Air-cushioned spheres are widely used as treadmills to study behavioural and neurophysiological questions in numerous species. We describe an improved spherical treadmill design that reliably registers the path and walking behaviour of an animal walking on top of the sphere. The simple and robust set-up consists of a very light hollowed styrofoam ball supported by an air stream in a hollow half...

A simplified yaw-attitude modeling, consistent with Bar-Sever (1996), has been implemented and tested in the NRCan PPP software. For Block IIR GPS satellite it is possible to model yaw-attitude control during eclipsing periods by using the constant hardware yaw rate of 0.20 /s. The Block IIR satellites maintain the nominal yaw attitude even during a shadow crossing (Y. E. Bar-Sever, private com...

In this paper a novel adaptive regenerative braking control concept for electric vehicles with an electric motor at the front axle is presented. It is well known that the “phased” type regenerative braking systems of category B maximize the amount of regenerative energy during braking. However, there is an increased risk of maneuvering capability loss especially during cornering. An integrated ...

This work evaluates the intrinsic contribution of the yaw rate reference to the overall handling performance of an electric vehicle with torque vectoring control in terms of minimum-time manoeuvring. A range of yaw rate references are compared through optimal control simulations incorporating closed-loop controller dynamics. Results show yaw rate reference has a significant effect on manoeuvre ...

Using electrical machine in conventional vehicles, also called hybrid vehicles, has become a promising control scheme that enables some manners for fuel economy and driver assist for better stability. In this paper, vehicle stability control, fuel economy and Driving/Regeneration braking for a 4WD hybrid vehicle is investigated by using an electrical machine on each non-driven wheels. In front ...

This paper proposes a robust gain-scheduled H1 controller for lateral stability control of four-wheelindependent-drive electric vehicles via linear parameter-varying technique. The controller aims at tracking the desired yaw rate and vehicle sideslip angle by controlling the external yaw moment. In the design of controller, uncertain factors such as vehicle mass and tire cornering stiffness in ...

It is a difficult and important project to coordinate active front steering (AFS) and direct yaw moment control (DYC), which has great potential to improve vehicle dynamic stability. Moreover, the balance between driver’s operation and advanced technologies’ intervention is a critical problem. This paper proposes a human-machine-cooperative-driving controller (HMCDC) with a hierarchical structu...