This paper proposes a sampling based kinodynamic planning technique for planning persistent monitoring trajectories for a sensing robot in a spatiotemporal environmental field. The robot uses a Kalman-Bucy filter to estimate the spatiotemporal field. Since the error covariance matrix of the Kalman-Bucy filter evolves according to the nonlinear Riccati differential equation, this requires planni...

Computational steering allows researchers to monitor and manage long running, resource intensive applications at runtime. Limited research has addressed high performance computational steering. High performance in computational steering is necessary for three reasons. First, a computational steering system must act intelligently at runtime in order to minimize its perturbation of the target app...

Recently, automatic steering systems for emergency obstacle avoidance have been studied extensively. The control input of such active steering control systems can be classified into the steering angle and the steering torque input. The steering torque based control provides some degree of freedom for drivers to control the vehicle motion, thus it has potential for development as steering assist...

For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of four-in-wheel motor independent-drive vehicle (4MIDEV) established comprehensively considering steering characteristics, longitudinal and lateral characteristics. Takagi Sugeno (T-S) fuzzy adopted to deal nonlinear time-varying characteristics parameters such as speed ...

Insights into how exactly a fly powers and controls flight have been hindered by the need to unpick the dynamic complexity of the muscles involved. The wingbeats of insects are driven by two antagonistic groups of power muscles and the force is funneled to the wing via a very complex hinge mechanism. The hinge consists of several hardened and articulated cuticle elements called sclerites. This ...

Abstract: Many vehicle control systems are based on the yaw rate error to help the driver during oversteer and understeer conditions. The control systems usually operate on brake pressures distributions such as ESP and/or on active front and rear steering control. Recently many papers are focused on the design of integrated global chassis control systems. The main contribution of this paper is ...

metal forming processes, compared with machining ones, reduce production steps and increasemanufacturing speed in addition to saving raw material. in this paper, forming process of column ofa steering mechanism is investigated by finite element analyses and experimental tests; andoptimum die design parameters are found. forming process parameters including die opening angle,bearing length, clea...

In the paper Linear Parameter-Varying (LPV) models of a road-vehicle are presented, that describe the yaw dynamics, the steering system and the brake dynamics of the front wheels. The scheduling parameter is the vehicle velocity. The identification procedure is also detailed. The aim of the identification is to provide models for LPV yaw-rate controller design. The differential brake control on...

This paper deals with dynamic analysis of mobile robot equipped with three omni-directional wheels. The mobile robots contain subsystems from different physical domains and in the paper bond graphs are chosen as an appropriate technique for modelling and simulation. Model of Robotino mobile robot is developed and simulation is performed using the program BondSim, developed by the first author o...