research Institute, Woram Dong, Uiwang Si 437-757 (Korea, Republic of); Jang, J.Y. [Department of Electrical Engineering, Ansan College of Technology, Choji-Dong, Ansan Si 425-792 (Korea, Republic of); Yoon, Y.S. [Department of Electrical and Electronic Engineering, Yonsei University, Sinchon-dong, Seoul 120-749 (Korea, Republic of); Ko, T.K. [Department of Electrical Engineering, Ansan College of Technology, Choji-Dong, Ansan Si 425-792 (Korea, Republic of)

2011-11-15

We examine levitation and propulsion forces of the proto-type maglev vehicle system based on 3D FEM. The levitation force increases over 15% due to AC current of the guideway. The levitation force by HTS electromagnet (EM) and AC current is larger over 30% than that of only HTS EM. We have been constructed a proto-type electromagnetic suspension (EMS) based maglev vehicle system. The maglev concept utilizes magnetic forces for noncontact suspension, guidance and propulsion. The suspension system with high temperature superconducting (HTS) hybrid electromagnet (EM) is composed of HTS coils and normal coils, which consume little power to keep large suspension gap. The magnetic forces realize to guide the vehicle, propel the vehicle along the guide-way and assist in braking action. The proto-type EMS-based Maglev model is designed to keep the suspension gap of 20 mm. This paper presents the theoretical analysis of the maglev vehicle based on the EMS model to obtain the designing parameters for levitation and propulsion forces. The magnetic field distributions of the electromagnetic forces with hybrid EM and propulsion stator coils are analyzed based on three dimension (3D) finite element method (FEM) analysis. From the simulation results, appropriately design parameters of the suspension, guidance and propulsion were obtained.

Theoretical and FEM analysis of suspension and propulsion system with HTS hybrid electromagnets in an EMS Maglev model

International Nuclear Information System (INIS)

Chung, Y.D.; Lee, C.Y.; Jang, J.Y.; Yoon, Y.S.; Ko, T.K.

2011-01-01

We examine levitation and propulsion forces of the proto-type maglev vehicle system based on 3D FEM. The levitation force increases over 15% due to AC current of the guideway. The levitation force by HTS electromagnet (EM) and AC current is larger over 30% than that of only HTS EM. We have been constructed a proto-type electromagnetic suspension (EMS) based maglev vehicle system. The maglev concept utilizes magnetic forces for noncontact suspension, guidance and propulsion. The suspension system with high temperature superconducting (HTS) hybrid electromagnet (EM) is composed of HTS coils and normal coils, which consume little power to keep large suspension gap. The magnetic forces realize to guide the vehicle, propel the vehicle along the guide-way and assist in braking action. The proto-type EMS-based Maglev model is designed to keep the suspension gap of 20 mm. This paper presents the theoretical analysis of the maglev vehicle based on the EMS model to obtain the designing parameters for levitation and propulsion forces. The magnetic field distributions of the electromagnetic forces with hybrid EM and propulsion stator coils are analyzed based on three dimension (3D) finite element method (FEM) analysis. From the simulation results, appropriately design parameters of the suspension, guidance and propulsion were obtained.

Mechanical design aspects of a "Long-Waveguide" version of the remote steering ECRH upper port launcher for ITER

NARCIS (Netherlands)

Ronden, D. M. S.; van den Berg, M.; Bongers, W. A.; Elzendoorn, B. S. Q.; M. F. Graswinckel,; Lamers, B.; Van Nigtevecht, K.; Verhoeven, A. G. A.; Henderson, M. A.

2008-01-01

The current status of the mechanical design of the remote steering electron cyclotron resonance heating upper port launching system for ITER is presented. Although an alternative front steering launcher has now been selected as the reference design for ITER, the development of a remote steering

Multi-Layer Traffic Steering

DEFF Research Database (Denmark)

Fotiadis, Panagiotis; Polignano, Michele; Gimenez, Lucas Chavarria

2013-01-01

This paper investigates the potentials of traffic steering in the Radio Resource Control (RRC) Idle state by evaluating the Absolute Priorities (AP) framework in a multilayer Long Term Evolution (LTE) macrocell scenario. Frequency priorities are broadcast on the system information and RRC Idle...... periods are not significantly long. Finally, better alignment between the RRC Connected and Idle mobility procedures is observed, guarantying significant decrease of handovers/reselections and potential battery life savings by minimizing the Inter-Frequency (IF) measurement rate in the RRC Idle....

Auditory orientation in crickets: Pattern recognition controls reactive steering

Science.gov (United States)

Poulet, James F. A.; Hedwig, Berthold

2005-10-01

Many groups of insects are specialists in exploiting sensory cues to locate food resources or conspecifics. To achieve orientation, bees and ants analyze the polarization pattern of the sky, male moths orient along the females' odor plume, and cicadas, grasshoppers, and crickets use acoustic signals to locate singing conspecifics. In comparison with olfactory and visual orientation, where learning is involved, auditory processing underlying orientation in insects appears to be more hardwired and genetically determined. In each of these examples, however, orientation requires a recognition process identifying the crucial sensory pattern to interact with a localization process directing the animal's locomotor activity. Here, we characterize this interaction. Using a sensitive trackball system, we show that, during cricket auditory behavior, the recognition process that is tuned toward the species-specific song pattern controls the amplitude of auditory evoked steering responses. Females perform small reactive steering movements toward any sound patterns. Hearing the male's calling song increases the gain of auditory steering within 2-5 s, and the animals even steer toward nonattractive sound patterns inserted into the speciesspecific pattern. This gain control mechanism in the auditory-to-motor pathway allows crickets to pursue species-specific sound patterns temporarily corrupted by environmental factors and may reflect the organization of recognition and localization networks in insects. localization | phonotaxis

Steering of Educational Processes in a Digital Medium Environment

DEFF Research Database (Denmark)

Tække, Jesper; Paulsen, Michael

2015-01-01

by systems theory we outline a more adequate way of teaching in the new medium environment – a teaching that can manage the new situation and use the new possibilities provided by the digital media. The argumentation builds on empirical findings from the action research project Socio Media Education (SME......This paper is about challenges to steering and leadership of educational interaction in classrooms provided by the new medium environment that comes with digital media. In the new medium environment, the old way of steering what is going on in the classroom appears not to work since...

Smooth Sliding Mode Control for Vehicle Rollover Prevention Using Active Antiroll Suspension

Directory of Open Access Journals (Sweden)

Duanfeng Chu

2015-01-01

Full Text Available The rollover accidents induced by severe maneuvers are very dangerous and mostly happen to vehicles with elevated center of gravity, such as heavy-duty trucks and pickup trucks. Unfortunately, it is hard for drivers of those vehicles to predict and prevent the trend of the maneuver-induced (untripped rollover ahead of time. In this study, a lateral load transfer ratio which reflects the load distribution of left and right tires is used to indicate the rollover criticality. An antiroll controller is designed with smooth sliding mode control technique for vehicles, in which an active antiroll suspension is installed. A simplified second order roll dynamic model with additive sector bounded uncertainties is used for control design, followed by robust stability analysis. Combined with the vehicle dynamics simulation package TruckSim, MATLAB/Simulink is used for simulating experiment. The results show that the applied controller can improve the roll stability under some typical steering maneuvers, such as Fishhook and J-turn. This direct antiroll control method could be more effective for untripped rollover prevention when driver deceleration or steering is too late. It could also be extended to handle tripped rollovers.

38-GHz millimeter wave beam steered fiber wireless systems for 5G indoor coverage: architectures, devices, and links

NARCIS (Netherlands)

Cao, Z.; Zhao, X.; Soares, F.M.; Tessema, N.M.; Koonen, A.M.J.

2017-01-01

Millimeter wave (mm-wave) beam steering is a key technique for the next generation (5G) wireless communication. The 28 and 38-GHz bands are widely considered as the candidates for 5G. In the context of indoor coverage, fiber-wireless systems with multiple simplified remote antenna sites are

Model predictive control of an air suspension system with damping multi-mode switching damper based on hybrid model

Science.gov (United States)

Sun, Xiaoqiang; Yuan, Chaochun; Cai, Yingfeng; Wang, Shaohua; Chen, Long

2017-09-01

This paper presents the hybrid modeling and the model predictive control of an air suspension system with damping multi-mode switching damper. Unlike traditional damper with continuously adjustable damping, in this study, a new damper with four discrete damping modes is applied to vehicle semi-active air suspension. The new damper can achieve different damping modes by just controlling the on-off statuses of two solenoid valves, which makes its damping adjustment more efficient and more reliable. However, since the damping mode switching induces different modes of operation, the air suspension system with the new damper poses challenging hybrid control problem. To model both the continuous/discrete dynamics and the switching between different damping modes, the framework of mixed logical dynamical (MLD) systems is used to establish the system hybrid model. Based on the resulting hybrid dynamical model, the system control problem is recast as a model predictive control (MPC) problem, which allows us to optimize the switching sequences of the damping modes by taking into account the suspension performance requirements. Numerical simulations results demonstrate the efficacy of the proposed control method finally.

Quantum steering of multimode Gaussian states by Gaussian measurements: monogamy relations and the Peres conjecture

International Nuclear Information System (INIS)

Ji, Se-Wan; Nha, Hyunchul; Kim, M S

2015-01-01

It is a topic of fundamental and practical importance how a quantum correlated state can be reliably distributed through a noisy channel for quantum information processing. The concept of quantum steering recently defined in a rigorous manner is relevant to study it under certain circumstances and here we address quantum steerability of Gaussian states to this aim. In particular, we attempt to reformulate the criterion for Gaussian steering in terms of local and global purities and show that it is sufficient and necessary for the case of steering a 1-mode system by an N-mode system. It subsequently enables us to reinforce a strong monogamy relation under which only one party can steer a local system of 1-mode. Moreover, we show that only a negative partial-transpose state can manifest quantum steerability by Gaussian measurements in relation to the Peres conjecture. We also discuss our formulation for the case of distributing a two-mode squeezed state via one-way quantum channels making dissipation and amplification effects, respectively. Finally, we extend our approach to include non-Gaussian measurements, more precisely, all orders of higher-order squeezing measurements, and find that this broad set of non-Gaussian measurements is not useful to demonstrate steering for Gaussian states beyond Gaussian measurements. (paper)

46 CFR 167.65-25 - Steering gear tests.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering gear tests. 167.65-25 Section 167.65-25... SHIPS Special Operating Requirements § 167.65-25 Steering gear tests. On all nautical school ships making voyages of more than 48 hours' duration, the entire steering gear, the whistle, the means of...

Suspension for the low frequency facility

CERN Document Server

Cella, G; Di Virgilio, A; Gaddi, A; Viceré, A

2000-01-01

We introduce the working principles of the VIRGO Low Frequency Facility (LFF), whose main aim is the measurement of the thermal noise in the VIRGO suspension system. We evaluate the displacement thermal noise of a mirror, which is an intermediate element of a double pendulum suspension system. This double pendulum will be suspended to the last stage of a VIRGO Super-Attenuator (SA), the prototype VIRGO suspension system being tested at the Pisa section of INFN. In the proposed configuration, we evaluate the spectrum of the thermal noise for different choices of the parameters: based on this study, we comment on the future directions to be undertaken in the LFF experiment.

Quantum Steering Beyond Instrumental Causal Networks

Science.gov (United States)

Nery, R. V.; Taddei, M. M.; Chaves, R.; Aolita, L.

2018-04-01

We theoretically predict, and experimentally verify with entangled photons, that outcome communication is not enough for hidden-state models to reproduce quantum steering. Hidden-state models with outcome communication correspond, in turn, to the well-known instrumental processes of causal inference but in the one-sided device-independent scenario of one black-box measurement device and one well-characterized quantum apparatus. We introduce one-sided device-independent instrumental inequalities to test against these models, with the appealing feature of detecting entanglement even when communication of the black box's measurement outcome is allowed. We find that, remarkably, these inequalities can also be violated solely with steering, i.e., without outcome communication. In fact, an efficiently computable formal quantifier—the robustness of noninstrumentality—naturally arises, and we prove that steering alone is enough to maximize it. Our findings imply that quantum theory admits a stronger form of steering than known until now, with fundamental as well as practical potential implications.

Three-bead steering microswimmers

Science.gov (United States)

Rizvi, Mohd Suhail; Farutin, Alexander; Misbah, Chaouqi

2018-02-01

The self-propelled microswimmers have recently attracted considerable attention as model systems for biological cell migration as well as artificial micromachines. A simple and well-studied microswimmer model consists of three identical spherical beads joined by two springs in a linear fashion with active oscillatory forces being applied on the beads to generate self-propulsion. We have extended this linear microswimmer configuration to a triangular geometry where the three beads are connected by three identical springs in an equilateral triangular manner. The active forces acting on each spring can lead to autonomous steering motion; i.e., allowing the swimmer to move along arbitrary paths. We explore the microswimmer dynamics analytically and pinpoint its rich character depending on the nature of the active forces. The microswimmers can translate along a straight trajectory, rotate at a fixed location, as well as perform a simultaneous translation and rotation resulting in complex curved trajectories. The sinusoidal active forces on the three springs of the microswimmer contain naturally four operating parameters which are more than required for the steering motion. We identify the minimal operating parameters which are essential for the motion of the microswimmer along any given arbitrary trajectory. Therefore, along with providing insights into the mechanics of the complex motion of the natural and artificial microswimmers, the triangular three-bead microswimmer can be utilized as a model for targeted drug delivery systems and autonomous underwater vehicles where intricate trajectories are involved.

T-S Fuzzy Model Based Control Strategy for the Networked Suspension Control System of Maglev Train

Directory of Open Access Journals (Sweden)

Guang He

2015-01-01

Full Text Available The control problem for the networked suspension control system of maglev train with random induced time delay and packet dropouts is investigated. First, Takagi-Sugeno (T-S fuzzy models are utilized to represent the discrete-time nonlinear networked suspension control system, and the parameters uncertainties of the nonlinear model have also been taken into account. The controllers take the form of parallel distributed compensation. Then, a sufficient condition for the stability of the networked suspension control system is derived. Based on the criteria, the state feedback fuzzy controllers are obtained, and the controller gains can be computed by using MATLAB LMI Toolbox directly. Finally, both the numerical simulations and physical experiments on the full-scale single bogie of CMS-04 maglev train have been accomplished to demonstrate the effectiveness of this proposed method.

GMTIFS: the adaptive optics beam steering mirror for the GMT integral-field spectrograph

Science.gov (United States)

Davies, J.; Bloxham, G.; Boz, R.; Bundy, D.; Espeland, B.; Fordham, B.; Hart, J.; Herrald, N.; Nielsen, J.; Sharp, R.; Vaccarella, A.; Vest, C.; Young, P. J.

2016-07-01

To achieve the high adaptive optics sky coverage necessary to allow the GMT Integral-Field Spectrograph (GMTIFS) to access key scientific targets, the on-instrument adaptive-optics wavefront-sensing (OIWFS) system must patrol the full 180 arcsecond diameter guide field passed to the instrument. The OIWFS uses a diffraction limited guide star as the fundamental pointing reference for the instrument. During an observation the offset between the science target and the guide star will change due to sources such as flexure, differential refraction and non-sidereal tracking rates. GMTIFS uses a beam steering mirror to set the initial offset between science target and guide star and also to correct for changes in offset. In order to reduce image motion from beam steering errors to those comparable to the AO system in the most stringent case, the beam steering mirror is set a requirement of less than 1 milliarcsecond RMS. This corresponds to a dynamic range for both actuators and sensors of better than 1/180,000. The GMTIFS beam steering mirror uses piezo-walk actuators and a combination of eddy current sensors and interferometric sensors to achieve this dynamic range and control. While the sensors are rated for cryogenic operation, the actuators are not. We report on the results of prototype testing of single actuators, with the sensors, on the bench and in a cryogenic environment. Specific failures of the system are explained and suspected reasons for them. A modified test jig is used to investigate the option of heating the actuator and we report the improved results. In addition to individual component testing, we built and tested a complete beam steering mirror assembly. Testing was conducted with a point source microscope, however controlling environmental conditions to less than 1 micron was challenging. The assembly testing investigated acquisition accuracy and if there was any un-sensed hysteresis in the system. Finally we present the revised beam steering mirror

Feed efficiency differences and reranking in beef steers fed grower and finisher diets.

Science.gov (United States)

Durunna, O N; Mujibi, F D N; Goonewardene, L; Okine, E K; Basarab, J A; Wang, Z; Moore, S S

2011-01-01

This 3-yr study used 490 steers to determine whether feedlot steers changed their feed efficiency (FE) ranking when fed a grower diet, then a finisher diet. The steers were crossbreds and were between 5 to 7 mo of age. There were 2 feeding periods each year. Within each year, approximately 90 steers had their diet switched from a grower to a finisher diet (feed-swap group), whereas another 90 steers were fed either the grower (grower-fed group) or the finisher (finisher-fed group) diet throughout the feeding trial. Each feeding test lasted for a minimum of 10 wk, and all steers were fed ad libitum. Individual animal feed intakes were collected using the GrowSafe feeding system, and BW were measured every 2 wk. Residual feed intake (RFI), G:F, and Kleiber ratio (KR) were computed at the end of each feeding period. For each measure of efficiency, animals were classified as low, medium, or high based on 0.5 SD from the mean. The majority of steers did not maintain the previous efficiency class in the second period. Approximately 58, 51, and 51% of steers in the feed-swap group, finisher-fed group, and the grower-fed group, respectively, changed their RFI measure by 0.5 SD. A low rank correlation occurred in all test groups but was less in the feed-swap group. Spearman rank correlations between the 2 feeding periods in the feed-swap group were 0.33, 0.20, and 0.31 for RFI, G:F, and KR, respectively. Classifications based on G:F and KR showed that a greater number of steers (P 0.05) between the proportions of individuals that changed or maintained their FE class. In the groups without a feed-swap, there was no difference (P > 0.05) in the proportion of steers that changed or maintained the same FE class for all FE measures. Our results suggest that diet type and feeding period affect the FE ranking in beef steers. A feedlot diet is ideal for evaluating the FE potential of steers for feedlot profitability; however, we suggest that tests involving less dense diets should

Improvement of vehicle stability in cornering on uneven road; Akuro senkaiji ni okeru sharyo no anzensei kojo

Energy Technology Data Exchange (ETDEWEB)

Tobimatsu, K; Harada, M; Harada, H [National Defense Academy, Kanagawa (Japan)

1997-10-01

The active control of vehicle suspensions and rear wheel steering systems in turning on uneven roads is analyzed by means of LQR control theory, assuming that cornering forces depend on tire normal loads in addition to tire slip angles. The authors quantitatively investigated the effectiveness of the integrated control of the active suspension and the rear wheel steering, comparing the contributions of each individual system. Furthermore, in this paper, the role of the chassis control and driver control are studied in order to improve the stability of vehicle motion disturbed by the road surface. 4 refs., 9 figs.

Establishment of Aquilaria malaccensis Callus, cell suspension and adventitious root systems

International Nuclear Information System (INIS)

Norazlina Noordin; Rusli Ibrahim

2010-01-01

Aquilaria malaccensis is a tropical forest tree from the family Thymelaeaceae, an endangered forest species and was listed in CITES since 1995. Locally known as Pokok Karas, this tree produces agar wood or gaharu, a highly valuable, resinous and fragrant forest product. Karas has been highly recognized for its vast medicinal values and gaharu has been widely use for perfumery, incense and religious purposes. The phyto chemical studies of agar wood showed that Sesqui terpenoid and Phenyl ethy chromone derivatives are the principal compounds that have anti allergic and anti microbe activities. Cell and organ culture systems provide large scale production of biomass and offers feasibilities for the production of secondary metabolites. This paper describes the work done for establishing reproducible systems for callus initiation and production of cell suspension cultures as well as production of adventitious roots that will later be amenable for the production of secondary metabolites of A. malaccensis. Hence, further manipulation with Methyl Jasmonate, a chemical elicitor could be done to induce secondary metabolites using callus, cell suspension and adventitious roots systems. (author)

Design and Implementation of Electric Steering Gear Inspection System for Unmanned Aerial Vehicles Based on Virtual Instruments

Directory of Open Access Journals (Sweden)

Zheng Xing

2016-01-01

Full Text Available A kind of UAV electric servo detection system based on Virtual Instrument is designed in this paper, including the hardware platform based on PC-DAQ virtual instrument architecture and the software platform based on LabVIEW function, structure and system implementation methods. The function, structure and system implementation method of software platform is also described. The gear limits checking, zero testing, time domain characteristics test results showed that the system achieves testing requirements well, and can complete detection of electric steering gear automatically, fast, easy and accurate.

Assessment of a Boat Fractured Steering Wheel

Directory of Open Access Journals (Sweden)

Vukelic Goran

2016-09-01

Full Text Available During regular use of the steering wheel mounted on a boat, two cracks emanating from a fastener hole were noticed which, consequently, caused final fracture of the wheel. To determine the behavior of a boat steering wheel with cracks present, assessment of a fractured wheel was performed. Torque moments of the fasteners were measured prior to removing the steering wheel from the boat. Visual and dye penetrant inspection followed along with the material detection. Besides using experimental procedures, assessment of the fractured wheel was performed using finite element analysis, i.e. stress intensity factor values were numerically determined. Variation of stress intensity factor with crack length is presented. Possible causes of crack occurrence are given and they include excessive values of fastener torque moments coupled with fretting between fastener and fastener hole that was poorly machined. Results obtained by this assessment can be taken for predicting fracture behavior of a cracked steering wheel and as a reference in the design, mounting and exploitation process of steering wheels improving that way their safety in transportation environment.

Stabilization of Electromagnetic Suspension System Behavior by Genetic Algorithm

Directory of Open Access Journals (Sweden)

Abbas Najar Khoda Bakhsh

2012-07-01

Full Text Available Electromagnetic suspension system with a nonlinear and unstable behavior, is used in maglev trains. In this paper a linear mathematical model of system is achieved and the state feedback method is used to improve the system stability. The control coefficients are tuned by two different methods, Riccati and a new method based on Genetic algorithm. In this new proposed method, we use Genetic algorithm to achieve the optimum values of control coefficients. The results of the system simulation by Matlab indicate the effectiveness of new proposed system. When a new reference of air gap is needed or a new external force is added, the proposed system could omit the vibration and shake of the train coupe and so, passengers feel more comfortable.

Steering Angle Function Algorithm of Morphing of Residential Area

Directory of Open Access Journals (Sweden)

XIE Tian

2015-07-01

Full Text Available A residential area feature morphing method based on steering angle function is presented. To residential area with the same representation under two different scales,transforming the representation of the residential area polygon from vector coordinates to steering angle function,then using the steering angle function to match,and finding out the similarity and the differences between the residential areas under different scale to get the steering angle function of the the residential areas under any middle scale,the final,transforming the middle scale steering angle function to vector coordinates form,and get the middle shape interpolation of the the residential area polygon.Experimental results show:the residential area morphing method by using steering angle function presented can realize the continuous multi-scale representation under the premise of keeping in shape for the residential area with the rectangular boundary features.

An Ultra-low Frequency Modal Testing Suspension System for High Precision Air Pressure Control

Directory of Open Access Journals (Sweden)

Qiaoling YUAN

2014-05-01

Full Text Available As a resolution for air pressure control challenges in ultra-low frequency modal testing suspension systems, an incremental PID control algorithm with dead band is applied to achieve high-precision pressure control. We also develop a set of independent hardware and software systems for high-precision pressure control solutions. Taking control system versatility, scalability, reliability, and other aspects into considerations, a two-level communication employing Ethernet and CAN bus, is adopted to complete such tasks as data exchange between the IPC, the main board and the control board ,and the pressure control. Furthermore, we build a single set of ultra-low frequency modal testing suspension system and complete pressure control experiments, which achieve the desired results and thus confirm that the high-precision pressure control subsystem is reasonable and reliable.

AUTOMOTIVE DIESEL MAINTENANCE 1. UNIT XXI, I--MAINTAINING THE AIR SYSTEM--CATERPILLAR DIESEL ENGINE, II--UNDERSTANDING REAR END SUSPENSION.

Science.gov (United States)

Minnesota State Dept. of Education, St. Paul. Div. of Vocational and Technical Education.

THIS MODULE OF A 30-MODULE COURSE IS DESIGNED TO DEVELOP AN UNDERSTANDING OF THE OPERATION AND MAINTENANCE OF THE DIESEL ENGINE AIR SYSTEM AND REAR AXLE SUSPENSION USED ON DIESEL POWERED VEHICLES. TOPICS ARE (1) AIR INDUCTION AND EXHAUST SYSTEM, (2) VALVE MECHANISM, (3) TROUBLESHOOTING THE AIR SYSTEM, (4) PURPOSE OF VEHICLE SUSPENSION, (5) TANDEM…

46 CFR 196.37-33 - Instructions for changing steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Instructions for changing steering gear. 196.37-33... steering gear. (a) Instructions in at least 1/2 inch letters and figures shall be posted in the steering engineroom, relating in order, the different steps to be taken in changing to the emergency steering gear...

A mathematical model for predicting lane changes using the steering wheel angle.

Science.gov (United States)

Schmidt, Kim; Beggiato, Matthias; Hoffmann, Karl Heinz; Krems, Josef F

2014-06-01

Positive safety effects of advanced driver assistance systems can only become effective if drivers accept and use these systems. Early detection of driver's intention would allow for selective system activation and therefore reduce false alarms. This driving simulator study aims at exploring early predictors of lane changes. In total, 3111 lane changes of 51 participants on a simulated highway track were analyzed. Results show that drivers stopped their engagement in a secondary task about 7s before crossing the lane, which indicates a first planning phase of the maneuver. Subsequently, drivers start moving toward the lane, marking a mean steering wheel angle of 2.5°. Steering wheel angle as a directly measurable vehicle parameter appears as a promising early predictor of a lane change. A mathematical model of the steering wheel angle is presented, which is supposed to contribute for predicting lane change maneuvers. The mathematical model will be part of a further predictor of lane changes. This predictor can be a new advanced driver assistance system able to recognize a driver's intention. With this knowledge, other systems can be activated or deactivated so drivers get no annoying and exhausting alarm signals. This is one way how we can increase the acceptance of assistance systems. Copyright © 2014 Elsevier Ltd. All rights reserved.

Steering Your Mysterious Mind

DEFF Research Database (Denmark)

Prasad, Ramjee

Steering the Mysterious Mind, describes a unique, novel concept for a way to gain control of your mind. The five basic elements of human life, that is; Creativity, Content­ment, Confidence, Calmness, and Concentration (C5) have been introduced in my previous book Unlock Your Personalization. Posi....... Compare it with going to the gym where you work on the physical body. In the same way as with arms and legs, the mind is a mus­cle which you exercise through C5 practice. Steering the mind on your personal goal will help you to be creative....

Working paper on public steering of privately owned sports facilities

DEFF Research Database (Denmark)

Iversen, Evald Bundgård

This short paper discusses how municipalities can steer privately owned sports facilities. Firstly I analyse why steering of privately owned facilities is an interesting subject. Secondly I discuss what the advantages and drawbacks of using different approaches for steering sports facilities are........ Finally I discuss the methodological challenges of measuring activities in sports facilities – and take a closer look at the advantages and drawbacks of using manual and thermal techniques for registering activity.......This short paper discusses how municipalities can steer privately owned sports facilities. Firstly I analyse why steering of privately owned facilities is an interesting subject. Secondly I discuss what the advantages and drawbacks of using different approaches for steering sports facilities are...

Equivalent Air Spring Suspension Model for Quarter-Passive Model of Passenger Vehicles.

Science.gov (United States)

Abid, Haider J; Chen, Jie; Nassar, Ameen A

2015-01-01

This paper investigates the GENSIS air spring suspension system equivalence to a passive suspension system. The SIMULINK simulation together with the OptiY optimization is used to obtain the air spring suspension model equivalent to passive suspension system, where the car body response difference from both systems with the same road profile inputs is used as the objective function for optimization (OptiY program). The parameters of air spring system such as initial pressure, volume of bag, length of surge pipe, diameter of surge pipe, and volume of reservoir are obtained from optimization. The simulation results show that the air spring suspension equivalent system can produce responses very close to the passive suspension system.

Mirror suspension system for the TAMA SAS

CERN Document Server

Takamori, A; Bertolini, A; Cella, G; DeSalvo, R; Fukushima, M; Iida, Y; Jacquier, F; Kawamura, S; Marka, S; Nishi, Y; Numata, K; Sannibale, V; Somiya, K; Takahashi, R; Tariq, H; Tsubono, K; Ugas, J; Viboud, N; Yamamoto, H; Yoda, T; Wang Chen Yang

2002-01-01

Several R and D programmes are ongoing to develop the next generation of interferometric gravitational wave detectors providing the superior sensitivity desired for refined astronomical observations. In order to obtain a wide observation band at low frequencies, the optics need to be isolated from the seismic noise. The TAMA SAS (seismic attenuation system) has been developed within an international collaboration between TAMA, LIGO, and some European institutes, with the main objective of achieving sufficient low-frequency seismic attenuation (-180 dB at 10 HZ). The system suppresses seismic noise well below the other noise levels starting at very low frequencies above 10 Hz. It also includes an active inertial damping system to decrease the residual motion of the optics enough to allow a stable operation of the interferometer. The TAMA SAS also comprises a sophisticated mirror suspension subsystem (SUS). The SUS provides support for the optics and vibration isolation complementing the SAS performance. The SU...

Steering the dynamics within reduced space through quantum learning control

International Nuclear Information System (INIS)

Kim, Young Sik

2003-01-01

In quantum dynamics of many-body systems, to identify the Hamiltonian becomes more difficult very rapidly as the number of degrees of freedom increases. In order to simplify the dynamics and to deduce dynamically relevant Hamiltonian information, it is desirable to control the dynamics to lie within a reduced space. With a judicious choice for the cost functional, the closed loop optimal control experiments can be manipulated efficiently to steer the dynamics to lie within a subspace of the system eigenstates without requiring any prior detailed knowledge about the system Hamiltonian. The procedure is simulated for optimally controlled population transfer experiments in the system of two degrees of freedom. To show the feasibility of steering the dynamics to lie in a specified subspace, the learning algorithms guiding the dynamics are presented along with frequency filtering. The results demonstrate that the optimal control fields derive the system to the desired target state through the desired subspace

How Insect Flight Steering Muscles Work

OpenAIRE

Walker, Simon M.; Schwyn, Daniel A.; Mokso, Rajmund; Wicklein, Martina; Müller, Tonya; Doube, Michael; Stampanoni, Marco; Krapp, Holger G.; Taylor, Graham K.

2014-01-01

Dipteran flies are amongst the smallest and most agile of flying animals. Their wings are driven indirectly by large power muscles, which cause cyclical deformations of the thorax that are amplified through the intricate wing hinge. Asymmetric flight manoeuvres are controlled by 13 pairs of steering muscles acting directly on the wing articulations. Collectively the steering muscles account for

Observation of one-way Einstein-Podolsky-Rosen steering

Science.gov (United States)

Händchen, Vitus; Eberle, Tobias; Steinlechner, Sebastian; Samblowski, Aiko; Franz, Torsten; Werner, Reinhard F.; Schnabel, Roman

2012-09-01

The distinctive non-classical features of quantum physics were first discussed in the seminal paper by A. Einstein, B. Podolsky and N. Rosen (EPR) in 1935. In his immediate response, E. Schrödinger introduced the notion of entanglement, now seen as the essential resource in quantum information as well as in quantum metrology. Furthermore, he showed that at the core of the EPR argument is a phenomenon that he called steering. In contrast to entanglement and violations of Bell's inequalities, steering implies a direction between the parties involved. Recent theoretical works have precisely defined this property, but the question arose as to whether there are bipartite states showing steering only in one direction. Here, we present an experimental realization of two entangled Gaussian modes of light that in fact shows the steering effect in one direction but not in the other. The generated one-way steering gives a new insight into quantum physics and may open a new field of applications in quantum information.

FxLMS Method for Suppressing In-Wheel Switched Reluctance Motor Vertical Force Based on Vehicle Active Suspension System

Directory of Open Access Journals (Sweden)

Yan-yang Wang

2014-01-01

Full Text Available The vibration of SRM obtains less attention for in-wheel motor applications according to the present research works. In this paper, the vertical component of SRM unbalanced radial force, which is named as SRM vertical force, is taken into account in suspension performance for in-wheel motor driven electric vehicles (IWM-EV. The analysis results suggest that SRM vertical force has a great effect on suspension performance. The direct cause for this phenomenon is that SRM vertical force is directly exerted on the wheel, which will result in great variation in tyre dynamic load and the tyre will easily jump off the ground. Furthermore, the frequency of SRM vertical force is broad which covers the suspension resonance frequencies. So it is easy to arouse suspension resonance and greatly damage suspension performance. Aiming at the new problem, FxLMS (filtered-X least mean square controller is proposed to improve suspension performance. The FxLMS controller is based on active suspension system which can generate the controllable force to suppress the vibration caused by SRM vertical force. The conclusion shows that it is effective to take advantage of active suspensions to reduce the effect of SRM vertical force on suspension performance.

The effects of suction and pin/lock suspension systems on transtibial amputees' gait performance.

Directory of Open Access Journals (Sweden)

Hossein Gholizadeh

Full Text Available BACKGROUND: The suction sockets that are commonly prescribed for transtibial amputees are believed to provide a better suspension than the pin/lock systems. Nevertheless, their effect on amputees' gait performance has not yet been fully investigated. The main intention of this study was to understand the potential effects of the Seal-in (suction and the Dermo (pin/lock suspension systems on amputees' gait performance. METHODOLOGY/PRINCIPAL FINDINGS: Ten unilateral transtibial amputees participated in this prospective study, and two prostheses were fabricated for each of them. A three-dimensional motion analysis system was used to evaluate the temporal-spatial, kinematics and kinetics variables during normal walking. We also asked the participants to complete some part of Prosthesis Evaluation Questionnaire (PEQ regarding their satisfaction and problems with both systems. The results revealed that there was more symmetry in temporal-spatial parameters between the prosthetic and sound limbs using the suction system. However, the difference between two systems was not significant (p<0.05. Evaluation of kinetic data and the subjects' feedback showed that the participants had more confidence using the suction socket and the sockets were more fit for walking. Nevertheless, the participants had more complaints with this system due to the difficulty in donning and doffing. CONCLUSION: It can be concluded that even though the suction socket could create better suspension, fit, and gait performance, overall satisfaction was higher with the pin/lock system due to easy donning and doffing of the prosthesis. TRIAL REGISTRATION: irct.ir IRCT2014012816395N1.

Refractive waveguide non-mechanical beam steering (NMBS) in the MWIR

Science.gov (United States)

Myers, Jason D.; Frantz, Jesse A.; Spillmann, Christopher M.; Bekele, Robel Y.; Kolacz, Jakub; Gotjen, Henry; Naciri, Jawad; Shaw, Brandon; Sanghera, Jas S.

2018-02-01

Beam steering is a crucial technology for a number of applications, including chemical sensing/mapping and light detection and ranging (LIDAR). Traditional beam steering approaches rely on mechanical movement, such as the realignment of mirrors in gimbal mounts. The mechanical approach to steering has several drawbacks, including large size, weight and power usage (SWAP), and frequent mechanical failures. Recently, alternative non-mechanical approaches have been proposed and developed, but these technologies do not meet the demanding requirements for many beam steering applications. Here, we highlight the development efforts into a particular non-mechanical beam steering (NMBS) approach, refractive waveguides, for application in the MWIR. These waveguides are based on an Ulrich-coupled slab waveguide with a liquid crystal (LC) top cladding; by selectively applying an electric field across the liquid crystal through a prismatic electrode, steering is achieved by creating refraction at prismatic interfaces as light propagates through the device. For applications in the MWIR, we describe a versatile waveguide architecture based on chalcogenide glasses that have a wide range of refractive indices, transmission windows, and dispersion properties. We have further developed robust shadow-masking methods to taper the subcladding layers in the coupling region. We have demonstrated devices with >10° of steering in the MWIR and a number of advantageous properties for beam steering applications, including low-power operation, compact size, and fast point-to-point steering.

76 FR 41855 - Columbus Geographic Systems (GIS) Ltd.; Order of Suspension of Trading

Science.gov (United States)

2011-07-15

... SECURITIES AND EXCHANGE COMMISSION [File No. 500-1] Columbus Geographic Systems (GIS) Ltd.; Order of Suspension of Trading July 13, 2011. It appears to the Securities and Exchange Commission that... Systems (GIS) Ltd. because it has not filed any periodic reports since the period ended June 30, 2008. The...

A Parallel and Distributed Surrogate Model Implementation for Computational Steering

KAUST Repository

Butnaru, Daniel

2012-06-01

Understanding the influence of multiple parameters in a complex simulation setting is a difficult task. In the ideal case, the scientist can freely steer such a simulation and is immediately presented with the results for a certain configuration of the input parameters. Such an exploration process is however not possible if the simulation is computationally too expensive. For these cases we present in this paper a scalable computational steering approach utilizing a fast surrogate model as substitute for the time-consuming simulation. The surrogate model we propose is based on the sparse grid technique, and we identify the main computational tasks associated with its evaluation and its extension. We further show how distributed data management combined with the specific use of accelerators allows us to approximate and deliver simulation results to a high-resolution visualization system in real-time. This significantly enhances the steering workflow and facilitates the interactive exploration of large datasets. © 2012 IEEE.

Optimization Under Uncertainty for Wake Steering Strategies: Preprint

Energy Technology Data Exchange (ETDEWEB)

Quick, Julian [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Annoni, Jennifer [National Renewable Energy Laboratory (NREL), Golden, CO (United States); King, Ryan N [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Dykes, Katherine L [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Fleming, Paul A [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Ning, Andrew [Brigham Young University

2017-05-01

Wind turbines in a wind power plant experience significant power losses because of aerodynamic interactions between turbines. One control strategy to reduce these losses is known as 'wake steering,' in which upstream turbines are yawed to direct wakes away from downstream turbines. Previous wake steering research has assumed perfect information, however, there can be significant uncertainty in many aspects of the problem, including wind inflow and various turbine measurements. Uncertainty has significant implications for performance of wake steering strategies. Consequently, the authors formulate and solve an optimization under uncertainty (OUU) problem for finding optimal wake steering strategies in the presence of yaw angle uncertainty. The OUU wake steering strategy is demonstrated on a two-turbine test case and on the utility-scale, offshore Princess Amalia Wind Farm. When we accounted for yaw angle uncertainty in the Princess Amalia Wind Farm case, inflow-direction-specific OUU solutions produced between 0% and 1.4% more power than the deterministically optimized steering strategies, resulting in an overall annual average improvement of 0.2%. More importantly, the deterministic optimization is expected to perform worse and with more downside risk than the OUU result when realistic uncertainty is taken into account. Additionally, the OUU solution produces fewer extreme yaw situations than the deterministic solution.

Fundamentals studies of a magnetically steered vacuum arc

Science.gov (United States)

Walke, Paul

In recent years demand from production industry for high performance cutting tools, aero and automobile engine parts has prompted research into both existing and novel methods of laying down hard, low friction coatings . A key process for the production of such coatings has been Physical Vapour Deposition (PVD) which has proved to be a consistent and reliable tool for industry. For this technique to continue to be improved and more advanced coatings to be produced, research at the fundamental level is required. This thesis describes research investigating the behaviour of the steered arc cathode spot and methods of improving existing steered arc coating technology.The majority of existing steered arc systems use either permanent magnets or a combination of permanent and electromagnets to steer the arc. Described here is a novel system which employs a pair of electromagnetic coils of cylindrical geometry which enable the arc to be positioned on a circular orbit through a range of continuously variable radii. In addition to this the coils are capable of controlling the transverse and normal magnetic field profiles independently of the steering radius selected. This enables the behaviour of the arc spot to be investigated under a range of magnetic field conditions thus allowing the comparison of measured arc behaviour with a new model of arc motion. Care has described the motion of the arc spot as a biased random walk and has derived an analytical solution to describe the time dependent, probability density function for the arc position in two dimensions. Two distributions are proposed (one in each dimension); the first describes the probability density for the arc position in the direction of driven motion, the second the probability density in the direction of arc confinement. The shape of these distributions is dependent upon the transverse and normal components of the applied magnetic field.A series of experiments are described here that measure the shape of these

Bulling among yearling feedlot steers.

Science.gov (United States)

Pierson, R E; Jensen, R; Braddy, P M; Horton, D P; Christie, R M

1976-09-01

In a survey to determine the cause of illness and deaths among yearling feedlot cattle, bulling was found to be one of the major problems. During the years 1971-1974, 54,913 (2.88%) steers became bullers and represented an annual loss of around +325,000. Some of the causes of bulling were found to be hormones, either as implants or in the feed. In 1974, from 1,988 necropsies, it was determined that 83 steers died from riding injuries.

Collective multipartite Einstein-Podolsky-Rosen steering: more secure optical networks.

Science.gov (United States)

Wang, Meng; Gong, Qihuang; He, Qiongyi

2014-12-01

Collective multipartite Einstein-Podolsky-Rosen (EPR) steering is a type of quantum correlation shared among N parties, where the EPR paradox of one party can only be realized by performing local measurements on all the remaining N-1 parties. We formalize the collective tripartite steering in terms of local hidden state model and give the steering inequalities that act as signatures and suggest how to optimize collective tripartite steering in specific optical schemes. The special entangled states with property of collective multipartite steering may have potential applications in ultra-secure multiuser communication networks where the issue of trust is critical.

Magnetic Suspension Technology Workshop

International Nuclear Information System (INIS)

Keckler, C.R.; Groom, N.J.; Britcher, C.P.

1993-01-01

In order to identify the state of magnetic suspension technology in such areas as rotating systems, pointing of experiments or subsystems, payload isolation, and superconducting materials, a workshop on Magnetic Suspension Technology was held at the Langley Research Center in Hampton, Virginia, on 2-4 Feb. 1988. The workshop included five technical sessions in which a total of 24 papers were presented. The technical sessions covered the areas of pointing, isolation, and measurement, rotating systems, modeling and control, and superconductors. A list of attendees is provided. Separate abstracts have been prepared for articles from this report

The Analysis of The Fault of Electrical Power Steering

Directory of Open Access Journals (Sweden)

Zhang Li Wen

2016-01-01

Full Text Available This paper analysis the common fault types of primary Electrical Power Steering system, meanwhile classify every fault. It provides the basis for further troubleshooting and maintenance. At the same time this paper propose a practical working principle of fault-tolerant, in order to make the EPS system more security and durability.

Three-axial evaluation of whole-body vibration in agricultural telehandlers: The effects of an active cab-suspension system.

Science.gov (United States)

Caffaro, Federica; Preti, Christian; Micheletti Cremasco, Margherita; Cavallo, Eugenio

2017-10-01

Agricultural and earth-moving machinery operators are particularly exposed to whole-body vibration (WBV), which has severe effects on health and affects comfort and performance. Few studies have investigated vibrational safety and comfort issues in telescopic handlers. These vehicles are widespread in many off-road applications-such as construction, agriculture, and mining-used to handle loads and to lift persons and equipment. This study investigated the effects of an active hydro-pneumatic cab-suspension system fitted to a telehandler on a driver's vibration exposure along the x-, y-, and z-axes, through both objective and subjective assessments. Sixteen healthy professional telehandler drivers took part in the study. Objective measurements were acquired at the operator's seat, and subjective ratings were taken while participants drove the telehandler with either a deactivated or activated suspension system at 12 kph on an ISO 5008 smooth track. The results showed that the activation of the cab-suspension system reduced the root-mean-square acceleration along the x- and z-axes (p =.038 and p =.000, respectively). Moreover, the frequency analysis showed a reduction in the acceleration along the z-axis in the range of 2-25 Hz (p suspension systems are discussed.

Directional control-response compatibility of joystick steered shuttle cars.

Science.gov (United States)

Burgess-Limerick, Robin; Zupanc, Christine M; Wallis, Guy

2012-01-01

Shuttle cars are an unusual class of vehicle operated in underground coal mines, sometimes in close proximity to pedestrians and steering errors may have very serious consequences. A directional control-response incompatibility has previously been described in shuttle cars which are controlled using a steering wheel oriented perpendicular to the direction of travel. Some other shuttle car operators are seated perpendicular to the direction of travel and steer the car via a seat mounted joystick. A virtual simulation was utilised to determine whether the steering arrangement in these vehicles maintains directional control-response compatibility. Twenty-four participants were randomly assigned to either a condition corresponding to this design (consistent direction), or a condition in which the directional steering response was reversed while driving in-bye (visual field compatible). Significantly less accurate steering performance was exhibited by the consistent direction group during the in-bye trials only. Shuttle cars which provide the joystick steering mechanism described here require operators to accommodate alternating compatible and incompatible directional control-response relationships with each change of car direction. A virtual simulation of an underground coal shuttle car demonstrates that the design incorporates a directional control-response incompatibility when driving the vehicle in one direction. This design increases the probability of operator error, with potential adverse safety and productivity consequences.

Automation of Armored Four Wheel Counter Steer Vehicles

Science.gov (United States)

2015-08-28

additions to the cabin, such as displays, servos , and controls, require a small footprint and cannot impede critical systems (e.g., fire control) or...autopilot. The steering system engages until the man- ual/emergency override button is pressed . To engage the velocity control mode, the operator...engaged if the need arises. Once the error is cleared, pressing the manual override button places the system back into ready mode. FIGURE 3. The software

Fusion of adaptive beam steering and optimization-based wavefront control for laser communications in atmosphere

Science.gov (United States)

Nikulin, Vladimir V.

2005-10-01

The performance of mobile laser communication systems operating within Earth's atmosphere is generally limited by the pointing errors due to movement of the platforms and mechanical vibrations. In addition, atmospheric turbulence causes changes of the refractive index along the propagation path, creating random redistribution of the optical energy in the spatial domain. Under adverse conditions these effects lead to increased bit error rate. While traditional approaches provide separate treatment of these problems, suggesting high-bandwidth beam steering systems for tracking and wavefront control for the mitigation of atmospheric effects, the two tasks can be integrated. This paper presents a hybrid laser beam-steering-wavefront-control system comprising an electrically addressed spatial light modulator (SLM) installed on the Omni-Wrist sensor mount. The function of the Omni-Wrist is to provide coarse steering over a wide range of pointing angles, while that of the SLM is twofold: wavefront correction and fine steering. The control law for the Omni-Wrist is synthesized using a decentralized approach that provides independent access to the azimuth and declination channels; calculation of the required phase profile for the SLM is optimization-based. This paper presents the control algorithms, the approach to coordinating the operation of the two systems, and the results.

Design of a remote steering antenna for ECRH heating in the stellarator Wendelstein 7-X

Energy Technology Data Exchange (ETDEWEB)

Plaum, B., E-mail: plaum@igvp.uni-stuttgart.de [Institut für Grenzflächenverfahrenstechnik und Plasmatechnologie (IGVP), Univ. Stuttgart, Pfaffenwaldring 31, D-70569 Stuttgart (Germany); Lechte, C.; Kasparek, W.; Gaiser, S.; Zeitler, A. [Institut für Grenzflächenverfahrenstechnik und Plasmatechnologie (IGVP), Univ. Stuttgart, Pfaffenwaldring 31, D-70569 Stuttgart (Germany); Erckmann, V. [Max-Planck-Institut für Plasmaphysik, EURATOM-IPP, D-17491 Greifswald (Germany); Weißgerber, M. [Max-Planck-Institut für Plasmaphysik, EURATOM-IPP, D-85748 Garching (Germany); Bechtold, A. [NTG Neue Technologie GmbH & Co KG, D-63571 Gelnhausen (Germany); Busch, M.; Szcepaniak, B. [Galvano-T electroplating-electroforming GmbH, D-51570 Windeck-Rosbach (Germany)

2015-10-15

Highlights: • We report about the design activities for the remote steering antennas for the stellarator W7-X. • The integration into the W7-X system and the manufacturing procedure are described. • Simulations and loss measurements for the waveguide walls were done and are in good agreement. • A method for extending the steering range is presented. • A mechanical deformation analysis showed that the deformation is not critical for the beam quality. - Abstract: For the ECRH heating system of the stellarator Wendelstein 7-X, two remote steering antennas are developed and manufactured. The principle of remote steering antennas is based on the imaging characteristics of corrugated rectangular waveguides, which is well understood and can accurately be simulated. Several details, however, require deeper investigation. The antenna needs a miter-bend and a 24 mm gap. The positions of these elements need to be chosen carefully to reduce losses and stray radiation. The antennas are manufactured from copper by electroforming. This allows to integrate all components, including the corrugated inner walls and the cooling channels, in one vacuum-tight piece. This paper reviews the design process of the remote steering antennas for W7-X as well as technological issues and experimental results from test pieces.

Technical note: Validation of an automated system for monitoring and restricting water intake in group-housed beef steers.

Science.gov (United States)

Allwardt, K; Ahlberg, C; Broocks, A; Bruno, K; Taylor, A; Place, S; Richards, C; Krehbiel, C; Calvo-Lorenzo, M; DeSilva, U; VanOverbeke, D; Mateescu, R; Goad, C; Rolf, M M

2017-09-01

The Insentec Roughage Intake Control (RIC) system has been validated for the collection of water intake; however, this system has not been validated for water restriction. The objective of this validation was to evaluate the agreement between direct observations and automated intakes collected by the RIC system under both ad libitum and restricted water conditions. A total of 239 crossbred steers were used in a 3-d validation trial, which assessed intake values generated by the RIC electronic intake monitoring system for both ad libitum water intake ( = 122; BASE) and restricted water intake ( = 117; RES). Direct human observations were collected on 4 Insentec water bins for three 24-h periods and three 12-h periods for BASE and RES, respectively. An intake event was noted by the observer when the electronic identification of the animal was read by the transponder and the gate lowered, and starting and ending bin weights were recorded for each intake event. Data from direct observations across each validation period were compared to automated observations generated from the RIC system. Missing beginning or ending weight values for visual observations occasionally occurred due to the observer being unable to capture the value before the monitor changed when bin activity was high. To estimate the impact of these missing values, analyses denoted as OBS were completed with the incomplete record coded as missing data. These analyses were contrasted with analyses where observations with a single missing beginning or end weight (but not both) were assumed to be identical to that which was recorded by the Insentec system (OBS). Difference in mean total intake across BASE steers was 0.60 ± 2.06 kg OBS (0.54 ± 1.99 kg OBS) greater for system observations than visual observations. The comparison of mean total intake across the 3 RES validation days was 0.53 ± 2.30 kg OBS (0.13 ± 1.83 kg OBS) greater for system observations than direct observations. Day was not a

Macrostructure of smectite-water systems. Influence of anionic poly-electrolytes on the organisation of montmorillonite suspensions

International Nuclear Information System (INIS)

Morvan, Mikel

1993-01-01

In its first part, this research thesis reports a bibliographical study which aimed at highlighting the main aspects of smectite swelling, discusses the organisation of smectite suspension, and briefly presents the knowledge on clay-polymer mixtures. Then, the author describes the method he used to characterise clay suspensions (relaxation, MNR, osmometric techniques, small-angle X-ray diffraction), and theoretical elements required to interpret results. He addresses more particularly the organisation of smectite-water systems with either a natural smectite (montmorillonite) or a synthetic one (laponite) which have different geometries. The last part addresses the interactions between a montmorillonite suspension and sodium polyacrylates. The author, based on the use of small-angle X-ray diffraction and the measurement of the polyelectrolyte osmotic pressure, proposes a new interpretation of the action mechanism of an anionic polyelectrolyte of low molecular mass within a montmorillonite suspension

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

Science.gov (United States)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

Hysteresis-induced bifurcation and chaos in a magneto-rheological suspension system under external excitation

International Nuclear Information System (INIS)

Zhang Hailong; Zhang Ning; Wang Enrong; Min Fuhong

2016-01-01

The magneto-rheological damper (MRD) is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD may cause the nonlinear behaviors. In this work, a two-degree-of-freedom (2-DOF) MR suspension system was established first, by employing the modified Bouc–Wen force–velocity (F–v) hysteretic model. The nonlinear dynamic response of the system was investigated under the external excitation of single-frequency harmonic and bandwidth-limited stochastic road surface. The largest Lyapunov exponent (LLE) was used to detect the chaotic area of the frequency and amplitude of harmonic excitation, and the bifurcation diagrams, time histories, phase portraits, and power spectrum density (PSD) diagrams were used to reveal the dynamic evolution process in detail. Moreover, the LLE and Kolmogorov entropy (K entropy) were used to identify whether the system response was random or chaotic under stochastic road surface. The results demonstrated that the complex dynamical behaviors occur under different external excitation conditions. The oscillating mechanism of alternating periodic oscillations, quasi-periodic oscillations, and chaotic oscillations was observed in detail. The chaotic regions revealed that chaotic motions may appear in conditions of mid-low frequency and large amplitude, as well as small amplitude and all frequency. The obtained parameter regions where the chaotic motions may appear are useful for design of structural parameters of the vibration isolation, and the optimization of control strategy for MR suspension system. (paper)

Linear viscoelastic properties of aging suspensions

NARCIS (Netherlands)

Purnomo, E.H.; Purnomo, E.H; van den Ende, Henricus T.M.; Mellema, J.; Mugele, Friedrich Gunther

2006-01-01

We have examined the linear viscoelastic behavior of poly-N-isopropylacrylamide (PNIPAM) microgel suspensions in order to obtain insight in the aging processes in these densely packed suspensions at various temperatures below the volume transition temperature. The system is found to display a strong

Adaptive Neural-Sliding Mode Control of Active Suspension System for Camera Stabilization

Directory of Open Access Journals (Sweden)

Feng Zhao

2015-01-01

Full Text Available The camera always suffers from image instability on the moving vehicle due to the unintentional vibrations caused by road roughness. This paper presents a novel adaptive neural network based on sliding mode control strategy to stabilize the image captured area of the camera. The purpose is to suppress vertical displacement of sprung mass with the application of active suspension system. Since the active suspension system has nonlinear and time varying characteristics, adaptive neural network (ANN is proposed to make the controller robustness against systematic uncertainties, which release the model-based requirement of the sliding model control, and the weighting matrix is adjusted online according to Lyapunov function. The control system consists of two loops. The outer loop is a position controller designed with sliding mode strategy, while the PID controller in the inner loop is to track the desired force. The closed loop stability and asymptotic convergence performance can be guaranteed on the basis of the Lyapunov stability theory. Finally, the simulation results show that the employed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.

A predictive control framework for torque-based steering assistance to improve safety in highway driving

Science.gov (United States)

Ercan, Ziya; Carvalho, Ashwin; Tseng, H. Eric; Gökaşan, Metin; Borrelli, Francesco

2018-05-01

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.

Superconducting Electromagnetic Suspension (EMS) system for Grumman Maglev concept

Science.gov (United States)

Kalsi, Swarn S.

1994-01-01

The Grumman developed Electromagnetic Suspension (EMS) Maglev system has the following key characteristics: a large operating airgap--40 mm; levitation at all speeds; both high speed and low speed applications; no deleterious effects on SC coils at low vehicle speeds; low magnetic field at the SC coil--less than 0.35 T; no need to use non-magnetic/non-metallic rebar in the guideway structure; low magnetic field in passenger cabin--approximately 1 G; low forces on the SC coil; employs state-of-the-art NbTi wire; no need for an active magnet quench protection system; and lower weight than a magnet system with copper coils. The EMS Maglev described in this paper does not require development of any new technologies. The system could be built with the existing SC magnet technology.

41 CFR 105-74.670 - Suspension.

Science.gov (United States)

2010-07-01

... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false Suspension. 105-74.670 Section 105-74.670 Public Contracts and Property Management Federal Property Management Regulations System...-GOVERNMENTWIDE REQUIREMENTS FOR DRUG-FREE WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 105-74.670 Suspension...

Solution or suspension - Does it matter for lipid based systems?

DEFF Research Database (Denmark)

Larsen, A T; Holm, R; Müllertz, A

2017-01-01

In this study, the potential of co-administering an aqueous suspension with a placebo lipid vehicle, i.e. chase dosing, was investigated in rats relative to the aqueous suspension alone or a solution of the drug in the lipid vehicle. The lipid investigated in the present study was Labrafil M2125CS...... and three evaluated poorly soluble model compounds, danazol, cinnarizine and halofantrine. For cinnarizine and danazol the oral bioavailability in rats after chase dosing or dosing the compound dissolved in Labrafil M21515CS was similar and significantly higher than for the aqueous suspension....... For halofantrine the chase dosed group had a tendency towards a low bioavailability relative to the Labrafil M2125CS solution, but still a significant higher bioavailability relative to the aqueous suspension. This could be due to factors such as a slower dissolution rate in the intestinal phase of halofantrine...

Effects of grazing system on production and parasitism of dairy breed heifers and steers grazing wet marginal grasslands

DEFF Research Database (Denmark)

Kristensen, Troels; Thamsborg, S.M.; Andersen, Refsgaard

2006-01-01

Production and endoparasitism of first grazing season Holstein heifers and steers were investigated over two grazing seasons. Studies were conducted on low-lying peaty soil. In year 2000, 40 animals were included in a 2x2 factorial, replicated experiment with two sexes (steers v. heifers) and two...

Direct-drive electromagnetic active suspension system with integrated eddy current damping for automotive applications

NARCIS (Netherlands)

Gysen, B.L.J.; Paulides, J.J.H.; Lomonova, E.

2011-01-01

A direct-drive electromagnetic active suspension system is considered which consists of a tubular permanent magnet actuator in parallel with a coil spring. This system has the ability of improving the ride comfort while maintaining optimum handling and stability. Since safety is of major concern,

Nonlinear Dynamics Analysis of the Semiactive Suspension System with Magneto-Rheological Damper

Directory of Open Access Journals (Sweden)

Hailong Zhang

2015-01-01

Full Text Available This paper examines dynamical behavior of a nonlinear oscillator which models a quarter-car forced by the road profile. The magneto-rheological (MR suspension system has been established, by employing the modified Bouc-Wen force-velocity (F-v model of magneto-rheological damper (MRD. The possibility of chaotic motions in MR suspension is discovered by employing the method of nonlinear stability analysis. With the bifurcation diagrams and corresponding Lyapunov exponent (LE spectrum diagrams detected through numerical calculation, we can observe the complex dynamical behaviors and oscillating mechanism of alternating periodic oscillations, quasiperiodic oscillations, and chaotic oscillations with different profiles of road excitation, as well as the dynamical evolutions to chaos through period-doubling bifurcations, saddle-node bifurcations, and reverse period-doubling bifurcations.

A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

Directory of Open Access Journals (Sweden)

Shousong Han

2017-01-01

Full Text Available The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid and self-adaptive control gain (cv under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive, and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.

Equivalent Air Spring Suspension Model for Quarter-Passive Model of Passenger Vehicles

OpenAIRE

Abid, Haider J.; Chen, Jie; Nassar, Ameen A.

2015-01-01

This paper investigates the GENSIS air spring suspension system equivalence to a passive suspension system. The SIMULINK simulation together with the OptiY optimization is used to obtain the air spring suspension model equivalent to passive suspension system, where the car body response difference from both systems with the same road profile inputs is used as the objective function for optimization (OptiY program). The parameters of air spring system such as initial pressure, volume of bag, l...

A transgenic plant cell-suspension system for expression of epitopes on chimeric Bamboo mosaic virus particles.

Science.gov (United States)

Muthamilselvan, Thangarasu; Lee, Chin-Wei; Cho, Yu-Hsin; Wu, Feng-Chao; Hu, Chung-Chi; Liang, Yu-Chuan; Lin, Na-Sheng; Hsu, Yau-Heiu

2016-01-01

We describe a novel strategy to produce vaccine antigens using a plant cell-suspension culture system in lieu of the conventional bacterial or animal cell-culture systems. We generated transgenic cell-suspension cultures from Nicotiana benthamiana leaves carrying wild-type or chimeric Bamboo mosaic virus (BaMV) expression constructs encoding the viral protein 1 (VP1) epitope of foot-and-mouth disease virus (FMDV). Antigens accumulated to high levels in BdT38 and BdT19 transgenic cell lines co-expressing silencing suppressor protein P38 or P19. BaMV chimeric virus particles (CVPs) were subsequently purified from the respective cell lines (1.5 and 2.1 mg CVPs/20 g fresh weight of suspended biomass, respectively), and the resulting CVPs displayed VP1 epitope on the surfaces. Guinea pigs vaccinated with purified CVPs produced humoral antibodies. This study represents an important advance in the large-scale production of immunopeptide vaccines in a cost-effective manner using a plant cell-suspension culture system. © 2015 Society for Experimental Biology, Association of Applied Biologists and John Wiley & Sons Ltd.

An approach for multi-objective optimization of vehicle suspension system

Science.gov (United States)

Koulocheris, D.; Papaioannou, G.; Christodoulou, D.

2017-10-01

In this paper, a half car model of with nonlinear suspension systems is selected in order to study the vertical vibrations and optimize its suspension system with respect to ride comfort and road holding. A road bump was used as road profile. At first, the optimization problem is solved with the use of Genetic Algorithms with respect to 6 optimization targets. Then the k - ɛ optimization method was implemented to locate one optimum solution. Furthermore, an alternative approach is presented in this work: the previous optimization targets are separated in main and supplementary ones, depending on their importance in the analysis. The supplementary targets are not crucial to the optimization but they could enhance the main objectives. Thus, the problem was solved again using Genetic Algorithms with respect to the 3 main targets of the optimization. Having obtained the Pareto set of solutions, the k - ɛ optimality method was implemented for the 3 main targets and the supplementary ones, evaluated by the simulation of the vehicle model. The results of both cases are presented and discussed in terms of convergence of the optimization and computational time. The optimum solutions acquired from both cases are compared based on performance metrics as well.

49 CFR 570.1 - Scope.

Science.gov (United States)

2010-10-01

... systems, steering and suspension systems, and tire and wheel assemblies of motor vehicles in use. ... OF TRANSPORTATION VEHICLE IN USE INSPECTION STANDARDS Vehicles With GVWR of 10,000 Pounds or Less...

Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

Science.gov (United States)

Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

2018-04-01

This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

Retrospective Review of Pectoralis Major Ruptures in Rodeo Steer Wrestlers

Directory of Open Access Journals (Sweden)

Breda H. F. Lau

2013-01-01

Full Text Available Background. Pectoralis major tendon ruptures have been reported in the literature as occupational injuries, accidental injuries, and sporting activities. Few cases have been reported with respect to rodeo activities. Purpose. To describe a series of PM tendon ruptures in professional steer wrestlers. Study Design. Case series, level of evidence, 4. Methods. A retrospective analysis of PM ruptures in a steer wrestling cohort was performed. Injury data between 1992 and 2008 were reviewed using medical records from the University of Calgary Sport Medicine Center. Results. Nine cases of pectoralis major ruptures in professional steer wrestlers were identified. Injuries occurred during the throwing phase of the steer or while breaking a fall. All athletes reported unexpected or abnormal behavior of the steer that contributed to the mechanism of injury. Seven cases were surgically repaired, while two cases opted for nonsurgical intervention. Eight cases reported successful return to competition following the injury. Conclusion. Steer wrestlers represent a unique cohort of PM rupture case studies. Steer wrestling is a demanding sport that involves throwing maneuvers that may predispose the muscle to rupture. All cases demonstrated good functional outcomes regardless of surgical or non-surgical treatment.

Mid-sized omnidirectional robot with hydraulic drive and steering

Science.gov (United States)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Active Control of Suspension Bridges

DEFF Research Database (Denmark)

Thoft-Christensen, Palle

In this paper some recent research on active control of very long suspension bridges, is presented. The presentation is based on research work at Aalborg University, Denmark. The active control system is based on movable flaps attached to the bridge girder. Wind load on bridges with or without...... flaps attached to the girder is briefly presented. A simple active control system is discussed. Results from wind tunnel experiments with a bridge section show that flaps can be used effectively to control bridge girder vibrations. Flutter conditions for suspension bridges with and without flaps...

Final Report: Model interacting particle systems for simulation and macroscopic description of particulate suspensions

Energy Technology Data Exchange (ETDEWEB)

Peter J. Mucha

2007-08-30

Suspensions of solid particles in liquids appear in numerous applications, from environmental settings like river silt, to industrial systems of solids transport and water treatment, and biological flows such as blood flow. Despite their importance, much remains unexplained about these complicated systems. Mucha's research aims to improve understanding of basic properties of suspensions through a program of simulating model interacting particle systems with critical evaluation of proposed continuum equations, in close collaboration with experimentalists. Natural to this approach, the original proposal centered around collaboration with studies already conducted in various experimental groups. However, as was detailed in the 2004 progress report, following the first year of this award, a number of the questions from the original proposal were necessarily redirected towards other specific goals because of changes in the research programs of the proposed experimental collaborators. Nevertheless, the modified project goals and the results that followed from those goals maintain close alignment with the main themes of the original proposal, improving efficient simulation and macroscopic modeling of sedimenting and colloidal suspensions. In particular, the main investigations covered under this award have included: (1) Sedimentation instabilities, including the sedimentation analogue of the Rayleigh-Taylor instability (for heavy, particle-laden fluid over lighter, clear fluid). (2) Ageing dynamics of colloidal suspensions at concentrations above the glass transition, using simplified interactions. (3) Stochastic reconstruction of velocity-field dependence for particle image velocimetry (PIV). (4) Stochastic modeling of the near-wall bias in 'nano-PIV'. (5) Distributed Lagrange multiplier simulation of the 'internal splash' of a particle falling through a stable stratified interface. (6) Fundamental study of velocity fluctuations in sedimentation

Analysis of Structural and Material Aspects of Selected Elements of a Hydropneumatic Suspension System in a Passenger Car

Directory of Open Access Journals (Sweden)

Konieczny Ł.

2016-03-01

Full Text Available The article addresses results of analyses of design solutions and materials commonly used in gas springs for hydropneumatic suspension systems. The authors have discussed main advantages resulting from application of such a design solution in passenger car suspension systems. Fundamental correlations defining the parameters characterising a gas spring with constant gas mass have been referred to. Also materials used in the manufacture of selected gas spring elements have been described

DETERMINATION OF STEERING WHEEL ANGLES DURING CAR ALIGNMENT BY IMAGE ANALYSIS METHODS

Directory of Open Access Journals (Sweden)

M. Mueller

2016-06-01

Full Text Available Optical systems for automatic visual inspections are of increasing importance in the field of automation in the industrial domain. A new application is the determination of steering wheel angles during wheel track setting of the final inspection of car manufacturing. The camera has to be positioned outside the car to avoid interruptions of the processes and therefore, oblique images of the steering wheel must be acquired. Three different approaches of computer vision are considered in this paper, i.e. a 2D shape-based matching (by means of a plane to plane rectification of the oblique images and detection of a shape model with a particular rotation, a 3D shape-based matching approach (by means of a series of different perspectives of the spatial shape of the steering wheel derived from a CAD design model and a point-to-point matching (by means of the extraction of significant elements (e.g. multifunctional buttons of a steering wheel and a pairwise connection of these points to straight lines. The HALCON system (HALCON, 2016 was used for all software developments and necessary adaptions. As reference a mechanical balance with an accuracy of 0.1° was used. The quality assessment was based on two different approaches, a laboratory test and a test during production process. In the laboratory a standard deviation of ±0.035° (2D shape-based matching, ±0.12° (3D approach and ±0.029° (point-to-point matching could be obtained. The field test of 291 measurements (27 cars with varying poses and angles of the steering wheel results in a detection rate of 100% and ±0.48° (2D matching and ±0.24° (point-to-point matching. Both methods also fulfil the request of real time processing (three measurements per second.

Development of an evaluation procedure in order to compare steerings of customers according fuel consumption; Entwicklung eines Bewertungsverfahrens zum Vergleich von Lenkungen in Kundenhand hinsichtlich Kraftstoffverbrauch

Energy Technology Data Exchange (ETDEWEB)

Wenzel, Pauline Hildegard Elisabeth

2009-07-01

The newly developed evaluation procedure considers multidiscipline influences on the fuel consumption of a vehicle and thus enables an objective quantification of the influence of different steering systems on the fuel consumption under customer-relevant driving conditions. The energetic analysis and the comparison of the steering systems are based on driving cycles which cover different customer-relevant driving maneuvers. As a condition, different boundary conditions are selected such as input by the driver, vehicle parameter and road conditions. Hardware-in-the-loop simulation is used for the accurate reproduction of the inputs. The results refer to steering systems with hydraulic and electromechanical principles of operation as well as demand-oriented hydraulic steering systems. The potential of improvement of the conventional hydraulic steering system with a pump with adjustable flow rate is experimentally determined.

Design Optimization of Steering Mechanisms for Articulated Off-Road Vehicles Based on Genetic Algorithms

Directory of Open Access Journals (Sweden)

Chen Zhou

2018-02-01

Full Text Available Two cylinders arranged symmetrically on a frame have become a major form of steering mechanism for articulated off-road vehicles (AORVs. However, the differences of stroke and arm lead to pressure fluctuation, vibration noise, and a waste of torque. In this paper, the differences of stroke and arm are reduced based on a genetic algorithm (GA. First, the mathematical model of the steering mechanism is put forward. Then, the difference of stroke and arm are optimized using a GA. Finally, a FW50GLwheel loader is used as an example to demonstrate the proposed GA-based optimization method, and its effectiveness is verified by means of automatic dynamic analysis of mechanical systems (ADAMS. The stroke difference of the steering hydraulic cylinders was reduced by 92% and the arm difference reached a decrease of 78% through GA optimization, in comparison with unoptimized structures. The simulation result shows that the steering mechanism optimized by GA behaved better than by previous methods.

Electronic differential control of 2WD electric vehicle considering steering stability

Science.gov (United States)

Hua, Yiding; Jiang, Haobin; Geng, Guoqing

2017-03-01

Aiming at the steering wheel differential steering control technology of rear wheel independent driving electric wheel, considering the assisting effect of electronic differential control on vehicle steering, based on the high speed steering characteristic of electric wheel car, the electronic differential speed of auxiliary wheel steering is also studied. A yaw moment control strategy is applied to the vehicle at high speed. Based on the vehicle stability reference value, yaw rate is used to design the fuzzy controller to distribute the driving wheel torque. The simulation results show that the basic electronic differential speed function is realized based on the yaw moment control strategy, while the vehicle stability control is improved and the driving safety is enhanced. On the other hand, the torque control strategy can also assist steering of vehicle.

Simulation of disturbance rejection control of half-car active suspension system using active disturbance rejection control with decoupling transformation

Science.gov (United States)

Hasbullah, Faried; Faris, Waleed F.

2017-12-01

In recent years, Active Disturbance Rejection Control (ADRC) has become a popular control alternative due to its easy applicability and robustness to varying processes. In this article, ADRC with input decoupling transformation (ADRC-IDT) is proposed to improve ride comfort of a vehicle with an active suspension system using half-car model. The ride performance of the ADRC-IDT is evaluated and compared with decentralized ADRC control as well as the passive system. Simulation results show that both ADRC and ADRC-IDT manage to appreciably reduce body accelerations and able to cope well with varying conditions typically encountered in an active suspension system. Also, it is sufficient to control only the body motions with both active controllers to improve ride comfort while maintaining good road holding and small suspension working space.

Differential Evolution-Based PID Control of Nonlinear Full-Car Electrohydraulic Suspensions

Directory of Open Access Journals (Sweden)

Jimoh O. Pedro

2013-01-01

Full Text Available This paper presents a differential-evolution- (DE- optimized, independent multiloop proportional-integral-derivative (PID controller design for full-car nonlinear, electrohydraulic suspension systems. The multiloop PID control stabilises the actuator via force feedback and also improves the system performance. Controller gains are computed using manual tuning and through DE optimization to minimise a performance index, which addresses suspension travel, road holding, vehicle handling, ride comfort, and power consumption constraints. Simulation results showed superior performance of the DE-optimized PID-controlled active vehicle suspension system (AVSS over the manually tuned PID-controlled AVSS and the passive vehicle suspension system (PVSS.

supplementation of energy and/or protein to steers grazing summer ...

African Journals Online (AJOL)

Some aspects of the effect of supplementary energy and/or protein, strategically ptovided to steers on summer veld, were investi gated. 40 Friesland steers in the age ... was posed whether the strategic provision of energy and or protein to steers grazing .... Definitions and abbreviotions was determined after cooling for 24 h ...

46 CFR 78.47-55 - Instructions for changing steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Instructions for changing steering gear. 78.47-55... OPERATIONS Markings for Fire and Emergency Equipment, Etc. § 78.47-55 Instructions for changing steering gear..., relating in order, the different steps to be taken in changing to the emergency steering gear. Each clutch...

Suspension tests on a larger scale. Report from the status seminar on magnetic suspension techniques. Testing of the electrodynamic system started

Energy Technology Data Exchange (ETDEWEB)

Rogg, D; Muckli, W

1976-07-01

A world record speed for electromagnetically suspended vehicles as well as successful suspension tests with forced-circulation cooled superconducting magnets were the outstanding success reports at the fifth status seminar 'Magnetic suspension techniques' on 31st March and 1st April in Bad Kissingen. The research work on magnetic suspension techniques in the railborne long-distance travel is supported by the Federal Ministry of Research and Technology (BMFT) within the frameworke of the programme 'Railway engineering - New technologies'.

Genuine Multipartite Einstein-Podolsky-Rosen Steering

Science.gov (United States)

He, Q. Y.; Reid, M. D.

2013-12-01

We develop the concept of genuine N-partite Einstein-Podolsky-Rosen (EPR) steering. This nonlocality is the natural multipartite extension of the original EPR paradox. Useful properties emerge that are not guaranteed for genuine multipartite entangled states. In particular, there is a close link with the task of one-sided, device-independent quantum secret sharing. We derive inequalities to demonstrate multipartite EPR steering for Greenberger-Horne-Zeilinger and Gaussian continuous variable states in loophole-free scenarios.

Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque

Science.gov (United States)

Tagesson, Kristoffer; Cole, David

2017-07-01

The steering system in most heavy trucks is such that it causes a destabilising steering wheel torque when braking on split friction, that is, different friction levels on the two sides of the vehicle. Moreover, advanced emergency braking systems are now mandatory in most heavy trucks, making vehicle-induced split friction braking possible. This imposes higher demands on understanding how the destabilising steering wheel torque affects the driver, which is the focus here. Firstly, an experiment has been carried out involving 24 subjects all driving a truck where automatic split friction braking was emulated. Secondly, an existing driver-vehicle model has been adapted and implemented to improve understanding of the observed outcome. A common conclusion drawn, after analysing results, is that the destabilising steering wheel torque only has a small effect on the motion of the vehicle. The underlying reason is a relatively slow ramp up of the disturbance in comparison to the observed cognitive delay amongst subjects; also the magnitude is low and initially suppressed by passive driver properties.

46 CFR 97.37-33 - Instructions for changing steering gear.

Science.gov (United States)

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Instructions for changing steering gear. 97.37-33... steering gear. (a) Instructions in at least 1/2 inch letters and figures shall be posted in the steering... gear. Each clutch, gear, wheel, lever, valve, or switch which is used during the changeover shall be...

Steering straight

Energy Technology Data Exchange (ETDEWEB)

Louie, Jacqueline

2011-12-15

Baker Hughes Inc. has developed a deep azimuthal resistivity measurement tool for subsurface navigation when drilling oil and gas wells. This tool, named AziTrak, has measurement-while-drilling and logging-while-drilling capabilities and data are sent in real time to the surface via mud pulse or wired pipe telemetry. This technology helps the operator detect and visualize bed boundaries in real time, thanks to 3D imagery and a 360 degree view of the subsurface. The AziTrak system makes it possible to steer proactively and to stay within the pay zone at all times to maximize production; the tool had excellent results in field applications. Although this tool is 5 times more expensive than conventional technologies, its use results in a more economic wellbore thanks to its great utility. If the operator puts a high degree of involvement into it, the AziTrak deep azimuthal resistivity measurement tool will allow him to stay in the pay zone at all times.

Applications of EPR steering in quantum teleportation and NOON states

Science.gov (United States)

Zárate, Laura Rosales

2018-04-01

Einstein-Podolsky-Rosen (EPR) steering refers to the type of correlations described in the EPR paradox, where one observer seems to affect ("steer") the state of other observer by using local measurements. There have been several works regarding characterization and quantification of EPR steering. One characteristic of this non-local correlation is that it can be asymmetric, while entanglement is symmetric. This asymmetric property is relevant for potential applications of EPR steering to quantum information, in particular to quantum cryptography and quantum teleportation. This latter refers to the process where one observer sends an unknown quantum state to Bob, who is in a different location. They communicate by classical means. Here we will show that EPR steering is a necessary resource to obtain secure continuous variable teleportation. We will also consider NOON states, which is an example of an entangled state. For this state, we will present a steering signature. This contribution reviews the work derived in Refs. [1] and [2], which was presented as an invited talk in ELAF 2017.

Analysis of Driving Safety Criteria Based on National Regulations for the Suspension Systems of NGVs

Directory of Open Access Journals (Sweden)

Ronald Mauricio Martinod

2015-01-01

Full Text Available The work analyses the technical evaluation process of the suspension system for vehicles that have been adapted to natural-gas-fuelled engines from power light-duty gasoline, and diesel vehicles; this evaluation is done through a mechanical review established by national regulations. The development of this analysis is focused on establishing the relationship between the natural-gas-fuelled equipment and the dynamic effect caused by the extra-weight, according to two measuring criteria that determine the safety and driving comfort, these are: (i tire-road adhesion index; and (ii tire excitation phase angle. The paper also proposes new elements that can be added to the current national regulations and that are currently applied to assess the suspension of natural gas vehicles, recorded using a test standard benchmark for the evaluation of the suspension.

Evaluation of flexible endoscope steering using haptic guidance

NARCIS (Netherlands)

Reilink, Rob; Stramigioli, Stefano; Kappers, Astrid M L; Misra, Sarthak

Background: Steering the tip of a flexible endoscope relies on the physician's dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate. Methods: A steering method based on a multi-degree-of-freedom haptic device is presented. Haptic cues are generated based

Evaluation of flexible endoscope steering using haptic guidance

NARCIS (Netherlands)

Reilink, Rob; Stramigioli, Stefano; Kappers, Astrid M.L.; Misra, Sarthak

2011-01-01

Background - Steering the tip of a flexible endoscope relies on the physician’s dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate. Methods - A steering method based on a multi-degree-of-freedom haptic device is presented. Haptic cues are generated

Magnetic suspension and guidance of high speed vehicles. Final report

Energy Technology Data Exchange (ETDEWEB)

Alston, I A; Clark, J M; Hayden, J T

1972-12-01

Technical and economical assessments of magnetic suspensions for high speed vehicles and transport systems are reported. In these suspensions the suspending magnet takes the form of a powerful superconducting electromagnet that induces currents while it moves over conducting sheets or loops. A number of vehicle track designs are evaluated for operating cost effectiveness. It is shown that propulsion systems using power collected from the track are more expensive than those using power generated onboard the vehicle, and that the conducting sheet suspension is slightly more expensive than the null flux suspension.

Altered steering strategies for goal-directed locomotion in stroke

Science.gov (United States)

2013-01-01

Background Individuals who have sustained a stroke can manifest altered locomotor steering behaviors when exposed to optic flows expanding from different locations. Whether these alterations persist in the presence of a visible goal and whether they can be explained by the presence of a perceptuo-motor disorder remain unknown. The purpose of this study was to compare stroke participants and healthy participants on their ability to control heading while exposed to changing optic flows and target locations. Methods Ten participants with stroke (55.6 ± 9.3 yrs) and ten healthy controls (57.0 ± 11.5 yrs) participated in a mouse-driven steering task (perceptuo-motor task) while seated and in a walking steering task. In the seated steering task, participants were instructed to head or ‘walk’ toward a target in the virtual environment by using a mouse while wearing a helmet-mounted display (HMD). In the walking task, participants performed a similar steering task in the same virtual environment while walking overground at their comfortable speed. For both experiments, the target and/or the focus of expansion (FOE) of the optic flow shifted to the side (±20°) or remained centered. The main outcome measure was net heading errors (NHE). Secondary outcomes included mediolateral displacement, horizontal head orientation, and onsets of heading and head reorientation. Results In the walking steering task, the presence of FOE shifts modulated the extent and timing of mediolateral displacement and head rotation changes, as well as NHE magnitudes. Participants overshot and undershot their net heading, respectively, in response to ipsilateral and contralateral FOE and target shifts. Stroke participants made larger NHEs, especially when the FOE was shifted towards the non-paretic side. In the seated steering task, similar NHEs were observed between stroke and healthy participants. Conclusions The findings highlight the fine coordination between rotational and

Progress on the ITER ECRH upper launcher steering mirror identification and control

International Nuclear Information System (INIS)

Collazos, Andres; Bertizzolo, Robert; Chavan, Rene; Dolizy, Frederic; Felici, Federico; Henderson, Mark A.; Landis, Jean-Daniel; Sanchez, Francisco

2009-01-01

The main objective of the ITER ECRH upper launcher (UL) is to control magnetohydrodynamic activity, in particular neoclassical tearing modes (NTMs), by driving several MW of EC current near the q = 1, 3/2, 2 flux surfaces, where NTMs are expected to occur. The steering of the EC power is done by the steering mechanism assembly (SMA) that comprises a reflecting mirror and a frictionless and backlash free pneumo-mechanical system actuated with pressurised helium gas. The control requirements for this component in terms of steering accuracy and speed are reviewed. With respect to these requirements, the performance of the first SMA prototype is assessed in a mock up of the UL pneumatic configuration. The expected design characteristics of the SMA have been verified and an overall satisfactory performance has been assessed. Furthermore, the main challenges for the future work, such as the pressure and angular position control, have been identified.

Pair-correlations in swimmer suspensions

Science.gov (United States)

Nambiar, Sankalp; Subramanian, Ganesh

2017-11-01

Suspensions of rear-actuated swimming microorganisms, such as E.coli, exhibit several interesting phenomena including spontaneous pattern formation above a critical concentration, novel rheological properties, shear-induced concentration banding etc. Explanations based on mean-field theory are only qualitative, since interactions between swimmers are important for typical experimental concentrations. We analytically characterize the hydrodynamic pair-interactions in a quiescent suspension of slender straight swimmers. The pair-correlation, calculated at leading order by integrating the swimmer velocity disturbances along straight trajectories, decays as 1/r2 for r >> L (L being the swimmer size). This allows us to characterize both polar and nematic correlations in an interacting swimmer suspension. In the absence of correlations, the velocity covariance asymptotes from a constant for r > L, the latter being characteristic of a suspension of non-interacting point force-dipoles. On including correlations, the slow decay of the pair-orientation correlation leads to an additional contribution to the velocity covariance that diverges logarithmically with system size.

Mirror suspension system for the TAMA SAS

International Nuclear Information System (INIS)

Takamori, Akiteru; Ando, Masaki; Bertolini, Alessandro; Cella, Giancarlo; DeSalvo, Riccardo; Fukushima, Mitsuhiro; Iida, Yukiyoshi; Jacquier, Florian; Kawamura, Seiji; Marka, Szabolcs; Nishi, Yuhiko; Numata, Kenji; Sannibale, Virginio; Somiya, Kentaro; Takahashi, Ryutaro; Tariq, Hareem; Tsubono, Kimio; Ugas, Jose; Viboud, Nicolas; Yamamoto, Hiroaki; Yoda, Tatsuo; Wang Chenyang

2002-01-01

Several R and D programmes are ongoing to develop the next generation of interferometric gravitational wave detectors providing the superior sensitivity desired for refined astronomical observations. In order to obtain a wide observation band at low frequencies, the optics need to be isolated from the seismic noise. The TAMA SAS (seismic attenuation system) has been developed within an international collaboration between TAMA, LIGO, and some European institutes, with the main objective of achieving sufficient low-frequency seismic attenuation (-180 dB at 10 HZ). The system suppresses seismic noise well below the other noise levels starting at very low frequencies above 10 Hz. It also includes an active inertial damping system to decrease the residual motion of the optics enough to allow a stable operation of the interferometer. The TAMA SAS also comprises a sophisticated mirror suspension subsystem (SUS). The SUS provides support for the optics and vibration isolation complementing the SAS performance. The SUS is equipped with a totally passive magnetic damper to suppress internal resonances without degrading the thermal noise performance. In this paper we discuss the SUS details and present prototype results

Revisiting path steering for 3D manipulation tasks

NARCIS (Netherlands)

L. Liu (Lei); J.-B. Martens; R. van Liere (Robert)

2011-01-01

htmlabstractThe law of path steering, as proposed by Accot and Zhai, describes a quantitative relationship between human temporal performance and the path spatial characteristics. The steering law is formulated as a continuous goal crossing task, in which a large number of goals are crossed along

Revisiting path steering for 3D manipulation tasks

NARCIS (Netherlands)

L. Liu (Lei); J.-B. Martens; R. van Liere (Robert)

2010-01-01

htmlabstractThe law of path steering, as proposed by Accot and Zhai, describes a quantitative relationship between human temporal performance and the path spatial characteristics. The steering law is formulated as a continuous goal crossing task, in which a large number of goals are crossed along

Design of a New Integrated Structure of the Active Suspension System and Emergency Lane Change Test

Science.gov (United States)

Zhao, Jing-bo; Liu, Hai-mei; Zhang, Lan-chun; Bei, Shao-yi

2017-09-01

An integrated structure of the active suspension system was proposed in order to solve the problem of the individual control of the height of the body or the adjustable damping of the active suspension system of the electric vehicle, which improve the vibration reduction performance of the vehicle. The air bag was used to replace the traditional spiral spring, and the traditional shock absorber was replaced by the damping adjustable shock absorber, and the control module received the body acceleration sensor and the horizontal height sensor signal. The system controlled adjustable damping coefficient of shock absorber through the height of the car body the output of the air pump relay and the height control valve and the output of the electromagnetic valve of the adjustable damping shock absorber, and the emergency lane change test was carried out under different modes of speed of 60km/h. The experimental results indicated that the damping value was greater, average roll angle, yaw angle and average vehicle lateral acceleration were small when vehicle body was in the state of emergency lane change, which verified the feasibility of the integrated control strategy and structure design of the active suspension system. The research has important theoretical research value and engineering application prospect for designing and controlling strategy of vehicle chassis integrated control system.

Growth, carcass characteristics, and profitability of organic versus conventional dairy beef steers.

Science.gov (United States)

Bjorklund, E A; Heins, B J; Dicostanzo, A; Chester-Jones, H

2014-03-01

Bull calves (n=49), born at the University of Minnesota West Central Research and Outreach Center (Morris) between March and May 2011, were used to compare growth measurements and profitability of conventional and organic dairy steers. Calves were assigned to 1 of 3 replicated groups at birth: conventional (CONV; n=16), organic (pasture and concentrate; ORG; n=16), or organic grass only (GRS; n=17), and analysis of variables was on a pen basis. Breed groups of calves were Holstein (HO; n=9); Holsteins (n=11) maintained at 1964 breed average level; crossbreds (n=19) including combinations of HO, Montbéliarde, and Swedish Red; and crossbreds (n=10) including combinations of HO, Jersey, Swedish Red, and Normande. The CONV steers were fed a diet of 80% concentrate and 20% forage. The ORG steers were fed a diet of organic corn, organic corn silage, and at least 30% of their diet consisted of organic pasture during the grazing season. The GRS steers grazed pasture during the grazing season and were fed high-quality hay or hay silage during the nongrazing season. Intakes of a total mixed ration were recorded daily with herd management software. A profit function was defined to include revenues and expenses for beef value, feed intake, pasture intake, health cost, and yardage. The GRS (358.6 kg) steers had lesser total gains from birth to slaughter than ORG (429.6 kg) and CONV (534.5 kg) steers. Furthermore, the GRS (0.61 kg/d) steers had lesser average daily gain from birth compared with ORG (0.81 kg/d) and CONV (1.1 kg/d) steers. The GRS and ORG steers had smaller rib eye area (49.5 and 65.8 cm(2), respectively) compared with CONV (75.4 cm(2)) steers. For profitability, GRS steers had 43% greater profit than CONV steers due to organic beef price premiums and lower feed costs. On the other hand, ORG steers had substantially less profit than CONV steers. The higher cost of production for the ORG steers is due to the extreme high value of organic corn. The results of the

Electrochemical analysis in a liposome suspension using lapachol as a hydrophobic electro active species.

Science.gov (United States)

Okumura, Noriko; Wakamatsu, Shiori; Uno, Bunji

2014-01-01

This study demonstrated that the electro-chemical analysis of hydrophobic quinones can be performed in liposome suspension systems. We prepared and analyzed liposome suspensions containing lapachol, which is a quinone-based anti-tumor activity compound. In this suspension system, a simple one redox couple of lapachol is observed. These results are quite different from those obtained in organic solvents. In addition, the pH dependence of redox behaviors of lapachol could be observed in multilamellar vesicle (MLV) suspension system. This MLV suspension system method may approximate the electrochemical behavior of hydrophobic compounds in aqueous conditions. A benefit of this liposome suspension system for electrochemical analysis is that it enables to observe water-insoluble compounds without using organic solvents.

The ATLAS High Level Trigger Steering Framework and the Trigger Configuration System.

CERN Document Server

Perez Cavalcanti, Tiago; The ATLAS collaboration

2011-01-01

The ATLAS detector system installed in the Large Hadron Collider (LHC) at CERN is designed to study proton-proton and nucleus-nucleus collisions with a maximum centre of mass energy of 14 TeV at a bunch collision rate of 40MHz. In March 2010 the four LHC experiments saw the first proton-proton collisions at 7 TeV. Still within the year a collision rate of nearly 10 MHz is expected. At ATLAS, events of potential interest for ATLAS physics are selected by a three-level trigger system, with a final recording rate of about 200 Hz. The first level (L1) is implemented in custom hardware; the two levels of the high level trigger (HLT) are software triggers, running on large farms of standard computers and network devices. Within the ATLAS physics program more than 500 trigger signatures are defined. The HLT tests each signature on each L1-accepted event; the test outcome is recorded for later analysis. The HLT-Steering is responsible for this. It foremost ensures the independent test of each signature, guarantying u...

On the Benefits of Semi-Active Suspensions with Inerters

Directory of Open Access Journals (Sweden)

Xin-Jie Zhang

2012-01-01

Full Text Available Inerters have become a hot topic in recent years especially in vehicle, train, building suspension systems, etc. Eight different layouts of suspensions were analyzed with a quarter-car model in this paper. Dimensionless root mean square (RMS responses of the sprung mass vertical acceleration, the suspension travel, and the tire deflection are derived which were used to evaluate the performance of the quarter-car model. The behaviour of semi-active suspensions with inerters using Groundhook, Skyhook, and Hybrid control has been evaluated and compared to the performance of passive suspensions with inerters. Sensitivity analysis was applied to the development of a high performance semi-active suspension with an inerter. Numerical simulations indicate that a semi-active suspension with an inerter has much better performance than the passive suspension with an inerter, especially with the Hybrid control method, which has the best compromise between comfort and road holding quality.

Torsional asymmetry in suspension bridge systems

Czech Academy of Sciences Publication Activity Database

Malík, Josef

2015-01-01

Roč. 60, č. 6 (2015), s. 677-701 ISSN 0862-7940 R&D Projects: GA MŠk ED2.1.00/03.0082 Institutional support: RVO:68145535 Keywords : suspension bridge * Hamilton principle * vertical and torsional oscillation * uniqueness * existence Subject RIV: BA - General Mathematics Impact factor: 0.507, year: 2015 http://link.springer.com/article/10.1007%2Fs10492-015-0117-3

Experimental EPR-steering using Bell-local states

Science.gov (United States)

Saunders, D. J.; Jones, S. J.; Wiseman, H. M.; Pryde, G. J.

2010-11-01

The concept of `steering' was introduced in 1935 by Schrödinger as a generalization of the EPR (Einstein-Podolsky-Rosen) paradox. It has recently been formalized as a quantum-information task with arbitrary bipartite states and measurements, for which the existence of entanglement is necessary but not sufficient. Previous experiments in this area have been restricted to an approach that followed the original EPR argument in considering only two different measurement settings per side. Here we demonstrate experimentally that EPR-steering occurs for mixed entangled states that are Bell local (that is, that cannot possibly demonstrate Bell non-locality). Unlike the case of Bell inequalities, increasing the number of measurement settings beyond two-we use up to six-significantly increases the robustness of the EPR-steering phenomenon to noise.

System concept definition of the Grumman superconducting Electromagnetic Suspension (EMS) Maglev design

Science.gov (United States)

Proise, M.

1994-01-01

Grumman, under contract to the Army Corps of Engineers, completed a System Concept Definition (SCD) study to design a high-speed 134 m/s (300 m.p.h.) magnetically levitated (Maglev) transportation system. The primary development goals were to design a Maglev that is safe, reliable, environmentally acceptable, and low-cost. The cost issue was a predominant one, since previous studies have shown that an economically viable Maglev system (one that is attractive to investors for future models of passenger and/or freight transportation) requires a cost that is about $12.4 M/km ($20 Million per mile). The design is based on the electromagnetic suspension (EMS) system using superconducting iron-core magnets mounted along both sides of the vehicle. The EMS system has several advantages compared to the electrodynamic suspension (EDS) Maglev systems such as low stray magnetic fields in the passenger cabin and the surrounding areas, uniform load distribution along the full length of the vehicle, and small pole pitch for smoother propulsion and ride comfort. It is also levitated at all speeds and incorporates a wrap-around design of safer operation. The Grumman design has all the advantages of an EMS system identified above, while eliminating (or significantly improving) drawbacks associated with normal magnet powered EMS systems. Improvements include larger gap clearance, lighter weight, lower number of control servos, and higher off line switching speeds. The design also incorporates vehicle tilt (plus or minus 9 deg) for higher coordinated turn and turn out speed capability.

Operational experience with model-based steering in the SLC linac

International Nuclear Information System (INIS)

Thompson, K.A.; Himel, T.; Moore, S.; Sanchez-Chopitea, L.; Shoaee, H.

1989-03-01

Operational experience with model-driven steering in the linac of the Stanford Linear Collider is discussed. Important issues include two-beam steering, sensitivity of algorithms to faulty components, sources of disagreement with the model, and the effects of the finite resolution of beam position monitors. Methods developed to make the steering algorithms more robust in the presence of such complications are also presented. 5 refs., 1 fig

Spatially distributed multipartite entanglement enables EPR steering of atomic clouds

Science.gov (United States)

Kunkel, Philipp; Prüfer, Maximilian; Strobel, Helmut; Linnemann, Daniel; Frölian, Anika; Gasenzer, Thomas; Gärttner, Martin; Oberthaler, Markus K.

2018-04-01

A key resource for distributed quantum-enhanced protocols is entanglement between spatially separated modes. However, the robust generation and detection of entanglement between spatially separated regions of an ultracold atomic system remain a challenge. We used spin mixing in a tightly confined Bose-Einstein condensate to generate an entangled state of indistinguishable particles in a single spatial mode. We show experimentally that this entanglement can be spatially distributed by self-similar expansion of the atomic cloud. We used spatially resolved spin read-out to reveal a particularly strong form of quantum correlations known as Einstein-Podolsky-Rosen (EPR) steering between distinct parts of the expanded cloud. Based on the strength of EPR steering, we constructed a witness, which confirmed genuine 5-partite entanglement.

Automated vehicle guidance using discrete reference markers. [road surface steering techniques

Science.gov (United States)

Johnston, A. R.; Assefi, T.; Lai, J. Y.

1979-01-01

Techniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation. Noise in both the sensor measurement and in the steering servo are accounted for. An optimal controller is simulated on a general purpose computer, and the resulting plots of vehicle path are presented. Parameters representing a small multipassenger tram were selected, and the simulation runs show response to an erroneous sensor measurement and acquisition following large initial path errors.

Comparative analysis of the operation efficiency of the continuous and relay control systems of a multi-axle wheeled vehicle suspension

Science.gov (United States)

Zhileykin, M. M.; Kotiev, G. O.; Nagatsev, M. V.

2018-02-01

In order to improve the efficiency of the multi-axle wheeled vehicles (MWV) automotive engineers are increasing their cruising speed. One of the promising ways to improve ride comfort of the MWV is the development of the dynamic active suspension systems and control laws for such systems. Here, by the dynamic control systems we mean the systems operating in real time mode and using current (instantaneous) values of the state variables. The aim of the work is to develop the MWV suspension optimal control laws that would reduce vibrations on the driver’s seat at kinematic excitation. The authors have developed the optimal control laws for damping the oscillations of the MWV body. The developed laws allow reduction of the vibrations on the driver’s seat and increase in the maximum speed of the vehicle. The laws are characterized in that they allow generating the control inputs in real time mode. The authors have demonstrated the efficiency of the proposed control laws by means of mathematical simulation of the MWV driving over unpaved road with kinematic excitation. The proposed optimal control laws can be used in the MWV suspension control systems with magnetorheological shock absorbers or controlled hydropneumatic springs. Further evolution of the research line can be the development of the energy-efficient MWV suspension control systems with continuous control input on the vehicle body.

Optimum steering of photon beam lines in SPEAR

International Nuclear Information System (INIS)

Corbett, W.J.; Fong, B.; Lee, M.; Ziemann, V.

1993-04-01

A common operational requirement for many synchrotron light sources is to maintain steered photon beamlines with minimum corrector strength values. To solve this problem for SPEAR, we employed the Singular Value Decomposition (SVD) matrix-inversion technique to minimize corrector strengths while constraining the photon beamlines to remain on target. The result was a reduction in corrector strengths, yielding increased overhead for the photon-beam position feedback systems

49 CFR 565.22 - Definitions.

Science.gov (United States)

2010-10-01

... and chassis structure, power train, steering system, suspension system and braking system, to the extent that those systems are to be part of the completed vehicle, that requires further manufacturing..., DEPARTMENT OF TRANSPORTATION VEHICLE IDENTIFICATION NUMBER (VIN) REQUIREMENTS Alternative VIN Requirements In...

49 CFR 565.12 - Definitions.

Science.gov (United States)

2010-10-01

... structure, power train, steering system, suspension system and braking system, to the extent that those systems are to be part of the completed vehicle, that requires further manufacturing operations, other..., DEPARTMENT OF TRANSPORTATION VEHICLE IDENTIFICATION NUMBER (VIN) REQUIREMENTS VIN Requirements § 565.12...

Strong Einstein-Podolsky-Rosen steering with unconditional entangled states

Science.gov (United States)

Steinlechner, Sebastian; Bauchrowitz, Jöran; Eberle, Tobias; Schnabel, Roman

2013-02-01

In 1935 Schrödinger introduced the terms entanglement and steering in the context of the famous gedanken experiment discussed by Einstein, Podolsky, and Rosen (EPR). Here, we report on a sixfold increase of the observed EPR-steering effect with regard to previous experiments, as quantified by the Reid criterion. We achieved an unprecedented low conditional variance product of about 0.04<1, where 1 is the upper bound below which steering is demonstrated. The steering effect was observed on an unconditional two-mode-squeezed entangled state that contained a total vacuum state contribution of less than 8%, including detection imperfections. Together with the achieved high interference contrast between the entangled state and a bright coherent laser field, our state is compatible with efficient applications in high-power laser interferometers and fiber-based networks for entanglement distribution.

Hysteresis-induced bifurcation and chaos in a magneto-rheological suspension system under external excitation

Science.gov (United States)

Hailong, Zhang; Enrong, Wang; Fuhong, Min; Ning, Zhang

2016-03-01

The magneto-rheological damper (MRD) is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD may cause the nonlinear behaviors. In this work, a two-degree-of-freedom (2-DOF) MR suspension system was established first, by employing the modified Bouc-Wen force-velocity (F-v) hysteretic model. The nonlinear dynamic response of the system was investigated under the external excitation of single-frequency harmonic and bandwidth-limited stochastic road surface. The largest Lyapunov exponent (LLE) was used to detect the chaotic area of the frequency and amplitude of harmonic excitation, and the bifurcation diagrams, time histories, phase portraits, and power spectrum density (PSD) diagrams were used to reveal the dynamic evolution process in detail. Moreover, the LLE and Kolmogorov entropy (K entropy) were used to identify whether the system response was random or chaotic under stochastic road surface. The results demonstrated that the complex dynamical behaviors occur under different external excitation conditions. The oscillating mechanism of alternating periodic oscillations, quasi-periodic oscillations, and chaotic oscillations was observed in detail. The chaotic regions revealed that chaotic motions may appear in conditions of mid-low frequency and large amplitude, as well as small amplitude and all frequency. The obtained parameter regions where the chaotic motions may appear are useful for design of structural parameters of the vibration isolation, and the optimization of control strategy for MR suspension system. Projects supported by the National Natural Science Foundation of China (Grant Nos. 51475246, 51277098, and 51075215), the Research Innovation Program for College Graduates of Jiangsu Province China (Grant No. KYLX15 0725), and the Natural Science Foundation of Jiangsu Province of China (Grant No. BK20131402).

Compact vibration isolation and suspension for Australian International Gravitational Observatory: Local control system

Science.gov (United States)

Dumas, Jean-Charles; Barriga, Pablo; Zhao, Chunnong; Ju, Li; Blair, David G.

2009-11-01

High performance vibration isolators are required for ground based gravitational wave detectors. To attain very high performance at low frequencies we have developed multistage isolators for the proposed Australian International Gravitational Observatory detector in Australia. New concepts in vibration isolation including self-damping, Euler springs, LaCoste springs, Roberts linkages, and double preisolation require novel sensors and actuators. Double preisolation enables internal feedback to be used to suppress low frequency seismic noise. Multidegree of freedom control systems are required to attain high performance. Here we describe the control components and control systems used to control all degrees of freedom. Feedback forces are injected at the preisolation stages and at the penultimate suspension stage. There is no direct actuation on test masses. A digital local control system hosted on a digital signal processor maintains alignment and position, corrects drifts, and damps the low frequency linear and torsional modes without exciting the very high Q-factor test mass suspension. The control system maintains an optical cavity locked to a laser with a high duty cycle even in the absence of an autoalignment system. An accompanying paper presents the mechanics of the system, and the optical cavity used to determine isolation performance. A feedback method is presented, which is expected to improve the residual motion at 1 Hz by more than one order of magnitude.

Compact vibration isolation and suspension for Australian International Gravitational Observatory: local control system.

Science.gov (United States)

Dumas, Jean-Charles; Barriga, Pablo; Zhao, Chunnong; Ju, Li; Blair, David G

2009-11-01

High performance vibration isolators are required for ground based gravitational wave detectors. To attain very high performance at low frequencies we have developed multistage isolators for the proposed Australian International Gravitational Observatory detector in Australia. New concepts in vibration isolation including self-damping, Euler springs, LaCoste springs, Roberts linkages, and double preisolation require novel sensors and actuators. Double preisolation enables internal feedback to be used to suppress low frequency seismic noise. Multidegree of freedom control systems are required to attain high performance. Here we describe the control components and control systems used to control all degrees of freedom. Feedback forces are injected at the preisolation stages and at the penultimate suspension stage. There is no direct actuation on test masses. A digital local control system hosted on a digital signal processor maintains alignment and position, corrects drifts, and damps the low frequency linear and torsional modes without exciting the very high Q-factor test mass suspension. The control system maintains an optical cavity locked to a laser with a high duty cycle even in the absence of an autoalignment system. An accompanying paper presents the mechanics of the system, and the optical cavity used to determine isolation performance. A feedback method is presented, which is expected to improve the residual motion at 1 Hz by more than one order of magnitude.

Fuzzy Stabilization for Nonlinear Discrete Ship Steering Stochastic Systems Subject to State Variance and Passivity Constraints

Directory of Open Access Journals (Sweden)

Wen-Jer Chang

2014-01-01

Full Text Available For nonlinear discrete-time stochastic systems, a fuzzy controller design methodology is developed in this paper subject to state variance constraint and passivity constraint. According to fuzzy model based control technique, the nonlinear discrete-time stochastic systems considered in this paper are represented by the discrete-time Takagi-Sugeno fuzzy models with multiplicative noise. Employing Lyapunov stability theory, upper bound covariance control theory, and passivity theory, some sufficient conditions are derived to find parallel distributed compensation based fuzzy controllers. In order to solve these sufficient conditions, an iterative linear matrix inequality algorithm is applied based on the linear matrix inequality technique. Finally, the fuzzy stabilization problem for nonlinear discrete ship steering stochastic systems is investigated in the numerical example to illustrate the feasibility and validity of proposed fuzzy controller design method.

Determination of Weight Suspension Rigidity in the Transport-Erector Aggregates

Directory of Open Access Journals (Sweden)

V. A. Zverev

2016-01-01

Full Text Available The aim is to determine weight suspension rigidity in aggregates designed to perform technological transport-erector operations at the miscellaneous launch complexes.We consider the weight suspension comprising the following distinctive structural components: the executive weight-lowering mechanism, polyspast mechanism, rope, traverse, and rods. A created structural dynamic model of suspension allowed us to define weight suspension rigidity. Within the framework of design analysis of a dynamic model we determined the rigidity of its structural units, i.e. traverse, rope, and polyspast.Known analytical relationships were used to calculate the rope rigidity. To determine rigidity of polyspast and traverse have been created special models based on the finite element method. For each model deformation in the specific points under the test load have been defined. Data obtained were used to determine trigidity of traverses and polyspast, and also rigidity of suspension in total. The rigidity models of polispast mechanism and traverse have been developed and calculated using the software complex "Zenit-95".As the research results, the paper presents a dynamic model of the weight suspension of the transport-erector aggregate, the finite element models of the polispast mechanism and traverse, an algorithm for determining the weight suspension rigidity and relevant analytical relationships.Independent calculation of weight suspension rigidity enables us to simplify further dynamic calculation of the aggregate-weight system because it allows attaining a simpler model of the aggregate-weight system that uses the weight suspension model as an element of equivalent rigidity. Despite this simplification the model allows us to determine correctly weight movement parameters and overloads in the aggregate-weight system in the process of technical operations.

Hybrid superconducting magnetic suspensions

International Nuclear Information System (INIS)

Tixador, P.; Hiebel, P.; Brunet, Y.; Chaud, X.; Gautier-Picard, P.

1996-01-01

Superconductors, especially high T c ones, are the most attractive materials to design stable and fully passive magnetic suspensions which have to control five degrees of freedom. The hybrid superconducting magnetic suspensions present high performances and a simple cooling mode. They consist of a permanent magnet bearing, stabilized by a suitable magnet-superconductor structure. Several designs are given and compared in terms of forces and stiffnesses. The design of the magnet bearing plays an important part. The superconducting magnetic bearing participates less in levitation but must provide a high stabilizing stiffness. This is achieved by the magnet configuration, a good material in term of critical current density and field cooling. A hybrid superconducting suspension for a flywheel is presented. This system consists of a magnet thrust bearing stabilized by superconductors interacting with an alternating polarity magnet structure. First tests and results are reported. Superconducting materials are magnetically melt-textured YBaCuO

FRONT AXLE OF MERCEDES AMG GT. MODELLING IN AUTODESK INVENTOR

Directory of Open Access Journals (Sweden)

COROLENCU Eduard – Narcis

2017-05-01

Full Text Available This paper analyzes the front axle of the Mercedes AMG GT model, as so as the graphical representation of the axle and of the subassemblies of suspension system and steering system, using the AutoCAD and Autodesk Inventor software. The paper include the steps for made the 3D model of the front axle in order to highlight the advantages of suspension and steering system, the function of this systems and methods for manufacturing of these. The 3D model presents a suite of complex surfaces. This type of surfaces is often designed with non-analytical means. The main commands and options used in Autodesk Inventor software were presented and explained. All the component parts of the front axle were modelled and assembled according to their functional role. Finally, the models were rendered in order to have a realistic appearance.

Suspension-thermal noise in spring–antispring systems for future gravitational-wave detectors

Science.gov (United States)

Harms, Jan; Mow-Lowry, Conor M.

2018-01-01

Spring–antispring systems have been investigated in the context of low-frequency seismic isolation in high-precision optical experiments. These systems provide the possibility to tune the fundamental resonance frequency to, in principle, arbitrarily low values, and at the same time maintain a compact design. It was argued though that thermal noise in spring–antispring systems would not be as small as one may naively expect from lowering the fundamental resonance frequency. In this paper, we present calculations of suspension-thermal noise for spring–antispring systems potentially relevant in future gravitational-wave detectors, i.e. the beam-balance tiltmeter, and the Roberts linkage. We find a concise expression of the suspension-thermal noise spectrum, which assumes a form very similar to the well-known expression for a simple pendulum. For systems such as the Roberts linkage foreseen as passive seismic isolation, we find that while they can provide strong seismic isolation due to a very low fundamental resonance frequency, their thermal noise is determined by the dimension of the system and is insensitive to fine-tunings of the geometry that can strongly influence the resonance frequency. By analogy, i.e. formal similarity of the equations of motion, this is true for all horizontal mechanical isolation systems with spring–antispring dynamics. This imposes strict requirements on mechanical spring–antispring systems for seismic isolation in potential future low-frequency gravitational-wave detectors as we discuss for the four main concepts, atom-interferometric, superconducting, torsion-bars, and conventional laser interferometer, and generally suggests that thermal noise needs to be evaluated carefully for high-precision experiments implementing spring–antispring dynamics.

3D modeling design and engineering analysis of automotive suspension beam

Directory of Open Access Journals (Sweden)

Ju Zhi Lan

2016-01-01

Full Text Available Automotive suspension is an important device for transmission and torque. The main parameters and dimensions of 40 tons of heavy duty truck spring suspension system are designed in the paper. According to the data, the 3D modeling and virtual assembly of the leaf spring suspension are carried out by using parametric design. Structural stress of spring suspension is analyzed which can provide a guide and basis for the design of the leaf spring suspension.

Driver Steering Support Interfaces Near the Vehicle’s Handling Limits

NARCIS (Netherlands)

Katzourakis, D.

2012-01-01

The goal of this thesis is to propose steering support systems that can reduce the driver’s control effort, mental load and promote safety. The driver dictates the vehicle’s motion and the support should centralize him/her in the control loop; thus our design philosophy is to increase driver’s

Evaluation of indeterminacy of initial data for cad system of electric engine suspension

Science.gov (United States)

Antipin, D. Ya; Izmerov, O. V.; Shorokhov, S. G.; Nadtochey, D. G.

2018-03-01

The research of the variants of the suspension of the traction electric motor of diesel locomotives was performed. It was found that the method of designing the suspension does not take into consideration the possible changes of the characteristics of the parts in operation conditions. Variants of the suspension design were proposed and patented, which provide the work reliability despite the operating conditions.

DESIGN AN INTELLIGENT CONTROLLER FOR FULL VEHICLE NONLINEAR ACTIVE SUSPENSION SYSTEMS

OpenAIRE

Aldair, A. A.; Wang, W. J.

2011-01-01

The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. Therefore, this paper deals with an artificial intelligence Neuro-Fuzzy (NF) technique to design a robust controller to meet the control objectives....

Robotic needle steering: design, modeling, planning, and image guidance

NARCIS (Netherlands)

Cowan, Noah J.; Goldberg, Ken; Chirikjian, Gregory S.; Fichtinger, Gabor; Alterovitz, Ron; Reed, Kyle B.; Kallem, Vinutha; Misra, Sarthak; Park, Wooram; Okamura, Allison M.; Rosen, Jacob; Hannaford, Blake; Satava, Richard M.

2010-01-01

This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of

Multiquantum well beam-steering device for laser satellite communication

Science.gov (United States)

Lahat, Roee; Levy, Itamar; Shlomi, Arnon

2002-01-01

With the increasing interest in laser satellite communications, new methods are sought to solve the existing problems of accurate and rapid laser beam deflection. Current solutions in the form of galvanometers or piezo fast steering mirrors with one or two degrees of freedom are bulky, power-consuming and slow. The Multi-Quantum Well (MQW) is a semiconductor device with unique potential to steer laser beams without any moving parts. We have conducted a preliminary evaluation of the potential application of the MQW as a laser beam-steering device for laser satellite communication, examining the performance of critical parameters for this type of communications.

Superconducting magnet suspensions in high speed ground transport

Energy Technology Data Exchange (ETDEWEB)

Alston, I A

1973-08-01

A technical and economic definition of high speed ground transport systems using magnetic suspensions is given. The full range of common superconducting suspensions and of propulsions are covered with designs produced for speeds ranging from 100 m/s (225 miles/hr) to 250 m/s (560 mile/hr). Technical descriptions of the vehicles, their suspensions, propulsions and tracks are given in some detail and operating costs are presented for all the systems together with details of the breakdown of costs and the capital costs involved. The design assumptions, the costing procedure and a cost sensitivity study are presented. It is concluded that the systems are technically feasible; that they are suited to existing duorail track for low speed running and that, in these circumstances, they would be economically viable over many routes.

Project calculation of the steering mechanism hydraulic servo control in motor vehicles

Directory of Open Access Journals (Sweden)

Zoran Đukan Majkić

2013-10-01

Full Text Available Hydraulic servo controls are designed to facilitate rotation in place without providing increased ppower to steering wheels. In the initial design phase, the dimensions required for control systems are usually obtained through the calculation of their load when wheels rotate in place, where the torque is calculated empirically. The starting point in the project calculation is thus to determine the hydraulic power steering torque torsional resistance which is then used to determine the maximum value of force i.e. the torque on the stering wheel. The calculation of the control system servo control consists of determining the basic parameters, the required pump capacity, the main dimensions of the hub and the  pipeline and the conditions for the stability of the system control mechanism. Introduction The aim of the calculation of the steering control system is to determine the basic parameters of its components which ensure the fulfilment of requirements of the control system. Calculations are performed in several stages with a simultaneous  detailed constructive analysis of the control system leading to the best variant. At each stage, design and control calculations of the hydraulic servo of the steering mechanism are performed. The design allows the computation to complete the selection of basic dimensions of the amplifer elements, starting from the approved scheme and the basic building loads of approximate values. Calculations control is carried out to clarify the structural solution and to obtain the output characteristics of the control amplifier which are applied in the  estimation of  potential properties of the structure. Project calculation Baseline data must be sufficiently reliable, ie. must correspond to the construction characteristics of the vehicle design and the control system as well as to service conditions..A proper deterimination of the torque calculation of torsional resistance in wheels is of utmost importance. Moment of

Active and semi-active control of suspension systems for commercial vehicles based on preview

NARCIS (Netherlands)

Kok, J.J.; van Heck, J.G.A.M.; Muijderman, J.H.E.A.; Veldpaus, F.E.

1997-01-01

The performance of a vehicle axle/wheel suspension system is primarily determined by the comfort of the occupants, the required working space, the handling properties and, for commercial vehicles in particular, the dynamic tire forces and the load on the chassis components and on the cargo. General

Reducing Digging Losses by Using Automated Steering to Plant and Invert Peanuts

Directory of Open Access Journals (Sweden)

George Vellidis

2014-07-01

Full Text Available GPS guidance of farm machinery has been increasingly adopted by farmers because of the perceived gains in efficiency that it provides. In the southeastern USA one of the reasons farmers adopt GPS guidance, and specifically automated steering (auto-steer, is that it can theoretically result in large yield gains when used to plant and invert peanuts—one of the region’s most important crops. The goal of our study was to quantify the yield benefit of using real time kinematic (RTK-based auto-steer to plant and invert peanuts under a variety of terrain conditions. Yield benefits result from reduced digging losses. The study was conducted for two consecutive years (2010 and 2011 on a private farm in Georgia, USA. When all data are grouped together, auto-steer outperformed conventional by 579 kg/ha in 2010 and 451 kg/ha in 2011. We also evaluated the performance of auto-steer under different curvature conditions using low, medium, and high curvature rows. The results showed that auto-steer outperformed conventional under all curvature by a minimum of 338 kg/ha. Finally, we evaluated passive implement guidance in combination with auto-steer and found that it holds tremendous potential for further reducing digging losses. In many cases, auto-steer will pay for itself within a year.

A multiobjective ? control strategy for energy harvesting in regenerative vehicle suspension systems

Science.gov (United States)

Casavola, Alessandro; Di Iorio, Fabio; Tedesco, Francesco

2018-04-01

A significant amount of energy induced by road unevenness and vehicle roll and pitch motions is usually dissipated by conventional shock-absorbers. In this paper, a novel active multiobjective ? control design methodology is proposed which explicitly includes, besides the usual control objectives on ride comfort, road handling and suspension stroke, the amount of energy to be harvested as an additional, though conflicting, control objective and allows the designer to directly trade-off among them depending on the application. An electromechanical regenerative suspension system is considered where the viscous damper is replaced by a linear electrical motor which is actively governed. It is shown that the proposed control law is able to achieve remarkable improvements on the amount of the harvested energy with respect to passive or semi-active control strategies while maintaining the other objectives at acceptable levels. Simulative studies undertaken via CarSim are also reported that confirm the potentiality and flexibility of the proposed control design strategy.

Investigating Einstein-Podolsky-Rosen steering of continuous-variable bipartite states by non-Gaussian pseudospin measurements

Science.gov (United States)

Xiang, Yu; Xu, Buqing; Mišta, Ladislav; Tufarelli, Tommaso; He, Qiongyi; Adesso, Gerardo

2017-10-01

Einstein-Podolsky-Rosen (EPR) steering is an asymmetric form of correlations which is intermediate between quantum entanglement and Bell nonlocality, and can be exploited as a resource for quantum communication with one untrusted party. In particular, steering of continuous-variable Gaussian states has been extensively studied theoretically and experimentally, as a fundamental manifestation of the EPR paradox. While most of these studies focused on quadrature measurements for steering detection, two recent works revealed that there exist Gaussian states which are only steerable by suitable non-Gaussian measurements. In this paper we perform a systematic investigation of EPR steering of bipartite Gaussian states by pseudospin measurements, complementing and extending previous findings. We first derive the density-matrix elements of two-mode squeezed thermal Gaussian states in the Fock basis, which may be of independent interest. We then use such a representation to investigate steering of these states as detected by a simple nonlinear criterion, based on second moments of the correlation matrix constructed from pseudospin operators. This analysis reveals previously unexplored regimes where non-Gaussian measurements are shown to be more effective than Gaussian ones to witness steering of Gaussian states in the presence of local noise. We further consider an alternative set of pseudospin observables, whose expectation value can be expressed more compactly in terms of Wigner functions for all two-mode Gaussian states. However, according to the adopted criterion, these observables are found to be always less sensitive than conventional Gaussian observables for steering detection. Finally, we investigate continuous-variable Werner states, which are non-Gaussian mixtures of Gaussian states, and find that pseudospin measurements are always more effective than Gaussian ones to reveal their steerability. Our results provide useful insights on the role of non

Dynamic Arc Fitting Path Follower for Skid-Steered Mobile Robots

Directory of Open Access Journals (Sweden)

Peter Lepej

2015-10-01

Full Text Available Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities are produced for mobile bases. Therefore we have focused on this area because there is only a small amount of available path following software for skid-steered mobile robots. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile bases. Our approach is based on an arc fitting algorithm, which takes into account the robot constraints and kinematical model. It produces a continuous trajectory where fitting to the given path is adapted based on given parameters. Moreover, we have included orientation angle compensation while the mobile robot is moving and ground inclination compensation. Our rescue robot is described, together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software and curvature velocity approach. The results for the proposed algorithm are shown for the simulation results and the experiment.

The ATLAS High Level Trigger Steering Framework and the Trigger 
Configuration System.

CERN Document Server

Pérez Cavalcanti, Tiago; The ATLAS collaboration

2011-01-01

The ATLAS High Level Trigger Steering Framework and the Trigger 
Configuration System.
 
The ATLAS detector system installed in the Large Hadron Collider (LHC) 
at CERN is designed to study proton-proton and nucleus-nucleus 
collisions with a maximum center of mass energy of 14 TeV at a bunch 
collision rate of 40MHz.  In March 2010 the four LHC experiments saw 
the first proton-proton collisions at 7 TeV. Still within the year a 
collision rate of nearly 10 MHz is expected. At ATLAS, events of 
potential interest for ATLAS physics are selected by a three-level 
trigger system, with a final recording rate of about 200 Hz. The first 
level (L1) is implemented in custom hardware; the two levels of 
the high level trigger (HLT) are software triggers, running on large 
farms of standard computers and network devices. 

Within the ATLAS physics program more than 500 trigger signatures are 
defined. The HLT tests each signature on each L1-accepted event; the 
test outcome is recor...

Design of Immune-Algorithm-Based Adaptive Fuzzy Controllers for Active Suspension Systems

Directory of Open Access Journals (Sweden)

Ming-Yuan Shieh

2014-04-01

Full Text Available The aim of this paper is to integrate the artificial immune systems and adaptive fuzzy control for the automobile suspension system, which is regarded as a multiobjective optimization problem. Moreover, the fuzzy control rules and membership controls are then introduced for identification and memorization. It leads fast convergence in the search process. Afterwards, by using the diversity of the antibody group, trapping into local optimum can be avoided, and the system possesses a global search capacity and a faster local search for finding a global optimal solution. Experimental results show that the artificial immune system with the recognition and memory functions allows the system to rapidly converge and search for the global optimal approximate solutions.

Design of LQG Controller for Active Suspension without Considering Road Input Signals

Directory of Open Access Journals (Sweden)

Hui Pang

2017-01-01

Full Text Available As the road conditions are completely unknown in the design of a suspension controller, an improved linear quadratic and Gaussian distributed (LQG controller is proposed for active suspension system without considering road input signals. The main purpose is to optimize the vehicle body acceleration, pitching angular acceleration, displacement of suspension system, and tire dynamic deflection comprehensively. Meanwhile, it will extend the applicability of the LQG controller. Firstly, the half-vehicle and road input mathematical models of an active suspension system are established, with the weight coefficients of each evaluating indicator optimized by using genetic algorithm (GA. Then, a simulation model is built in Matlab/Simulink environment. Finally, a comparison of simulation is conducted to illustrate that the proposed LQG controller can obtain the better comprehensive performance of vehicle suspension system and improve riding comfort and handling safety compared to the conventional one.

Steering, Entanglement, Nonlocality, and the EPR Paradox

OpenAIRE

Wiseman, H. M.; Jones, S. J.; Doherty, A. C.

2006-01-01

The concept of steering was introduced by Schrodinger in 1935 as a generalization of the EPR paradox for arbitrary pure bipartite entangled states and arbitrary measurements by one party. Until now, it has never been rigorously defined, so it has not been known (for example) what mixed states are steerable (that is, can be used to exhibit steering). We provide an operational definition, from which we prove (by considering Werner states and Isotropic states) that steerable states are a strict ...

ADAMS - Introduction

International Nuclear Information System (INIS)

Song, Cheol Gi

2003-06-01

This book introduces ADAMS, which is composed of 20 modules ; stamping mechanism, ADAMS introduction, GUI overview failing stone project motion one DOF pendulum inclined plane lift mechanism I mechanism II mechanism III suspension subsystem suspension-steering system spring-damper I spring-damper II hatchback I hatchback II hatchback III cam-rocker-valve target practice recommended practice and switch mechanism workshop.

Steering healthcare service delivery: a regulatory perspective.

Science.gov (United States)

Prakash, Gyan

2015-01-01

The purpose of this paper is to explore regulation in India's healthcare sector and makes recommendations needed for enhancing the healthcare service. The literature was reviewed to understand healthcare's regulatory context. To understand the current healthcare system, qualitative data were collected from state-level officials, public and private hospital staff. A patient survey was performed to assess service quality (QoS). Regulation plays a central role in driving healthcare QoS. India needs to strengthen market and institutional co-production based approaches for steering its healthcare in which delivery processes are complex and pose different challenges. This study assesses current healthcare regulation in an Indian state and presents a framework for studying and strengthening regulation. Agile regulation should be based on service delivery issues (pull approach) rather than monitoring and sanctions based regulatory environment (push approach). Healthcare pitfalls across the world seem to follow similar follies. India's complexity and experience is useful for emerging and developed economies. The author reviewed around 70 publications and synthesised them in healthcare regulatory contexts. Patient's perception of private providers could be a key input towards steering regulation. Identifying gaps across QoS dimensions would be useful in taking corrective measures.

Estimation of Road Loads and Vibration Transmissibility of Torsion Bar Suspension System in a Tracked Vehicle

Science.gov (United States)

Gagneza, G. P. S.; Chandramohan, Sujatha

2018-05-01

Designing the suspension system of a tracked combat vehicle (CV) is really challenging as it has to satisfy conflicting requirements of good ride comfort, vehicle handling and stability characteristics. Many studies in this field have been reported in literature and it has been found that torsion bars satisfy the designer's conflicting requirements of good ride and handling and thus have reserved a place for themselves as the most widely used suspension system for military track vehicles. Therefore, it is imperative to evaluate the effectiveness of the torsion bar under dynamic conditions of undulating terrain and validating the same by correlating it with computer simulation results. Thus in the present work, the dynamic simulation of a 2N + 4 degrees of freedom (DOF) mathematical model has been carried out using MATLAB Simulink and the vibration levels were also measured experimentally on a 12 wheel stationed high mobility military tracked infantry combat vehicle (ICV BMP-II) traversing different terrain, that is, Aberdeen proving ground (APG) and Sinusoidal, at a constant vehicle speed. The dynamic force transmitted to the hull CG through the 12 torsion bar suspension systems was computed to be around 26,700 N and found to match the measured values. The vibration isolation of the torsion bar in bounce was found to be effective, with a transmissibility from the road wheel to the hull of about 0.6.

Proposal to use vibration analysis steering components and car body to monitor, for example, the state of unbalance wheel

Science.gov (United States)

Janczur, R.

2016-09-01

The results of road tests of car VW Passat equipped with tires of size 195/65 R15, on the influence of the unbalancing front wheel on vibration of the parts of steering system, steering wheel and the body of the vehicle have been presented in this paper. Unbalances wheels made using weights of different masses, placed close to the outer edge of the steel rim and checked on the machine Hunter GSP 9700 for balancing wheels. The recorded waveforms vibration steering components and car body, at different constant driving speeds, subjected to spectral analysis to determine the possibility of isolating vibration caused by unbalanced wheel in various states and coming from good quality asphalt road surface. The results were discussed in terms of the possibility of identifying the state of unbalancing wheels and possible changes in radial stiffness of the tire vibration transmitted through the system driving wheel on the steering wheel. Vibration analysis steering components and car body, also in the longitudinal direction, including information from the CAN bus of the state of motion of the car, can be used to monitor the development of the state of unbalance wheel, tire damage or errors shape of brake discs or brake drums, causing pulsations braking forces.

Microbial spoilage, instability risk of antacid suspension in the presence of commonly used preservative system.

Science.gov (United States)

Khan, Jamshaid Ali; Khan, Imran Ullah; Iqbal, Zafar; Nasir, Fazli; Muhammad, Salar; Hannan, Peer Abdul; Ullah, Irfan

2015-09-01

Manifestation of microbial spoilage of any product by bacteria and to assess the effectiveness of the anti-microbial preservatives (parabens) used for the prevention and stability purpose. The aim of the present work is to study the effectiveness of preservatives used in the antacid suspensions and to analyze the effect of microbial growth on the quality of respective antacid suspensions. Samples of various antacid suspensions were randomly collected from local market and Government hospital pharmacies. Three different antacid formulations were prepared in the laboratory. All the formulations were preliminarily evaluated on the basis of organoleptic characteristics, pH, viscosity and assay. Efficacy of the preservative system in suspension formulation was determined by inoculating the samples in its final container, with specific strains of bacteria i.e. Escherichia coli ATCC 8739, Pseudomonas aeruginosa ATCC 9027 and Staphylococcus aureus ATCC 6538, taking samples from the inoculated preparation at specified intervals of time i.e. 0 time, 07 days, 14 days and 28 days, growing it on nutrient agar medium and colony forming units (CFUs) were scored by plate count. At the same time the samples were also subjected to qualitative and quantitative testing. The decrease in CFU and alteration in assay, pH and viscosity was observed in all the formulations except formulation M2 and F3 that showed stability throughout the study period.

Structural analysis of compression helical spring used in suspension system

Science.gov (United States)

Jain, Akshat; Misra, Sheelam; Jindal, Arun; Lakhian, Prateek

2017-07-01

The main aim of this work has to develop a helical spring for shock absorber used in suspension system which is designed to reduce shock impulse and liberate kinetic energy. In a vehicle, it increases comfort by decreasing amplitude of disturbances and it improves ride quality by absorbing and dissipating energy. When a vehicle is in motion on a road and strikes a bump, spring comes into action quickly. After compression, spring will attempt to come to its equilibrium state which is on level road. Helical springs can be made lighter with more strength by reducing number of coils and increasing the area. In this research work, a helical spring is modeled and analyzed to substitute the existing steel spring which is used in suspension. By using different materials, stress and deflection of helical spring can be varied. Comparability between existing spring and newly replaced spring is used to verify the results. For finding detailed stress distribution, finite element analysis is used to find stresses and deflection in both the helical springs. Finite element analysis is a method which is used to find proximate solutions of a physical problem defined in a finite domain. In this research work, modeling of spring is accomplished using Solid Works and analysis on Ansys.

Network synthesis and parameter optimization for vehicle suspension with inerter

Directory of Open Access Journals (Sweden)

Long Chen

2016-12-01

Full Text Available In order to design a comfortable-oriented vehicle suspension structure, the network synthesis method was utilized to transfer the problem into solving a timing robust control problem and determine the structure of “inerter–spring–damper” suspension. Bilinear Matrix Inequality was utilized to obtain the timing transfer function. Then, the transfer function of suspension system can be physically implemented by passive elements such as spring, damper, and inerter. By analyzing the sensitivity and quantum genetic algorithm, the optimized parameters of inerter–spring–damper suspension were determined. A quarter-car model was established. The performance of the inerter–spring–damper suspension was verified under random input. The simulation results manifested that the dynamic performance of the proposed suspension was enhanced in contrast with traditional suspension. The root mean square of vehicle body acceleration decreases by 18.9%. The inerter–spring–damper suspension can inhibit the vertical vibration within the frequency of 1–3 Hz effectively and enhance the performance of ride comfort significantly.

Steering assistance for backing up articulated vehicles

Directory of Open Access Journals (Sweden)

Dieter Zoebel

2003-10-01

Full Text Available Articulated vehicles belong to the category of nonholonomous wheelers. Under the aspect of control theory they require a sophisticated handling. This corresponds to the experience of unexercised drivers, for instance maneuvering a car and its caravan into a parking box. In this context some adequate advice for the right steering movements would give an appreciable assistance. Here a visual assistance is proposed and realized. The decisive advice for the driver is derived from kinematic modeling. The system is designed to be integrated into standard cars and trucks. For testing purposes the actual system has been incorporated into an existing backing up simulator.

Rheology of dense suspensions of non colloidal particles

Science.gov (United States)

Guazzelli, Élisabeth

2017-06-01

Dense suspensions are materials with broad applications both in industrial processes (e.g. waste disposal, concrete, drilling muds, metalworking chip transport, and food processing) and in natural phenomena (e.g. flows of slurries, debris, and lava). Despite its long research history and its practical relevance, the mechanics of dense suspensions remain poorly understood. The major difficulty is that the grains interact both by hydrodynamic interactions through the liquid and by mechanical contact. These systems thus belong to an intermediate regime between pure suspensions and granular flows. We show that we can unify suspension and granular rheology under a common framework by transferring the frictional approach of dry granular media to wet suspensions of spherical particles. We also discuss non-Newtonian behavior such as normal-stress differences and shear-induced migration. Beyond the classical problem of dense suspension of hard spheres which is far from being completely resolved, there are also entirely novel avenues of study concerning more complex mixtures of particles and fluids such as those involving other types of particles (e.g. fibers) or non-Newtonian fluids that we will also address.

Establishment of sorghum cell suspension culture system for ...

African Journals Online (AJOL)

STORAGESEVER

2008-03-18

Mar 18, 2008 ... Additionally, sorghum cell suspension cultures have been initiated from the friable ... proteomics technologies. The field of proteomics is .... air dried at room temperature and resuspended in 2 ml of urea buffer [9 M urea, 2 M ...

STEER Coastal Use Mapping Project

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — The Coastal Use Mapping Project is designed to collect critical information on human activities in and near the St. Thomas East End Reserves (STEER). The project...

Design of a Path-Tracking Steering Controller for Autonomous Vehicles