An automated steering controller is proposed to track the target path in this paper. Model predictive control is employed to design the controller based on a 5-state road following bicycle model including the steering actuator dynamics. The adaptive preview time is reduced for an increased path geometry change index due to driving from a straight road into a sharp curve. The preview time is inc...

This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated drivin...

The enhanced aerodynamic performance of insects results from an interaction of three distinct yet interactive mechanisms: delayed stall, rotational circulation, and wake capture. Delayed stall functions during the translational portions of the stroke, when the wings sweep through the air with a large angle of attack. In contrast, rotational circulation and wake capture generate aerodynamic forc...

In line-of-sight communication systems, accurate alignment between the transmitter and receiver is important to guarantee sufficient signal power at the receiver. Such alignment is even more important for orbital angular momentum (OAM) multiplexing systems since misalignment between the transmitter and receiver may cause crosstalk among channels. In this paper, we demonstrate the simultaneous g...

Methods and experimental results of a collision avoidance driver assistance system are described with automatic object detection, trajectory prediction, and path following with controlled braking and steering. The objects are detected by a fusion of LIDAR scanning and video camera pictures resulting in the location, size and speed of objects in front of the car. A desired trajectory is calculat...

The development of an automatic steering control system has been a major concern for most researchers towards the realization of a fully automated car in the near future. It is believed that such system could mitigate the effect of road accidents caused by human errors. Therefore, this project was carried out to develop a prototype of an intelligent car that has the capability to navigate autom...

This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway....

As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, control, and path planning, an appropriately designed needle can be steered through tissue to reach a specified 3D target. Such steering capability could enhance targeting accuracy and may improve outcomes for percutaneous th...

Using optical tweezers and a haptic device, microspheres having diameters ranging from 3 to 4 μm (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via chemical binding. For this purpose, biotin-coated microspheres trapped by a laser beam are steered and chemically attached to an immobilized streptavidin-coated s...

PURPOSE To study the ability of a human operator to manually correct for errors in the needle insertion path without partial withdrawal of the needle by means of an active, tip-articulated steerable needle. MATERIALS AND METHODS The needle is composed of a 1.32-mm outer-diameter cannula, with a flexure joint near the tip, and a retractable stylet. The bending stiffness of the needle resembles...