Adrian Rodriguez Master Thesis Abstract A steering aid system called active steering is evaluated by simulating different driving events. The active steering solution, which is taken from a scientific paper, has been implemented in Matlab/Simulink. A vehicle model, also implemented in Matlab/Simulink, is used to form a total system and to compare the two systems: a conventional vehicle and a co...

This study describes the design and testing of a dual-lane electric drive for a prototype, electromechanically actuated, nose wheel steering system for a commercial aircraft. The drive features two independent motor controllers, each operating onehalf of a dual three-phase motor, resulting in an actuator capable of full performance following an electrical fault. An isolated communications link ...

This paper presents an integrated controller for autonomous articulated electric vehicle (AAEV) path tracking and rollover prevention. The AAEV is vulnerable to due the characteristics of frame steering (AFS) mechanism, which shows improved maneuverability agility but not front wheel steering. In addition, ratio between height track width high, so prone rolling over. Therefore, proposed was des...

This paper presents a method to design path tracking controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) systems equipped in in-wheel motor-driven electric vehicles (IWM-EVs). Generally, it is difficult calculate the angles of 4WIS braking/traction torques 4WIB/4WID for control. Moreover, there have been limitations an error dynamics-based controller, which r...

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...

Neural control of optomotor responses in Locusta migratoria was studied using a newly developed preparation of intact, tethered, flying locusts. The preparation could perform normal flight behaviour and head movements while neurones in the neck connectives were recorded and stimulated intracellularly. Course deviations simulated by an artificial horizon caused optomotor reactions, e.g. steering...

[Abstract] This paper presents the results of wind measurements taken in the ASSET KiteLab. KiteLab is a test facility on the roof of the faculty building where experimental kites can be flown and tested. It is a controlled environment where sensors and cameras collect data during flight test operations. The wind data has been analyzed and together with telltale tufts it has been used to valida...

Being one of the most critical phases a flight, landing deserves specific attention, especially when aircraft is subject to external disturbances such as wind. A notable concern associated with touchdown events, crosswind present, tire wear. This work aimed first at developing nonlinear flight simulator able handle entire maneuver in non-null wind conditions, considering airborne phase, ground ...

The flight envelope can be viewed as a set within the state space of an aircraft. For various safety considerations an aircraft is required to remain within its prescribed flight envelope. The safe set is the largest controlled invariant set within the flight envelope. Thus, if an aircraft is to remain within its envelope it must stay within the safe set. When an aircraft is impaired, e.g., a j...