dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. this study is aimed to elaborate this notion in the case of three dimensional (3d) walking and extend it f...

The automotive industry has successfully collaborated to release the ISO 26262 standard for developing safe software for cars. The standard describes in detail how to conduct hazard analysis and risk assessments to determine the necessary safety measures for each feature. However, the standard does not concern threat analysis for malicious attackers or how to select appropriate security counter...

Visual control of locomotion typically involves both detection of current egomotion as well as anticipation of impending changes in trajectory. To determine if there are distinct neural systems involved in these aspects of steering control we used a slalom paradigm, which required participants to steer around objects in a computer simulated environment using a joystick. In some trials the whole...

The back emf harmonics of a permanent magnet (PM) synchronous motor is a major source of torque ripple. For torque control applications including column fitted MDPS (motor driven power steering) systems, it is essential to reduce the mechanical vibrations due to torque ripples at low speeds. In this paper, a torque ripple reduction algorithm for interior PM synchronous motors is proposed. The h...

Visual computational steering environments extend traditional visualization environments by enabling the user to interactively steer the computations applied to the data. In this paper, we develop a new type of computational steering. “Resource steering” extends current visual steering techniques by providing machine resource estimation and control to the user. With resource steering, the user ...

The 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 di erent input parameters. After a short description of the smog prediction model, its visualization and steering are described. The amount of computation needed to solve...

The released ISO 26262 standard for automotive systems requires breaking down safety goals from the hazard analysis and risk assessment into functional safety requirements in the functional safety concept. It has to be justified that the defined functional safety requirements are suitable to achieve the stated safety goals. In this paper, we present a systematic, structured and model-based meth...

The paper addresses the problem of vehicle rollover avoidance using reference governors applied to modify the driver steering input in vehicles with an active steering system. Several reference governor designs are presented and tested with a detailed nonlinear simulation model. The vehicle dynamics are highly nonlinear for large steering angles, including the conditions where the vehicle appro...