Effect of drivers' age and push button locations on visual time off road, steering wheel deviation and safety perception.

PubMed

Dukic, T; Hanson, L; Falkmer, T

2006-01-15

The study examined the effects of manual control locations on two groups of randomly selected young and old drivers in relation to visual time off road, steering wheel deviation and safety perception. Measures of visual time off road, steering wheel deviations and safety perception were performed with young and old drivers during real traffic. The results showed an effect of both driver's age and button location on the dependent variables. Older drivers spent longer visual time off road when pushing the buttons and had larger steering wheel deviations. Moreover, the greater the eccentricity between the normal line of sight and the button locations, the longer the visual time off road and the larger the steering wheel deviations. No interaction effect between button location and age was found with regard to visual time off road. Button location had an effect on perceived safety: the further away from the normal line of sight the lower the rating.

Multi-functional Electric Module for a Vehicle

NASA Technical Reports Server (NTRS)

Waligora, Thomas M. (Inventor); Fraser-Chanpong, Nathan (Inventor); Figuered, Joshua M. (Inventor); Reed, Ryan (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Herrera, Eduardo (Inventor); Markee, Mason M. (Inventor); Bluethmann, William J. (Inventor)

2015-01-01

A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.

Characterization Parameters for a Three Degree of Freedom Mobile Robot

DTIC Science & Technology

2013-12-01

DARc’s dimensions which contributed to the inertia, force, torque and position equa- tions. We calculated body inertia as 1.93kg·m2 and wheel inertia...separation .316 Wheel Radius Outer/Inner .127 m .085cm Wheel Mass .7055 kg Body Mass 13.542 kg Table 4.1: DAR-C Dimensions The force on each wheel...which used ackeman steering, a technique where wheels are able to rotate relative the robot body . The easiest example of a differentially steered

Design and performance tests of a distributed power-driven wheel loader

NASA Astrophysics Data System (ADS)

Jin, Xiaolin; Shi, Laide; Bian, Yongming

2010-03-01

An improved ZLM15B distributed power-driven wheel loader was designed, whose travel and brake system was accomplished by two permanent magnet synchronous motorized-wheels instead of traditional mechanical components, and whose hydraulic systems such as the working device system and steering system were both actuated by an induction motor. All above systems were flexibly coupled with 3-phase 380VAC electric power with which the diesel engine power is replaced. On the level cement road, traveling, braking, traction and steering tests were carried out separately under non-load and heavy-load conditions. Data show that machine speed is 5 km/h around and travel efficiency of motorized-wheels is above 95%; that machine braking deceleration is between 0.5 and 0.64 m/s2 but efficiency of motorized-wheels is less than 10%; that maximum machine traction is above 2t while efficiency of motorized-wheels is more than 90% and that adaptive differential steering can be smoothly achieved by motorized-wheels.

Design and performance tests of a distributed power-driven wheel loader

NASA Astrophysics Data System (ADS)

Jin, Xiaolin; Shi, Laide; Bian, Yongming

2009-12-01

An improved ZLM15B distributed power-driven wheel loader was designed, whose travel and brake system was accomplished by two permanent magnet synchronous motorized-wheels instead of traditional mechanical components, and whose hydraulic systems such as the working device system and steering system were both actuated by an induction motor. All above systems were flexibly coupled with 3-phase 380VAC electric power with which the diesel engine power is replaced. On the level cement road, traveling, braking, traction and steering tests were carried out separately under non-load and heavy-load conditions. Data show that machine speed is 5 km/h around and travel efficiency of motorized-wheels is above 95%; that machine braking deceleration is between 0.5 and 0.64 m/s2 but efficiency of motorized-wheels is less than 10%; that maximum machine traction is above 2t while efficiency of motorized-wheels is more than 90% and that adaptive differential steering can be smoothly achieved by motorized-wheels.

Apparent mass of the human body in the vertical direction: Effect of a footrest and a steering wheel

NASA Astrophysics Data System (ADS)

Toward, M. G. R.; Griffin, M. J.

2010-04-01

The apparent mass of the seated human body influences the vibration transmitted through a car seat. The apparent mass of the body is known to be influenced by sitting posture but the influence of the position of the hands and the feet is not well understood. This study was designed to quantify the influence of steering wheel location and the position of a footrest on the vertical apparent mass of the human body. The influences of the forces applied by the hands to a steering wheel and by the feet to a footrest were also investigated. Twelve subjects were exposed to whole-body vertical random vibration (1.0 m s -2 rms over the frequency range 0.13-40.0 Hz) while supported by a rigid seat with a backrest reclined to 15°. The apparent mass of the body was measured with five horizontal positions and three vertical positions of a steering wheel and also with hands in the lap, and with five horizontal positions of a footrest. The influence of five forward forces (0, 50, 100, 150, 200 N) applied separately to the 'steering wheel' and the footrest were also investigated as well as a 'no backrest' condition. With their hands in their laps, subjects exhibited a resonance around 6.7 Hz, compared to 4.8 Hz when sitting upright with no backrest. In the same posture holding a steering wheel, the mass supported on the seat surface decreased and there was an additional resonance at 4 Hz. Moving the steering wheel away from the body reduced the apparent mass at the primary resonance frequency and increased the apparent mass around the 4 Hz resonance. As the feet moved forward, the mass supported on the seat surface decreased, indicating that the backrest and footrest supported a greater proportion of the subject weight. Applying force to either the steering wheel or the footrest reduced the apparent mass at resonance and decreased the mass supported on the seat surface. It is concluded that the positions and contact conditions of the hands and the feet affect the biodynamic response of the body in a car driving posture. As the biodynamic response influences the vibration transmitted through seats, these factors should be considered in dynamic models of vehicle seating.

Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque

NASA Astrophysics Data System (ADS)

Tagesson, Kristoffer; Cole, David

2017-07-01

The steering system in most heavy trucks is such that it causes a destabilising steering wheel torque when braking on split friction, that is, different friction levels on the two sides of the vehicle. Moreover, advanced emergency braking systems are now mandatory in most heavy trucks, making vehicle-induced split friction braking possible. This imposes higher demands on understanding how the destabilising steering wheel torque affects the driver, which is the focus here. Firstly, an experiment has been carried out involving 24 subjects all driving a truck where automatic split friction braking was emulated. Secondly, an existing driver-vehicle model has been adapted and implemented to improve understanding of the observed outcome. A common conclusion drawn, after analysing results, is that the destabilising steering wheel torque only has a small effect on the motion of the vehicle. The underlying reason is a relatively slow ramp up of the disturbance in comparison to the observed cognitive delay amongst subjects; also the magnitude is low and initially suppressed by passive driver properties.

Dollar Summary of Federal Supply Classification and Service Category by Company, FY84, Part 1 (1005-2610).

DTIC Science & Technology

1984-01-01

350 STATE TOTAL 377 NEBRASKA ARMY TRACTORS WHEELED 111 CONTRACTOR TOTAL 488 PINE BUSH EQUIPMENT CO INC NEW YORK ARMY TRACTORS WHEELED 49 PSI MOBILE...ARMY VEHICULAR FURNITURE AND ACCESSORIES 48- AURORA CORD a CABLE CO INC ILLINOIS ARMY VEHICULAR FURNITURE AND ACCESSORIES 211 BARREN RV MTL HTH/MTL...MICHIGAN ARMY VEHICULAR BRAKE STEERING AXLE WHEEL COMP 702 PENN ARMY VEHICULAR BRAKE STEERING AXLE WHEEL COMP 32 CONTRACTOR TOTAL 734 RYAN CHRYSLER PLYMOUTH

Levels of steering control: Reproduction of steering-wheel movements

NASA Technical Reports Server (NTRS)

Godthelp, H.

1982-01-01

A schematic description of the steering control process is presented. It is shown that this process can be described in terms of levels of control. Level of control will depend on driver's skill in making use of 'clever' strategies which may be related to knowledge about the path to follow (input) and/or the vehicle under control. This knowledge may be referred to as an internal model of a particular task element. Internal information, as derived from these internal models will probably be used together with proprioceptive feedback. It is hypothesized that the efficiency of the higher levels of control will be dependent on the accuracy of both the internal and proprioceptive information. Based on this research philosophy a series of experiments is carried out. Two primary experiments were done in order to analyse subjects' ability to reproduce steering-wheel positions and movements without visual feedback. Steering-wheel angle amplitude, steering force and movement frequency were involved as independent variables.

Mid-sized omnidirectional robot with hydraulic drive and steering

NASA Astrophysics Data System (ADS)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Identifying cognitive distraction using steering wheel reversal rates.

PubMed

Kountouriotis, Georgios K; Spyridakos, Panagiotis; Carsten, Oliver M J; Merat, Natasha

2016-11-01

The influence of driver distraction on driving performance is not yet well understood, but it can have detrimental effects on road safety. In this study, we examined the effects of visual and non-visual distractions during driving, using a high-fidelity driving simulator. The visual task was presented either at an offset angle on an in-vehicle screen, or on the back of a moving lead vehicle. Similar to results from previous studies in this area, non-visual (cognitive) distraction resulted in improved lane keeping performance and increased gaze concentration towards the centre of the road, compared to baseline driving, and further examination of the steering control metrics indicated an increase in steering wheel reversal rates, steering wheel acceleration, and steering entropy. We show, for the first time, that when the visual task is presented centrally, drivers' lane deviation reduces (similar to non-visual distraction), whilst measures of steering control, overall, indicated more steering activity, compared to baseline. When using a visual task that required the diversion of gaze to an in-vehicle display, but without a manual element, lane keeping performance was similar to baseline driving. Steering wheel reversal rates were found to adequately tease apart the effects of non-visual distraction (increase of 0.5° reversals) and visual distraction with offset gaze direction (increase of 2.5° reversals). These findings are discussed in terms of steering control during different types of in-vehicle distraction, and the possible role of manual interference by distracting secondary tasks. Copyright © 2016 Elsevier Ltd. All rights reserved.

Simplified planar model of a car steering system with rack and pinion and McPherson suspension

NASA Astrophysics Data System (ADS)

Knapczyk, J.; Kucybała, P.

2016-09-01

The paper presents the analysis and optimization of steering system with rack and pinion and McPherson suspension using spatial model and equivalent simplified planar model. The dimension of the steering linkage that give minimum steering error can be estimated using planar model. The steering error is defined as the difference between the actual angle made by the outer front wheel during steering manoeuvers and the calculated angle for the same wheel based on the Ackerman principle. For a given linear rack displacement, a specified steering arms angular displacements are determined while simultaneously ensuring best transmission angle characteristics (i) without and (ii) with imposing linear correlation between input and output. Numerical examples are used to illustrate the proposed method.

Determination of Steering Wheel Angles during CAR Alignment by Image Analysis Methods

NASA Astrophysics Data System (ADS)

Mueller, M.; Voegtle, T.

2016-06-01

Optical systems for automatic visual inspections are of increasing importance in the field of automation in the industrial domain. A new application is the determination of steering wheel angles during wheel track setting of the final inspection of car manufacturing. The camera has to be positioned outside the car to avoid interruptions of the processes and therefore, oblique images of the steering wheel must be acquired. Three different approaches of computer vision are considered in this paper, i.e. a 2D shape-based matching (by means of a plane to plane rectification of the oblique images and detection of a shape model with a particular rotation), a 3D shape-based matching approach (by means of a series of different perspectives of the spatial shape of the steering wheel derived from a CAD design model) and a point-to-point matching (by means of the extraction of significant elements (e.g. multifunctional buttons) of a steering wheel and a pairwise connection of these points to straight lines). The HALCON system (HALCON, 2016) was used for all software developments and necessary adaptions. As reference a mechanical balance with an accuracy of 0.1° was used. The quality assessment was based on two different approaches, a laboratory test and a test during production process. In the laboratory a standard deviation of ±0.035° (2D shape-based matching), ±0.12° (3D approach) and ±0.029° (point-to-point matching) could be obtained. The field test of 291 measurements (27 cars with varying poses and angles of the steering wheel) results in a detection rate of 100% and ±0.48° (2D matching) and ±0.24° (point-to-point matching). Both methods also fulfil the request of real time processing (three measurements per second).

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

14 CFR 25.499 - Nose-wheel yaw and steering.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Nose-wheel yaw and steering. 25.499 Section 25.499 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... inertia forces. (d) For other than the nose gear, its attaching structure, and the forward fuselage...

46 CFR 108.643 - Rudder orders.

Code of Federal Regulations, 2010 CFR

2010-10-01

... GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT... the wheel or steering device must be moved for right rudder or left rudder must be marked in letters of contrasting color to the background on the wheel or steering device or in a place that is directly...

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

NASA Astrophysics Data System (ADS)

Itoh, Masato; Hagimori, Yuki; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

In this study, we apply a hierarchical model predictive control to omni-directional mobile vehicle, and improve the tracking performance. We deal with an independent four-wheel driving/steering vehicle (IFWDS) equipped with four coaxial steering mechanisms (CSM). The coaxial steering mechanism is a special one composed of two steering joints on the same axis. In our previous study with respect to IFWDS with ideal steering, we proposed a model predictive tracking control. However, this method did not consider constraints of the coaxial steering mechanism which causes delay of steering. We also proposed a model predictive steering control considering constraints of this mechanism. In this study, we propose a hierarchical system combining above two control methods for IFWDS. An upper controller, which deals with vehicle kinematics, runs a model predictive tracking control, and a lower controller, which considers constraints of coaxial steering mechanism, runs a model predictive steering control which tracks the predicted steering angle optimized an upper controller. We verify the superiority of this method by comparing this method with the previous method.

49 CFR 571.101 - Standard No. 101; Controls and displays.

Code of Federal Regulations, 2013 CFR

2013-10-01

... accessibility, visibility and recognition of motor vehicle controls, telltales and indicators, and to facilitate... pressing on the center of the face plane of the steering wheel hub; or for a turn signal control that is operated in a plane essentially parallel to the face plane of the steering wheel in its normal driving...

49 CFR 571.101 - Standard No. 101; Controls and displays.

Code of Federal Regulations, 2010 CFR

2010-10-01

... accessibility, visibility and recognition of motor vehicle controls, telltales and indicators, and to facilitate... pressing on the center of the face plane of the steering wheel hub; or for a turn signal control that is operated in a plane essentially parallel to the face plane of the steering wheel in its normal driving...

49 CFR 571.101 - Standard No. 101; Controls and displays.

Code of Federal Regulations, 2014 CFR

2014-10-01

... accessibility, visibility and recognition of motor vehicle controls, telltales and indicators, and to facilitate... pressing on the center of the face plane of the steering wheel hub; or for a turn signal control that is operated in a plane essentially parallel to the face plane of the steering wheel in its normal driving...

49 CFR 571.101 - Standard No. 101; Controls and displays.

Code of Federal Regulations, 2012 CFR

2012-10-01

... accessibility, visibility and recognition of motor vehicle controls, telltales and indicators, and to facilitate... pressing on the center of the face plane of the steering wheel hub; or for a turn signal control that is operated in a plane essentially parallel to the face plane of the steering wheel in its normal driving...

49 CFR 571.101 - Standard No. 101; Controls and displays.

Code of Federal Regulations, 2011 CFR

2011-10-01

... accessibility, visibility and recognition of motor vehicle controls, telltales and indicators, and to facilitate... pressing on the center of the face plane of the steering wheel hub; or for a turn signal control that is operated in a plane essentially parallel to the face plane of the steering wheel in its normal driving...

46 CFR 131.845 - Instructions for shift of steering gear.

Code of Federal Regulations, 2013 CFR

2013-10-01

... alternative steering stations must be on water-resistant material and posted at each steering station and in... gear or steering stations. (d) Each clutch, gear, wheel, lever, valve, or switch used during any shift of steering gear or steering stations must be numbered or lettered on a metal plate or painted so...

Static load simulation of steering knuckle for a formula student race car

NASA Astrophysics Data System (ADS)

Saputro, Bagus Aulia; Ubaidillah, Triono, Dicky Agus; Pratama, Dzaky Roja; Cahyono, Sukmaji Indro; Imaduddin, Fitrian

2018-02-01

This research aims to determine the stress distribution which occurs on the steering knuckle and to define its safety factor number. Steering knuckle is the most critical part of a car's steering system. Steering knuckle supports the tie rod, brake caliper, and the wheels to provide stability. Steering knuckle withstands the load which given on the front wheels and functions as the wheel's axis. Balljoint and king support the rotation of the suspension arm. When the car is in idle position, knuckle hold the weight of the car, it gets braking force when it's braking and cornering. Knuckle is designed to have the strength that could withstand load and to have a good safety factor value. Knuckle is designed using Fusion software then simulated using Fusion simulation software with a static load, moment braking force, and cornering force as the loads in this simulation. The simulation works in ideal condition. The result of this simulation is satisfying. This simulation produces a maximum displacement of 0.01281mm, the maximum shear stress is 3.707 MPa on the stub hole, and the safety factor is 5.24. The material used for this product is mild steel AISI 1018.

Detecting lane departures from steering wheel signal.

PubMed

Sandström, Max; Lampsijärvi, Eetu; Holmström, Axi; Maconi, Göran; Ahmadzai, Shabana; Meriläinen, Antti; Hæggström, Edward; Forsman, Pia

2017-02-01

Current lane departure warning systems are video-based and lose data when road- and weather conditions are bad. This study sought to develop a lane departure warning algorithm based on the signal drawn from the steering wheel. The rationale is that a car-based lane departure warning system should be robust regardless of road- and weather conditions. N=34 professional driver students drove in a high-fidelity driving simulator at 80km/h for 55min every third hour during 36h of sustained wakefulness. During each driving session we logged the steering wheel- and lane position signals at 60Hz. To derive the lane position signal, we quantified the transfer function of the simulated vehicle and used it to derive the absolute lane position signal from the steering wheel signal. The Pearson correlation between the derived- and actual lane position signals was r=0.48 (based on 12,000km). Next we designed an algorithm that alerted, up to three seconds before they occurred, about upcoming lane deviations that exceeded 0.2m. The sensitivity of the algorithm was 47% and the specificity was 71%. To our knowledge this exceeds the performance of the current video-based systems. Copyright © 2016 Elsevier Ltd. All rights reserved.

Fatal accident cause and conclusion.

PubMed

Tsach, Tsadok; Cohen, Aviva; Finegold, George

2009-01-01

The Toolmarks Laboratory prepared a report concerning a traffic accident involving the death of a road workman. The driver of the vehicle that hit the workman claimed that the wheels had failed to respond when turning left at a roundabout. A traffic investigator photographed the rack and pinion assembly of the steering system, which was subsequently removed and brought to the Toolmarks Laboratory. The rack and pinion assembly of the steering system was rebuilt, and examination showed that the system functioned properly. Specifically, the front wheels responded correctly to the steering input. Laboratory photographs of the steering system were taken in two different positions, from the same angles as the investigator's photographs at the scene of the accident. It was clear that the steering system had not been assembled properly in the garage.

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

NASA Astrophysics Data System (ADS)

Li, Boyuan; Du, Haiping; Li, Weihua

2016-05-01

Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

Auto Mechanics I. Learning Activity Packets (LAPs). Section D--Suspension.

ERIC Educational Resources Information Center

Oklahoma State Board of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

This document contains six learning activity packets (LAPs) that outline the study activities for the "suspension" instructional area for an Auto Mechanics I course. The six LAPs cover the following topics: wheel bearings, tires and wheels, wheel balancing, suspension system, steering system, and wheel alignment. Each LAP contains a…

OCILOW-Wheeled Platform Controls Executable Set

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jansen, John F.

2005-11-30

The OCILOW Controls Executable Set is the complete set of machine executable instructions to control the motion of wheeled platforms that incorporate Off-Centered In-Line Omni-directional Wheels (OCILOW). The controls utilize command signals for the desired motion of the platform (X, Y and Theta) and calculate and control the steering and rolling motion required of each OCILOW wheels to achieve the desired translational and rotational platform motion. The controls utilize signals from the wheel steering and rolling resolvers, and from three load cells located at each wheels, to coordinate the motion of all wheels, while respecting their non-holonomic constraints (i.e., keepingmore » internal stresses and slippage due to possible errors, uneven floors, bumps, misalignment, etc. bounded). The OCILOW Controls Executable Set, which is copyrighted here, is an embodiment of the generic OCILOW algorithms (patented separately) developed specifically for controls of the Proof-of-Principle-Transporter (POP-T) system that has been developed to demonstrate the overall OCILOW controls feasibility and capabilities.« less

Biomechanics of liver injury by steering wheel loading.

PubMed

Lau, I V; Horsch, J D; Viano, D C; Andrzejak, D V

1987-03-01

Abdominal injury induced by steering wheel contact at a velocity of 32 km/hr was investigated using anesthetized swine as the surrogate on a Hyge sled. The lower rim of the wheel was positioned 5 cm below the xyphoid. By varying wheel stiffness, wheel orientation, and column angle, resultant abdominal injury ranged from fatal or critical to minor or none. Wheel stiffness was found to be the primary determinant of abdominal injury severity. The mechanism of abdominal injury was identified to be the rim impacting the abdomen and exceeding a combined velocity and compression sensitive tolerance limit. Abdominal injury occurred within the initial 15 ms of wheel contact before whole body movement of the surrogate of column compression, which were initiated by hub contact with the thorax. The severity of abdominal injury correlated with the peak viscous response which can be represented by the product of the instantaneous velocity of abdominal deformation and abdominal compression. It did not correlate with spinal acceleration.

Utah State University's T2 ODV mobility analysis

NASA Astrophysics Data System (ADS)

Davidson, Morgan E.; Bahl, Vikas; Wood, Carl G.

2000-07-01

In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes a study of the mobility of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a mid-scale (625 kg), second-generation ODV mobile robot with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of unlimited steering rotation, presenting a unique solution to enhanced vehicle mobility requirements. This mobility study focuses on energy consumption in three basic experiments, comparing two modes of steering: Ackerman and ODV. The experiments are all performed on the same vehicle without any physical changes to the vehicle itself, providing a direct comparison these two steering methodologies. A computer simulation of the T2 mechanical and control system dynamics is described.

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Investigation of an alleged mechanism of finger injury in an automobile crash.

PubMed

Stacey, Stephen; Kent, Richard

2006-07-01

This investigation centers on the case of an adult male whose finger was allegedly amputated by the steering wheel of his car during a crash. The subject claimed to have been driving with his left index finger inserted through a hole in the spoke of his steering wheel and was subsequently involved in an offset frontal collision with a tree. The finger was found to be cleanly severed at the mid-shaft of the proximal phalanx after the crash. This injury was alleged to have been caused by inertial loading from the rotation of the steering wheel during the crash. To determine whether this injury mechanism was plausible, three laboratory tests representing distinct loading scenarios were carried out with postmortem human surrogates loaded dynamically by the subject's steering wheel. It was found that the inertial loads generated in this loading scenario are insufficient to amputate the finger. Additionally, artificially constraining the finger to force an amputation to occur revealed that a separation at the proximal interphalangeal joint occurs rather than a bony fracture of the proximal phalanx. Based on these biomechanical tests, it can be concluded that the subject's injury did not occur during the automobile crash in question. Furthermore, it can be shown that the injury was self-inflicted to fraudulently claim on an insurance policy.

46 CFR 97.37-33 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Instructions for changing steering gear. 97.37-33... steering gear. (a) Instructions in at least 1/2 inch letters and figures shall be posted in the steering... gear. Each clutch, gear, wheel, lever, valve, or switch which is used during the changeover shall be...

Diesel Technology: Steering and Suspension.

ERIC Educational Resources Information Center

Miller, Roger; Scarberry, Terry; Tesch, Carl; Kellum, Mary

Competency-based teacher and student materials on steering and suspension are provided for a diesel technology curriculum. Eleven units of instruction cover the following topics: chassis, tires, and wheels; steering; and suspension. The materials are based on the curriculum-alignment concept of first stating the objectives, then developing…

Braking and cornering studies on an air cushion landing system

NASA Technical Reports Server (NTRS)

Daugherty, R. H.

1983-01-01

An experimental investigation was conducted to evaluate several concepts for braking and steering a vehicle equipped with an air cushion landing system (ACLS). The investigation made use of a modified airboat equipped with an ACLS. Braking concepts were characterized by the average deceleration of the vehicle. Reduced lobe flow and cavity venting braking concepts were evaluated in this program. The cavity venting braking concept demonstrated the best performance, producing decelerations on the test vehicle on the same order as moderate braking with conventional wheel brakes. Steering concepts were evaluated by recording the path taken while attempting to follow a prescribed maneuver. The steering concepts evaluated included using rudders only, using differential lobe flow, and using rudders combined with a lightly loaded, nonsteering center wheel. The latter concept proved to be the most accurate means of steering the vehicle on the ACLS, producing translational deviations two to three times higher than those from conventional nose-gear steering. However, this concept was still felt to provide reasonably precise steering control for the ACLS-equipped vehicle.

Design of a steering stabilizer based on CAN bus

NASA Astrophysics Data System (ADS)

Zhan, Zhaomin; Yan, Yibin

2018-04-01

This design realizes a posture correction device of griping steering wheel based on CAN bus, which is embedded in the steering wheel of vehicles. The system aims to detect the drivers' abnormal griping postures and provides drivers with classification alerts, by combining the recorded griping postures data and the vehicle speed data that are obtained via the CAN bus. The warning information are automatically stored and retained in the device for 12 months. To enhance the alerting effect, the count of this warning message for both the latest month and the last 12 months are displayed on the dashboard panel. In addition to prevent itself from being blocked and self-detect any faults in advance, the appliance also provide a self-test function, which will communicate with the integrated instrument system in vehicle and do simulation test right after the vehicle power on. This appliance can help to urge and ensure drivers to operate the steering wheel correctly, effectively, and timely; prevent some typical incorrect behaviors which commonly happen along with the change of griping postures, such as the using cellphone, and ultimately, reduce the incidence of traffic accidents.

Expeditionary Rubber Removal Capability

DTIC Science & Technology

2006-12-31

the modified spray unit or system with equivalent capabilities. 24 25 9.8. A pressure sensor or caster wheels should be incorporated into the...DISCUSSION 18 8.0 CONCLUSIONS 23 9.0 RECOMMENDATIONS 24 APPENDIX A – DETAILED LIST OF EQUIPMENT AND MODIFICATIONS 26 APPENDIX B – LIST OF SOURCES FOR...tall Weight – 4820 lb (No Attachments) Top Speed – 18 mph High Flow Hydraulics (Optional) – 26 gpm Steering – All Wheel Steering Cargo Max Load

Modular Robotic Vehicle

NASA Technical Reports Server (NTRS)

Borroni-Bird, Christopher E. (Inventor); Lapp, Anthony Joseph (Inventor); Vitale, Robert L. (Inventor); Lee, Chunhao J. (Inventor); Bluethmann, William J. (Inventor); Ridley, Justin S. (Inventor); Junkin, Lucien Q. (Inventor); Ambrose, Robert O. (Inventor); Lutz, Jonathan J. (Inventor); Guo, Raymond (Inventor)

2015-01-01

A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

Improved LTVMPC design for steering control of autonomous vehicle

NASA Astrophysics Data System (ADS)

Velhal, Shridhar; Thomas, Susy

2017-01-01

An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.

Personnel emergency carrier vehicle

NASA Technical Reports Server (NTRS)

Owens, Lester J. (Inventor); Fedor, Otto H. (Inventor)

1987-01-01

A personnel emergency carrier vehicle is disclosed which includes a vehicle frame supported on steerable front wheels and driven rear wheels. A supply of breathing air is connected to quick connect face mask coupling and umbilical cord couplings for supplying breathing air to an injured worker or attendant either with or without a self-contained atmospheric protection suit for protection against hazardous gases at an accident site. A non-sparking hydraulic motion is utilized to drive the vehicle and suitable direction and throttling controls are provided for controlling the delivery of a hydraulic driving fluid from a pressurized hydraulic fluid accumulator. A steering axis is steerable through a handle to steer the front wheels through a linkage assembly.

Vehicle having hydraulic and power steering systems using a single high pressure pump

DOEpatents

Bartley, Bradley E.; Blass, James R.; Gibson, Dennis H.

2001-06-22

A vehicle comprises a plurality of wheels attached to a vehicle housing. Also attached to the vehicle housing is a power steering system, including a fluid flow circuit, which is operably coupled to a number of the wheels. An internal combustion engine attached to the vehicle housing is connected to a hydraulically actuated system that includes a high pressure pump. An outlet of the high pressure pump is in fluid communication with the fluid flow circuit.

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions

PubMed Central

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-01-01

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn) features from fixed sliding windows on real-time steering wheel angles time series. After that, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: “wake” and “drowsy”. The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the “awake” state, and 15.15% false detections of the “drowsy” state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue. PMID:28257094

Integrated chassis control for a three-axle electric bus with distributed driving motors and active rear steering system

NASA Astrophysics Data System (ADS)

Liu, Wei; He, Hongwen; Sun, Fengchun; Lv, Jiangyi

2017-05-01

This paper describes an integrated chassis control framework for a novel three-axle electric bus with active rear steering (ARS) axle and four motors at the middle and rear wheels. The proposed integrated framework consists of four parts: (1) an active speed limiting controller is designed for anti-body slip control and rollover prevention; (2) an ARS controller is designed for coordinating the tyre wear between the driving wheels; (3) an inter-axle torque distribution controller is designed for optimal torque distribution between the axles, considering anti-wheel slip and battery power limitations and (4) a data acquisition and estimation module for collecting the measured and estimated vehicle states. To verify the performances, a simulation platform is established in Trucksim software combined with Simulink. Three test cases are particularly designed to show the performances. The proposed algorithm is compared with a simple even control algorithm. The test results show satisfactory lateral stability and rollover prevention performances under severe steering conditions. The desired tyre wear coordinating performance is also realised, and the wheel slip ratios are restricted within stable region during intensive driving and emergency braking with complicated road conditions.

46 CFR 58.25-35 - Helm arrangements.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the vessel is running ahead, after clockwise movement of the wheel the vessel's heading must change to... station, other than in the steering-gear compartment, must be such that the helmsman is abaft the wheel. The rim of the wheel must be plainly marked with arrows and lettering for right and left rudder, or a...

Simulation development and evaluation of an improved longitudinal velocity vector control wheel steering mode and electronic display format

NASA Technical Reports Server (NTRS)

Steinmetz, G. G.

1980-01-01

Using simulation, an improved longitudinal velocity vector control wheel steering mode and an improved electronic display format for an advanced flight system were developed and tested. Guidelines for the development phase were provided by test pilot critique summaries of the previous system. The results include performances from computer generated step column inputs across the full airplane speed and configuration envelope, as well as piloted performance results taken from a reference line tracking task and an approach to landing task conducted under various environmental conditions. The analysis of the results for the reference line tracking and approach to landing tasks indicates clearly detectable improvement in pilot tracking accuracy with a reduction in physical workload. The original objectives of upgrading the longitudinal axis of the velocity vector control wheel steering mode were successfully met when measured against the test pilot critique summaries and the original purpose outlined for this type of augment control mode.

Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

NASA Astrophysics Data System (ADS)

Fahimi, Farbod

2013-03-01

Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

Modeling of electronic power steering system for IKCO SAMAND vehicle and investigating on its performance via CARSIM software

NASA Astrophysics Data System (ADS)

Haghgoo, Esmail; Zamani, Mohammad; Sharbati, Ali

2017-02-01

The point of this article is introducing the usage of electronic power steering (ESP) system in IKCO SAMAND vehicle and investigating on it's benefit's. Also the operation of electronic steering system and it's performance in IKCO SAMAND vehicle have been described. The optimization of IC engine efficiency and it's fuel consumption have been simulated via ADVISOR software used in MATLAB software. Usually, mechanical steering systems and hydraulic steering systems are producing inside IRAN that the mechanical types have not accepted because of it's too many disadvantages. The hydraulic steering systems, that have been replaced with mechanical types, indeed have the same features with mechanical types but with a difference which they have a hydraulic booster to facilitate the rotation of steering wheel. Beside advantages in hydraulic systems, they are some disadvantages in this system that one of the most important of them is reducing the output power of engine. To restore this power dissipated, we use ESP systems. In this article output diagrams given by software, are showing that IKCO SAMAND vehicle which equipped with ESP system, exerts less torque and power on steering wheel. This improves the safety of driver and also performance of the vehicle at high speeds and reduces fuel consumption beside increasing the efficiency of IC engine.

Research on motor braking-based DYC strategy for distributed electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Jingming; Liao, Weijie; Chen, Lei; Cui, Shumei

2017-08-01

In order to bring into full play the advantages of motor braking and enhance the handling stability of distributed electric vehicle, a motor braking-based direct yaw moment control (DYC) strategy was proposed. This strategy could identify whether a vehicle has under-steered or overs-steered, to calculate the direct yaw moment required for vehicle steering correction by taking the corrected yaw velocity deviation and slip-angle deviation as control variables, and exert motor braking moment on the target wheels to perform correction in the manner of differential braking. For validation of the results, a combined simulation platform was set up finally to simulate the motor braking control strategy proposed. As shown by the results, the motor braking-based DYC strategy timely adjusted the motor braking moment and hydraulic braking moment on the target wheels, and corrected the steering deviation and sideslip of the vehicle in unstable state, improving the handling stability.

46 CFR 58.25-35 - Helm arrangements.

Code of Federal Regulations, 2014 CFR

2014-10-01

.... The rim of the wheel must be plainly marked with arrows and lettering for right and left rudder, or a...) Each steering wheel must turn clockwise for “right rudder” and counterclockwise for “left rudder.” When...

46 CFR 58.25-35 - Helm arrangements.

Code of Federal Regulations, 2012 CFR

2012-10-01

.... The rim of the wheel must be plainly marked with arrows and lettering for right and left rudder, or a...) Each steering wheel must turn clockwise for “right rudder” and counterclockwise for “left rudder.” When...

46 CFR 58.25-35 - Helm arrangements.

Code of Federal Regulations, 2011 CFR

2011-10-01

.... The rim of the wheel must be plainly marked with arrows and lettering for right and left rudder, or a...) Each steering wheel must turn clockwise for “right rudder” and counterclockwise for “left rudder.” When...

46 CFR 58.25-35 - Helm arrangements.

Code of Federal Regulations, 2013 CFR

2013-10-01

.... The rim of the wheel must be plainly marked with arrows and lettering for right and left rudder, or a...) Each steering wheel must turn clockwise for “right rudder” and counterclockwise for “left rudder.” When...

New Integrated Testing System for the Validation of Vehicle-Snow Interaction Models

DTIC Science & Technology

2010-08-06

are individual wheel speeds, accelerator pedal position, vehicle speed, yaw rate, lateral acceleration, steering wheel angle and brake ...forces and moments at each wheel center, vehicle body slip angle , speed, acceleration, yaw rate, roll, and pitch. The profilometer has a 3-D scanning...Stability Program. The test vehicle provides measurements that include three forces and moments at each wheel center, vehicle body slip angle , speed

49 CFR 571.203 - Standard No. 203; Impact protection for the driver from the steering control system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Practice J944, “Steering Wheel Assembly Laboratory Test Procedure,” December 1965, or an approved.... 208 (49 CFR 571.208) by means of other than seat belt assemblies. It also does not apply to walk-in... trim hardware, including any portion of a steering column assembly that provides energy absorption upon...

49 CFR 571.203 - Standard No. 203; Impact protection for the driver from the steering control system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Practice J944, “Steering Wheel Assembly Laboratory Test Procedure,” December 1965, or an approved.... 208 (49 CFR 571.208) by means of other than seat belt assemblies. It also does not apply to walk-in... trim hardware, including any portion of a steering column assembly that provides energy absorption upon...

Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

PubMed

Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

2015-04-24

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

NASA Astrophysics Data System (ADS)

Mehrabi, Naser; Sharif Razavian, Reza; McPhee, John

2015-10-01

The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver-vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human-machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.

The Impact of Armor on the Design, Utilization and Survivability of Ground Vehicles: The History of Armor Development and Use

DTIC Science & Technology

2012-09-01

control functions. Components that are included in this category include the steering column / linkages as well as brakes . D. FIREPOWER COMPONENTS...COMPONENTS: STEERING AND BRAKES ......................48 D. FIREPOWER COMPONENTS: TURRET AND ARMAMENT .............49 E. PROTECTION COMPONENTS: HULL AND...Key Functional Area Propulsion Powertrain (Engine / Transmission) Tracks / Wheels Control Steering Brakes / Suspension Firepower Turret Armament

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

Improving Hybrid III injury assessment in steering wheel rim to chest impacts using responses from finite element Hybrid III and human body model.

PubMed

Holmqvist, Kristian; Davidsson, Johan; Mendoza-Vazquez, Manuel; Rundberget, Peter; Svensson, Mats Y; Thorn, Stefan; Törnvall, Fredrik

2014-01-01

The main aim of this study was to improve the quality of injury risk assessments in steering wheel rim to chest impacts when using the Hybrid III crash test dummy in frontal heavy goods vehicle (HGV) collision tests. Correction factors for chest injury criteria were calculated as the model chest injury parameter ratios between finite element (FE) Hybrid III, evaluated in relevant load cases, and the Total Human Model for Safety (THUMS). This is proposed to be used to compensate Hybrid III measurements in crash tests where steering wheel rim to chest impacts occur. The study was conducted in an FE environment using an FE-Hybrid III model and the THUMS. Two impactor shapes were used, a circular hub and a long, thin horizontal bar. Chest impacts at velocities ranging from 3.0 to 6.0 m/s were simulated at 3 impact height levels. A ratio between FE-Hybrid III and THUMS chest injury parameters, maximum chest compression C max, and maximum viscous criterion VC max, were calculated for the different chest impact conditions to form a set of correction factors. The definition of the correction factor is based on the assumption that the response from a circular hub impact to the middle of the chest is well characterized and that injury risk measures are independent of impact height. The current limits for these chest injury criteria were used as a basis to develop correction factors that compensate for the limitations in biofidelity of the Hybrid III in steering wheel rim to chest impacts. The hub and bar impactors produced considerably higher C max and VC max responses in the THUMS compared to the FE-Hybrid III. The correction factor for the responses of the FE-Hybrid III showed that the criteria responses for the bar impactor were consistently overestimated. Ratios based on Hybrid III and THUMS responses provided correction factors for the Hybrid III responses ranging from 0.84 to 0.93. These factors can be used to estimate C max and VC max values when the Hybrid III is used in crash tests for which steering wheel rim to chest interaction occurs. For the FE-Hybrid III, bar impacts caused higher chest deflection compared to hub impacts, although the contrary results were obtained with the more humanlike THUMS. Correction factors were developed that can be used to correct the Hybrid III chest responses. Higher injury criteria capping limits for steering wheel impacts are acceptable. Supplemental materials are available for this article. Go to the publisher's online edition of Traffic Injury Prevention to view the supplemental file.

Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

PubMed Central

Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

2015-01-01

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient χ, the path curvature variable λ and robot speed v), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model’s stationary response for the vehicle shows a qualitative relationship for the specified parameters χ and λ. Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient χ and two physical factors is studied, i.e., the radius of the path curvature λ and the robot speed v. An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid–steering robot. PMID:25919370

New regression model for predicting hand-arm vibration (HAV) of Malaysian Army (MA) three-tonne truck steering wheels.

PubMed

Aziz, Shamsul Akmar Ab; Nuawi, Mohd Zaki; Nor, Mohd Jailani Mohd

2015-01-01

The objective of this study was to present a new method for determination of hand-arm vibration (HAV) in Malaysian Army (MA) three-tonne truck steering wheels based on changes in vehicle speed using regression model and the statistical analysis method known as Integrated Kurtosis-Based Algorithm for Z-Notch Filter Technique Vibro (I-kaz Vibro). The test was conducted for two different road conditions, tarmac and dirt roads. HAV exposure was measured using a Brüel & Kjær Type 3649 vibration analyzer, which is capable of recording HAV exposures from steering wheels. The data was analyzed using I-kaz Vibro to determine the HAV values in relation to varying speeds of a truck and to determine the degree of data scattering for HAV data signals. Based on the results obtained, HAV experienced by drivers can be determined using the daily vibration exposure A(8), I-kaz Vibro coefficient (Ƶ(v)(∞)), and the I-kaz Vibro display. The I-kaz Vibro displays also showed greater scatterings, indicating that the values of Ƶ(v)(∞) and A(8) were increasing. Prediction of HAV exposure was done using the developed regression model and graphical representations of Ƶ(v)(∞). The results of the regression model showed that Ƶ(v)(∞) increased when the vehicle speed and HAV exposure increased. For model validation, predicted and measured noise exposures were compared, and high coefficient of correlation (R(2)) values were obtained, indicating that good agreement was obtained between them. By using the developed regression model, we can easily predict HAV exposure from steering wheels for HAV exposure monitoring.

Independent Orbiter Assessment (IOA): Assessment of the nose wheel steering subsystem

NASA Technical Reports Server (NTRS)

Mediavilla, Anthony Scott

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Nose Wheel Steering (NWS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were then compared to the proposed NASA post 51-L FMEA/CIL baseline. A resolution of each discrepancy from the comparison is provided through additional analysis as required. This report documents the results of that comparison for the Orbiter NWS hardware.

Effects of two hospital bed design features on physical demands and usability during brake engagement and patient transportation: a repeated measures experimental study.

PubMed

Kim, Sunwook; Barker, Linsey M; Jia, Bochen; Agnew, Michael J; Nussbaum, Maury A

2009-03-01

Work-related musculoskeletal disorders (WMSDs) are prevalent among healthcare workers worldwide. While existing research has focused on patient-handling techniques during activities which require direct patient contact (e.g., patient transfer), nursing tasks also involve other patient-handling activities, such as engaging bed brakes and transporting patients in beds, which could render healthcare workers at risk of developing WMSDs. Effectiveness of hospital bed design features (brake pedal location and steering-assistance) was evaluated in terms of physical demands and usability during brake engagement and patient transportation tasks. Two laboratory-based studies were conducted. In simulated brake engagement tasks, three brake pedal locations (head-end vs. foot-end vs. side of a bed) and two hands conditions (hands-free vs. hands-occupied) were manipulated. Additionally, both in-room and corridor patient transportation tasks were simulated, in which activation of steering-assistance features (5th wheel and/or front wheel caster lock) and two patient masses were manipulated. Nine novice participants were recruited from the local student population and community for each study. During brake engagement, trunk flexion angle, task completion time, and questionnaires were used to quantify postural comfort and usability. For patient transportation, dependent measures were hand forces and questionnaire responses. Brake pedal locations and steering-assistance features in hospital beds had significant effects on physical demands and usability during brake engagement and patient transportation tasks. Specifically, a brake pedal at the head-end of a bed increased trunk flexion by 74-224% and completion time by 53-74%, compared to other pedal locations. Participants reported greater overall perceived difficulty and less postural comfort with the brake pedal at the head-end. During in-room transportation, participants generally reported "Neither Low nor High" physical demands with the 5th wheel activated, compared to "Moderately High" physical demands when the 5th wheel was deactivated. Corridor transportation was similarly reported to be easier when a steering-assistance feature (the 5th wheel or front caster lock) was activated. Braking and steering-assistance features of hospital beds can have important effects on task efficiency and physical demands placed on healthcare workers. Selection of specific designs may thus be able to improve productivity and contribute to a reduction in WMSDs risk among healthcare workers.

Practical To Tactical: Making the Case for a Shift in Ground Vehicle Robotics

DTIC Science & Technology

2012-05-10

with Driver Warning I C R M x x x V x UNCLASSIFIED 21 Electronic Brake System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist...System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist Steering Steering Position Sensor Steering Torque Sensor Transmission...Computer I C R M x x x V x x Wheel Speed Sensors ESC Accelerometer/Rate Gyro UNCLASSIFIED 23 Electronic Brake System ( ELB ) w/ Electronic

Automatic guidance control of an articulated all-wheel-steered vehicle

NASA Astrophysics Data System (ADS)

Kim, Young Chol; Yun, Kyong-Han; Min, Kyung-Deuk

2014-04-01

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2016-08-01

In order to improve handling performance of a hybrid 8-Wheel-Drive vehicle, the handling performance control strategy was proposed. For armoured vehicle, besides handling stability in high speed, the minimum steer radius in low speed is also a key tactical and technical index. Based on that, the proposed handling performance control strategy includes 'Handling Stability' and 'Radius Minimization' control modes. In 'Handling Stability' control mode, 'Neutralsteer Radio' is defined to adjust the steering characteristics to satisfy different demand in different speed range. In 'Radius Minimization' control mode, the independent motors are controlled to provide an additional yaw moment to decrease the minimum steer radius. In order to verify the strategy, a simulation platform was built including engine and continuously variable transmission systems, generator and battery systems, independent motors and controllers systems, vehicle dynamic and tyre mechanical systems. The simulation results show that the handling performance of the vehicle can be enhanced significantly, and the minimum steer radius can be decreased by 20% which is significant improvement compared to the common level of main battle armoured vehicle around the world.

Estimation of automobile-driver describing function from highway tests using the double steering wheel

NASA Technical Reports Server (NTRS)

Delp, P.; Crossman, E. R. F. W.; Szostak, H.

1972-01-01

The automobile-driver describing function for lateral position control was estimated for three subjects from frequency response analysis of straight road test results. The measurement procedure employed an instrumented full size sedan with known steering response characteristics, and equipped with a lateral lane position measuring device based on video detection of white stripe lane markings. Forcing functions were inserted through a servo driven double steering wheel coupling the driver to the steering system proper. Random appearing, Gaussian, and transient time functions were used. The quasi-linear models fitted to the random appearing input frequency response characterized the driver as compensating for lateral position error in a proportional, derivative, and integral manner. Similar parameters were fitted to the Gabor transformed frequency response of the driver to transient functions. A fourth term corresponding to response to lateral acceleration was determined by matching the time response histories of the model to the experimental results. The time histories show evidence of pulse-like nonlinear behavior during extended response to step transients which appear as high frequency remnant power.

Side slope stability of articulated-frame logging tractors

Treesearch

H.G. Gibson; K.C. Elliott; S.P.E. Persson

1971-01-01

Many log or pulpwood transporting machines have hinged or articulated frames for steering. The articulated frame offers advantages for these machines, but the design introduces some problems in stability. We formulated and analyzed a mathematical model simulating stability of a 4-wheel-drive, articulated frame logging tractor (wheeled skidder) at static or low constant...

Stability enhancement and fuel economy of the 4-wheel-drive hybrid electric vehicles by optimal tyre force distribution

NASA Astrophysics Data System (ADS)

Goodarzi, Avesta; Mohammadi, Masoud

2014-04-01

In this paper, vehicle stability control and fuel economy for a 4-wheel-drive hybrid vehicle are investigated. The integrated controller is designed within three layers. The first layer determines the total yaw moment and total lateral force made by using an optimal controller method to follow the desired dynamic behaviour of a vehicle. The second layer determines optimum tyre force distribution in order to optimise tyre usage and find out how the tyres should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. In the third layer, the active steering, wheel slip, and electrical motor torque controllers are designed. In the front axle, internal combustion engine (ICE) is coupled to an electric motor (EM). The control strategy has to determine the power distribution between ICE and EM to minimise fuel consumption and allowing the vehicle to be charge sustaining. Finally, simulations performed in MATLAB/SIMULINK environment show that the proposed structure could enhance the vehicle stability and fuel economy in different manoeuvres.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

NASA Astrophysics Data System (ADS)

Shen, Huan; Tan, Yun-Sheng

2017-07-01

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

14 CFR 25.499 - Nose-wheel yaw and steering.

Code of Federal Regulations, 2010 CFR

2010-01-01

... nose wheel ground contact equal to 0.8 of the vertical ground reaction at that point are assumed. (b... lower drag reaction may be used if an effective drag force of 0.8 times the vertical reaction cannot be... not exceed the maximum drag reaction on one main gear, determined in accordance with § 25.493(b). (e...

14 CFR 25.499 - Nose-wheel yaw and steering.

Code of Federal Regulations, 2011 CFR

2011-01-01

... nose wheel ground contact equal to 0.8 of the vertical ground reaction at that point are assumed. (b... lower drag reaction may be used if an effective drag force of 0.8 times the vertical reaction cannot be... not exceed the maximum drag reaction on one main gear, determined in accordance with § 25.493(b). (e...

Augmented Cognition - Phase 4 Cognitive Assessment and Task Management (CAT-M)

DTIC Science & Technology

2008-12-01

Angle Brake Pedal Force Accelerator Pedal ...Wheel Angle • Brake Pedal Force • Accelerator Pedal Deflection Note that we are using the controls as input to the prediction system. This means... Angle . At time >2.5 seconds, the Accelerator Pedal and Brake Pedal become statistically significantly easier to predict than Steering Wheel Angle .

Method of Controlling Steering of a Ground Vehicle

NASA Technical Reports Server (NTRS)

Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Dawson, Andrew D. (Inventor)

2016-01-01

A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

14 CFR 25.499 - Nose-wheel yaw and steering.

Code of Federal Regulations, 2012 CFR

2012-01-01

... steering. (a) A vertical load factor of 1.0 at the airplane center of gravity, and a side component at the... structure forward of the center of gravity must be designed for the following loads: (1) A vertical load factor at the center of gravity of 1.0. (2) A forward acting load at the airplane center of gravity of 0...

14 CFR 25.499 - Nose-wheel yaw and steering.

Code of Federal Regulations, 2013 CFR

2013-01-01

... steering. (a) A vertical load factor of 1.0 at the airplane center of gravity, and a side component at the... structure forward of the center of gravity must be designed for the following loads: (1) A vertical load factor at the center of gravity of 1.0. (2) A forward acting load at the airplane center of gravity of 0...

Mechatronic track guidance on disturbed track: the trade-off between actuator performance and wheel wear

NASA Astrophysics Data System (ADS)

Kurzeck, Bernhard; Heckmann, Andreas; Wesseler, Christoph; Rapp, Matthias

2014-05-01

Future high-speed trains are the main focus of the DLR research project Next Generation Train. One central point of the research activities is the development of mechatronic track guidance for the two-axle intermediate wagons with steerable, individually powered, independently rotating wheels. The traction motors hereby fulfil two functions; they concurrently are traction drives and steering actuators. In this paper, the influence of the track properties - line layout and track irregularities - on the performance requirements for the guidance actuator is investigated using multi-body models in SIMPACK®. In order to compromise on the design conflict between low wheel wear and low steering torque, the control parameters of the mechatronic track guidance are optimised using the DLR in-house software MOPS. Besides the track irregularities especially the increasing inclination at transition curves defines high actuator requirements due to gyroscopic effects at high speed. After introducing a limiter for the actuating variables into the control system, a good performance is achieved.

Multiple-degree-of-freedom vehicle

DOEpatents

Borenstein, Johann

1995-01-01

A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.

76 FR 62356 - Certain New Pneumatic Off-the-Road Tires From the People's Republic of China: Preliminary Results...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-07

...-steer loaders are four-wheel drive vehicles with the left-side drive wheels independent of the right... exporter can demonstrate that it is sufficiently independent so as to be entitled to a separate rate.\\28... separate rate analysis is not necessary to determine whether it is independent from government control.\\29...

14 CFR 23.499 - Supplementary conditions for nose wheels.

Code of Federal Regulations, 2010 CFR

2010-01-01

..., the application of 1.33 times the full steering torque combined with a vertical reaction equal to 1.33 times the maximum static reaction on the nose gear must be assumed. However, if a torque limiting device... components at the axle must be— (1) A vertical component of 2.25 times the static load on the wheel; and (2...

14 CFR 23.499 - Supplementary conditions for nose wheels.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., the application of 1.33 times the full steering torque combined with a vertical reaction equal to 1.33 times the maximum static reaction on the nose gear must be assumed. However, if a torque limiting device... components at the axle must be— (1) A vertical component of 2.25 times the static load on the wheel; and (2...

14 CFR 23.499 - Supplementary conditions for nose wheels.

Code of Federal Regulations, 2011 CFR

2011-01-01

..., the application of 1.33 times the full steering torque combined with a vertical reaction equal to 1.33 times the maximum static reaction on the nose gear must be assumed. However, if a torque limiting device... components at the axle must be— (1) A vertical component of 2.25 times the static load on the wheel; and (2...

Hybrid-Vehicle Transmission System

NASA Technical Reports Server (NTRS)

Lupo, G.; Dotti, G.

1985-01-01

Continuously-variable transmission system for hybrid vehicles couples internal-combustion engine and electric motor section, either individually or in parallel, to power vehicle wheels during steering and braking.

Proceedings of the European ISTVS Conference (6th), OVK Symposium (4th), on "Off Road Vehicles in Theory and Practice". Held at Vienna, Austria on 28-30 September 1994. Volume 2.

DTIC Science & Technology

1994-09-30

experimental proof-of-concept series hybrid thermo-mechano-elec- tromechanical and/or electromechanical All-Wheel-Driven (AWD) pro- pulsion, All-Wheel...caterpillar-tracks’ motorized sprocket-, road- and tensioner- wheels form a complete proof-of-concept series hybrid thermo- mechano-electromechanical and/or...tromechanical AWA supension spheres and skid-steering conversion spheres used as integral spheres together with future new concept hybrid thermo

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

NASA Astrophysics Data System (ADS)

Kurata, Yoshinori; Wada, Takahiro; Kamiji, Norimasa; Doi, Shun'ichi

Disturbances decrease vehicle stability and increase driver's mental and physical workload. Especially unexpected disturbances such as lateral winds have severe effect on vehicle stability and driver's workload. This study aims at building a driver model of steering operations in lateral wind toward developing effective driver assistance system. First, the relationship between the driver's lateral motion and its reactive quick steering behavior is investigated using driving simulator with lateral 1dof motion. In the experiments, four different wind patterns are displayed by the simulator. As the results, strong correlation was found between the driver's head lateral jerk by the lateral disturbance and the angular acceleration of the steering wheel. Then, we build a mathematical model of driver's steering model from lateral disturbance input to steering torque of the reactive quick feed-forward steering based on the experimental results. Finally, validity of the proposed model is shown by comparing the steering torque of experimental results and that of simulation results.

49 CFR 570.1 - Scope.

Code of Federal Regulations, 2010 CFR

2010-10-01

... systems, steering and suspension systems, and tire and wheel assemblies of motor vehicles in use. ... OF TRANSPORTATION VEHICLE IN USE INSPECTION STANDARDS Vehicles With GVWR of 10,000 Pounds or Less...

Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

PubMed

Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

2008-01-01

Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

16 CFR 1512.17 - Other requirements.

Code of Federal Regulations, 2011 CFR

2011-01-01

....18(p), and shall exhibit stable handling, turning, and steering characteristics without difficulty of... pedal crank in its lowest position and any training wheels removed, it shall be possible to tilt the...

16 CFR 1512.17 - Other requirements.

Code of Federal Regulations, 2012 CFR

2012-01-01

....18(p), and shall exhibit stable handling, turning, and steering characteristics without difficulty of... pedal crank in its lowest position and any training wheels removed, it shall be possible to tilt the...

16 CFR 1512.17 - Other requirements.

Code of Federal Regulations, 2014 CFR

2014-01-01

....18(p), and shall exhibit stable handling, turning, and steering characteristics without difficulty of... pedal crank in its lowest position and any training wheels removed, it shall be possible to tilt the...

Inverse free steering law for small satellite attitude control and power tracking with VSCMGs

NASA Astrophysics Data System (ADS)

Malik, M. S. I.; Asghar, Sajjad

2014-01-01

Recent developments in integrated power and attitude control systems (IPACSs) for small satellite, has opened a new dimension to more complex and demanding space missions. This paper presents a new inverse free steering approach for integrated power and attitude control systems using variable-speed single gimbal control moment gyroscope. The proposed inverse free steering law computes the VSCMG steering commands (gimbal rates and wheel accelerations) such that error signal (difference in command and output) in feedback loop is driven to zero. H∞ norm optimization approach is employed to synthesize the static matrix elements of steering law for a static state of VSCMG. Later these matrix elements are suitably made dynamic in order for the adaptation. In order to improve the performance of proposed steering law while passing through a singular state of CMG cluster (no torque output), the matrix element of steering law is suitably modified. Therefore, this steering law is capable of escaping internal singularities and using the full momentum capacity of CMG cluster. Finally, two numerical examples for a satellite in a low earth orbit are simulated to test the proposed steering law.

Variable Dynamic Testbed Vehicle Dynamics Analysis

DOT National Transportation Integrated Search

1996-03-01

ANTI-ROLL BAR, EMULATION, FOUR-WHEEL-STEERING, LATERAL RESPONSE CHARACTERISTICS, SIMULATION, VARIABLE DYNAMIC TESTBED VEHICLE, INTELLIGENT VEHICLE INITIATIVE OR IVI : THE VARIABLE DYNAMIC TESTBED VEHICLE (VDTV) CONCEPT HAS BEEN PROPOSED AS A TOOL...

EPA Nonregulatory Nonroad Duty Cycles

EPA Pesticide Factsheets

EPA nonregulatory, nonroad duty cycles for equipment such as agricultural tractors, backhoe loaders,crawlers tractors, excavators, arc welding skid steer loaders, and wheel loaders. Also,test procedures, laboratory methods, and emissions for this equipmen

Objectification of steering feel around straight-line driving for vehicle/tyre design

NASA Astrophysics Data System (ADS)

Kim, Jungsik; Yoon, Yong-San

2015-02-01

This paper presents the objectification techniques for the assessment of steering feel including {on-centre} feel and steering response by measurement data. Here, new objective parameters are developed by considering not only the process by which the steering feel is evaluated subjectively but also by the ergonomic perceptive sensitivity of the driver. In order to validate such objective parameters, subjective tests are carried out by professional drivers. Objective measurements are also performed for several cars at a proving ground. The linear correlation coefficients between the subjective ratings and the objective parameters are calculated. As one of new objective parameters, steering wheel angle defined by ergonomic perception sensitivity shows high correlation with the subjective questionnaires of on-center responses. Newly defined steering torque curvature also shows high correlation with the subjective questionnaires of on-center effort. These correlation results conclude that the subjective assessment of steering feel can be successfully explained and objectified by means of the suggested objective parameters.

16 CFR § 1512.17 - Other requirements.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., § 1512.18(p), and shall exhibit stable handling, turning, and steering characteristics without difficulty... the pedal crank in its lowest position and any training wheels removed, it shall be possible to tilt...

Torque vectoring for improving stability of small electric vehicles

NASA Astrophysics Data System (ADS)

Grzegożek, W.; Weigel-Milleret, K.

2016-09-01

The electric vehicles solutions based on the individually controlled electric motors propel a single wheel allow to improve the dynamic properties of the vehicle by varying the distribution of the driving torque. Most of the literature refer to the vehicles with a track typical for passenger cars. This paper examines whether the narrow vehicle (with a very small track) torque vectoring bring a noticeable change of the understeer characteristics and whether torque vectoring is possible to use in securing a narrow vehicle from roll over (roll mitigation). The paper contains road tests of the steering characteristics (steady state understeer characteristic quasi-static acceleration with a fixed steering wheel (SH = const) and on the constant radius track (R = const)) of the narrow vehicle. The vehicle understeer characteristic as a function of a power distribution is presented.

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

Biomechanical effects of mobile computer location in a vehicle cab.

PubMed

Saginus, Kyle A; Marklin, Richard W; Seeley, Patricia; Simoneau, Guy G; Freier, Stephen

2011-10-01

The objective of this research is to determine the best location to place a conventional mobile computer supported by a commercially available mount in a light truck cab. U.S. and Canadian electric utility companies are in the process of integrating mobile computers into their fleet vehicle cabs. There are no publications on the effect of mobile computer location in a vehicle cab on biomechanical loading, performance, and subjective assessment. The authors tested four locations of mobile computers in a light truck cab in a laboratory study to determine how location affected muscle activity of the lower back and shoulders; joint angles of the shoulders, elbows, and wrist; user performance; and subjective assessment. A total of 22 participants were tested in this study. Placing the mobile computer closer to the steering wheel reduced low back and shoulder muscle activity. Joint angles of the shoulders, elbows, and wrists were also closer to neutral angle. Biomechanical modeling revealed substantially less spinal compression and trunk muscle force. In general, there were no practical differences in performance between the locations. Subjective assessment indicated that users preferred the mobile computer to be as close as possible to the steering wheel. Locating the mobile computer close to the steering wheel reduces risk of injuries, such as low back pain and shoulder tendonitis. Results from the study can guide electric utility companies in the installation of mobile computers into vehicle cabs. Results may also be generalized to other industries that use trucklike vehicles, such as construction.

Asymptotic sideslip angle and yaw rate decoupling control in four-wheel steering vehicles

NASA Astrophysics Data System (ADS)

Marino, Riccardo; Scalzi, Stefano

2010-09-01

This paper shows that, for a four-wheel steering vehicle, a proportional-integral (PI) active front steering control and a PI active rear steering control from the yaw rate error together with an additive feedforward reference signal for the vehicle sideslip angle can asymptotically decouple the lateral velocity and the yaw rate dynamics; that is the control can set arbitrary steady state values for lateral speed and yaw rate at any longitudinal speed. Moreover, the PI controls can suppress oscillatory behaviours by assigning real stable eigenvalues to a widely used linearised model of the vehicle steering dynamics for any value of longitudinal speed in understeering vehicles. In particular, the four PI control parameters are explicitly expressed in terms of the three real eigenvalues to be assigned. No lateral acceleration and no lateral speed measurements are required. The controlled system maintains the well-known advantages of both front and rear active steering controls: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres and improved manoeuvrability. In particular, zero lateral speed may be asymptotically achieved while controlling the yaw rate: in this case comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced. Also zero yaw rate can be asymptotically achieved: in this case additional stable manoeuvres are obtained in obstacle avoidance. Several simulations, including step references and moose tests, are carried out on a standard small SUV CarSim model to explore the robustness with respect to unmodelled effects such as combined lateral and longitudinal tyre forces, pitch, roll and driver dynamics. The simulations confirm the decoupling between the lateral velocity and the yaw rate and show the advantages obtained by the proposed control: reduced lateral speed or reduced yaw rate, suppressed oscillations and new stable manoeuvres.

Reach Capability of Men and Women: A Three-Dimensional Analysis

DTIC Science & Technology

1978-07-01

anthropometric dimensions are provided. Measurements were taken in a simplified automobile driving compartment without a steering wheel and restraint belts...the opposite hand grasping an aircraft control wheel . Subjects were not permitted to slide from beneath the harness. Reach capability for the right and...experience reaching difficulties. The author’s analysis of her data indicated that "some modifications to the aircraft or to its installations need to be

Effects of fatigue on driving performance under different roadway geometries: a simulator study.

PubMed

Du, Hongji; Zhao, Xiaohua; Zhang, Xingjian; Zhang, Yunlong; Rong, Jian

2015-01-01

This article examines the effects of fatigue on driving performance under different roadway geometries using a driving simulator. Twenty-four participants each completed a driving scenario twice: while alert and while experiencing fatigue. The driving scenario was composed of straight road segments and curves; there were 6 curves with 3 radius values (i.e., 200, 500, and 800 m) and 2 turning directions (i.e., left and right). Analysis was conducted on driving performance measures such as longitudinal speed, steering wheel movements, and lateral position. RESULTS confirmed that decremental changes in driving performance due to fatigue varied among road conditions. On straight segments, drivers' abilities to steer and maintain lane position were impaired, whereas on curves we found decremental changes in the quality of longitudinal speed as well as steering control and keeping the vehicle in the lane. Moreover, the effects of fatigue on driving performance were relative to the radius and direction of the curve. Fatigue impaired drivers' abilities to control the steering wheel, and the impairment proved more obvious on curves. The degree varied significantly as the curve radius changed. Drivers tended to drive closer to the right side due to fatigue, and the impairment in maintaining lane position became more obvious as the right-turn curve radius decreased. Driver fatigue has detrimental effects on driving performance, and the effects differ under different roadway geometries.

Research on Performance of Wire-controlled Hydraulic Steering System Based on Four-wheel Steering

NASA Astrophysics Data System (ADS)

Tao, P.; Jin, X. H.

2018-05-01

In this paper, the steering stability and control strategy of forklift are put forward. Drive based on yawing moment distribution of rotary torque coordination control method, through analyzing the linear two degree of freedom model of forklift truck, forklift yawing angular velocity and mass center side-slip Angle of expectations, as the control target parameters system, using fuzzy controller output driving forklift steering the yawing moment, to drive rotary torque distribution, make the forklift truck to drive horizontal pendulum angular velocity and side-slip Angle tracking reference model very well. In this paper, the lateral stability control system were designed, the joint simulation in MATLAB/Simulink, the simulation results show that under the different partial load, the control system can effectively to control side forklift lateral stability, enhanced the forklift driving safety, for the side forklift steering stability study provides a theoretical basis.

A new model to compute the desired steering torque for steer-by-wire vehicles and driving simulators

NASA Astrophysics Data System (ADS)

Fankem, Steve; Müller, Steffen

2014-05-01

This paper deals with the control of the hand wheel actuator in steer-by-wire (SbW) vehicles and driving simulators (DSs). A novel model for the computation of the desired steering torque is presented. The introduced steering torque computation does not only aim to generate a realistic steering feel, which means that the driver should not miss the basic steering functionality of a modern conventional steering system such as an electric power steering (EPS) or hydraulic power steering (HPS), and this in every driving situation. In addition, the modular structure of the steering torque computation combined with suitably selected tuning parameters has the objective to offer a high degree of customisability of the steering feel and thus to provide each driver with his preferred steering feel in a very intuitive manner. The task and the tuning of each module are firstly described. Then, the steering torque computation is parameterised such that the steering feel of a series EPS system is reproduced. For this purpose, experiments are conducted in a hardware-in-the-loop environment where a test EPS is mounted on a steering test bench coupled with a vehicle simulator and parameter identification techniques are applied. Subsequently, how appropriate the steering torque computation mimics the test EPS system is objectively evaluated with respect to criteria concerning the steering torque level and gradient, the feedback behaviour and the steering return ability. Finally, the intuitive tuning of the modular steering torque computation is demonstrated for deriving a sportier steering feel configuration.

49 CFR 393.203 - Cab and body components.

Code of Federal Regulations, 2010 CFR

2010-10-01

... NECESSARY FOR SAFE OPERATION Frames, Cab and Body Components, Wheels, Steering, and Suspension Systems § 393... a roof exit. (b) Bolts or brackets securing the cab or the body of the vehicle to the frame shall...

Fractional Control of An Active Four-wheel-steering Vehicle

NASA Astrophysics Data System (ADS)

Wang, Tianting; Tong, Jun; Chen, Ning; Tian, Jie

2018-03-01

A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμ controller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.

Volunteers Oriented Interface Design for the Remote Navigation of Rescue Robots at Large-Scale Disaster Sites

NASA Astrophysics Data System (ADS)

Yang, Zhixiao; Ito, Kazuyuki; Saijo, Kazuhiko; Hirotsune, Kazuyuki; Gofuku, Akio; Matsuno, Fumitoshi

This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors’ wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera’s view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.

Integrated control design for driver assistance systems based on LPV methods

NASA Astrophysics Data System (ADS)

Gáspár, Péter; Németh, Balázs

2016-12-01

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions.

PubMed

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-03-02

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn)featuresfromfixedslidingwindowsonreal-timesteeringwheelanglestimeseries. Afterthat, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: "wake" and "drowsy". The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the "awake" state, and 15.15% false detections of the "drowsy" state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue.

Cross-coupled control for all-terrain rovers.

PubMed

Reina, Giulio

2013-01-08

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

Evaluation of the propulsion control system of a planetary rover and design of a mast for an elevation scanning laser/multi-detector system

NASA Technical Reports Server (NTRS)

Knaub, D.; Yerazunis, S. W.

1978-01-01

Vertical wheel loads, wheel speeds, and torque relationships are considered in the design of a propulsion system capable of responding to steering, slope climbing, and irregular local terrains. The system developed is applied to the RPI Mars roving vehicle. The mechanical system required to implement the elevation laser scanning/multidetector principle was the design and construction of a mechanical system for implementing the elevation scanning/multidetector principle is also discussed.

A novel estimating method for steering efficiency of the driver with electromyography signals

NASA Astrophysics Data System (ADS)

Liu, Yahui; Ji, Xuewu; Hayama, Ryouhei; Mizuno, Takahiro

2014-05-01

The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography (EMG) signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper arm which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective.

Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

NASA Astrophysics Data System (ADS)

Aizzat Zakaria, Muhammad; Zamzuri, Hairi; Amri Mazlan, Saiful

2016-02-01

This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.

Cross-Coupled Control for All-Terrain Rovers

PubMed Central

Reina, Giulio

2013-01-01

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors. PMID:23299625

Development of the auto-steering software and equipment technology (ASSET)

NASA Astrophysics Data System (ADS)

McKay, Mark D.; Anderson, Matthew O.; Wadsworth, Derek C.

2003-09-01

The Idaho National Engineering and Environmental Laboratory (INEEL), through collaboration with INSAT Co., has developed a low cost robotic auto-steering system for parallel contour swathing. The capability to perform parallel contour swathing while minimizing "skip" and "overlap" is a necessity for cost-effective crop management within precision agriculture. Current methods for performing parallel contour swathing consist of using a Differential Global Position System (DGPS) coupled with a light bar system to prompt an operator where to steer. The complexity of operating heavy equipment, ensuring proper chemical mixture and application, and steering to a light bar indicator can be overwhelming to an operator. To simplify these tasks, an inexpensive robotic steering system has been developed and tested on several farming implements. This development leveraged research conducted by the INEEL and Utah State University. The INEEL-INSAT Auto-Steering Software and Equipment Technology provides the following: 1) the ability to drive in a straight line within +/- 2 feet while traveling at least 15 mph, 2) interfaces to a Real Time Kinematic (RTK) DGPS and sub-meter DGPS, 3) safety features such as Emergency-stop, steering wheel deactivation, computer watchdog deactivation, etc., and 4) a low-cost, field-ready system that is easily adapted to other systems.

An Attempt to Identify Indicators of Competence on Mechanical Maintenance Tasks.

DTIC Science & Technology

1979-01-01

them on the DA Form 2404. The vehicle is prepared as follows: 1. Left front wheel and drum removed. 2. Retracting spring disconnected. 3. Brake pedal...charging system. 8 2. Troubleshoot starting system circuit on Ml51Al/A2 truck. ii 3. Replace steering linkage on Ml5lAl/A2 truck. 8 4. Troubleshoot brakes ...Troubleshoot starting system circuit on MI51AI/A2 truck. 101 3. Replace steering linkage on MI51AI/A2 truck. 96 4. Troubleshoot brakes and controls

The bricycle: a bicycle in zero gravity can be balanced or steered but not both

NASA Astrophysics Data System (ADS)

Dong, O.; Graham, C.; Grewal, A.; Parrucci, C.; Ruina, A.

2014-12-01

A bicycle or inverted pendulum can be balanced, that is kept nearly upright, by accelerating the base. This balance is achieved by steering on a bicycle. Simultaneously one can also control the lateral position of the base: changing of the track line of a bike or the position of hand under a balanced stick. We show here with theory and experiment that if the balance problem is removed, by making the system neutrally stable for balance, one cannot simultaneously maintain balance and control the position of the base. We made a bricycle, essentially a bicycle with springy training wheels. The stiffness of the training wheel suspension can be varied from near infinite, making the bricycle into a tricycle, to zero, making it effectively a bicycle. The springy training wheels effectively reduce or even negate gravity, at least for balance purposes. One might expect a smooth transition from tricycle to bicycle as the stiffness is varied, in terms of handling, balance and feel. Not so. At an intermediate stiffness, when gravity is effectively zeroed, riders can balance easily but no longer turn. Small turns cause an intolerable leaning. Thus there is a qualitative difference between bicycles and tricycles, a difference that cannot be met halfway.

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

NASA Astrophysics Data System (ADS)

Amor, Mohamed Anis Ben; Oda, Takeshi; Watanabe, Shigeyoshi

This paper is concerned with the development of a car-steering model for traffic simulation. Our focus in this paper is to propose a model of the steering behavior of a human driver for different driving scenarios. These scenarios are modeled in a unified framework using the idea of target position. The proposed approach deals with the driver’s approximation and decision-making mechanisms in tracking a target position by means of fuzzy set theory. The main novelty in this paper lies in the development of a learning algorithm that has the intention to imitate the driver’s self-learning from his driving experience and to mimic his maneuvers on the steering wheel, using linear networks as local approximators in the corresponding fuzzy areas. Results obtained from the simulation of an obstacle avoidance scenario show the capability of the model to carry out a human-like behavior with emphasis on learned skills.

Dust control for Enabler

NASA Technical Reports Server (NTRS)

Hilton, Kevin; Karl, Chad; Litherland, Mark; Ritchie, David; Sun, Nancy

1992-01-01

The dust control group designed a system to restrict dust that is disturbed by the Enabler during its operation from interfering with astronaut or camera visibility. This design also considers the many different wheel positions made possible through the use of artinuation joints that provide the steering and wheel pitching for the Enabler. The system uses a combination of brushes and fenders to restrict the dust when the vehicle is moving in either direction and in a turn. This design also allows for each of maintenance as well as accessibility of the remainder of the vehicle.

Dust control for Enabler

NASA Technical Reports Server (NTRS)

Hilton, Kevin; Karl, Chad; Litherland, Mark; Ritchie, David; Sun, Nancy

1992-01-01

The dust control group designed a system to restrict dust that is disturbed by the Enabler during its operation from interfering with astronaut or camera visibility. This design also considers the many different wheel positions made possible through the use of artinuation joints that provide the steering and wheel pitching for the Enabler. The system uses a combination of brushes and fenders to restrict the dust when the vehicle is moving in either direction and in a turn. This design also allows for ease of maintenance as well as accessibility of the remainder of the vehicle.

49 CFR 383.113 - Required skills.

Code of Federal Regulations, 2014 CFR

2014-10-01

... inspected to ensure a safe operating condition of each part, including: (i) Engine compartment; (ii) Cab/engine start; (iii) Steering; (iv) Suspension; (v) Brakes; (vi) Wheels; (vii) Side of vehicle; (viii... they will activate in emergency situations; (iv) With the engine running, make sure that the system...

49 CFR 383.113 - Required skills.

Code of Federal Regulations, 2012 CFR

2012-10-01

... inspected to ensure a safe operating condition of each part, including: (i) Engine compartment; (ii) Cab/engine start; (iii) Steering; (iv) Suspension; (v) Brakes; (vi) Wheels; (vii) Side of vehicle; (viii... they will activate in emergency situations; (iv) With the engine running, make sure that the system...

49 CFR 383.113 - Required skills.

Code of Federal Regulations, 2013 CFR

2013-10-01

... inspected to ensure a safe operating condition of each part, including: (i) Engine compartment; (ii) Cab/engine start; (iii) Steering; (iv) Suspension; (v) Brakes; (vi) Wheels; (vii) Side of vehicle; (viii... they will activate in emergency situations; (iv) With the engine running, make sure that the system...

JPRS Report, East Asia, Southeast Asia

DTIC Science & Technology

1991-03-26

coupes, Salopas cellophane tape, electric fans, instant noodles , automobiles with steering wheels on the other side, artificial flowers, belts, and...34generously," 1,119 cases of instant noodles , 100 cases of Salopas cellophane tape, 18 cases of belts, 48 cases of dried tangerine skins, and hair

49 CFR 383.113 - Required skills.

Code of Federal Regulations, 2011 CFR

2011-10-01

... inspected to ensure a safe operating condition of each part, including: (i) Engine compartment; (ii) Cab/engine start; (iii) Steering; (iv) Suspension; (v) Brakes; (vi) Wheels; (vii) Side of vehicle; (viii... they will activate in emergency situations; (iv) With the engine running, make sure that the system...

Simulation comparison of a decoupled longitudinal control system and a velocity vector control wheel steering system during landings in wind shear

NASA Technical Reports Server (NTRS)

Kimball, G., Jr.

1980-01-01

A simulator comparison of the velocity vector control wheel steering (VCWS) system and a decoupled longitudinal control system is presented. The piloting task was to use the electronic attitude direction indicator (EADI) to capture and maintain a 3 degree glide slope in the presence of wind shear and to complete the landing using the perspective runway included on the EADI. The decoupled control system used constant prefilter and feedback gains to provide steady state decoupling of flight path angle, pitch angle, and forward velocity. The decoupled control system improved the pilots' ability to control airspeed and flight path angle during the final stages of an approach made in severe wind shear. The system also improved their ability to complete safe landings. The pilots preferred the decoupled control system in severe winds and, on a pilot rating scale, rated the approach and landing task with the decoupled control system as much as 3 to 4 increments better than use of the VCWS system.

Directional control-response compatibility of joystick steered shuttle cars.

PubMed

Burgess-Limerick, Robin; Zupanc, Christine M; Wallis, Guy

2012-01-01

Shuttle cars are an unusual class of vehicle operated in underground coal mines, sometimes in close proximity to pedestrians and steering errors may have very serious consequences. A directional control-response incompatibility has previously been described in shuttle cars which are controlled using a steering wheel oriented perpendicular to the direction of travel. Some other shuttle car operators are seated perpendicular to the direction of travel and steer the car via a seat mounted joystick. A virtual simulation was utilised to determine whether the steering arrangement in these vehicles maintains directional control-response compatibility. Twenty-four participants were randomly assigned to either a condition corresponding to this design (consistent direction), or a condition in which the directional steering response was reversed while driving in-bye (visual field compatible). Significantly less accurate steering performance was exhibited by the consistent direction group during the in-bye trials only. Shuttle cars which provide the joystick steering mechanism described here require operators to accommodate alternating compatible and incompatible directional control-response relationships with each change of car direction. A virtual simulation of an underground coal shuttle car demonstrates that the design incorporates a directional control-response incompatibility when driving the vehicle in one direction. This design increases the probability of operator error, with potential adverse safety and productivity consequences.

Stair-climbing capabilities of USU's T3 ODV mobile robot

NASA Astrophysics Data System (ADS)

Robinson, D. Reed; Wood, Carl G.

2001-09-01

A six-wheeled autonomous omni-directional vehicle (ODV) called T3 has been developed at Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS). This paper focuses on T3's ability to climb stairs using its unique configuration of 6 independently driven and steered wheels and active suspension height control. The ability of T3, or any similar vehicle, to climb stairs is greatly dependent on the chassis orientation relative to the stairs. Stability criteria is developed for any vehicle dimensions and orientation, on any staircase. All possible yaw and pitch angles on various staircases are evaluated to find vehicle orientations that will allow T3 to climb with the largest margin of stability. Different controller types are investigated for controlling vertical wheel movement with the objective of keeping all wheels in contact with the stairs, providing smooth load transfer between loaded and unloaded wheels, and maintaining optimum chassis pitch and roll angles. A controller is presented that uses feedback from wheel loading, vertical wheel position, and chassis orientation sensors. The implementation of the controller is described, and T3's stair climbing performance is presented and evaluated.

77 FR 47552 - Event Data Recorders

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-09

... uncertainties in multiple event crashes; Revised certain sensor ranges and accuracies to reflect current state... resolution specification of 5 degrees. In its petition the Alliance stated that steering wheel angle sensors... angle sensors. Both Nissan and GAM submitted comments in support of the Alliance and Honda petitions to...

49 CFR 393.201 - Frames.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 5 2010-10-01 2010-10-01 false Frames. 393.201 Section 393.201 Transportation... SAFE OPERATION Frames, Cab and Body Components, Wheels, Steering, and Suspension Systems § 393.201 Frames. (a) The frame or chassis of each commercial motor vehicle shall not be cracked, loose, sagging or...

Definition of simulated driving tests for the evaluation of drivers' reactions and responses.

PubMed

Bartolozzi, Riccardo; Frendo, Francesco

2014-01-01

This article aims at identifying the most significant measures in 2 perception-response (PR) tests performed at a driving simulator: a braking test and a lateral skid test, which were developed in this work. Forty-eight subjects (26 females and 22 males) with a mean age of 24.9 ± 3.0 years were enrolled for this study. They were asked to perform a drive on the driving simulator at the University of Pisa (Italy) following a specific test protocol, including 8-10 braking tests and 8-10 lateral skid tests. Driver input signals and vehicle model signals were recorded during the drives and analyzed to extract measures such as the reaction time, first response time, etc. Following a statistical procedure (based on analysis of variance [ANOVA] and post hoc tests), all test measures (3 for the braking test and 8 for the lateral skid test) were analyzed in terms of statistically significant differences among different drivers. The presented procedure allows evaluation of the capability of a given test to distinguish among different drivers. In the braking test, the reaction time showed a high dispersion among single drivers, leading to just 4.8 percent of statistically significant driver pairs (using the Games-Howell post hoc test), whereas the pedal transition time scored 31.9 percent. In the lateral skid test, 28.5 percent of the 2 × 2 comparisons showed significantly different reaction times, 19.5 percent had different response times, 35.2 percent had a different second peak of the steering wheel signal, and 33 percent showed different values of the integral of the steering wheel signal. For the braking test, which has been widely employed in similar forms in the literature, it was shown how the reaction time, with respect to the pedal transition time, can have a higher dispersion due to the influence of external factors. For the lateral skid test, the following measures were identified as the most significant for application studies: the reaction time for the reaction phase, the second peak of the steering wheel angle for the first instinctive response, and the integral of the steering wheel angle for the complete response. The methodology used to analyze the test measures was founded on statistically based and objective evaluation criteria and could be applied to other tests. Even if obtained with a fixed-base simulator, the obtained results represent useful information for applications of the presented PR tests in experimental campaigns with driving simulators.

De-Identification in Learning Analytics

ERIC Educational Resources Information Center

Khalila, Mohammad; Ebner, Martin

2016-01-01

Learning analytics has reserved its position as an important field in the educational sector. However, the large-scale collection, processing, and analyzing of data has steered the wheel beyond the borders to face an abundance of ethical breaches and constraints. Revealing learners' personal information and attitudes, as well as their activities,…

42 CFR 410.38 - Durable medical equipment: Scope and conditions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... vehicle whose steering is operated by an electronic device or a joystick to control direction and turning) or a power-operated vehicle (a three or four-wheeled motorized scooter that is operated by a tiller..., physical examination, diagnostic tests, summary of findings, diagnoses, treatment plans and/or other...

42 CFR 410.38 - Durable medical equipment: Scope and conditions.

Code of Federal Regulations, 2011 CFR

2011-10-01

... vehicle whose steering is operated by an electronic device or a joystick to control direction and turning) or a power-operated vehicle (a three or four-wheeled motorized scooter that is operated by a tiller..., physical examination, diagnostic tests, summary of findings, diagnoses, treatment plans and/or other...

42 CFR 410.38 - Durable medical equipment: Scope and conditions.

Code of Federal Regulations, 2012 CFR

2012-10-01

... vehicle whose steering is operated by an electronic device or a joystick to control direction and turning) or a power-operated vehicle (a three or four-wheeled motorized scooter that is operated by a tiller..., physical examination, diagnostic tests, summary of findings, diagnoses, treatment plans and/or other...

49 CFR Appendix to Part 380 - LCV Driver Training Programs, Required Knowledge and Skills

Code of Federal Regulations, 2012 CFR

2012-10-01

...-wheel training designed to provide an opportunity to develop the skills outlined under the Proficiency... Maneuvers; and Turning, Steering and Tracking units. A series of basic exercises is practiced at off-highway... Security, Transportation Security Administration; the U.S. Department of Transportation, Research and...

49 CFR Appendix to Part 380 - LCV Driver Training Programs, Required Knowledge and Skills

Code of Federal Regulations, 2011 CFR

2011-10-01

...-wheel training designed to provide an opportunity to develop the skills outlined under the Proficiency... Maneuvers; and Turning, Steering and Tracking units. A series of basic exercises is practiced at off-highway... Security, Transportation Security Administration; the U.S. Department of Transportation, Research and...

49 CFR Appendix to Part 380 - LCV Driver Training Programs, Required Knowledge and Skills

Code of Federal Regulations, 2010 CFR

2010-10-01

...-wheel training designed to provide an opportunity to develop the skills outlined under the Proficiency... Maneuvers; and Turning, Steering and Tracking units. A series of basic exercises is practiced at off-highway... Security, Transportation Security Administration; the U.S. Department of Transportation, Research and...

Designation and verification of road markings detection and guidance method

NASA Astrophysics Data System (ADS)

Wang, Runze; Jian, Yabin; Li, Xiyuan; Shang, Yonghong; Wang, Jing; Zhang, JingChuan

2018-01-01

With the rapid development of China's space industry, digitization and intelligent is the tendency of the future. This report is present a foundation research about guidance system which based on the HSV color space. With the help of these research which will help to design the automatic navigation and parking system for the frock transport car and the infrared lamp homogeneity intelligent test equipment. The drive mode, steer mode as well as the navigation method was selected. In consideration of the practicability, it was determined to use the front-wheel-steering chassis. The steering mechanism was controlled by the stepping motors, and it is guided by Machine Vision. The optimization and calibration of the steering mechanism was made. A mathematical model was built and the objective functions was constructed for the steering mechanism. The extraction method of the steering line was studied and the motion controller was designed and optimized. The theory of HSV, RGB color space and analysis of the testing result will be discussed Using the function library OPENCV on the Linux system to fulfill the camera calibration. Based on the HSV color space to design the guidance algorithm.

Modelling Accuracy of a Car Steering Mechanism with Rack and Pinion and McPherson Suspension

NASA Astrophysics Data System (ADS)

Knapczyk, J.; Kucybała, P.

2016-08-01

Modelling accuracy of a car steering mechanism with a rack and pinion and McPherson suspension is analyzed. Geometrical parameters of the model are described by using the coordinates of centers of spherical joints, directional unit vectors and axis points of revolute, cylindrical and prismatic joints. Modelling accuracy is assumed as the differences between the values of the wheel knuckle position and orientation coordinates obtained using a simulation model and the corresponding measured values. The sensitivity analysis of the parameters on the model accuracy is illustrated by two numerical examples.

Steering redundancy for self-driving vehicles using differential braking

NASA Astrophysics Data System (ADS)

Jonasson, M.; Thor, M.

2018-05-01

This paper describes how differential braking can be used to turn a vehicle in the context of providing fail-operational control for self-driving vehicles. Two vehicle models are developed with differential input. The models are used to explain the bounds of curvature that differential braking provides and they are then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. The vehicle behaviour and its limitations due to wheel suspension effects are, owing to the vehicle models, defined and explained. Finally, a model-based controller is developed to control the vehicle curvature during a fault by differential braking. The controller is designed to compensate for wheel angle disturbance that is likely to occur during the control event.

LSRA

NASA Image and Video Library

1993-04-07

A NASA CV-990, modified as a Landing Systems Research Aircraft (LSRA), in flight over NASA's Dryden Flight Research Center, Edwards, California, for a test of the space shuttle landing gear system. The space shuttle landing gear test unit, operated by a high-pressure hydraulic system, allowed engineers to assess and document the performance of space shuttle main and nose landing gear systems, tires and wheel assemblies, plus braking and nose wheel steering performance. The series of 155 test missions for the space shuttle program provided extensive data about the life and endurance of the shuttle tire systems and helped raise the shuttle crosswind landing limits at Kennedy.

LSRA in flight

NASA Image and Video Library

1993-04-07

A NASA CV-990, modified as a Landing Systems Research Aircraft (LSRA), in flight over NASA's Dryden Flight Research Center, Edwards, California, for a test of the space shuttle landing gear system. The space shuttle landing gear test unit, operated by a high-pressure hydraulic system, allowed engineers to assess and document the performance of space shuttle main and nose landing gear systems, tires and wheel assemblies, plus braking and nose wheel steering performance. The series of 155 test missions for the space shuttle program provided extensive data about the life and endurance of the shuttle tire systems and helped raise the shuttle crosswind landing limits at Kennedy.

Effect of yaw angle on steering forces for the lunar roving vehicle wheel

NASA Technical Reports Server (NTRS)

Green, A. J.

1974-01-01

A series of tests was conducted with a Lunar Roving Vehicle (LRV) wheel operating at yaw angles ranging from -5 to +90 deg. The load was varied from 42 to 82 lb (187 to 365 N), and the speed was varied from 3.5 to 10.0 ft/sec (1.07 to 3.05 m/sec). It was noted that speed had an effect on side thrust and rut depth. Side thrust, rut depth, and skid generally increased as the yaw angle increased. For the range of loads used, the effect of load on performance was not significant.

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

Tilted wheel satellite attitude control with air-bearing table experimental results

NASA Astrophysics Data System (ADS)

Inumoh, Lawrence O.; Forshaw, Jason L.; Horri, Nadjim M.

2015-12-01

Gyroscopic actuators for satellite control have attracted significant research interest over the years, but their viability for the control of small satellites has only recently started to become clear. Research on variable speed gyroscopic actuators has long been focused on single gimbal actuators; double gimbal actuators typically operate at constant wheel spin rate and allow tilt angle ranges far larger than the ranges needed to operate most satellite missions. This research examines a tilted wheel, a newly proposed type of inertial actuator that can generate torques in all three principal axes of a rigid satellite using a spinning wheel and a double tilt mechanism. The tilt mechanism tilts the angular momentum vector about two axes providing two degree of freedom control, while variation of the wheel speed provides the third. The equations of motion of the system lead to a singularity-free system during nominal operation avoiding the need for complex steering logic. This paper describes the hardware design of the tilted wheel and the experimental setup behind both standalone and spherical air-bearing tables used to test it. Experimental results from the air bearing table are provided with the results depicting the high performance capabilities of the proposed actuator in torque generation.

Where We Look When We Drive with or without Active Steering Wheel Control

PubMed Central

Mars, Franck; Navarro, Jordan

2012-01-01

Current theories on the role of visuomotor coordination in driving agree that active sampling of the road by the driver informs the arm-motor system in charge of performing actions on the steering wheel. Still under debate, however, is the nature of visual cues and gaze strategies used by drivers. In particular, the tangent point hypothesis, which states that drivers look at a specific point on the inside edge line, has recently become the object of controversy. An alternative hypothesis proposes that drivers orient gaze toward the desired future path, which happens to be often situated in the vicinity of the tangent point. The present study contributed to this debate through the analyses of the distribution of gaze orientation with respect to the tangent point. The results revealed that drivers sampled the roadway in the close vicinity of the tangent point rather than the tangent point proper. This supports the idea that drivers look at the boundary of a safe trajectory envelop near the inside edge line. Furthermore, the study investigated for the first time the reciprocal influence of manual control on gaze control in the context of driving. This was achieved through the comparison of gaze behavior when drivers actively steered the vehicle or when steering was performed by an automatic controller. The results showed an increase in look-ahead fixations in the direction of the bend exit and a small but consistent reduction in the time spent looking in the area of the tangent point when steering was passive. This may be the consequence of a change in the balance between cognitive and sensorimotor anticipatory gaze strategies. It might also reflect bidirectional coordination control between the eye and arm-motor systems, which goes beyond the common assumption that the eyes lead the hands when driving. PMID:22928043

A predictive control framework for torque-based steering assistance to improve safety in highway driving

NASA Astrophysics Data System (ADS)

Ercan, Ziya; Carvalho, Ashwin; Tseng, H. Eric; Gökaşan, Metin; Borrelli, Francesco

2018-05-01

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.

49 CFR 393.203 - Cab and body components.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 5 2011-10-01 2011-10-01 false Cab and body components. 393.203 Section 393.203... NECESSARY FOR SAFE OPERATION Frames, Cab and Body Components, Wheels, Steering, and Suspension Systems § 393.203 Cab and body components. (a) The cab compartment doors or door parts used as an entrance or exist...

Model studies of crosswind landing-gear configurations for STOL aircraft

NASA Technical Reports Server (NTRS)

Stubbs, S. M.; Byrdsong, T. A.

1973-01-01

A dynamic model was used to directly compare four different crosswind landing gear mechanisms. The model was landed as a free body onto a laterally sloping runway used to simulate a crosswind side force. A radio control system was used for steering to oppose the side force as the model rolled to a stop. The configuration in which the landing gears are alined by the pilot and locked in the direction of motion prior to touchdown gave the smoothest runout behavior with the vehicle maintaining its crab angle throughout the landing roll. Nose wheel steering was confirmed to be better than steering with nose and main gears differentially or together. Testing is continuing to obtain quantitative data to establish an experimental data base for validation of an analytical program that will be capable of predicting full scale results.

Break in Raised Tread on Curiosity Wheel

NASA Image and Video Library

2017-03-21

Two of the raised treads, called grousers, on the left middle wheel of NASA's Curiosity Mars rover broke during the first quarter of 2017, including the one seen partially detached at the top of the wheel in this image from the Mars Hand Lens Imager (MAHLI) camera on the rover's arm. This image was taken on March 19, 2017, as part of a set used by rover team members to inspect the condition of the rover's six wheels during the 1,641st Martian day, or sol, of Curiosity's work on Mars. Holes and tears in the wheels worsened significantly during 2013 as Curiosity was crossing terrain studded with sharp rocks on the route from near its 2012 landing site to the base of Mount Sharp. Team members have used MAHLI systematically since then to watch for when any of the zig-zag shaped grousers begin to break. The last prior set of wheel-inspection images from before Sol 1641 was taken on Jan. 27, 2017, (Sol 1591) and revealed no broken grousers. Longevity testing with identical aluminum wheels on Earth indicates that when three grousers on a given wheel have broken, that wheel has reached about 60 percent of its useful life. Curiosity has driven well over 60 percent of the amount needed for reaching all the geological layers planned as the mission's science destinations, so the start of seeing broken grousers is not expected to affect the mission's operations. Curiosity's six aluminum wheels are about 20 inches (50 centimeters) in diameter and 16 inches (40 centimeters) wide. Each of the six wheels has its own drive motor, and the four corner wheels also have steering motors. http://photojournal.jpl.nasa.gov/catalog/PIA21486

Efficient direct yaw moment control: tyre slip power loss minimisation for four-independent wheel drive vehicle

NASA Astrophysics Data System (ADS)

Kobayashi, Takao; Katsuyama, Etsuo; Sugiura, Hideki; Ono, Eiichi; Yamamoto, Masaki

2018-05-01

This paper proposes an efficient direct yaw moment control (DYC) capable of minimising tyre slip power loss on contact patches for a four-independent wheel drive vehicle. Simulations identified a significant power loss reduction with a direct yaw moment due to a change in steer characteristics during acceleration or deceleration while turning. Simultaneously, the vehicle motion can be stabilised. As a result, the proposed control method can ensure compatibility between vehicle dynamics performance and energy efficiency. This paper also describes the results of a full-vehicle simulation that was conducted to examine the effectiveness of the proposed DYC.

Refined Gearbox Design for the Chariot Lunar Rover

NASA Technical Reports Server (NTRS)

Bauman, Steve; Lewicki, David

2010-01-01

In planning for NASA's return to the moon by the year 2020, the NASA Johnson Space Center (JSC) designed and built a lunar concept vehicle called Chariot. Slightly larger than a pickup truck, it was designed to demonstrate similar utilitarian functions, but with twelve wheels for redundancy, reliability, and reduced surface contact pressure. JSC designed a motor gearbox to drive each of Chariot s six wheel pods. The pods can be independently steered over 360 for maneuverability. This paper describes the design of a second generation, drop-in replacement gearbox. The new design has a lower parts count, and is lighter than the original, which represents a step toward flight hardware.

CV-990 LSRA

NASA Image and Video Library

1992-05-27

A NASA CV-990, modified as a Landing Systems Research Aircraft (LSRA), is serviced on the ramp at NASA's Dryden Flight Research Center, Edwards, California, before a test of the space shuttle landing gear system. The space shuttle landing gear test unit, operated by a high-pressure hydraulic system, allowed engineers to assess and document the performance of space shuttle main and nose landing gear systems, tires and wheel assemblies, plus braking and nose wheel steering performance. The series of 155 test missions for the space shuttle program provided extensive data about the life and endurance of the shuttle tire systems and helped raise the shuttle crosswind landing limits at Kennedy.

LSRA landing with tire test

NASA Technical Reports Server (NTRS)

1994-01-01

A space shuttle landing gear system is visible between the two main landing gear components on this NASA CV-990, modified as a Landing Systems Research Aircraft (LSRA). The space shuttle landing gear test unit, operated by a high-pressure hydraulic system, allowed engineers to assess and document the performance of space shuttle main and nose landing gear systems, tires and wheel assemblies, plus braking and nose wheel steering performance. The series of 155 test missions for the space shuttle program, conducted at NASA's Dryden Flight Research Center, Edwards, California, provided extensive data about the life and endurance of the shuttle tire systems and helped raise the shuttle crosswind landing limits at Kennedy.

Dynamo: A Model Transition Framework for Dynamic Stability Control and Body Mass Manipulation

DTIC Science & Technology

2011-11-01

driving at high speed, and you turn the steering wheel hard to the right and slam on the brakes, then you will end up in the oversteer regime. At the...sensors (GPS, IMU, LIDAR ) for vehicle control. Figure 17: Dynamo high-speed small UGV hardware platform We will perform experiments to measure the MTC

The Israeli Planning and Grants Committee at the Crossroads: From Shock Absorber to Steering Wheel.

ERIC Educational Resources Information Center

Zadok, Meir

1984-01-01

The Israeli Planning and Grants Committee (PGC) was established in 1974 on the model of the British University Grants Committee, becoming the most powerful and dominant organization in higher education governance. Both government and universities will have to provide the framework of cooperation with the PGC to maintain its present position. (MSE)

78 FR 65761 - General Motors, LLC, Receipt of Petition for Decision of Inconsequential Noncompliance

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-01

... vehicles does not fully comply with paragraph S9.1.1 of FMVSS No. 108, which requires an active turn signal to cancel when the steering wheel is rotated. On some of the vehicles, the turn signal may... The turn signal operating unit installed on passenger cars, multipurpose passenger vehicles, trucks...

Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels

PubMed Central

Mohanraj, A. P.; Elango, A.; Reddy, Mutra Chanakya

2016-01-01

Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot's chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations. PMID:26981585

Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels.

PubMed

Mohanraj, A P; Elango, A; Reddy, Mutra Chanakya

2016-01-01

Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot's chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations.

Optimized coordination of brakes and active steering for a 4WS passenger car.

PubMed

Tavasoli, Ali; Naraghi, Mahyar; Shakeri, Heman

2012-09-01

Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Off-road transport of pinyon/juniper

Treesearch

J. Klepac; B. Rummer

2012-01-01

A 8-wheel forwarder was observed while transporting pinyon pine (P. edulis) and Utah juniper (J. osteosperma) from woods to landing in southern Utah. The forwarder was part of a 2-machine system used to treat pinyon-juniper stands. Trees were felled using a rubber tracked skid steer with a shear head, then transported to a collection point with a Ponsse Buffalo King 20...

49 CFR 571.104 - Standard No. 104; Windshield wiping and washing systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... difference between one-half of the shoulder room dimension and the steering wheel centerline-to-car... frequency or speed shall be at least 45 cycles per minute regardless of engine load and engine speed. S4.1.1.3Regardless of engine speed and engine load, the highest and one lower frequency or speed shall differ by at...

Localization Based on Magnetic Markers for an All-Wheel Steering Vehicle

PubMed Central

Byun, Yeun Sub; Kim, Young Chol

2016-01-01

Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS), vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm) and reliable under unexpected missing markers or incorrect markers. PMID:27916827

Independent Orbiter Assessment (IOA): Analysis of the nose wheel steering subsystem

NASA Technical Reports Server (NTRS)

Mediavilla, Anthony Scott

1986-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results for the Orbiter Nose Wheel Steering (NWS) hardware are documented. The NWS hardware provides primary directional control for the Orbiter vehicle during landing rollout. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. The original NWS design was envisioned as a backup system to differential braking for directional control of the Orbiter during landing rollout. No real effort was made to design the NWS system as fail operational. The brakes have much redundancy built into their design but the poor brake/tire performance has forced the NSTS to upgrade NWS to the primary mode of directional control during rollout. As a result, a large percentage of the NWS system components have become Potential Critical Items (PCI).

Hopping Robot with Wheels

NASA Technical Reports Server (NTRS)

Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

2003-01-01

A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

Experimental Semiautonomous Vehicle

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Mishkin, Andrew H.; Litwin, Todd E.; Matthies, Larry H.; Cooper, Brian K.; Nguyen, Tam T.; Gat, Erann; Gennery, Donald B.; Firby, Robert J.; Miller, David P.;

Designing neuro-fuzzy controller for electromagnetic anti-lock braking system (ABS) on electric vehicle

NASA Astrophysics Data System (ADS)

Pramudijanto, Josaphat; Ashfahani, Andri; Lukito, Rian

2018-03-01

Anti-lock braking system (ABS) is used on vehicles to keep the wheels unlocked in sudden break (inside braking) and minimalize the stop distance of the vehicle. The problem of it when sudden break is the wheels locked so the vehicle steering couldn’t be controlled. The designed ABS system will be applied on ABS simulator using the electromagnetic braking. In normal condition or in condition without braking, longitudinal velocity of the vehicle will be equal with the velocity of wheel rotation, so the slip ratio will be 0 (0%) and if the velocity of wheel rotation is 0 (in locked condition) then the wheels will be slip 1 (100%). ABS system will keep the value of slip ratio so it will be 0.2 (20%). In this final assignment, the method that is used is Neuro-Fuzzy method to control the slip value on the wheels. The input is the expectable slip and the output is slip from plant. The learning algorithm which is used is Backpropagation that will work by feedforward to get actual output and work by feedback to get error value with target output. The network that was made based on fuzzy mechanism which are fuzzification, inference and defuzzification, Neuro-fuzzy controller can reduce overshoot plant respond to 43.2% compared to plant respond without controller by open loop.

Steering and positioning targets for HWIL IR testing at cryogenic conditions

NASA Astrophysics Data System (ADS)

Perkes, D. W.; Jensen, G. L.; Higham, D. L.; Lowry, H. S.; Simpson, W. R.

2006-05-01

In order to increase the fidelity of hardware-in-the-loop ground-truth testing, it is desirable to create a dynamic scene of multiple, independently controlled IR point sources. ATK-Mission Research has developed and supplied the steering mirror systems for the 7V and 10V Space Simulation Test Chambers at the Arnold Engineering Development Center (AEDC), Air Force Materiel Command (AFMC). A portion of the 10V system incorporates multiple target sources beam-combined at the focal point of a 20K cryogenic collimator. Each IR source consists of a precision blackbody with cryogenic aperture and filter wheels mounted on a cryogenic two-axis translation stage. This point source target scene is steered by a high-speed steering mirror to produce further complex motion. The scene changes dynamically in order to simulate an actual operational scene as viewed by the System Under Test (SUT) as it executes various dynamic look-direction changes during its flight to a target. Synchronization and real-time hardware-in-the-loop control is accomplished using reflective memory for each subsystem control and feedback loop. This paper focuses on the steering mirror system and the required tradeoffs of optical performance, precision, repeatability and high-speed motion as well as the complications of encoder feedback calibration and operation at 20K.

A view finder control system for an earth observation satellite

NASA Astrophysics Data System (ADS)

Steyn, H.

2004-11-01

A real time TV view finder is used on-board a low earth orbiting (LEO) satellite to manually select targets for imaging from a ground station within the communication footprint of the satellite. The attitude control system on the satellite is used to steer the satellite using commands from the groundstation and a television camera onboard the satellite will then downlink a television signal in real time to a monitor screen in the ground station. The operator in the feedback loop will be able to manually steer the boresight of the satellite's main imager towards interested target areas e.g. to avoid clouds or correct for any attitude pointing errors. Due to a substantial delay (in the order of a second) in the view finding feedback loop and the narrow field of view of the main imager, the operator has to be assisted by the onboard attitude control system to stabilise and track the target area visible on the monitor screen. This paper will present the extended Kalman filter used to estimate the satellite's attitude angles using quaternions and the bias vector component of the 3-axis inertial rate sensors (gyros). Absolute attitude sensors (i.e. sun, horizon and magnetic) are used to supply the measurement vectors to correct the filter states during the view finder manoeuvres. The target tracking and rate steering reaction wheel controllers to accurately point and stabilise the satellite will be presented. The reference generator for the satellite to target attitude and rate vectors as used by the reaction wheel controllers will be derived.

49 CFR 571.104 - Standard No. 104; Windshield wiping and washing systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... outboard of the steering wheel centerline 0.15 times the difference between one-half of the shoulder room... frequency or speed shall be at least 45 cycles per minute regardless of engine load and engine speed. S4.1.1.3Regardless of engine speed and engine load, the highest and one lower frequency or speed shall differ by at...

The Seated Soldier Study: Posture and Body Shape in Vehicle Seats

DTIC Science & Technology

2013-10-31

ergonomics and safety assessments. UNCLASSIFIED UNCLASSIFIED 3 INTRODUCTION The design of seats and interiors for a wide variety of...DHMs) began to be used for ergonomic assessments and design of vehicle interiors and seats , particularly for driver workstation layout (Chaffin 2001...in a vehicle mockup by varying the steering wheel position relative to the pedals. The participants adjusted the seat to obtain a comfortable

Multi-Target Single Cycle Instrument Placement

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Smith, David E.; Deans, Matthew; Sargent, Randy; Kunz, Clay; Lees, David; Rajagopalan, Srikanth; Bualat, Maria

2005-01-01

This presentation is about the robotic exploration of Mars using multiple targets command cycle, safe instrument placements, safe operation, and K9 Rover which has a 6 wheel steer rocket-bogey chassis (FIDO, MER), 70% MER size, 1.2 GHz Pentium M laptop running Linux OS, Odometry and compass/inclinometer, CLARAty architecture, 5 DOF manipulator w/CHAMP microscopic camera, SciCams, NavCams and HazCams.

Impacts to the chest of PMHSs - Influence of impact location and load distribution on chest response.

PubMed

Holmqvist, Kristian; Svensson, Mats Y; Davidsson, Johan; Gutsche, Andreas; Tomasch, Ernst; Darok, Mario; Ravnik, Dean

2016-02-01

The chest response of the human body has been studied for several load conditions, but is not well known in the case of steering wheel rim-to-chest impact in heavy goods vehicle frontal collisions. The aim of this study was to determine the response of the human chest in a set of simulated steering wheel impacts. PMHS tests were carried out and analysed. The steering wheel load pattern was represented by a rigid pendulum with a straight bar-shaped front. A crash test dummy chest calibration pendulum was utilised for comparison. In this study, a set of rigid bar impacts were directed at various heights of the chest, spanning approximately 120mm around the fourth intercostal space. The impact energy was set below a level estimated to cause rib fracture. The analysed results consist of responses, evaluated with respect to differences in the impacting shape and impact heights on compression and viscous criteria chest injury responses. The results showed that the bar impacts consistently produced lesser scaled chest compressions than the hub; the Middle bar responses were around 90% of the hub responses. A superior bar impact provided lesser chest compression; the average response was 86% of the Middle bar response. For inferior bar impacts, the chest compression response was 116% of the chest compression in the middle. The damping properties of the chest caused the compression to decrease in the high speed bar impacts to 88% of that in low speed impacts. From the analysis it could be concluded that the bar impact shape provides lower chest criteria responses compared to the hub. Further, the bar responses are dependent on the impact location of the chest. Inertial and viscous effects of the upper body affect the responses. The results can be used to assess the responses of human substitutes such as anthropomorphic test devices and finite element human body models, which will benefit the development process of heavy goods vehicle safety systems. Copyright © 2015 Elsevier Ltd. All rights reserved.

Slip-based terrain estimation with a skid-steer vehicle

NASA Astrophysics Data System (ADS)

Reina, Giulio; Galati, Rocco

2016-10-01

In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2008-04-01

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

i3Drive, a 3D interactive driving simulator.

PubMed

Ambroz, Miha; Prebil, Ivan

2010-01-01

i3Drive, a wheeled-vehicle simulator, can accurately simulate vehicles of various configurations with up to eight wheels in real time on a desktop PC. It presents the vehicle dynamics as an interactive animation in a virtual 3D environment. The application is fully GUI-controlled, giving users an easy overview of the simulation parameters and letting them adjust those parameters interactively. It models all relevant vehicle systems, including the mechanical models of the suspension, power train, and braking and steering systems. The simulation results generally correspond well with actual measurements, making the system useful for studying vehicle performance in various driving scenarios. i3Drive is thus a worthy complement to other, more complex tools for vehicle-dynamics simulation and analysis.

Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

PubMed

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L; Reina, Antonio J; García-Cerezo, Alfonso

2013-04-03

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

PubMed Central

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L.; Reina, Antonio J.; García-Cerezo, Alfonso

2013-01-01

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers. PMID:23552102

Compact Hybrid Automotive Propulsion System

NASA Technical Reports Server (NTRS)

Lupo, G.

1986-01-01

Power train proposed for experimental vehicle powered by internal combustion engine and electric motor. Intended for front-wheel drive automobile, power train mass produced using existing technology. System includes internal-combustion engine, electric motor, continuously variable transmission, torque converter, differential, and control and adjustment systems for electric motor and transmission. Continuously variable transmission integrated into hydraulic system that also handles power steering and power brakes. Batteries for electric motor mounted elsewhere in vehicle.

TARDEC Ground Vehicle Robotics: Vehicle Dynamic Characterization and Research

DTIC Science & Technology

2015-09-01

inferred roll angles that are found with the IMU . This is usually done with UNCLASSIFIED UNCLASSIFIED linear potentiometers, which have an electrical...wire electric, Electric traction control. Suspension Styles: Suspension is what keeps the vehicle off the ground and mechanically isolated from the...lot” maneuvers. Because of this, they roll with no slip angles. This means that the steering angles of the front wheels must be calibrated perfectly

VTI Driving Simulator: Mathematical Model of a Four-wheeled Vehicle for Simulation in Real Time. VTI Rapport 267A.

ERIC Educational Resources Information Center

Nordmark, Staffan

1984-01-01

This report contains a theoretical model for describing the motion of a passenger car. The simulation program based on this model is used in conjunction with an advanced driving simulator and run in real time. The mathematical model is complete in the sense that the dynamics of the engine, transmission and steering system is described in some…

High Speed Exit Taxiways.

DTIC Science & Technology

1981-02-01

the runway with 1800 ft. radius and no specified runout distance, was developed circa 1958 and standardized in the 19609. A considerable nur, ber of...cornerinl) . Even wi th eaync);e wheel steering, the small fraction of total weight on thle nose whoel prevents tricycle airplaines from being very...would provide more runout but would require greater clearance travel distances at both Fnds. Z2 The results of reference (a) indicated that

Automation of Armored Four Wheel Counter Steer Vehicles

DTIC Science & Technology

2015-08-28

designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation...Public Release The U.S. Army’s efforts in vehicle auto- mation are designed in part to protect soldiers in the field as they traverse poten- tially...System (AMAS) convoy autonomy, sensor, and drive-by-wire kits, to ground-up autonomous vehicle designs , such as TARDEC’s Autonomous Platform

Sharing control between humans and automation using haptic interface: primary and secondary task performance benefits.

PubMed

Griffiths, Paul G; Gillespie, R Brent

2005-01-01

This paper describes a paradigm for human/automation control sharing in which the automation acts through a motor coupled to a machine's manual control interface. The manual interface becomes a haptic display, continually informing the human about automation actions. While monitoring by feel, users may choose either to conform to the automation or override it and express their own control intentions. This paper's objective is to demonstrate that adding automation through haptic display can be used not only to improve performance on a primary task but also to reduce perceptual demands or free attention for a secondary task. Results are presented from three experiments in which 11 participants completed a lane-following task using a motorized steering wheel on a fixed-base driving simulator. The automation behaved like a copilot, assisting with lane following by applying torques to the steering wheel. Results indicate that haptic assist improves lane following by least 30%, p < .0001, while reducing visual demand by 29%, p < .0001, or improving reaction time in a secondary tone localization task by 18 ms, p = .0009. Potential applications of this research include the design of automation interfaces based on haptics that support human/automation control sharing better than traditional push-button automation interfaces.

Crash scene photography in motor vehicle crashes without air bag deployment.

PubMed

Newgard, Craig D; Martens, Katherine A; Lyons, Evelyn M

2002-09-01

To determine whether vehicle characteristics, measured using crash scene photography, are associated with anatomic patterns of injury and severity of injury sustained in motor vehicle crashes (MVCs) without air bag deployment. A prospective observational study was conducted over 22 months, using 12 fire departments serving two hospitals. Two vehicle photographs (exterior and interior) were taken at each MVC. Vehicular variables were assigned by grading the photographs with a standardized scoring system, and outcome information on each patient was collected by chart review. Five hundred fifty-nine patients were entered into the study. Frontal crashes and increasing passenger space intrusion (PSI) were associated with head, facial, and lower-extremity injuries, while rear crashes were associated with spinal injuries. Restraint use had a protective effect in head, facial, and upper and lower extremity injuries, yet was associated with higher odds of spinal injury. Lack of restraint use, increasing PSI, and steering wheel deformity were associated with an increased hospital length of stay and hospital charges, yet only steering wheel deformity was associated with increasing injury severity when adjusting for other crash variables. Out-of-hospital variables, as obtained from crash vehicle photography, are associated with injury site, injury severity, hospital length of stay, and hospital charges in patients involved in MVCs without air bag deployment.

Independent Orbiter Assessment (IOA): Analysis of the landing/deceleration subsystem

NASA Technical Reports Server (NTRS)

Compton, J. M.; Beaird, H. G.; Weissinger, W. D.

1987-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results corresponding to the Orbiter Landing/Deceleration Subsystem hardware. The Landing/Deceleration Subsystem is utilized to allow the Orbiter to perform a safe landing, allowing for landing-gear deploy activities, steering and braking control throughout the landing rollout to wheel-stop, and to allow for ground-handling capability during the ground-processing phase of the flight cycle. Specifically, the Landing/Deceleration hardware consists of the following components: Nose Landing Gear (NLG); Main Landing Gear (MLG); Brake and Antiskid (B and AS) Electrical Power Distribution and Controls (EPD and C); Nose Wheel Steering (NWS); and Hydraulics Actuators. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. Due to the lack of redundancy in the Landing/Deceleration Subsystems there is a high number of critical items.

The use of hazard road signs to improve the perception of severe bends.

PubMed

Milleville-Pennel, Isabelle; Jean-Michel, Hoc; Elise, Jolly

2007-07-01

Collision analysis indicates that many car accidents occur when negotiating a bend. Excessive speed and steering wheel errors are often given by way of explanation. Nevertheless, the underlying origin of these dramatic errors could be, at least in part, a poor estimation of bend curvature. The aim of this study was to investigate both the assessment of bend curvature by drivers and the impact of symbolic road signs that indicate a hazardous bend on this assessment. Thus, participants first viewed a video recording showing approaching bends of different curvature before being asked to assess the curvature of these bends. This assessment could either be a verbal (symbolic control) estimation of the bend's curvature and risk, or a sensorimotor (subsymbolic control) estimation of the bend's curvature (participants were asked to turn a steering wheel to mimic the position that would be necessary to accurately negotiate the bend). Results show that very severe bends (with a radius of less than 80 m) were actually underestimated. This was associated with an underestimation of risk corresponding to these bends and a poor sensorimotor anticipation of bend curvature. Road signs, which indicate risk significantly improve bend assessment, but this was of no use for sensorimotor anticipation. Thus, other indicators need to be envisaged in order to also improve this level of control.

Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system

NASA Astrophysics Data System (ADS)

Weiskircher, Thomas; Müller, Steffen

2012-01-01

This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.

Virtual test rig to improve the design and optimisation process of the vehicle steering and suspension systems

NASA Astrophysics Data System (ADS)

Mántaras, Daniel A.; Luque, Pablo

2012-10-01

A virtual test rig is presented using a three-dimensional model of the elasto-kinematic behaviour of a vehicle. A general approach is put forward to determine the three-dimensional position of the body and the main parameters which influence the handling of the vehicle. For the design process, the variable input data are the longitudinal and lateral acceleration and the curve radius, which are defined by the user as a design goal. For the optimisation process, once the vehicle has been built, the variable input data are the travel of the four struts and the steering wheel angle, which is obtained through monitoring the vehicle. The virtual test rig has been applied to a standard vehicle and the validity of the results has been proven.

Injuries to Pregnant Occupants in Automotive Crashes

PubMed Central

Klinich, Kathleen DeSantis; Schneider, Lawrence W.; Moore, Jamie L.; Pearlman, Mark D.

1998-01-01

Injuries unique to pregnant occupants involved in motor-vehicle crashes include placental abruption, uterine rupture or laceration, and direct fetal injury. The mechanisms and characteristics of these injuries are discussed using examples from a literature review and from recent investigations of crashes involving pregnant occupants. In addition, a review of the relationship between the pregnant driver and automotive restraints and the steering wheel illustrates how injury potential may differ from the non-pregnant occupant.

Emergency-Evacuation Cart

NASA Technical Reports Server (NTRS)

Fedor, Otto H.; Owens, Lester J.

1988-01-01

Proposed cart designed to remove injured worker from vicinity of hazardous chemical spill. Self-propelled cart enables rescuer to move victim of industrial accident quickly away from toxic, flammable, explosive, corrosive, carcinogenic, asphyxiating, or extremely cold liquids. Intended for use where too dangerous for ambulances and other vehicles to approach accident site. Constructed of high-strength tubing, rides on bicycle wheels with balloon tires. Rescuer steers cart with handle at rear. Estimated mass of fully equipped vehicle is 650 lb.

Mobility Performance Algorithms for Small Unmanned Ground Vehicles

DTIC Science & Technology

2009-05-01

obstacles need to be developed; specifically, models and data for wheeled vehicle skid steering, interior building floor and roof surfaces, and stair ...an 80-lb SUGV; PackBot® at 50 lb, and GatorTM at 2500 lb. Additionally, the FCS projects that 40% of the military fleet may eventually be robotic ...sensor input analysis and decision-making time. Fields (2002a) discusses representing interaction of humans and robots in the OneSAF Testbed Baseline

Motion Simulation Research Related Short Term Training Attachment to TARDEC

DTIC Science & Technology

2013-04-01

CASSI group has five main areas of focus, which are, ground vehicle power and mobility , vehicle electronics and architecture, intelligent ground...control, steering as well as seats can all be changed to mock the necessary vehicle. Originally it was designed for a High Mobility Multipurpose Wheeled...necessary outputs to the motion base. SimCreator is a software package, similar to SimuLink. Most of the backend coding is done in C++. RTI accounts

A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering

NASA Astrophysics Data System (ADS)

Chen, Jie; Song, Jian; Li, Liang; Ran, Xu; Jia, Gang; Wu, Kaihui

2016-05-01

The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient (μ) and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.

A hub dynamometer for measurement of wheel forces in off-road bicycling.

PubMed

De Lorenzo, D S; Hull, M L

1999-02-01

A dynamometric hubset that measures the two ground contact force components acting on a bicycle wheel in the plane of the bicycle during off-road riding while either coasting or braking was designed, constructed, and evaluated. To maintain compatibility with standard mountain bike construction, the hubs use commercially available shells with modified, strain gage-equipped axles. The axle strain gages are sensitive to forces acting in the radial and tangential directions, while minimizing sensitivity to transverse forces, steering moments, and variations in the lateral location of the center of pressure. Static calibration and a subsequent accuracy check that computed differences between applied and apparent loads developed during coasting revealed root mean squared errors of 1 percent full-scale or less (full-scale load = 4500 N). The natural frequency of the rear hub with the wheel attached exceeded 350 Hz. These performance capabilities make the dynamometer useful for its intended purpose during coasting. To demonstrate this usefulness, sample ground contact forces are presented for a subject who coasted downhill over rough terrain. The dynamometric hubset can also be used to determine ground contact forces during braking providing that the brake reaction force components are known. However, compliance of the fork can lead to high cross-sensitivity and corresponding large (> 5 percent FS) measurement errors at the front wheel.

Wheelset curving guidance using H∞ control

NASA Astrophysics Data System (ADS)

Qazizadeh, Alireza; Stichel, Sebastian; Feyzmahdavian, Hamid Reza

2018-03-01

This study shows how to design an active suspension system for guidance of a rail vehicle wheelset in curve. The main focus of the study is on designing the controller and afterwards studying its effect on the wheel wear behaviour. The controller is designed based on the closed-loop transfer function shaping method and ? control strategy. The study discusses designing of the controller for both nominal and uncertain plants and considers both stability and performance. The designed controllers in Simulink are then applied to the vehicle model in Simpack to study the wheel wear behaviour in curve. The vehicle type selected for this study is a two-axle rail vehicle. This is because this type of vehicle is known to have very poor curving performance and high wheel wear. On the other hand, the relative simpler structure of this type of vehicle compared to bogie vehicles make it a more economic choice. Hence, equipping this type of vehicle with the active wheelset steering is believed to show high enough benefit to cost ratio to remain attractive to rail vehicle manufacturers and operators.

Acquisition, Tracking, Pointing, and Line-of-Sight Control Laboratory Experiments for a Space-Based Bifocal Relay Mirror

DTIC Science & Technology

2002-01-01

fixed coordinate frame. The spacecraft is subjected to large angle maneuvers ; therefore, a quaternion formulation is used. The spacecraft uses rate...steering mirrors (small inertia). The wheel control laws are based on quaternion error and angular velocity error feedback . The derivation of the...Agrawal, M. Romano Spacecraft Research and Design Center Naval Postgraduate School Monterey, CA 93943 R. L. Brunson**, J. D. Dillow, D. H. Nelson, J. J

Analysis of vehicle dynamics under sadden cross wind

NASA Astrophysics Data System (ADS)

Walczak, S.

2016-09-01

In this paper, the way of calculating aerodynamic forces acting on a vehicle passing in the region of sadden cross wind was presented. The CarDyn, a vehicle dynamics simulation program, developed by the author was used. The effects of the cross wind were studied with a fixed steering wheel simulation. On the base of computer simulations the car cross wind sensitivity were determined, and vehicle responses such as lateral offset, side acceleration and yaw angular velocity are presented.

USSR Report: Military Affairs, No. 1761

DTIC Science & Technology

1983-04-21

the road is flying by beneath the wheels and he is sure he will reach his destination on time. This was not the first time driver Private Mikhail Gutsu...has been on such a journey. Over several months of service he has many kilometers of winding mountain roads behind him. Mikhail grips the steering...road, and comes to a standstill. The driver jumps from the cabin and raises the steaming hood. Mikhail can see his young comrade’s dismayed face

A comparative evaluation of in-vehicle side view displays layouts in critical lane changing situation.

PubMed

Beck, Donghyun; Lee, Minho; Park, Woojin

2017-12-01

This study conducted a driving simulator experiment to comparatively evaluate three in-vehicle side view displays layouts for camera monitor systems (CMS) and the traditional side view mirror arrangement. The three layouts placed two electronic side view displays near the traditional mirrors positions, on the dashboard at each side of the steering wheel and on the centre fascia with the two displays joined side-by-side, respectively. Twenty-two participants performed a time- and safety-critical driving task that required rapidly gaining situation awareness through the side view displays/mirrors and making a lane change to avoid collision. The dependent variables were eye-off-the-road time, response time, and, ratings of perceived workload, preference and perceived safety. Overall, the layout placing the side view displays on the dashboard at each side of the steering wheel was found to be the best. The results indicated that reducing eye gaze travel distance and maintaining compatibility were both important for the design of CMS displays layout. Practitioner Summary: A driving simulator study was conducted to comparatively evaluate three in-vehicle side view displays layouts for camera monitor systems (CMS) and the traditional side view mirror arrangement in critical lane changing situation. Reducing eye movement and maintaining compatibility were found to be both important for the ergonomics design of CMS displays layout.

Comparison of human driver dynamics in simulators with complex and simple visual displays and in an automobile on the road

NASA Technical Reports Server (NTRS)

Mcruer, D. T.; Klein, R. H.

1975-01-01

As part of a comprehensive program exploring driver/vehicle system response in lateral steering tasks, driver/vehicle system describing functions and other dynamic data have been gathered in several milieu. These include a simple fixed base simulator with an elementary roadway delineation only display; a fixed base statically operating automobile with a terrain model based, wide angle projection system display; and a full scale moving base automobile operating on the road. Dynamic data with the two fixed base simulators compared favorably, implying that the impoverished visual scene, lack of engine noise, and simplified steering wheel feel characteristics in the simple simulator did not induce significant driver dynamic behavior variations. The fixed base vs. moving base comparisons showed substantially greater crossover frequencies and phase margins on the road course.

? observer-based decentralised fuzzy control design for nonlinear interconnected systems: an application to vehicle dynamics

NASA Astrophysics Data System (ADS)

Latrach, Chedia; Kchaou, Mourad; Guéguen, Hervé

2017-05-01

In this study, a decentralised output learning control strategy for a class of nonlinear interconnected systems is studied. Based on Takagi-Sugeno fuzzy (TS) model to approximate the considered interconnected nonlinear systems, a decentralised observer-based control scheme is designed to override the external disturbances such that the ? performance is achieved. The appealing attributes of this approach include: (1) the closed-loop system exhibits a robustness against nonlinear interconnections and external disturbance, (2) by one-step procedure, the gain matrices of observer and controller are obtained on a single step. In simulation results, the controller design is evaluated on the steering stability of a car where the nonlinear model describes the side slip, roll and yaw motions of the automotive vehicle equipped with four-wheel-steering and active suspension.

Lunar material transport vehicle

NASA Technical Reports Server (NTRS)

Fisher, Charles D.; Lyons, Douglas; Wilkins, W. Allen, Jr.; Whitehead, Harry C., Jr.

1988-01-01

The proposed vehicle, the Lunar Material Transport Vehicle (LMTV), has a mission objective of efficient lunar soil material transport. The LMTV was designed to meet a required set of performance specifications while operating under a given set of constraints. The LMTV is essentially an articulated steering, double-ended dump truck. The vehicle moves on four wheels and has two identical chassis halves. Each half consists of a chassis frame, a material bucket, two wheels with integral curvilinear synchronous motors, a fuel cell and battery arrangement, an electromechanically actuated dumping mechanism, and a powerful microprocessor. The vehicle, as designed, is capable of transporting up to 200 cu ft of material over a one mile round trip per hour. The LMTV is capable of being operated from a variety of sources. The vehicle has been designed as simply as possible with attention also given to secondary usage of components.

Pilot control through the TAFCOS automatic flight control system

NASA Technical Reports Server (NTRS)

Wehrend, W. R., Jr.

1979-01-01

The set of flight control logic used in a recently completed flight test program to evaluate the total automatic flight control system (TAFCOS) with the controller operating in a fully automatic mode, was used to perform an unmanned simulation on an IBM 360 computer in which the TAFCOS concept was extended to provide a multilevel pilot interface. A pilot TAFCOS interface for direct pilot control by use of a velocity-control-wheel-steering mode was defined as well as a means for calling up conventional autopilot modes. It is concluded that the TAFCOS structure is easily adaptable to the addition of a pilot control through a stick-wheel-throttle control similar to conventional airplane controls. Conventional autopilot modes, such as airspeed-hold, altitude-hold, heading-hold, and flight path angle-hold, can also be included.

A Two-Wheeled, Self-Balancing Electric Vehicle Used As an Environmentally Friendly Individual Means of Transport

NASA Astrophysics Data System (ADS)

Bździuch, D.; Grzegożek, W.

2016-09-01

This paper shows a concept of a model of a two-wheeled self-balancing vehicle with an electric motor drive as an environmentally-friendly personal transporter. The principle of work, modelling of construction and performing a simulation are presented and discussed. The visualization of the designed vehicle was made thanks to using Solid Works a computer-aided design program. The vehicle was modelled as an inverted pendulum. The stability of the mechanism in the equilibrium position was studied. An exemplary steering system was also subjected to the analysis that compared two controllers: PID and LQR which enabled to monitor the balance of the vehicle when the required conditions were fulfilled. Modelling of work of the controllers and the evaluation of the obtained results in required conditions were performed in the MATLAB environment.

An alternative technique for transosseous calcaneal pinning in external fixation.

PubMed

DiDomenico, Lawrence A; Giagnacova, Albert; Cross, Davina J; Ziran, Bruce H

2012-01-01

The authors describe a technique in which two 5.5-mm pins are inserted from the posterior aspect of the calcaneus and advanced anteriorly on a slightly convergent vector. The 2 points of fixation, with a 5/8 ring, provide a "steering wheel" effect allowing for leverage and control of the hindfoot and ankle. The construct also allows for offloading of the posterior calcaneus. Copyright © 2012 American College of Foot and Ankle Surgeons. Published by Elsevier Inc. All rights reserved.

Commercial-off-the-Shelf Vehicles for Towed Array Magnetometry

DTIC Science & Technology

2009-09-01

dump bed on the back, has upright seating for two adults, has the seats oriented side-by-side, and has a steering wheel and brake and accelerator... pedals like a car. By way of example, a ubiquitous side-by-side UTV is the John Deere Gator. The objective of this project was to test a number of...different angle , and one set of biases will not be able to take out all of the streaks. This raises the second issue. Because the bidirectional

Commercial-Off-The-Shelf Vehicles for Towed Array Magnetometry

DTIC Science & Technology

2009-09-01

a steering wheel, and brake and accelerator pedals like a car. By way of example, a ubiquitous side-by- side UTV is the John Deere Gator. The...tire tracks are imperfectly 42 followed. These new tracks will be at a slightly different angle , and one set of biases will not be able to take...tracks at an angle relative to the north-south traverses that we ran. In addition, we surveyed into the muddy wet section at the western end of the site

Design and evaluation of steering protection for avoiding collisions during a lane change.

PubMed

Itoh, Makoto; Inagaki, Toshiyuki

2014-01-01

This paper discusses the design of a driver assistance system for avoiding collisions with vehicles in blind spots. The following three types of support systems are compared: (1) a warning system that provides the driver with an auditory alert, (2) a 'soft' protection system that makes the steering wheel stiffer to tell the driver that a lane-change manoeuvre is not recommended and (3) a 'hard' protection system that cancels the driver's input and controls the tyre angle autonomously to prevent lane departure. The results of an experiment showed that the hard protection system was more effective for collision avoidance than either the warning or the soft protection system. The warning and soft protection systems were almost the same in terms of collision avoidance. The results suggest that the human-centred automation principle, which requires the human to have the final authority over the automation, can be violated depending on the context.

Evaluation of display and control concepts for a terminal configured vehicle in final approach in a windshear environment

NASA Technical Reports Server (NTRS)

Levison, W. H.

1978-01-01

A revised treatment of nonrandom inputs was incorporated in the model. Response behavior was observed for two display configurations (a pictorial EADI presentation and a flight-director configuration requiring use of a panel-mounted airspeed indicator), two control configurations (attitude and velocity control wheel steering), and two shear environments, each of which contained a head-to-tail shear and a vertical component. In general, performance trends predicted by the model were confirmed experimentally. Experimental and analytical results both indicated superiority to the EADI display with respect to regulation of height and airspeed errors. Velocity steering allowed tighter regulation of height errors, but control parameters had little influence on airspeed regulation. Model analysis indicated that display-related differences could be ascribed to differences in the quality of speed-related information provided by the two displays.

Processing and filtrating of driver fatigue characteristic parameters based on rough set

NASA Astrophysics Data System (ADS)

Ye, Wenwu; Zhao, Xuyang

2018-05-01

With the rapid development of economy, people become increasingly rich, and cars have become a common means of transportation in daily life. However, the problem of traffic safety is becoming more and more serious. And fatigue driving is one of the main causes of traffic accidents. Therefore, it is of great importance for us to study the detection of fatigue driving to improve traffic safety. In the cause of determining whether the driver is tired, the characteristic quantity related to the steering angle of the steering wheel and the characteristic quantity of the driver's pulse are all important indicators. The fuzzy c-means clustering is used to discretize the above indexes. Because the characteristic parameters are too miscellaneous, rough set is used to filtrate these characteristics. Finally, this paper finds out the highest correlation with fatigue driving. It is proved that these selected characteristics are of great significance to the evaluation of fatigue driving.

Optimisation of lateral car dynamics taking into account parameter uncertainties

NASA Astrophysics Data System (ADS)

Busch, Jochen; Bestle, Dieter

2014-02-01

Simulation studies on an active all-wheel-steering car show that disturbance of vehicle parameters have high influence on lateral car dynamics. This motivates the need of robust design against such parameter uncertainties. A specific parametrisation is established combining deterministic, velocity-dependent steering control parameters with partly uncertain, velocity-independent vehicle parameters for simultaneous use in a numerical optimisation process. Model-based objectives are formulated and summarised in a multi-objective optimisation problem where especially the lateral steady-state behaviour is improved by an adaption strategy based on measurable uncertainties. The normally distributed uncertainties are generated by optimal Latin hypercube sampling and a response surface based strategy helps to cut down time consuming model evaluations which offers the possibility to use a genetic optimisation algorithm. Optimisation results are discussed in different criterion spaces and the achieved improvements confirm the validity of the proposed procedure.

Local navigation and fuzzy control realization for autonomous guided vehicle

NASA Astrophysics Data System (ADS)

El-Konyaly, El-Sayed H.; Saraya, Sabry F.; Shehata, Raef S.

1996-10-01

This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.

Applying FastSLAM to Articulated Rovers

NASA Astrophysics Data System (ADS)

Hewitt, Robert Alexander

This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

Vehicle lift-off modelling and a new rollover detection criterion

NASA Astrophysics Data System (ADS)

Mashadi, Behrooz; Mostaghimi, Hamid

2017-05-01

The modelling and development of a general criterion for the prediction of rollover threshold is the main purpose of this work. Vehicle dynamics models after the wheels lift-off and when the vehicle moves on the two wheels are derived and the governing equations are used to develop the rollover threshold. These models include the properties of the suspension and steering systems. In order to study the stability of motion, the steady-state solutions of the equations of motion are carried out. Based on the stability analyses, a new relation is obtained for the rollover threshold in terms of measurable response parameters. The presented criterion predicts the best time for the prevention of the vehicle rollover by applying a correcting moment. It is shown that the introduced threshold of vehicle rollover is a proper state of vehicle motion that is best for stabilising the vehicle with a low energy requirement.

Dynamic modelling and experimental validation of three wheeled tilting vehicles

NASA Astrophysics Data System (ADS)

Amati, Nicola; Festini, Andrea; Pelizza, Luigi; Tonoli, Andrea

2011-06-01

The present paper describes the study of the stability in the straight running of a three-wheeled tilting vehicle for urban and sub-urban mobility. The analysis was carried out by developing a multibody model in the Matlab/SimulinkSimMechanics environment. An Adams-Motorcycle model and an equivalent analytical model were developed for the cross-validation and for highlighting the similarities with the lateral dynamics of motorcycles. Field tests were carried out to validate the model and identify some critical parameters, such as the damping on the steering system. The stability analysis demonstrates that the lateral dynamic motions are characterised by vibration modes that are similar to that of a motorcycle. Additionally, it shows that the wobble mode is significantly affected by the castor trail, whereas it is only slightly affected by the dynamics of the front suspension. For the present case study, the frame compliance also has no influence on the weave and wobble.

In Situ Resource Utilization For Mobility In Mars Exploration

NASA Astrophysics Data System (ADS)

Hartman, Leo

There has been considerable interest in the unmanned exploration of Mars for quite some time but the current generation of rovers can explore only a small portion of the total planetary surface. One approach to addressing this deficiency is to consider a rover that has greater range and that is cheaper so that it can be deployed in greater numbers. The option explored in this paper uses the wind to propel a rover platform, trading off precise navigation for greater range. The capabilities of such a rover lie between the global perspective of orbiting satellites and the detailed local analysis of current-generation rovers. In particular, the design includes two inflatable wheels with an unspun payload platform suspended between then. Slightly deflating one of the wheels enables steering away from the direction of the wind and sufficiently deflating both wheels will allow the rover to stop. Current activities revolve around the development of a prototype with a wheel cross-sectional area that is scaled by 1/100 to enable terrestrial trials to provide meaningful insight into the performance and behavior of a full-sized rover on Mars. The paper will discuss the design and its capabilities in more detail as well as current efforts to build a prototype suitable for deployment at a Mars analogue site such as Devon Island in the Canadian arctic.

Why do drivers maintain short headways in fog? A driving-simulator study evaluating feeling of risk and lateral control during automated and manual car following.

PubMed

Saffarian, M; Happee, R; Winter, J C F de

2012-01-01

Drivers in fog tend to maintain short headways, but the reasons behind this phenomenon are not well understood. This study evaluated the effect of headway on lateral control and feeling of risk in both foggy and clear conditions. Twenty-seven participants completed four sessions in a driving simulator: clear automated (CA), clear manual (CM), fog automated (FA) and fog manual (FM). In CM and FM, the drivers used the steering wheel, throttle and brake pedals. In CA and FA, a controller regulated the distance to the lead car, and the driver only had to steer. Drivers indicated how much risk they felt on a touchscreen. Consistent with our hypothesis, feeling of risk and steering activity were elevated when the lead car was not visible. These results might explain why drivers adopt short headways in fog. Practitioner Summary: Fog poses a serious road safety hazard. Our driving-simulator study provides the first experimental evidence to explain the role of risk-feeling and lateral control in headway reduction. These results are valuable for devising effective driver assistance and support systems.

Sharing control with haptics: seamless driver support from manual to automatic control.

PubMed

Mulder, Mark; Abbink, David A; Boer, Erwin R

2012-10-01

Haptic shared control was investigated as a human-machine interface that can intuitively share control between drivers and an automatic controller for curve negotiation. As long as automation systems are not fully reliable, a role remains for the driver to be vigilant to the system and the environment to catch any automation errors. The conventional binary switches between supervisory and manual control has many known issues, and haptic shared control is a promising alternative. A total of 42 respondents of varying age and driving experience participated in a driving experiment in a fixed-base simulator, in which curve negotiation behavior during shared control was compared to during manual control, as well as to three haptic tunings of an automatic controller without driver intervention. Under the experimental conditions studied, the main beneficial effect of haptic shared control compared to manual control was that less control activity (16% in steering wheel reversal rate, 15% in standard deviation of steering wheel angle) was needed for realizing an improved safety performance (e.g., 11% in peak lateral error). Full automation removed the need for any human control activity and improved safety performance (e.g., 35% in peak lateral error) but put the human in a supervisory position. Haptic shared control kept the driver in the loop, with enhanced performance at reduced control activity, mitigating the known issues that plague full automation. Haptic support for vehicular control ultimately seeks to intuitively combine human intelligence and creativity with the benefits of automation systems.

Study on Drive System of Hybrid Tree Harvester.

PubMed

Rong-Feng, Shen; Xiaozhen, Zhang; Chengjun, Zhou

2017-01-01

Hybrid tree harvester with a 60 kW diesel engine combined with a battery pile could be a "green" forest harvesting and transportation system. With the new design, the diesel engine maintains a constant engine speed, keeping fuel consumption low while charging the batteries that drive the forwarder. As an additional energy saving method, the electric motors work as generators to charge the battery pile when the vehicle moves downhill. The vehicle is equipped with six large wheels providing high clearance over uneven terrain while reducing ground pressure. Each wheel is driven via a hub gear by its own alternating current motor, and each of the three wheel pairs can be steered independently. The combination of the diesel engine and six electric motors provides plenty of power for heavy lifting and pulling. The main component parameters of the drive system are calculated and optimized with a set of dynamics and simulated with AVL Cruise software. The results provide practical insights for the fuel tree harvester and are helpful to reduce the structure and size of the tree harvester. Advantage Environment provides information about existing and future products designed to reduce environmental impacts.

Study on Drive System of Hybrid Tree Harvester

PubMed Central

Xiaozhen, Zhang; Chengjun, Zhou

2017-01-01

Hybrid tree harvester with a 60 kW diesel engine combined with a battery pile could be a “green” forest harvesting and transportation system. With the new design, the diesel engine maintains a constant engine speed, keeping fuel consumption low while charging the batteries that drive the forwarder. As an additional energy saving method, the electric motors work as generators to charge the battery pile when the vehicle moves downhill. The vehicle is equipped with six large wheels providing high clearance over uneven terrain while reducing ground pressure. Each wheel is driven via a hub gear by its own alternating current motor, and each of the three wheel pairs can be steered independently. The combination of the diesel engine and six electric motors provides plenty of power for heavy lifting and pulling. The main component parameters of the drive system are calculated and optimized with a set of dynamics and simulated with AVL Cruise software. The results provide practical insights for the fuel tree harvester and are helpful to reduce the structure and size of the tree harvester. Advantage Environment provides information about existing and future products designed to reduce environmental impacts. PMID:28634596

Increased recovery of touch DNA evidence using FTA paper compared to conventional collection methods.

PubMed

Kirgiz, Irina A; Calloway, Cassandra

2017-04-01

Tape lifting and FTA paper scraping methods were directly compared to traditional double swabbing for collecting touch DNA from car steering wheels (n = 70 cars). Touch DNA was collected from the left or right side of each steering wheel (randomized) using two sterile cotton swabs, while the other side was sampled using water-soluble tape or FTA paper cards. DNA was extracted and quantified in duplicate using qPCR. Quantifiable amounts of DNA were detected for 100% of the samples (n = 140) collected independent of the method. However, the DNA collection yield was dependent on the collection method. A statistically significant difference in DNA yield was observed between FTA scraping and double swabbing methods (p = 0.0051), with FTA paper collecting a two-fold higher amount. Statistical analysis showed no significant difference in DNA yields between the double swabbing and tape lifting techniques (p = 0.21). Based on the DNA concentration required for 1 ng input, 47% of the samples collected using FTA paper would be expected to yield a short tandem repeat (STR) profile compared to 30% and 23% using double swabbing or tape, respectively. Further, 55% and 77% of the samples collected using double swabbing or tape, respectively, did not yield a high enough DNA concentration for the 0.5 ng of DNA input recommended for conventional STR kits and would be expected to result in a partial or no profile compared to 35% of the samples collected using FTA paper. STR analysis was conducted for a subset of the higher concentrated samples to confirm that the DNA collected from the steering wheel was from the driver. 32 samples were selected with DNA amounts of at least 1 ng total DNA (100 pg/μl when concentrated if required). A mixed STR profile was observed for 26 samples (88%) and the last driver was the major DNA contributor for 29 samples (94%). For one sample, the last driver was the minor DNA contributor. A full STR profile of the last driver was observed for 21 samples (69%) and a partial profile was observed for nine samples (25%); STR analysis failed for two samples collected using tape (6%). In conclusion, we show that the FTA paper scraping method has the potential to collect higher DNA yields from touch DNA evidence deposited on non-porous surfaces often encountered in criminal cases compared to conventional methods. Copyright © 2017 Elsevier Ltd and Faculty of Forensic and Legal Medicine. All rights reserved.

Increasing the stability of the articulated lorry at braking by locking the fifth wheel coupling

NASA Astrophysics Data System (ADS)

Skotnikov, G. I.; Jileykin, M. M.; Komissarov, A. I.

2018-02-01

The jackknifing of the articulated lorry is determined by the loss of stability with respect to the vertical axis of the fifth wheel coupling, which can be caused by the failure of the brake system, the displacement of the center of mass of the semitrailer or tractor from the longitudinal axis of the vehicle, the road parameters (longitudinal and transverse slopes), the difference in the friction coefficients under the sides of the articulated lorry. In this regard, the issue of creating devices that prevent the jackknifing, and their control systems is important. A method is proposed for maintaining the stability of the movement of articulated lorry when braking both on a straight line and in a turn by blocking the relative rotation of the tractor and the trailer. Blocking occurs due to the creation of a stabilizing moment in the direction opposite to the angular rate of folding. To test the developed algorithm for locking the fifth wheel coupling, a mathematical model of the spatial motion of the articulated lorry was developed, including the models of interaction of an elastic tire with a rigid terrain, suspension systems, transmission, steering, fifth-wheel coupling. The efficiency and effectiveness of the coupling locking control system is proved by comparing the results of the simulation of a straight-line braking and braking in turn. It is shown that the application of the control system significantly increases the stability of the road train.

Driving performance at lateral system limits during partially automated driving.

PubMed

Naujoks, Frederik; Purucker, Christian; Wiedemann, Katharina; Neukum, Alexandra; Wolter, Stefan; Steiger, Reid

2017-11-01

This study investigated driver performance during system limits of partially automated driving. Using a motion-based driving simulator, drivers encountered different situations in which a partially automated vehicle could no longer safely keep the lateral guidance. Drivers were distracted by a non-driving related task on a touch display or driving without an additional secondary task. While driving in partially automated mode drivers could either take their hands off the steering wheel for only a short period of time (10s, so-called 'Hands-on' variant) or for an extended period of time (120s, so-called 'Hands-off' variant). When the system limit was reached (e.g., when entering a work zone with temporary lines), the lateral vehicle control by the automation was suddenly discontinued and a take-over request was issued to the drivers. Regardless of the hands-off interval and the availability of a secondary task, all drivers managed the transition to manual driving safely. No lane exceedances were observed and the situations were rated as 'harmless' by the drivers. The lack of difference between the hands-off intervals can be partly attributed to the fact that most of the drivers kept contact to the steering wheel, even in the hands-off condition. Although all drivers were able to control the system limits, most of them could not explain why exactly the take-over request was issued. The average helpfulness of the take-over request was rated on an intermediate level. Consequently, providing drivers with information about the reason for a system limit can be recommended. Copyright © 2017 Elsevier Ltd. All rights reserved.

Changes in the Severity and Injury Sources of Thoracic Aorta Injuries due to Vehicular Crashes.

PubMed

Ryb, Gabriel; Dischinger, Patricia; Kerns, Timothy; Burch, Cynthia; Rabin, Joseph; Ho, Shiu

Research using the National Automotive Sampling System-Crashworthiness Data System (NASS-CDS) suggested a decreased adjusted risk of thoracic aorta injuries (TAI) for newer vehicles during near-side crashes and an increased adjusted TAI risk during frontal crashes. This study attempted to explore possible explanations of these findings. Adult front seat occupants in the Crash Injury Research and Engineering Network (CIREN) database through June 2012 were studied. TAI cases were compared with remaining cases in relation to crash and vehicular characteristics. TAI cases of later crash year (CY) (2004-2012) were compared to those in earlier CY (1996-2003) in relation to TAI severity (minor, moderate, severe and non-survivable). TAI cases in newer model year (MY) vehicles (1999-2012) were compared to those in older vehicles (1988-98) in relation to injury source (steering wheel, front, left, seat belt, air bag and other or unknown). Analysis was stratified by direction of impact (frontal and near-side) and the use of restraints. The similar TAI severity of earlier and later CY among frontal crashes suggests that the observed changes in the adjusted odds of injury seen in NASS-CDS are not due to an increase in injury detection. The decrease in TAI severity among newer vehicles in near-side crashes of later CY is consistent with a beneficial effect of crashworthiness improvements for this crash configuration. A shift of injury source in frontal crashes from the steering wheel in older vehicles to "front of vehicle structures", "seat belts" and "unknown and other" in newer vehicles should suggest potential sites for crashworthiness improvements.

Identification of vehicle components associated with severe thoracic injury in motor vehicle crashes: a CIREN and NASS analysis.

PubMed

Nirula, R; Pintar, F A

2008-01-01

Thoracic trauma secondary to motor vehicle crashes (MVC) continues to be a major cause of morbidity and mortality. Specific vehicle features may increase the risk of severe thoracic injury when striking the occupant. We sought to determine which vehicle contact points were associated with an increased risk of severe thoracic injury in MVC to focus subsequent design modifications necessary to reduce thoracic injury. The National Automotive Sampling System (NASS) databases from 1993 to 2001 and the Crash Injury Research and Engineering Network (CIREN) databases from 1996 to 2004 were analyzed separately using univariate and multivariate logistic regression stratified by restraint use and crash direction. The risk of driver thoracic injury, defined as an abbreviated injury scale (AIS) of score > or =3, was determined as it related to specific points of contact between the vehicle and the driver. The incidence of severe chest injury in NASS and CIREN were 5.5% and 33%, respectively. The steering wheel, door panel, armrest, and seat were identified as contact points associated with an increased risk of severe chest injury. The door panel and arm rest were consistently a frequent cause of severe injury in both the NASS and CIREN data. Several vehicle contact points, including the steering wheel, door panel, armrest and seat are associated with an increased risk of severe thoracic injury when striking the occupant. These elements need to be further investigated to determine which characteristics need to be manipulated in order to reduce thoracic trauma during a crash.

Design of safety-oriented control allocation strategies for overactuated electric vehicles

NASA Astrophysics Data System (ADS)

de Castro, Ricardo; Tanelli, Mara; Esteves Araújo, Rui; Savaresi, Sergio M.

2014-08-01

The new vehicle platforms for electric vehicles (EVs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as far as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre-road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.

CV-990 Landing Systems Research Aircraft (LSRA) during Space Shuttle tire test

NASA Image and Video Library

1995-08-02

A NASA CV-990, modified as a Landing Systems Research Aircraft (LSRA), lands on the Edwards AFB main runway in test of the space shuttle landing gear system. In this case, the shuttle tire failed, bursting into flame during the rollout. The space shuttle landing gear test unit, operated by a high-pressure hydraulic system, allowed engineers to assess and document the performance of space shuttle main and nose landing gear systems, tires and wheel assemblies, plus braking and nose wheel steering performance. The series of 155 test missions for the space shuttle program provided extensive data about the life and endurance of the shuttle tire systems and helped raise the shuttle crosswind landing limits at Kennedy. The CV-990 used as the LSRA was built in 1962 by the Convair Division of General Dynamics Corp., Ft. Worth, Texas, served as a research aircraft at Ames Research Center, Moffett Field, California, before it came to Dryden.

Optimisation of driver actions in RWD race car including tyre thermodynamics

NASA Astrophysics Data System (ADS)

Maniowski, Michal

2016-04-01

The paper presents an innovative method for a lap time minimisation by using genetic algorithms for a multi objective optimisation of a race driver-vehicle model. The decision variables consist of 16 parameters responsible for actions of a professional driver (e.g. time traces for brake, accelerator and steering wheel) on a race track part with RH corner. Purpose-built, high fidelity, multibody vehicle model (called 'miMa') is described by 30 generalised coordinates and 440 parameters, crucial in motorsport. Focus is put on modelling of the tyre tread thermodynamics and its influence on race vehicle dynamics. Numerical example considers a Rear Wheel Drive BMW E36 prepared for track day events. In order to improve the section lap time (by 5%) and corner exit velocity (by 4%) a few different driving strategies are found depending on thermal conditions of semi-slick tyres. The process of the race driver adaptation to initially cold or hot tyres is explained.

A robust active control system for shimmy damping in the presence of free play and uncertainties

NASA Astrophysics Data System (ADS)

Orlando, Calogero; Alaimo, Andrea

2017-02-01

Shimmy vibration is the oscillatory motion of the fork-wheel assembly about the steering axis. It represents one of the major problem of aircraft landing gear because it can lead to excessive wear, discomfort as well as safety concerns. Based on the nonlinear model of the mechanics of a single wheel nose landing gear (NLG), electromechanical actuator and tire elasticity, a robust active controller capable of damping shimmy vibration is designed and investigated in this study. A novel Decline Population Swarm Optimization (PDSO) procedure is introduced and used to select the optimal parameters for the controller. The PDSO procedure is based on a decline demographic model and shows high global search capability with reduced computational costs. The open and closed loop system behavior is analyzed under different case studies of aeronautical interest and the effects of torsional free play on the nose landing gear response are also studied. Plant parameters probabilistic uncertainties are then taken into account to assess the active controller robustness using a stochastic approach.

Independent Orbiter Assessment (IOA): CIL issues resolution report, volume 2

NASA Technical Reports Server (NTRS)

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes And Effects Analysis (FMEA) and Critical Items List (CIL) are presented. This report contains IOA assessment worksheets showing resolution of outstanding IOA CIL issues that were summarized in the IOA FMEA/CIL Assessment Interim Report, dated 9 March 1988. Each assessment worksheet has been updated with CIL issue resolution and rationale. Volume 2 contains the worksheets for the following subsystems: Nose Wheel Steering Subsystem; Remote Manipulator Subsystem; Atmospheric Revitalization Subsystem; Extravehicular Mobility Unit Subsystem; Power Reactant Supply and Distribution Subsystem; Main Propulsion Subsystem; and Orbital Maneuvering Subsystem.

Optimal design for slip deceleration control in anti-lock braking system

NASA Astrophysics Data System (ADS)

Mishra, Sheelam; Kumar, Pankaj; Rahman, Mohd. Saifur

2018-05-01

ABS (Anti-lock Braking System) is the most advanced braking system implemented in modern cars to avoid the slipping or skidding of the vehicle on the road. Moreover, it reduces the stopping distance of the vehicle because it avoids the locking of the wheel during braking. It enables the driver to steer the vehicle during braking. But every system has its downsides and likewise ABS too, it is not efficient during normal braking or snowy conditions. Our aim is to overcome these downsides and optimize Anti-lock Braking System to make it even better.

Recent studies of tire braking performance. [for aircraft

NASA Technical Reports Server (NTRS)

Mccarty, J. L.; Leland, T. J. W.

1973-01-01

The results from recent studies of some factors affecting tire braking and cornering performance are presented together with a discussion of the possible application of these results to the design of aircraft braking systems. The first part of the paper is concerned with steady-state braking, that is, results from tests conducted at a constant slip ratio or steering angle or both. The second part deals with cyclic braking tests, both single cycle, where brakes are applied at a constant rate until wheel lockup is achieved, and rapid cycling of the brakes under control of a currently operational antiskid system.

ROBIL - Robot Israel

DTIC Science & Technology

2013-07-31

pedals and releasing the hand brake ), the ROS ’actionlib’ is started. Atlas starts driving to the received way points until it reaches the last gate...grip at angle 0………………………………………………………………… ..31 FIGURE 3.5.6: MATLAB ’Steering wheel angle ’ output membership function schematic……………...……31...repeatability of the motion sequence. We added an optional motion to press the gas pedal at the end of the sequence in order to secure additional points

Driving simulator sickness: Impact on driving performance, influence of blood alcohol concentration, and effect of repeated simulator exposures.

PubMed

Helland, Arne; Lydersen, Stian; Lervåg, Lone-Eirin; Jenssen, Gunnar D; Mørland, Jørg; Slørdal, Lars

2016-09-01

Simulator sickness is a major obstacle to the use of driving simulators for research, training and driver assessment purposes. The purpose of the present study was to investigate the possible influence of simulator sickness on driving performance measures such as standard deviation of lateral position (SDLP), and the effect of alcohol or repeated simulator exposure on the degree of simulator sickness. Twenty healthy male volunteers underwent three simulated driving trials of 1h's duration with a curvy rural road scenario, and rated their degree of simulator sickness after each trial. Subjects drove sober and with blood alcohol concentrations (BAC) of approx. 0.5g/L and 0.9g/L in a randomized order. Simulator sickness score (SSS) did not influence the primary outcome measure SDLP. Higher SSS significantly predicted lower average speed and frequency of steering wheel reversals. These effects seemed to be mitigated by alcohol. Higher BAC significantly predicted lower SSS, suggesting that alcohol inebriation alleviates simulator sickness. The negative relation between the number of previous exposures to the simulator and SSS was not statistically significant, but is consistent with habituation to the sickness-inducing effects, as shown in other studies. Overall, the results suggest no influence of simulator sickness on SDLP or several other driving performance measures. However, simulator sickness seems to cause test subjects to drive more carefully, with lower average speed and fewer steering wheel reversals, hampering the interpretation of these outcomes as measures of driving impairment and safety. BAC and repeated simulator exposures may act as confounding variables by influencing the degree of simulator sickness in experimental studies. Copyright © 2016 Elsevier Ltd. All rights reserved.

Photonic crystal fiber monitors for intracellular ice formation

NASA Astrophysics Data System (ADS)

Battinelli, Emily; Reimlinger, Mark; Wynne, Rosalind

2012-04-01

An all-silica steering wheel photonic crystal fiber (SW-PCF) device with real-time analysis for cellular temperature sensing is presented. Results are provided for water-filled SW-PCF fibers experiencing cooling down near -40°C. Cellular temperature sensors with fast response times are of interest particularly to the study of cryopreservation, which has been influential in applications such as tissue preservation, food quality control, genetic engineering, as well as drug discovery and in- vitro toxin testing. Results of this investigation are relevant to detection of intracellular ice formation (IIF) and better understanding cell freezing at very low temperatures. IIF detection is determined as a function of absorption occurring within the core of the SW-PCF. The SW-PCF has a 3.3μm core diameter, 125μm outer diameter and steering wheel-like air hole pattern with triangular symmetry, with a 20μm radius. One end of a 0.6m length of the SW-PCF is placed between two thermoelectric coolers, filled with ~0.1μL water. This end is butt coupled to a 0.5m length of single mode fiber (SMF), the distal end of the fiber is then inserted into an optical spectrum analyzer. A near-IR light source is guided through the fiber, such that the absorption of the material in the core can be measured. Spectral characteristics demonstrated by the optical absorption of the water sample were present near the 1300-1700nm window region with strongest peaks at 1350, 1410 and 1460nm, further shifting of the absorption peaks is possible at cryogenic temperatures making this device suitable for IIF monitoring applications.

Changes in the Severity and Injury Sources of Thoracic Aorta Injuries due to Vehicular Crashes

PubMed Central

Ryb, Gabriel; Dischinger, Patricia; Kerns, Timothy; Burch, Cynthia; Rabin, Joseph; Ho, Shiu

2013-01-01

Research using the National Automotive Sampling System-Crashworthiness Data System (NASS-CDS) suggested a decreased adjusted risk of thoracic aorta injuries (TAI) for newer vehicles during near-side crashes and an increased adjusted TAI risk during frontal crashes. This study attempted to explore possible explanations of these findings. Adult front seat occupants in the Crash Injury Research and Engineering Network (CIREN) database through June 2012 were studied. TAI cases were compared with remaining cases in relation to crash and vehicular characteristics. TAI cases of later crash year (CY) (2004–2012) were compared to those in earlier CY (1996–2003) in relation to TAI severity (minor, moderate, severe and non-survivable). TAI cases in newer model year (MY) vehicles (1999–2012) were compared to those in older vehicles (1988–98) in relation to injury source (steering wheel, front, left, seat belt, air bag and other or unknown). Analysis was stratified by direction of impact (frontal and near-side) and the use of restraints. The similar TAI severity of earlier and later CY among frontal crashes suggests that the observed changes in the adjusted odds of injury seen in NASS-CDS are not due to an increase in injury detection. The decrease in TAI severity among newer vehicles in near-side crashes of later CY is consistent with a beneficial effect of crashworthiness improvements for this crash configuration. A shift of injury source in frontal crashes from the steering wheel in older vehicles to “front of vehicle structures”, “seat belts” and “unknown and other” in newer vehicles should suggest potential sites for crashworthiness improvements. PMID:24406956

Examination of the impact of airbags on renal injury using a national database.

PubMed

Smith, Thomas G; Wessells, Hunter B; Mack, Chris D; Kaufman, Robert; Bulger, Eileen M; Voelzke, Bryan B

2010-09-01

Little is known about preventative measures to lessen solid organ injury in motor vehicle collisions (MVCs). To evaluate the efficacy of airbags in reducing renal injuries in MVC, we analyzed renal injury rates in vehicles with and without airbags using the Crash Injury Research and Engineering Network (CIREN) database. The CIREN database was queried for MVC and renal injury from 1996 to September 2008. CIREN is weighted toward late model vehicles and selects more severely injured patients. Search fields were primary direction of force (PDOF), presence of airbags, and location of airbags (steering wheel, instrument panel, seat back, door panel, and roof-side curtain). Abdominal Abbreviated Injury Score was converted to AAST renal injury grade. Renal injury rates were compared between vehicles with and without frontal and side airbags. We reviewed 2,864 records and identified 139 renal injuries (28.9% AAST grade III to V). In MVCs with renal injuries, frontal impact was 54.7% of total (n = 76) and side impact was 45.3% of total (n = 63). Most occupants in frontal impact MVCs had exposure to a steering wheel airbag (74.9%); 16.6% had an instrument panel (passenger) airbags. In side impact MVCs, 32.2% of occupants had a side airbag. Compared with the non-airbags cohort, frontal airbags and side airbags were associated with a 45.3% and 52.8% reduction in renal injury, respectively. Passengers in automobiles with frontal and side airbags have a reduced rate of renal injury compared with those without airbags. Our data support further study of the role of airbags in reducing renal injury after MVC. Copyright 2010 American College of Surgeons. Published by Elsevier Inc. All rights reserved.

Measurement and modelling of x-direction apparent mass of the seated human body-cushioned seat system.

PubMed

Stein, George Juraj; Múcka, Peter; Chmúrny, Rudolf; Hinz, Barbara; Blüthner, Ralph

2007-01-01

For modelling purposes and for evaluation of driver's seat performance in the vertical direction various mechano-mathematical models of the seated human body have been developed and standardized by the ISO. No such models exist hitherto for human body sitting in an upright position in a cushioned seat upper part, used in industrial environment, where the fore-and-aft vibrations play an important role. The interaction with the steering wheel has to be taken into consideration, as well as, the position of the human body upper torso with respect to the cushioned seat back as observed in real driving conditions. This complex problem has to be simplified first to arrive at manageable simpler models, which still reflect the main problem features. In a laboratory study accelerations and forces in x-direction were measured at the seat base during whole-body vibration in the fore-and-aft direction (random signal in the frequency range between 0.3 and 30 Hz, vibration magnitudes 0.28, 0.96, and 2.03 ms(-2) unweighted rms). Thirteen male subjects with body masses between 62.2 and 103.6 kg were chosen for the tests. They sat on a cushioned driver seat with hands on a support and backrest contact in the lumbar region only. Based on these laboratory measurements a linear model of the system-seated human body and cushioned seat in the fore-and-aft direction has been developed. The model accounts for the reaction from the steering wheel. Model parameters have been identified for each subject-measured apparent mass values (modulus and phase). The developed model structure and the averaged parameters can be used for further bio-dynamical research in this field.

Effective seat-to-head transmissibility in whole-body vibration: Effects of posture and arm position

NASA Astrophysics Data System (ADS)

Rahmatalla, Salam; DeShaw, Jonathan

2011-12-01

Seat-to-head transmissibility is a biomechanical measure that has been widely used for many decades to evaluate seat dynamics and human response to vibration. Traditionally, transmissibility has been used to correlate single-input or multiple-input with single-output motion; it has not been effectively used for multiple-input and multiple-output scenarios due to the complexity of dealing with the coupled motions caused by the cross-axis effect. This work presents a novel approach to use transmissibility effectively for single- and multiple-input and multiple-output whole-body vibrations. In this regard, the full transmissibility matrix is transformed into a single graph, such as those for single-input and single-output motions. Singular value decomposition and maximum distortion energy theory were used to achieve the latter goal. Seat-to-head transmissibility matrices for single-input/multiple-output in the fore-aft direction, single-input/multiple-output in the vertical direction, and multiple-input/multiple-output directions are investigated in this work. A total of ten subjects participated in this study. Discrete frequencies of 0.5-16 Hz were used for the fore-aft direction using supported and unsupported back postures. Random ride files from a dozer machine were used for the vertical and multiple-axis scenarios considering two arm postures: using the armrests or grasping the steering wheel. For single-input/multiple-output, the results showed that the proposed method was very effective in showing the frequencies where the transmissibility is mostly sensitive for the two sitting postures and two arm positions. For multiple-input/multiple-output, the results showed that the proposed effective transmissibility indicated higher values for the armrest-supported posture than for the steering-wheel-supported posture.

Reactivity, stability, and strength performance capacity in motor sports.

PubMed

Baur, H; Müller, S; Hirschmüller, A; Huber, G; Mayer, F

2006-11-01

Racing drivers require multifaceted cognitive and physical abilities in a multitasking situation. A knowledge of their physical capacities may help to improve fitness and performance. To compare reaction time, stability performance capacity, and strength performance capacity of élite racing drivers with those of age-matched, physically active controls. Eight élite racing drivers and 10 physically active controls matched for age and weight were tested in a reaction and determination test requiring upper and lower extremity responses to visual and audio cues. Further tests comprised evaluation of one-leg postural stability on a two-dimensional moveable platform, measures of maximum strength performance capacity of the extensors of the leg on a leg press, and a test of force capacity of the arms in a sitting position at a steering wheel. An additional arm endurance test consisted of isometric work at the steering wheel at +30 degrees and -30 degrees where an eccentric threshold load of 30 N.m was applied. Subjects had to hold the end positions above this threshold until exhaustion. Univariate one way analysis of variance (alpha = 0.05) including a Bonferroni adjustment was used to detect group differences between the drivers and controls. The reaction time of the racing drivers was significantly faster than the controls (p = 0.004). The following motor reaction time and reaction times in the multiple determination test did not differ between the groups. No significant differences (p>0.05) were found for postural stability, leg extensor strength, or arm strength and endurance. Racing drivers have faster reaction times than age-matched physically active controls. Further development of motor sport-specific test protocols is suggested. According to the requirements of motor racing, strength and sensorimotor performance capacity can potentially be improved.

Novice drivers' performance after different alcohol dosages and placebo in the divided-attention steering simulator (DASS).

PubMed

Verster, Joris C; Wester, Anne E; Goorden, Maartje; van Wieringen, Jan-Peter; Olivier, Berend; Volkerts, Edmund R

2009-05-01

The divided-attention steering simulator (DASS) is designed to measure lane-keeping (i.e., a tracking task using a steering wheel) while performing a secondary visual task (responding to digits that appear in the corners of the computer screen). Some studies have already used the DASS, but the magnitude of impairment is difficult to interpret because reference values are lacking. To examine the magnitude of impairment after administration of four different dosages of alcohol and placebo. Thirty-two healthy young adults participated in this randomized, single-blind crossover trial. Subjects received alcohol to gain a blood alcohol concentration (BAC) of 0.02%, 0.05%, 0.08%, and 0.10% or alcohol-placebo. Sixteen subjects performed a 30-min test in DASS (dual-task condition). Outcome measures were steering error, reaction time, and percentage of errors. Sixteen other subjects performed the test without performing the secondary peripheral task (single-task condition). Twenty-eight subjects (novice drivers; drivers' license up to 5 years) were included in the analyses. Dose-dependent impairment was found in both the single-task condition (F ((4,11)) = 10.86, p < 0.001) and the dual-task condition (F ((4,9)) = 5.58, p < 0.015). Performance at all BAC levels differed significantly (p < 0.05) from alcohol-placebo, except BAC 0.02%. With increasing BAC levels, subjects made more errors and reacted slower on the peripheral visual search task, but these effects did not reach significance. With increasing BAC, dose-dependent impairment was found. The DASS seems to be a suitable divided-attention task that is useful in psychopharmacological research and training of novice drivers.

Proceedings of the International Conference on The Performance of Off-Road Vehicles and Machines (8th). Volume 2. Held at Cambridge England, on August 5-11, 1984.

DTIC Science & Technology

1984-08-01

various wheel loads and gecoetries an an aid to vehicle design PO04 299 Flotation tires anc subsurface compaction POMl 300 Tractor power selection...soil copatiml steering computer modelling, vehicle -component design , measuremnt of soil and anow properties and soil bin facilitiesi and vehicle... design . 74 ~ Al i~~s W3 *1oe 9e e1 SALilsasifiLed seCUffiY cLataric*Ye ATWop ’ VA .-I rumo. .. nemraa~sociy m v smuAN vnaaz Yswros 1BR.NM 72 Lym AmI

Representing and Learning Complex Object Interactions

PubMed Central

Zhou, Yilun; Konidaris, George

2017-01-01

We present a framework for representing scenarios with complex object interactions, in which a robot cannot directly interact with the object it wishes to control, but must instead do so via intermediate objects. For example, a robot learning to drive a car can only indirectly change its pose, by rotating the steering wheel. We formalize such complex interactions as chains of Markov decision processes and show how they can be learned and used for control. We describe two systems in which a robot uses learning from demonstration to achieve indirect control: playing a computer game, and using a hot water dispenser to heat a cup of water. PMID:28593181

Pressurized Lunar Rover

NASA Technical Reports Server (NTRS)

Creel, Kenneth; Frampton, Jeffrey; Honaker, David; Mcclure, Kerry; Zeinali, Mazyar

1992-01-01

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer).

Effect of handling characteristics on minimum time cornering with torque vectoring

NASA Astrophysics Data System (ADS)

Smith, E. N.; Velenis, E.; Tavernini, D.; Cao, D.

2018-02-01

In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal TV strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using TV against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the OCP is introduced where a closed-loop TV controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle's handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed.

A novel integrated chassis controller for full drive-by-wire vehicles

NASA Astrophysics Data System (ADS)

Song, Pan; Tomizuka, Masayoshi; Zong, Changfu

2015-02-01

In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres.

Design and experimental validation of linear and nonlinear vehicle steering control strategies

NASA Astrophysics Data System (ADS)

Menhour, Lghani; Lechner, Daniel; Charara, Ali

2012-06-01

This paper proposes the design of three control laws dedicated to vehicle steering control, two based on robust linear control strategies and one based on nonlinear control strategies, and presents a comparison between them. The two robust linear control laws (indirect and direct methods) are built around M linear bicycle models, each of these control laws is composed of two M proportional integral derivative (PID) controllers: one M PID controller to control the lateral deviation and the other M PID controller to control the vehicle yaw angle. The indirect control law method is designed using an oscillation method and a nonlinear optimisation subject to H ∞ constraint. The direct control law method is designed using a linear matrix inequality optimisation in order to achieve H ∞ performances. The nonlinear control method used for the correction of the lateral deviation is based on a continuous first-order sliding-mode controller. The different methods are designed using a linear bicycle vehicle model with variant parameters, but the aim is to simulate the nonlinear vehicle behaviour under high dynamic demands with a four-wheel vehicle model. These steering vehicle controls are validated experimentally using the data acquired using a laboratory vehicle, Peugeot 307, developed by National Institute for Transport and Safety Research - Department of Accident Mechanism Analysis Laboratory's (INRETS-MA) and their performance results are compared. Moreover, an unknown input sliding-mode observer is introduced to estimate the road bank angle.

Equipping an automated wheelchair with an infrared encoder wheel odometer - biomed 2011.

PubMed

Schultz, D; Allen, M; Barrett, S F

2011-01-01

Assistive technology is a rapidly growing field that provides a degree of freedom and self-sufficiency to people of limited mobility. Smart wheelchairs are a subset of assistive technology, and are designed to be operated by people who are unable to use a traditional control system. Instead, smart wheelchairs are equipped with a combination of automated functionality and steering mechanisms specialized to meet a person’s individual needs. One feature common to the automated capabilities of smart wheelchairs is the tracking system. The wheelchair’s microcontroller needs to know how far the chair has travelled, its speed, and the rotational direction of its wheels in order to successfully navigate through an environment. The purpose of this research was to develop an odometer to track the motion of a motorized wheelchair. Due to federal regulations that prohibit changing the structure or internal mechanics of a medical device, the odometer had to be designed as a separate, removable part. The final design for the odometer consisted of two infrared sensors that measure edge transitions of a segmented black and white encoder wheel. The sensor output was then run through two comparator op amps and a high pass filter to produce a clean, crisp square wave signal output. The signal was then fed to an Atmel ATmega164P microcontroller. The microcontroller was programmed to compare the sensor signal with its internal clock, sense edge transitions, and thereby extrapolate the speed, travelled distance, and rotational direction of the wheelchair.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

NASA Astrophysics Data System (ADS)

Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

2015-08-01

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

Study on the precision of the guide control system of independent wheel

NASA Astrophysics Data System (ADS)

ji, Y.; Ren, L.; Li, R.; Sun, W.

2016-09-01

The torque ripple of permanent magnet synchronous motor vector with active control is studied in this paper. The ripple appears because of the impact of position detection and current detection, the error generated in inverter and the influence of motor ontology (magnetic chain harmonic and the cogging effect and so on). Then, the simulation dynamic model of bogie with permanent magnet synchronous motor vector control system is established with MATLAB/Simulink. The stability of bogie with steering control is studied. The relationship between the error of the motor and the precision of the control system is studied. The result shows that the existing motor does not meet the requirements of the control system.

Lateral Stability and Steady State Curving Performance of Unconventional Rail Trucks

NASA Astrophysics Data System (ADS)

Dukkipati, Rao V.; Narayanaswamy, Srinivasan

Conventional railway vehicle systems exhibit hunting phenomenon which increases component wear and imposes operating speed limits. There is also a conflict between dynamic stability and the ability of the vehicle to steer around curves. Alternatively, independently rotating wheels (IRW) in a wheelset eliminate hunting but the wheelset guidance set capability is lost. A compromise solution is made possible by a modified design that exploits a lack of fore-and-aft symmetry in the suspension design. A comparative study on steady state curving performance and dynamic stability of some unconventional truck designs is carried out. The effects of suspension and conicity are considered to evaluate the trade-off between dynamic stability and curving performance.

The new 34-meter antenna

NASA Technical Reports Server (NTRS)

Pompa, M. F.

1986-01-01

The new 34-m high efficiency Azimuth - Elevation antenna configuration, including its features, dynamic characteristics and performance at 8.4-GHz frequencies is described. The current-technology features of this antenna produce a highly reliable configuration by incorporation of a main wheel and track azimuth support, central pintle pivot bearing, close tolerance surface panels and all-welded construction. Also described are basic drive controls that, as slaved to three automatic microprocessors, provide accurate and safe control of the antenna's steering tasks. At this time antenna installations are completed at Goldstone and Canberra and have operationally supported the Voyager - Uranus encounter. A third installation is being constructed currently in Madrid and is scheduled for completion in late 1986.

Powered Wheels in the Turned Mode Operating on Yielding Soils

DTIC Science & Technology

1976-09-01

CONTINUE 345n 16 CONTINUE 3475C REAR TIRE FORCES IN CLAY 3480 DO 17 J=1,2 3490 XNEOW=XNUMC2 J )e(l.-2.26oA8S( ALPR )"*1.5) 3500 IF(XNEOW.LE.4o)XNEOW:4...34;FrA,AIPf, 4125 & ALPR 413n 678 FORMAT(lX,"STEERING ANC,Fp nFnREFS w.,F5,I,/, 4140 & "VER4IrLE SPEEFD, METRF/SEC =11,15.1o/o 4150 A YAW VELOCITY# RAD...J1) 3788 198 CONTINUE 3790 210 CONTINUE 3800 220 CONTINUE 3815C REAR TIRE FORCES IN SAND 3830 Do 230 Jxi,? 3840 DIMALP=ABS( ALPR ) 3850 CALL PWSAN(XNUM

The impact of various distance between axes of worm gear on torque value. Worm gear test stand

NASA Astrophysics Data System (ADS)

Sobek, M.; Baier, A.; Grabowski, Ł.

2017-08-01

Transferring both rotational and translational movements in systems used in the automotive industry is a very important and complex issue. In addition, the situation becomes much more difficult and complicated when the design of the transition system requires a high precision of operation as well as a well definite and long operating life. Such requirements are imposed on all components of today’s motor vehicles. However, particular attention is paid to the elements that directly or indirectly affect the safety of persons traveling in the vehicle. Such components are undoubtedly components included as parts of the steering system of the vehicle. Power steering systems have been present in motor vehicles for more than a century. They go through continuous metamorphosis and they are getting better and better. Current power steering systems are based on an electric motor and some kind of transmission. Depending on the position of the drive relative to the steering column, different configurations of the transmission are used. This article will cover issues related to tests of power steering gearing using a worm drive. The worm drive is a very specific example of a propulsion system that uses twisted axles. Normally, in this type of transition you can find two gear units with the axis mounted with a 90° angle between. The components of the worm drive are a worm and a worm gear, also called a worm wheel. In terms of the geometrical form, the worm resembles a helical spur gear. The shape of the worm is similar to the shape of a screw with a trapezoidal thread. A correct matching of these two components ensures proper operation of the entire transmission. Incorrect positioning of the components in relation to each other can significantly reduce the lifetime of the drive unit, and also lead to abnormal work, eg by raising the noise level. This article describes a test method of finding the appropriate distance between the axles of both worm drive units by testing the torque change during gear operation.

Guidance and control requirements for high-speed Rollout and Turnoff (ROTO)

NASA Technical Reports Server (NTRS)

Goldthorpe, Steve H.; Kernik, Alan C.; Mcbee, Larry S.; Preston, Orv W.

1995-01-01

This report defines the initial requirements for designing a research high-speed rollout and turnoff (ROTO) guidance and control system applicable to transport class aircraft whose purpose is to reduce the average runway occupancy time (ROT) for aircraft operations. The requirements will be used to develop a ROTO system for both automatic and manual piloted operation under normal and reduced visibility conditions. Requirements were determined for nose wheel/rudder steering, braking/reverse thrust, and the navigation system with the aid of a non-real time, three degree-of-freedom MD-11 simulation program incorporating airframe and gear dynamics. The requirements were developed for speeds up to 70 knots using 30 ft exit geometries under dry and wet surface conditions. The requirements were generated under the assumptions that the aircraft landing system meets the current Category III touchdown dispersion requirements and that aircraft interarrival spacing is 2 nautical miles. This effort determined that auto-asymmetric braking is needed to assist steering for aft center-of-gravity aircraft. This report shows various time-history plots of the aircraft performance for the ROTO operation. This effort also investigated the state-of-the-art in the measurement of the runway coefficient of friction for various runway conditions.

Two-micron Laser Atmospheric Wind Sounder (LAWS) pointing/tracking study

NASA Technical Reports Server (NTRS)

Manlief, Scott

1995-01-01

The objective of the study was to identify and model major sources of short-term pointing jitter for a free-flying, full performance 2 micron LAWS system and evaluate the impact of the short-term jitter on wind-measurement performance. A fast steering mirror controls system was designed for the short-term jitter compensation. The performance analysis showed that the short-term jitter performance of the controls system over the 5.2 msec round-trip time for a realistic spacecraft environment was = 0.3 micro rad, rms, within the specified value of less than 0.5 micro rad, rms, derived in a 2 micron LAWS System Study. Disturbance modes were defined for: (1) the Bearing and Power Transfer Assembly (BAPTA) scan bearing, (2) the spacecraft reaction wheel torques, and (3) the solar array drive torques. The scan bearing disturbance was found to be the greatest contributing noise source to the jitter performance. Disturbances from the fast steering mirror reaction torques and a boom-mounted cross-link antenna clocking were also considered but were judged to be small compared to the three principal disturbance sources above and were not included in the final controls analysis.

A parametric study of golf car and personal transport vehicle braking stability and their deficiencies.

PubMed

Seluga, Kristopher J; Baker, Lowell L; Ojalvo, Irving U

2009-07-01

This paper describes research and parametric analyses of braking effectiveness and directional stability for golf cars, personal transport vehicles (PTVs) and low speed vehicles (LSVs). It is shown that current designs, which employ brakes on only the rear wheels, can lead to rollovers if the brakes are applied while traveling downhill. After summarizing the current state of existing safety standards and brake system designs, both of which appear deficient from a safety perspective, a previously developed dynamic simulation model is used to identify which parameters have the greatest influence on the vehicles' yaw stability. The simulation results are then used to parametrically quantify which combination of these factors can lead to yaw induced rollover during hard braking. Vehicle velocity, steering input, path slope and tire friction are all identified as important parameters in determining braking stability, the effects of which on rollover propensity are presented graphically. The results further show that when vehicles are equipped with front brakes or four-wheel brakes, the probability of a yaw induced rollover is almost entirely eliminated. Furthermore, the parametric charts provided may be used as an aid in developing guidelines for golf car and PTV path design if rear brake vehicles are used.

Lunar articulated remote transportation system

NASA Technical Reports Server (NTRS)

Beech, Geoffrey; Conley, Gerald; Diaz, Claudine; Dimella, Timothy; Dodson, Pete; Hykin, Jeff; Richards, Byron; Richardson, Kroy; Shetzer, Christie; Vandyke, Melissa

1990-01-01

A first generation lunar transportation vehicle was designed for use on the surface of the Moon between the years 2010 and 2020. Attention is focussed on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three cart, six-wheeled articulated vehicle. It's purpose will be for the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 kilometers). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the asronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include: a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat restraints, heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model was built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

A Shaftless Magnetically Levitated Multifunctional Spacecraft Flywheel Storage System

NASA Technical Reports Server (NTRS)

Stevens, Ken; Thornton, Richard; Clark, Tracy; Beaman, Bob G.; Dennehy, Neil; Day, John H. (Technical Monitor)

2002-01-01

Presently many types of spacecraft use a Spacecraft Attitude Control System (ACS) with momentum wheels for steering and electrochemical batteries to provide electrical power for the eclipse period of the spacecraft orbit. Future spacecraft will use Flywheels for combined use in ACS and Energy Storage. This can be done by using multiple wheels and varying the differential speed for ACS and varying the average speed for energy storage and recovery. Technology in these areas has improved since the 1990s so it is now feasible for flywheel systems to emerge from the laboratory for spacecraft use. This paper describes a new flywheel system that can be used for both ACS and energy storage. Some of the possible advantages of a flywheel system are: lower total mass and volume, higher efficiency, less thermal impact, improved satellite integration schedule and complexity, simplified satellite orbital operations, longer life with lower risk, less pointing jitter, and greater capability for high-rate slews. In short, they have the potential to enable new types of missions and provide lower cost. Two basic types of flywheel configurations are the Flywheel Energy Storage System (FESS) and the Integrated Power and Attitude Control System (IPACS).

Dynamic stability of an aerodynamically efficient motorcycle

NASA Astrophysics Data System (ADS)

Sharma, Amrit; Limebeer, David J. N.

2012-08-01

Motorcycles exhibit two potentially dangerous oscillatory modes known as 'wobble' and 'weave'. The former is reminiscent of supermarket castor shimmy, while the latter is a low frequency 'fish-tailing' motion that involves a combination of rolling, yawing, steering and side-slipping motions. These unwanted dynamic features, which can occur when two-wheeled vehicles are operated at speed, have been studied extensively. The aim of this paper is to use mathematical analysis to identify important stability trends in the on-going design of a novel aerodynamically efficient motorcycle known as the ECOSSE Spirit ES1. A mathematical model of the ES1 is developed using a multi-body dynamics software package called VehicleSim [Anon, VehicleSim Lisp Reference Manual Version 1.0, Mechanical Simulation Corporation, 2008. Available at http://www.carsim.com]. This high-fidelity motorcycle model includes realistic tyre-road contact geometry, a comprehensive tyre model, tyre relaxation and a flexible frame. A parameter set representative of a modern high-performance machine and rider is used. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of interest. A comprehensive study of the effects of frame flexibilities, acceleration, aerodynamics and tyre variations is presented, and an optimal passive steering compensator is derived. It is shown that the traditional steering damper cannot be used to stabilise the ES1 over its entire operating speed range. A simple passive compensator, involving an inerter is proposed. Flexibility can be introduced deliberately into various chassis components to change the stability characteristics of the vehicle; the implications of this idea are studied.

Close up view of the pair of Rudder Pedals in ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Close up view of the pair of Rudder Pedals in the Commander's Satiation on the Flight Deck of the Orbiter Discovery. The rudder pedals command orbiter acceleration in yaw by positioning the rudder during atmospheric flight. However, because the flight control software automatically performs turn coordination during banking maneuvers, the rudder pedals are not operationally used during glided flight. It is not until after touchdown that the crew uses them for nose wheel steering during rollout. Depressing the upper portion of the rudder pedals provides braking. Differential braking may also be used for directional control during rollout. This view was take at Johnson Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

STS-29 Landing Approach at Edwards

NASA Image and Video Library

1989-03-18

The STS-29 Space Shuttle Discovery mission approaches for a landing at NASA's then Ames-Dryden Flight Research Facility, Edwards AFB, California, early Saturday morning, 18 March 1989. Touchdown was at 6:35:49 a.m. PST and wheel stop was at 6:36:40 a.m. on runway 22. Controllers chose the concrete runway for the landing in order to make tests of braking and nosewheel steering. The STS-29 mission was very successful, completing the launch a Tracking and Data Relay communications satellite, as well as a range of scientific experiments. Discovery's five man crew was led by Commander Michael L. Coats, and included pilot John E. Blaha and mission specialists James P. Bagian, Robert C. Springer, and James F. Buchli.

Manual control of unstable systems

NASA Technical Reports Server (NTRS)

Allen, R. W.; Hogue, J. R.; Parseghian, Z.

1986-01-01

Under certain operational regimes and failure modes, air and ground vehicles can present the human operator with a dynamically unstable or divergent control task. Research conducted over the last two decades has explored the ability of the human operator to control unstable systems under a variety of circumstances. Past research is reviewed and human operator control capabilities are summarized. A current example of automobile directional control under rear brake lockup conditions is also reviewed. A control system model analysis of the driver's steering control task is summarized, based on a generic driver/vehicle model presented at last year's Annual Manual. Results from closed course braking tests are presented that confirm the difficulty the average driver has in controlling the unstable directional dynamics arising from rear wheel lockup.

Effects of Structural Flexibility on Motorcycle Straight Running Stability by using Energy Flow Method

NASA Astrophysics Data System (ADS)

Marumo, Yoshitaka; Katayama, Tsuyoshi

This study uses the energy flow method to analyze how structural flexibility affects the motorcycle wobble and weave modes. Lateral bending of the front fork and torsion of the main frame affect the wobble mode stability. These are based on the gyroscopic effect of the front wheel in the steering motion by considering structural flexibility. At high speeds, lateral bending of the front fork and torsion of the rear swing arm more significantly affect the weave mode stability. These are primarily due to the phase changes of the external force generated by the yaw rate in the lateral motion. The phase change of the yaw rate force in the lateral motion originates from the phase change of the tire side forces.

Simulation and analysis of vertical displacement characteristics of three wheels reverse trike vehicle with PID controller application

NASA Astrophysics Data System (ADS)

Wibowo, Lambang, Lullus; Erick Chandra, N.; Muhayat, Nurul; Jaka S., B.

2017-08-01

The purpose of this research is to obtain a mathematical model (Full Vehicle Model) and compare the performance of passive and active suspension systems of a Three-Wheels Reverse Trike vehicle. Vehicle suspension system should able to provide good steering handling and passenger comfort. Vehicle suspension system generally only uses passive suspension components with fix spring and damper coefficients. An active suspension developed from the traditional (passive) suspension design can directly control the actuator force in the suspension system. In this paper, modeling and simulation of passive and active suspension system for a Full Vehicle Model is performed using Simulink-MATLAB software. Ziegler & Nichols tuning method is used to obtain controller parameters of Proportional Integral Derivative (PID) controller. Comparison between passive and active suspension with PID controller is conducted for disturbances input of single bump road surface profile 0.1 meters. The results are the displacement and acceleration of the vehicle body in the vertical direction of active suspension system with PID control is better in providing handling capabilities and comfort for the driver than of passive suspension system. The acceleration of 1,8G with the down time of 2.5 seconds is smaller than the acceleration of 2.5G with down time of 5.5 seconds.

Lunar articulated remote transportation system

NASA Technical Reports Server (NTRS)

1990-01-01

The students of the Florida A&M/Florida State University College of Engineering continued their design from 1988 to 1989 on a first generation lunar transportation vehicle for use on the surface of the Moon between the years 2010 and 2020. Attention is focused on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three-cart, six-wheeled articulated vehicle. Its purpose will be the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 km). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the astronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat retraints; heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model has been built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

A Novel GMM-Based Behavioral Modeling Approach for Smartwatch-Based Driver Authentication.

PubMed

Yang, Ching-Han; Chang, Chin-Chun; Liang, Deron

2018-03-28

All drivers have their own distinct driving habits, and usually hold and operate the steering wheel differently in different driving scenarios. In this study, we proposed a novel Gaussian mixture model (GMM)-based method that can improve the traditional GMM in modeling driving behavior. This new method can be applied to build a better driver authentication system based on the accelerometer and orientation sensor of a smartwatch. To demonstrate the feasibility of the proposed method, we created an experimental system that analyzes driving behavior using the built-in sensors of a smartwatch. The experimental results for driver authentication-an equal error rate (EER) of 4.62% in the simulated environment and an EER of 7.86% in the real-traffic environment-confirm the feasibility of this approach.

Multi-criteria optimization of chassis parameters of Nissan 200 SX for drifting competitions

NASA Astrophysics Data System (ADS)

Maniowski, M.

2016-09-01

The work objective is to increase performance of Nissan 200sx S13 prepared for a quasi-static state of drifting on a circular path with given constant radius (R=15 m) and tyre-road friction coefficient (μ = 0.9). First, a high fidelity “miMA” multibody model of the vehicle is formulated. Then, a multicriteria optimization problem is solved with one of the goals to maximize a stable drift angle (β) of the vehicle. The decision variables contain 11 parameters of the vehicle chassis (describing the wheel suspension stiffness and geometry) and 2 parameters responsible for a driver steering and accelerator actions, that control this extreme closed-loop manoeuvre. The optimized chassis setup results in the drift angle increase by 14% from 35 to 40 deg.

A study of the dynamic tire properties over a range of tire constructions

NASA Technical Reports Server (NTRS)

Nybakken, G. H.; Dodge, R. N.; Clark, S. K.

1973-01-01

The dynamic properties of four model aircraft tires of various construction were evaluated experimentally and compared with available theory. The experimental investigation consisted of measuring the cornering force and the self-aligning torque developed by the tires undergoing sinusoidal steering inputs while operating on a small scale, road-wheel tire testing apparatus. The force and moment data from the different tires are compared with both finite- and point-contact patch string theory predictions. In general, agreement between finite contact patch theory and experimental observation is good. A modified string theory is also presented in which coefficients for cornering force and self-aligning torque are determined separately. This theory improves the correspondence between the experimental and analytical data, particularly on tires with relatively high self-aligning torques.

Seated Occupant Apparent Mass Characteristics Under Automotive Postures and Vertical Vibration

NASA Astrophysics Data System (ADS)

RAKHEJA, S.; HARU, I.; BOILEAU, P.-É.

2002-05-01

The biodynamic apparent mass response characteristics of 24 human subjects (12 males and 12 females) seated under representative automotive postures with hands-in-lap (passengers) and hands-on-steering wheel (drivers) are reported. The measurements were carried out under white noise vertical excitations of 0·25, 0·5 and 1·0m/s2r.m.s. acceleration magnitudes in the 0·5-40Hz frequency range and a track measured input (1·07m/s2). The measured data have been analyzed to study the effects of hands position, body mass, magnitude and type of vibration excitation, and feet position, on the biodynamic response expressed in terms of apparent mass. A comparison of the measured response of subjects assuming typical automotive postures involving inclined cushion, inclined backrest and full use of backrest support with data determined under different postural conditions and excitation levels revealed considerable differences. The biodynamic response of automobile occupants seated with hands in lap, peaks in the 6·5-8·6Hz frequency range, which is considerably higher than the reported range of fundamental frequencies (4·5-5Hz) in most other studies involving different experimental conditions. The peak magnitude tends to decrease considerably for the driving posture with hands-on-steering wheel, while a second peak in the 8-12 Hz range becomes more apparent for this posture. The results suggest that biodynamic response of occupants seated in automotive seats and subject to vertical vibration need to be characterized, as a minimum, by two distinct functions for passenger and driving postures. A higher body mass, in general, yields higher peak magnitude response and lower corresponding frequency for both postures. The strong dependence of the response on the body mass is further demonstrated by grouping the measured data into four different mass ranges: less than 60 kg, between 60·5 and 70 kg, between 70·5 and 80 kg, and above 80 kg. From the results, it is concluded that hands position and body mass have the most significant influence on the apparent mass response under automotive posture and vibration.

Development of an algorithm to model an aircraft equipped with a generic CDTI display

NASA Technical Reports Server (NTRS)

Driscoll, W. C.; Houck, J. A.

1986-01-01

A model of human pilot performance of a tracking task using a generic Cockpit Display of Traffic Information (CDTI) display is developed from experimental data. The tracking task is to use CDTI in tracking a leading aircraft at a nominal separation of three nautical miles over a prescribed trajectory in space. The analysis of the data resulting from a factorial design of experiments reveals that the tracking task performance depends on the pilot and his experience at performing the task. Performance was not strongly affected by the type of control system used (velocity vector control wheel steering versus 3D automatic flight path guidance and control). The model that is developed and verified results in state trajectories whose difference from the experimental state trajectories is small compared to the variation due to the pilot and experience factors.

Complete occlusion after blunt injury to the abdominal aorta.

PubMed

Meghoo, Colin A L; Gonzalez, Ernest A; Tyroch, Alan H; Wohltmann, Christopher D

2003-10-01

Injury to the abdominal aorta after blunt trauma is uncommon. When this injury results in complete vessel occlusion, the presentation is dramatic. Timely intervention is essential. After a case report, we examined all reported cases of complete occlusion after blunt injury to the abdominal aorta and reviewed the cause, presentation, and management of this injury. Complete vessel occlusion arises from intimal injury. The most frequent mechanism is compression from a seat belt or steering wheel during a motor vehicle crash. Patients present with absent femoral and distal pulses in association with lower extremity neuropathy. Intervention commonly involves bypass grafting of the abdominal aorta. Complete occlusion after blunt trauma to the abdominal aorta is rare. Neurologic deficits most commonly arise from peripheral nerve ischemia. Reperfusion within 6 hours confers a greater chance of limb salvage and neurologic recovery.

Effectiveness and driver acceptance of a semi-autonomous forward obstacle collision avoidance system.

PubMed

Itoh, Makoto; Horikome, Tatsuya; Inagaki, Toshiyuki

2013-09-01

This paper proposes a semi-autonomous collision avoidance system for the prevention of collisions between vehicles and pedestrians and objects on a road. The system is designed to be compatible with the human-centered automation principle, i.e., the decision to perform a maneuver to avoid a collision is made by the driver. However, the system is partly autonomous in that it turns the steering wheel independently when the driver only applies the brake, indicating his or her intent to avoid the obstacle. With a medium-fidelity driving simulator, we conducted an experiment to investigate the effectiveness of this system for improving safety in emergency situations, as well as its acceptance by drivers. The results indicate that the system effectively improves safety in emergency situations, and the semi-autonomous characteristic of the system was found to be acceptable to drivers. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

NASA Astrophysics Data System (ADS)

Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

2018-05-01

This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

Structural Optimization of a Knuckle with Consideration of Stiffness and Durability Requirements

PubMed Central

Kim, Geun-Yeon

2014-01-01

The automobile's knuckle is connected to the parts of the steering system and the suspension system and it is used for adjusting the direction of a rotation through its attachment to the wheel. This study changes the existing material made of GCD45 to Al6082M and recommends the lightweight design of the knuckle as the optimal design technique to be installed in small cars. Six shape design variables were selected for the optimization of the knuckle and the criteria relevant to stiffness and durability were considered as the design requirements during the optimization process. The metamodel-based optimization method that uses the kriging interpolation method as the optimization technique was applied. The result shows that all constraints for stiffness and durability are satisfied using A16082M, while reducing the weight of the knuckle by 60% compared to that of the existing GCD450. PMID:24995359

Modeling The Frontal Collison In Vehicles And Determining The Degree Of Injury On The Driver

NASA Astrophysics Data System (ADS)

Oţăt, Oana Victoria

2015-09-01

The present research study aims at analysing the kinematic and the dynamic behaviour of the vehicle's driver in a frontal collision. Hence, a subsequent objective of the research paper is to establish the degree of injury suffered by the driver. Therefore, in order to achieve the objectives set, first, we had to define the type of the dummy placed in the position of the driver, and then to design the three-element assembly, i.e. the chair-steering wheel-dashboard assembly. Based on this model, the following step focused on the positioning of the dummy, which has also integrated the defining of the contacts between the components of the dummy and the seat elements. Seeking to model such a behaviour that would highly accurately reflect the driver's movements in a frontal collision, passive safety systems have also been defined and simulated, namely the seatbelt and the frontal airbag.

Nonintrusive biosignal measurement system in a vehicle.

PubMed

Lee, Haet Bit; Choi, Jong Min; Kim, Jung Soo; Kim, Yun Seong; Baek, Hyun Jae; Ryu, Myung Suk; Sohn, Ryang Hee; Park, Kwang Suk

2007-01-01

Measurement of driver's state is important in both daily healthcare and prevention of car accidents. Existing measurement methods, however, are too complex and uncomfortable to measure for everyday. A nonintrusive biosignal monitoring system is demanded for increasing the accessibility. In this paper, we proposed a nonintrusive measurement system integrated in a vehicle for recording electrocardiographic (ECG) signals and tested the performance of the system. The system consists of dry electrodes attached to the steering wheel and a wireless communication module using a Bluetooth device. ECG signals measured by our system were compared with those by a conventional system employing wet electrodes during real city road driving. Various parameters used for HRV analysis in time and frequency domain showed no significant differences between the two simultaneously measured ECG signals. The result implies the possibility that developed system could have a potential to monitor health information in a vehicle instead of commercial equipments.

Nonintrusive biological signal monitoring in a car to evaluate a driver's stress and health state.

PubMed

Baek, Hyun Jae; Lee, Haet Bit; Kim, Jung Soo; Choi, Jong Min; Kim, Ko Keun; Park, Kwang Suk

2009-03-01

Nonintrusive monitoring of a driver's physiological signals was introduced and evaluated in a car as a test of extending the concept of ubiquitous healthcare to vehicles. Electrocardiogram, photoplethysmogram, galvanic skin response, and respiration were measured in the ubiquitous healthcare car (U-car) using nonintrusively installed sensors on the steering wheel, driver's seat, and seat belt. Measured signals were transmitted to the embedded computer via Bluetooth(R) communication and processed. We collected and analyzed physiological signals during driving in order to estimate a driver's stress state while using this system. In order to compare the effect of stress on physical and mental conditions, two categories of stresses were defined. Experimental results show that a driver's physiological signals were measured with acceptable quality for analysis without interrupting driving, and they were changed meaningfully due to elicited stress. This nonintrusive monitoring can be used to evaluate a driver's state of health and stress.

Estimating Driving Performance Based on EEG Spectrum Analysis

NASA Astrophysics Data System (ADS)

Lin, Chin-Teng; Wu, Ruei-Cheng; Jung, Tzyy-Ping; Liang, Sheng-Fu; Huang, Teng-Yi

2005-12-01

The growing number of traffic accidents in recent years has become a serious concern to society. Accidents caused by driver's drowsiness behind the steering wheel have a high fatality rate because of the marked decline in the driver's abilities of perception, recognition, and vehicle control abilities while sleepy. Preventing such accidents caused by drowsiness is highly desirable but requires techniques for continuously detecting, estimating, and predicting the level of alertness of drivers and delivering effective feedbacks to maintain their maximum performance. This paper proposes an EEG-based drowsiness estimation system that combines electroencephalogram (EEG) log subband power spectrum, correlation analysis, principal component analysis, and linear regression models to indirectly estimate driver's drowsiness level in a virtual-reality-based driving simulator. Our results demonstrated that it is feasible to accurately estimate quantitatively driving performance, expressed as deviation between the center of the vehicle and the center of the cruising lane, in a realistic driving simulator.

Intelligent mobility for robotic vehicles in the army after next

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Goetz, Richard C.; Gorsich, David J.

1999-07-01

The TARDEC Intelligent Mobility program addresses several essential technologies necessary to support the army after next (AAN) concept. Ground forces in the AAN time frame will deploy robotic unmanned ground vehicles (UGVs) in high-risk missions to avoid exposing soldiers to both friendly and unfriendly fire. Prospective robotic systems will include RSTA/scout vehicles, combat engineering/mine clearing vehicles, indirect fire artillery and missile launch platforms. The AAN concept requires high on-road and off-road mobility, survivability, transportability/deployability and low logistics burden. TARDEC is developing a robotic vehicle systems integration laboratory (SIL) to evaluate technologies and their integration into future UGV systems. Example technologies include the following: in-hub electric drive, omni-directional wheel and steering configurations, off-road tires, adaptive tire inflation, articulated vehicles, active suspension, mine blast protection, detection avoidance and evasive maneuver. This paper will describe current developments in these areas relative to the TARDEC intelligent mobility program.

Experimental Evaluation of the Scale Model Method to Simulate Lunar Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Johnson, Kyle; Asnani, Vivake; Polack, Jeff; Plant, Mark

2016-01-01

As compared to driving on Earth, the presence of lower gravity and uneven terrain on planetary bodies makes high speed driving difficult. In order to maintain ground contact and control vehicles need to be designed with special attention to dynamic response. The challenge of maintaining control on the Moon was evident during high speed operations of the Lunar Roving Vehicle (LRV) on Apollo 16, as at one point all four tires were off the ground; this event has been referred to as the Lunar Grand Prix. Ultimately, computer simulation should be used to examine these phenomena during the vehicle design process; however, experimental techniques are required for the validation and elucidation of key issues. The objectives of this study were to evaluate the methodology for developing a scale model of a lunar vehicle using similitude relationships and to test how vehicle configuration, six or eight wheel pods, and local tire compliance, soft or stiff, affect the vehicles dynamic performance. A wheel pod consists of a drive and steering transmission and wheel. The Lunar Electric Rover (LER), a human driven vehicle with a pressurized cabin, was selected as an example for which a scale model was built. The scaled vehicle was driven over an obstacle and the dynamic response was observed and then scaled to represent the full-size vehicle in lunar gravity. Loss of ground contact, in terms of vehicle travel distance with tires off the ground, was examined. As expected, local tire compliance allowed ground contact to be maintained over a greater distance. However, switching from a six-tire configuration to an eight-tire configuration with reduced suspension stiffness had a negative effect on ground contact. It is hypothesized that this was due to the increased number or frequency of impacts. The development and testing of this scale model provided practical lessons for future low-gravity vehicle development.

Aortic ruptures in seat belt wearers.

PubMed

Arajärvi, E; Santavirta, S; Tolonen, J

1989-09-01

Several investigations have indicated that rupture of the thoracic aorta is one of the leading causes of immediate death in victims of road traffic accidents. In Finland in 1983, 92% of front-seat passengers were seat belt wearers on highways and 82% in build-up areas. The mechanisms of rupture of the aorta have been intensively investigated, but the relationship between seat belt wearing and injury mechanisms leading to aortic rupture is still largely unknown. This study comprises 4169 fatally injured victims investigated by the Boards of Traffic Accident Investigation of Insurance Companies during the period 1972 to 1985. Chest injuries were recorded as the main cause of death in 1121 (26.9%) victims, 207 (5.0%) of those victims having worn a seat belt. Aortic ruptures were found at autopsy in 98 victims and the exact information of the location of the aortic tears was available in 68. For a control group, we analyzed 72 randomly chosen unbelted victims who had a fatal aortic rupture in similar accidents. The location of the aortic rupture in unbelted victims was more often in the ascending aorta, especially in drivers, whereas in seat belt wearers the distal descending aorta was statistically more often ruptured, especially in right-front passengers (p less than 0.05). The steering wheel predominated statistically as the part of the car estimated to have caused the injury in unbelted victims (37/72), and some interior part of the car was the most common cause of fatal thoracic impacts in seat belt wearers (48/68) (p less than 0.001). The mechanism of rupture of the aorta in the classic site just distal to the subclavian artery seems to be rapid deceleration, although complex body movements are also responsible in side impact collisions. The main mechanism leading to rupture of the ascending aorta seems to be severe blow to the bony thorax. This also often causes associated thoracic injuries, such as heart rupture and sternal fracture. Injuries in the ascending aorta were mostly found in unbelted victims and were sustained in frontal impact collisions, the injury-causing part of the car being the steering wheel. Ruptures of the distal descending part of the aorta were frequently associated with fractures of the thoracic vertebra.

The problem of the driverless vehicle specified path stability control

NASA Astrophysics Data System (ADS)

Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

2018-02-01

Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

Optimal Electrical Energy Slewing for Reaction Wheel Spacecraft

NASA Astrophysics Data System (ADS)

Marsh, Harleigh Christian

The results contained in this dissertation contribute to a deeper level of understanding to the energy required to slew a spacecraft using reaction wheels. This work addresses the fundamental manner in which spacecrafts are slewed (eigenaxis maneuvering), and demonstrates that this conventional maneuver can be dramatically improved upon in regards to reduction of energy, dissipative losses, as well as peak power. Energy is a fundamental resource that effects every asset, system, and subsystem upon a spacecraft, from the attitude control system which orients the spacecraft, to the communication subsystem to link with ground stations, to the payloads which collect scientific data. For a reaction wheel spacecraft, the attitude control system is a particularly heavy load on the power and energy resources on a spacecraft. The central focus of this dissertation is reducing the burden which the attitude control system places upon the spacecraft in regards to electrical energy, which is shown in this dissertation to be a challenging problem to computationally solve and analyze. Reducing power and energy demands can have a multitude of benefits, spanning from the initial design phase, to in-flight operations, to potentially extending the mission life of the spacecraft. This goal is approached from a practical standpoint apropos to an industry-flight setting. Metrics to measure electrical energy and power are developed which are in-line with the cost associated to operating reaction wheel based attitude control systems. These metrics are incorporated into multiple families of practical high-dimensional constrained nonlinear optimal control problems to reduce the electrical energy, as well as the instantaneous power burdens imposed by the attitude control system upon the spacecraft. Minimizing electrical energy is shown to be a problem in L1 optimal control which is nonsmooth in regards to state variables as well as the control. To overcome the challenge of nonsmoothness, a method is adopted in this dissertation to transform the nonsmooth minimum electrical energy problem into an equivalent smooth formulation, which then allows standard techniques in optimal control to solve and analyze the problem. Through numerically solving families of optimal control problems, the relationship between electrical energy and transfer time is identified and explored for both off-and on-eigenaxis maneuvering, under minimum dissipative losses as well as under minimum electrical energy. A trade space between on-and off-eigenaxis maneuvering is identified, from which is shown that agile near time optimal maneuvers exist within the energy budget associated with conventional eigenaxis maneuvering. Moreover, even for conventional eigenaxis maneuvering, energy requirements can be dramatically reduced by maneuvering off-eigenaxis. These results address one of the fundamental assumptions in the field of optimal path design verses conventional maneuver design. Two practical flight situations are addressed in this dissertation in regards to reducing energy and power: The case when the attitude of the spacecraft is predetermined, and the case where reaction wheels can not be directly controlled. For the setting where the attitude of spacecraft is on a predefined trajectory, it is demonstrated that reduced energy maneuvers are only attainable though the application of null-motions, which requires control of the reaction wheels. A computationally light formulation is developed minimizing the dissipative losses through the application of null motions. In the situation where the reaction wheels can not be directly controlled, it is demonstrated that energy consumption, dissipative losses, and peak-power loads, of the reaction-wheel array can each be reduced substantially by controlling the input to the attitude control system through attitude steering. It is demonstrated that the open loop trajectories correctly predict the closed loop response when tracked by an attitude control system which does not allow direct command of the reaction wheels.

STOLAND

NASA Technical Reports Server (NTRS)

Grgurich, J.; Bradbury, P.

1976-01-01

The STOLAND system includes air data, navigation, guidance, flight director (including a throttle flight director on the Augmentor Wing), 3-axis autopilot and autothrottle functions. The 3-axis autopilot and autothrottle control through parallel electric servos on both aircraft and on the augmentor wing, the system also interfaces with three electrohydraulic series actuators which drive the roll control surfaces, elevator and rudder. The system incorporates automatic configuration control of the flaps and nozzles on the augmentor wing and of the flaps on the Twin Otter. Interfaces are also provided to control the wing flap chokes on the Augmentor Wing and the spoilers on the Twin Otter. The STOLAND system has all the capabilities of a conventional integrated avionics system. Aircraft stabilization is provided in pitch, roll and yaw including control wheel steering in pitch and roll. The basic modes include altitude hold and select, indicated airspeed hold and select, flight path angle hold and select, and heading hold and select. The system can couple to TACAN and VOR/DME navaids for conventional radial flying.

The influence of tyre transient side force properties on vehicle lateral acceleration for a time-varying vertical force

NASA Astrophysics Data System (ADS)

Takahashi, Toshimichi

2018-05-01

The tyre model which formerly developed by the author et al. and describes the tyre transient responses of side force and aligning moment under the time-varying vertical force was implemented to the vehicle dynamics simulation software and the influence of tyre side force transient property on the vehicle behaviour was investigated. The vehicle responses with/without tyre transient property on sinusoidally undulated road surfaces were simulated and compared. It was found that the average lateral acceleration of the vehicle at the sinusoidal steering wheel angle input decreases on the undulated road of long wavelength (3 m) for both cases, but when the wavelength becomes shorter (1 m), the average lateral acceleration increases only in the case that the transient property is considered. The cause of those changes is explained by using the tyre-related variables. Also the steady-state turning behaviour of the vehicle on undulated roads are shown and discussed.

Development and evaluation of an airplane electronic display format aligned with the inertial velocity vector

NASA Technical Reports Server (NTRS)

Steinmetz, G. G.

1986-01-01

The development of an electronic primary flight display format aligned with the aircraft velocity vector, a simulation evaluation comparing this format with an electronic attitude-aligned primary flight display format, and a flight evaluation of the velocity-vector-aligned display format are described. Earlier tests in turbulent conditions with the electronic attitude-aligned display format had exhibited unsteadiness. A primary objective of aligning the display format with the velocity vector was to take advantage of a velocity-vector control-wheel steering system to provide steadiness of display during turbulent conditions. Better situational awareness under crosswind conditions was also achieved. The evaluation task was a curved, descending approach with turbulent and crosswind conditions. Primary flight display formats contained computer-drawn perspective runway images and flight-path angle information. The flight tests were conducted aboard the NASA Transport Systems Research Vehicle (TSRV). Comparative results of the simulation and flight tests were principally obtained from subjective commentary. Overall, the pilots preferred the display format aligned with the velocity vector.

Ventilation and Heart Rate Monitoring in Drivers using a Contactless Electrical Bioimpedance System

NASA Astrophysics Data System (ADS)

Macías, R.; García, M. A.; Ramos, J.; Bragós, R.; Fernández, M.

2013-04-01

Nowadays, the road safety is one of the most important priorities in the automotive industry. Many times, this safety is jeopardized because of driving under inappropriate states, e.g. drowsiness, drugs and/or alcohol. Therefore several systems for monitoring the behavior of subjects during driving are researched. In this paper, a device based on a contactless electrical bioimpedance system is shown. Using the four-wire technique, this system is capable of obtaining the heart rate and the ventilation of the driver through multiple textile electrodes. These textile electrodes are placed on the car seat and the steering wheel. Moreover, it is also reported several measurements done in a controlled environment, i.e. a test room where there are no artifacts due to the car vibrations or the road state. In the mentioned measurements, the system response can be observed depending on several parameters such as the placement of the electrodes or the number of clothing layers worn by the driver.

Automatic Detection of Driver Fatigue Using Driving Operation Information for Transportation Safety

PubMed Central

Li, Zuojin; Chen, Liukui; Peng, Jun; Wu, Ying

2017-01-01

Fatigued driving is a major cause of road accidents. For this reason, the method in this paper is based on the steering wheel angles (SWA) and yaw angles (YA) information under real driving conditions to detect drivers’ fatigue levels. It analyzes the operation features of SWA and YA under different fatigue statuses, then calculates the approximate entropy (ApEn) features of a short sliding window on time series. Using the nonlinear feature construction theory of dynamic time series, with the fatigue features as input, designs a “2-6-6-3” multi-level back propagation (BP) Neural Networks classifier to realize the fatigue detection. An approximately 15-h experiment is carried out on a real road, and the data retrieved are segmented and labeled with three fatigue levels after expert evaluation, namely “awake”, “drowsy” and “very drowsy”. The average accuracy of 88.02% in fatigue identification was achieved in the experiment, endorsing the value of the proposed method for engineering applications. PMID:28587072

Automatic Detection of Driver Fatigue Using Driving Operation Information for Transportation Safety.

PubMed

Li, Zuojin; Chen, Liukui; Peng, Jun; Wu, Ying

2017-05-25

Fatigued driving is a major cause of road accidents. For this reason, the method in this paper is based on the steering wheel angles (SWA) and yaw angles (YA) information under real driving conditions to detect drivers' fatigue levels. It analyzes the operation features of SWA and YA under different fatigue statuses, then calculates the approximate entropy (ApEn) features of a short sliding window on time series. Using the nonlinear feature construction theory of dynamic time series, with the fatigue features as input, designs a "2-6-6-3" multi-level back propagation (BP) Neural Networks classifier to realize the fatigue detection. An approximately 15-h experiment is carried out on a real road, and the data retrieved are segmented and labeled with three fatigue levels after expert evaluation, namely "awake", "drowsy" and "very drowsy". The average accuracy of 88.02% in fatigue identification was achieved in the experiment, endorsing the value of the proposed method for engineering applications.

Experimental and numerical analysis of clamped joints in front motorbike suspensions

NASA Astrophysics Data System (ADS)

Croccolo, D.; de Agostinis, M.; Vincenzi, N.

2010-06-01

Clamped joints are shaft-hub connections used, as an instance, in front motorbike suspensions to lock the steering plates with the legs and the legs with the wheel pin, by means of one or two bolts. The preloading force, produced during the tightening process, should be evaluated accurately, since it must lock safely the shaft, without overcoming the yielding point of the hub. Firstly, friction coefficients have been evaluated on “ad-hoc designed” specimens, by applying the Design of Experiment approach: the applied tightening torque has been precisely related to the imposed preloading force. Then, the tensile state of clamps have been evaluated both via FEM and by leveraging some design formulae proposed by the Authors as function of the preloading force and of the clamp geometry. Finally, the results have been compared to those given by some strain gauges applied on the tested clamps: the discrepancies between numerical analyses, the design formulae and the experimental results remains under a threshold of 10%.

Attitude maneuvers of a solar-powered electric orbital transfer vehicle

NASA Astrophysics Data System (ADS)

Jenkin, Alan B.

1992-08-01

Attitude maneuver requirements of a solar-powered electric orbital transfer vehicle have been studied in detail. This involved evaluation of the yaw, pitch, and roll profiles and associated angular accelerations needed to simultaneously steer the vehicle thrust vector and maintain the solar array pointed toward the sun. Maintaining the solar array pointed exactly at the sun leads to snap roll maneuvers which have very high (theoretically unbounded) accelerations, thereby imposing large torque requirements. The problem is exacerbated by the large solar arrays which are needed to generate the high levels of power needed by electric propulsion devices. A method of eliminating the snap roll maneuvers is presented. The method involves the determination of relaxed roll profiles which approximate a forced transition between alternate exact roll profiles and incur only small errors in solar array pointing. The method makes it feasible to perform the required maneuvers using currently available attitude control technology such as reaction wheels, hot gas jets, or gimballed main engines.

Development of a low-cost, low micro-vibration CMG for small agile satellite applications

NASA Astrophysics Data System (ADS)

Kawak, B. J.

2017-02-01

The agility of the spacecraft which refers to the spacecraft's ability to execute fast and accurate manoeuvers within a fixed period of time, is a key satellite parameter. The spacecraft' s agility is directly proportional to the spacecraft actuators' output torque. For high torque inertial actuators (>0.5 Nm), Control Moment Gyroscope (CMG) exhibits better performances in terms of mass and electrical power consumption than reaction wheels. However, in addition to the complex steering law required to avoid CMG singularities, one of the reasons why CMGs are not widely used is also due to their high micro-vibration emission which may interfere and disrupt the spacecraft' s sensitive instruments such as optical payloads. In this paper, an innovative two-stage viscoelastic isolation system has been designed and implemented in a new low micro-vibration CMG prototype. The first stage of the damping system acts at bearing level to attenuate the possible shock vibrations while the second stage acts at mechanism level to attenuate the structural resonances and motor noise. The developed CMG enables to combine high actuator output torque with a low micro-vibration signature. The viscoelastic damping system is cost effective as it is a fully passive system which requires no thermal control and no electronics. Furthermore, the attenuation provided by this innovative two stage damping system can reach a slope up to -80 dB/dec which leads to a Mini-CMG micro-vibration signature lower than similar output torque reaction wheels not equipped with a damping system.

Occupant kinematics of the Hybrid III, THOR-M, and postmortem human surrogates under various restraint conditions in full-scale frontal sled tests.

PubMed

Albert, Devon L; Beeman, Stephanie M; Kemper, Andrew R

2018-02-28

The objective of this research was to compare the occupant kinematics of the Hybrid III (HIII), THOR-M, and postmortem human surrogates (PMHS) during full-scale frontal sled tests under 3 safety restraint conditions: knee bolster (KB), knee bolster and steering wheel airbag (KB/SWAB), and knee bolster airbag and steering wheel airbag (KBAB/SWAB). A total of 20 frontal sled tests were performed with at least 2 tests performed per restraint condition per surrogate. The tests were designed to match the 2012 Toyota Camry New Car Assessment Program (NCAP) full-scale crash test. Rigid polyurethane foam surrogates with compressive strength ratings of 65 and 19 psi were used to simulate the KB and KBAB, respectively. The excursions of the head, shoulders, hips, knees, and ankles were collected using motion capture. Linear acceleration and angular velocity data were also collected from the head, thorax, and pelvis of each surrogate. Time histories were compared between surrogates and restraint conditions using ISO/TS 18571. All surrogates showed some degree of sensitivity to changes in restraint condition. For example, the use of a KBAB decreased the pelvis accelerations and the forward excursions of the knees and hips for all surrogates. However, these trends were not observed for the thorax, shoulders, and head, which showed more sensitivity to the presence of a SWAB. The average scores computed using ISO/TS 18571 for the HIII/PMHS and THOR-M/PMHS comparisons were 0.527 and 0.518, respectively. The HIII had slightly higher scores than the THOR-M for the excursions (HIII average = 0.574; THOR average = 0.520). However, the THOR-M had slightly higher scores for the accelerations and angular rates (HIII average = 0.471; THOR average = 0.516). The data from the current study showed that both KBABs and SWABs affected the kinematics of all surrogates during frontal sled tests. The results of the objective rating analysis indicated that the HIII and THOR-M had comparable overall biofidelity scores. The THOR-M slightly outperformed the HIII for the acceleration and angular velocity data. However, the HIII scored slightly better than the THOR-M for the excursion data. The most notable difference in biofidelity was for the knee excursions, where the HIII had a much higher average ISO score. Only the biofidelity of the HIII and THOR-M with regard to occupant kinematics was evaluated in this study; therefore, future work will evaluate the biofidelity of the ATDs in terms of lower extremity loading, thoracic response, and neck loading.

Design of a pressurized lunar rover

NASA Technical Reports Server (NTRS)

Bhardwaj, Manoj; Bulsara, Vatsal; Kokan, David; Shariff, Shaun; Svarverud, Eric; Wirz, Richard

1992-01-01

A pressurized lunar rover is necessary for future long-term habitation of the moon. The rover must be able to safely perform many tasks, ranging from transportation and reconnaissance to exploration and rescue missions. Numerous designs were considered in an effort to maintain a low overall mass and good mobility characteristics. The configuration adopted consists of two cylindrical pressure hulls passively connected by a pressurized flexible passageway. The vehicle has an overall length of 11 meters and a total mass of seven metric tons. The rover is driven by eight independently powered two meter diameter wheels. The dual-cylinder concept allows a combination of articulated frame and double Ackermann steering for executing turns. In an emergency, the individual drive motors allow the option of skid steering as well. Two wheels are connected to either side of each cylinder through a pinned bar which allows constant ground contact. Together, these systems allow the rover to easily meet its mobility requirements. A dynamic isotope power system (DIPS), in conjunction with a closed Brayton cycle, supplied the rover with a continuous supply of 8.5 kW. The occupants are all protected from the DIPS system's radiation by a shield of tantalum. The large amount of heat produced by the DIPS and other rover systems is rejected by thermal radiators. The thermal radiators and solar collectors are located on the top of the rear cylinder. The solar collectors are used to recharge batteries for peak power periods. The rover's shell is made of graphite-epoxy coated with multi-layer insulation (MLI). The graphite-epoxy provides strength while the thermally resistant MLI gives protection from the lunar environment. An elastomer separates the two materials to compensate for the thermal mismatch. The communications system allows for communication with the lunar base with an option for direct communication with earth via a lunar satellite link. The various links are combined into one signal broadcast in the S-band at 2.3 GHz. The rover is fitted with a parabolic reflector disk for S-band transmission, and an omnidirectional antenna for local extravehicular activity (EVA) communication. The rover's guidance, navigation, and control subsystem consists of an inertial guidance system, an orbiting lunar satellite, and an obstacle avoidance system. In addition, the rover is equipped with a number of external fixtures including two telerobotic arms, lights, cameras, EVA storage, manlocks, a docking fixture, solar panels, thermal radiators, and a scientific airlock. In conclusion, this rover meets all of the design requirements and clearly surpasses them in the areas of mobility and maneuverability.

Postweaning performance and carcass merit of F1 steers sired by Brahman and alternative subtropically adapted breeds.

PubMed

Franke, D E

1997-10-01

Comparisons were made among F1 steers sired by Brahman and alternative subtropically adapted breeds of bulls for feedlot and carcass traits when steers were produced from Angus- and Hereford-type dams. Brahman-derivative breeds included Brangus, Beefmaster, and Santa Gertrudis. Brangus- and Beefmaster-sired steers weighed less at slaughter, whereas carcasses of Brangus- and Santa Gertrudis-sired steers had more marbling than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area than carcasses of Santa Gertrudis-sired steers. Other Zebu breeds compared to Brahman were Boran, Gir, Indu-Brazil, Nellore, Red Brahman, and Sahiwal. Steers by Brahman sires had higher slaughter weights than steers by Boran, Gir, Nellore, or Sahiwal sires. Hot carcass weights of Brahman-sired steers were also higher than those of Boran- and Sahiwal-sired steers. Steer carcasses by Brahman sires had greater longissimus muscle area than those of steers by Sahiwal sires. Non-Zebu breeds included Tuli and Senepol. Steers by Tuli sires grew slower, had lower slaughter weights, and their carcasses weighed less than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area but less marbling than carcasses of Tuli-sired steers. These data suggest that steers by Brahman sires have an advantage for slaughter weight over steers by Brangus, Beefmaster, Boran, Gir, Nellore, Sahiwal, and Tuli sires, but their carcasses are at a disadvantage for marbling score compared with those by Brangus, Boran, Nellore, and Tuli sires.

Production systems comparing early weaning to normal weaning with or without creep feeding for beef steers.

PubMed

Myers, S E; Faulkner, D B; Ireland, F A; Berger, L L; Parrett, D F

1999-02-01

A 2-yr study was conducted to determine the effects of three weaning management systems on cow and steer performance. Cow-calf pairs were randomly assigned to one of three treatments, in which the steer calves were 1) early-weaned (yr 1, 177 +/- 9 d; yr 2, 158 +/- 21 d of age) and placed on a finishing diet (EW), 2) supplemented with grain for 55 d on pasture (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) while nursing their dams and then placed on a finishing diet (NWC), and 3) on pasture for 55 d while nursing their dams (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) and then placed on a finishing diet (NW). In yr 2, potential breed differences were evaluated using steers of three breed types: 1) Angus x Hereford (BRI); 2) Angus x Simmental (CON); and 3) Angus x Wagyu (WAG). In yr 1, EW steers gained 100% faster (P = .0001) than the average of NWC and NW steers, and NWC steers gained 32% faster (P = .02) than NW steers before weaning. In the feedlot, EW steers had lower intakes (7.70 vs 8.16 kg/d, P = .008) and better feed conversions (.170 vs .153, P = .002) than the average of NWC and NW steers. Marbling score was improved for EW steers compared with the average of NWC and NW steers (P = .003). In yr 2, EW steers had higher gains (P = .0006) during the entire study than the average of NWC and NW steers, and NWC steers had higher gains (P = .003) than NW steers. The EW steers had lower intakes (7.29 vs 7.68 kg/d, P = .0008) and better feed conversions (.160 vs .141, P = .0001) than the average of NWC and NW steers. The CON steers were heavier at slaughter than BRI steers (P = .01), and BRI steers were heavier than WAG steers (P =.0004). Early weaning improved the percentage of steers grading Average Choice or higher by 40%. The percentage of BRI steers grading Choice or greater was 21% higher and percentage of steers grading Average Choice or greater was 33% higher than CON. Cows with EW steers had higher ADG than cows with NW steers (.38 vs -.17 kg/d, P = .0001) before weaning. Cows with EW steers gained in body condition score (.23 vs .00, P = .04), and cows with NW steers did not change. Early weaning improved feed efficiency and quality grades of beef steers.

Investigation of human body vibration exposures on haul trucks operating at U.S. surface mines/quarries relative to haul truck activity.

PubMed

Mayton, Alan G; Porter, William L; Xu, Xueyan S; Weston, Eric B; Rubenstein, Elaine N

2018-03-01

Workers who operate mine haul trucks are exposed to whole-body vibration (WBV) on a routine basis. Researchers from the National Institute for Occupational Safety and Health (NIOSH) Pittsburgh Mining Research Division (PMRD) investigated WBV and hand-arm vibration (HAV) exposures for mine/quarry haul truck drivers in relation to the haul truck activities of dumping, loading, and traveling with and without a load. The findings show that WBV measures in weighted root-mean-square accelerations (a w ) and vibration dose value (VDV), when compared to the ISO/ANSI and European Directive 2002/44/EC standards, were mostly below the Exposure Action Value (EAV) identified by the health guidance caution zone (HGCZ). Nevertheless, instances were recorded where the Exposure Limit Value (ELV) was exceeded by more than 500 to 600 percent for VDV x and a wx , respectively. Researchers determined that these excessive levels occurred during the traveling empty activity, when the haul truck descended down grade into the pit loading area, sliding at times, on a wet and slippery road surface caused by rain and overwatering. WBV levels (not normalized to an 8-h shift) for the four haul truck activities showed mean a wz levels for five of the seven drivers exceeding the ISO/ANSI EAV by 9-53 percent for the traveling empty activity. Mean a wx and a wz levels were generally higher for traveling empty and traveling loaded and lower for loading/dumping activities. HAV for measures taken on the steering wheel and shifter were all below the HGCZ which indicates that HAV is not an issue for these drivers/operators when handling steering and shifting control devices.

Investigation of human body vibration exposures on haul trucks operating at U.S. surface mines/quarries relative to haul truck activity

PubMed Central

Mayton, Alan G.; Porter, William L.; Xu, Xueyan S.; Weston, Eric B.; Rubenstein, Elaine N.

2018-01-01

Workers who operate mine haul trucks are exposed to whole-body vibration (WBV) on a routine basis. Researchers from the National Institute for Occupational Safety and Health (NIOSH) Pittsburgh Mining Research Division (PMRD) investigated WBV and hand-arm vibration (HAV) exposures for mine/quarry haul truck drivers in relation to the haul truck activities of dumping, loading, and traveling with and without a load. The findings show that WBV measures in weighted root-mean-square accelerations (aw) and vibration dose value (VDV), when compared to the ISO/ANSI and European Directive 2002/44/EC standards, were mostly below the Exposure Action Value (EAV) identified by the health guidance caution zone (HGCZ). Nevertheless, instances were recorded where the Exposure Limit Value (ELV) was exceeded by more than 500 to 600 percent for VDVx and awx, respectively. Researchers determined that these excessive levels occurred during the traveling empty activity, when the haul truck descended down grade into the pit loading area, sliding at times, on a wet and slippery road surface caused by rain and overwatering. WBV levels (not normalized to an 8-h shift) for the four haul truck activities showed mean awz levels for five of the seven drivers exceeding the ISO/ANSI EAV by 9–53 percent for the traveling empty activity. Mean awx and awz levels were generally higher for traveling empty and traveling loaded and lower for loading/dumping activities. HAV for measures taken on the steering wheel and shifter were all below the HGCZ which indicates that HAV is not an issue for these drivers/operators when handling steering and shifting control devices. PMID:29725145

Quantum steering in cascaded four-wave mixing processes.

PubMed

Wang, Li; Lv, Shuchao; Jing, Jietai

2017-07-24

Quantum steering is used to describe the "spooky action-at-a-distance" nonlocality raised in the Einstein-Podolsky-Rosen (EPR) paradox, which is important for understanding entanglement distribution and constructing quantum networks. Here, in this paper, we study an experimentally feasible scheme for generating quantum steering based on cascaded four-wave-mixing (FWM) processes in hot rubidium (Rb) vapor. Quantum steering, including bipartite steering and genuine tripartite steering among the output light fields, is theoretically analyzed. We find the corresponding gain regions in which the bipartite and tripartite steering exist. The results of bipartite steering can be used to establish a hierarchical steering model in which one beam can steer the other two beams in the whole gain region; however, the other two beams cannot steer the first beam simultaneously. Moreover, the other two beams cannot steer with each other in the whole gain region. More importantly, we investigate the gain dependence of the existence of the genuine tripartite steering and we find that the genuine tripartite steering exists in most of the whole gain region in the ideal case. Also we discuss the effect of losses on the genuine tripartite steering. Our results pave the way to experimental demonstration of quantum steering in cascaded FWM process.

Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

NASA Astrophysics Data System (ADS)

Edwin, Lionel E.; Mazzoleni, Andre P.

2016-03-01

All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

Evidence-Responsiveness and the Ongoing Autonomy of Treatment Preferences.

PubMed

Weimer, Steven

2017-06-14

To be an autonomous agent is to determine one's own path in life. However, this cannot plausibly be seen as a one-off affair. An autonomous agent does not merely set herself on a particular course and then lock the steering wheel in place, so to speak, but must maintain some form of ongoing control over her direction in life-must keep her eyes on the road and her hands on the wheel. Circumstances often change in important and unexpected ways, after all, and it is reasonable to think that a crucial part of autonomy consists of the ability and disposition to recognize and properly respond to such changes. This implies, I contend, that a patient whose initial decision to undergo a given treatment satisfied plausible requirements of autonomy, but who is now unable to recognize that available evidence indicates the need to reconsider her medical situation and options has come to lack autonomy with respect to her desire to continue that treatment. However, and despite its importance with respect to both theoretical understandings of autonomy and applications of the concept to clinical ethics, this ongoing aspect of autonomy has received little attention. This paper aims to go some way toward remedying that. I first critically review two of the few theories of autonomy that do address "evidence-responsiveness" so as to identify and elaborate what I take to be the most promising way in which to account for this aspect of autonomy. After considering and responding to a possible objection to the evidence-responsiveness condition I propose, I conclude by discussing its clinical implications. That condition, I argue, is not merely theoretically sound, but can and should be applied to clinical practice.

Development of a frontal small overlap crashworthiness evaluation test.

PubMed

Sherwood, Christopher P; Mueller, Becky C; Nolan, Joseph M; Zuby, David S; Lund, Adrian K

2013-01-01

Small overlap frontal crashes are those in which crash forces are applied outboard of the vehicle's longitudinal frame rails. In-depth analyses of crashes indicate that such crashes account for a significant proportion of frontal crashes with seriously injured occupants. The objective of this research was to evaluate possible barrier crash tests that could be used to evaluate the crashworthiness of vehicles across a spectrum of small overlap crash types. Sixteen full-scale vehicle tests were conducted using 3 midsize passenger vehicles in up to 6 different test configurations, including vehicle-to-vehicle and barrier tests. All vehicles were tested at 64 km/h with an instrumented Hybrid III midsize male driver dummy. All test configurations resulted in primary loading of the wheel, suspension system, and hinge pillar. Vehicles underwent substantial lateral movement during the crash, which varied by crash configuration. The occupant compartments had significant intrusion, particularly to the most outboard structures. Inboard movement of the steering wheel in combination with outboard movement of the dummies (due to the lateral vehicle motion) caused limited interaction with the frontal air bag in most cases. When assessing overall crashworthiness (based on injury measures, structural deformation, and occupant kinematics), one vehicle had superior performance in each crash configuration. This was confirmation that the countermeasures benefiting performance in a single small overlap test also will provide a benefit in other crash configurations. Based on these test results, the Insurance Institute for Highway Safety has developed a small overlap crashworthiness evaluation with the following characteristics: a rigid flat barrier with a 150-mm corner radius, 25 percent overlap, 64 km/h test speed, and a Hybrid III midsize male driver dummy.

Composite materials molding simulation for purpose of automotive industry

NASA Astrophysics Data System (ADS)

Grabowski, Ł.; Baier, A.; Majzner, M.; Sobek, M.

2016-08-01

Composite materials loom large increasingly important role in the overall industry. Composite material have a special role in the ever-evolving automotive industry. Every year the composite materials are used in a growing number of elements included in the cars construction. Development requires the search for ever new applications of composite materials in areas where previously were used only metal materials. Requirements for modern solutions, such as reducing the weight of vehicles, the required strength and vibration damping characteristics go hand in hand with the properties of modern composite materials. The designers faced the challenge of the use of modern composite materials in the construction of bodies of power steering systems in vehicles. The initial choice of method for producing composite bodies was the method of molding injection of composite material. Molding injection of polymeric materials is a widely known and used for many years, but the molding injection of composite materials is a relatively new issue, innovative, it is not very common and is characterized by different conditions, parameters and properties in relation to the classical method. Therefore, for the purpose of selecting the appropriate composite material for injection for the body of power steering system computer analysis using Siemens NX 10.0 environment, including Moldex 3d and EasyFill Advanced tool to simulate the injection of materials from the group of possible solutions were carried out. Analyses were carried out on a model of a modernized wheel case of power steering system. During analysis, input parameters, such as temperature, pressure injectors, temperature charts have been analysed. An important part of the analysis was to analyse the propagation of material inside the mold during injection, so that allowed to determine the shape formability and the existence of possible imperfections of shapes and locations air traps. A very important parameter received from computer analysis was to determine the occurrence of the shrinkage of the material, which significantly affects the behaviour of the assumed geometry of the tested component. It also allowed the prediction of existence of shrincage of material during the process of modelling the shape of body. The next step was to analyse the numerical analysis results received from Siemens NX 10 and Moldex 3D EasyFlow Advanced environment. The process of injection were subjected to shape of prototype body of power steering. The material used in process of injection was similar to one of excepted material to be used in process of molding. Nextly, the results were analysed in purpose of geometry, where samples has aberrations in comparison to a given shape of mold. The samples were also analysed in terms of shrinkage. Research and results were described in detail in this paper.

Experimental verification of multidimensional quantum steering

NASA Astrophysics Data System (ADS)

Li, Che-Ming; Lo, Hsin-Pin; Chen, Liang-Yu; Yabushita, Atsushi

2018-03-01

Quantum steering enables one party to communicate with another remote party even if the sender is untrusted. Such characteristics of quantum systems not only provide direct applications to quantum information science, but are also conceptually important for distinguishing between quantum and classical resources. While concrete illustrations of steering have been shown in several experiments, quantum steering has not been certified for higher dimensional systems. Here, we introduce a simple method to experimentally certify two different kinds of quantum steering: Einstein-Podolsky-Rosen (EPR) steering and single-system (SS) steering (i.e., temporal steering), for dimensionality (d) up to d = 16. The former reveals the steerability among bipartite systems, whereas the latter manifests itself in single quantum objects. We use multidimensional steering witnesses to verify EPR steering of polarization-entangled pairs and SS steering of single photons. The ratios between the measured witnesses and the maximum values achieved by classical mimicries are observed to increase with d for both EPR and SS steering. The designed scenario offers a new method to study further the genuine multipartite steering of large dimensionality and potential uses in quantum information processing.

Optimization of new magnetorheological fluid mount for vibration control of start/stop engine mode

NASA Astrophysics Data System (ADS)

Chung, Jye Ung; Phu, Do Xuan; Choi, Seung-Bok

2015-04-01

The technologies related to saving energy/or green vehicles are actively researched. In this tendency, the problem for reducing exhausted gas is in development with various ways. Those efforts are directly related to the operation of engine which emits exhausted gas. The auto start/stop of vehicle engine when a vehicle stop at road is currently as a main stream of vehicle industry resulting in reducing exhausted gas. However, this technology automatically turns on and off engine frequently. This motion induces vehicle engine to transmit vibration of engine which has large displacement, and torsional impact to chassis. These vibrations causing uncomfortable feeling to passengers are transmitted through the steering wheel and the gear knob. In this work, in order to resolve this vibration issue, a new proposed magnetorheological (MR) fluid based engine mount (MR mount in short) is presented. The proposed MR mount is designed to satisfy large damping force in various frequency ranges. It is shown that the proposed mount can have large damping force and large force ratio which is enough to control unwanted vibrations of engine start/stop mode.

Keys to a drug-free workplace

NASA Astrophysics Data System (ADS)

Fortuna, Joseph J.; Fortuna, Patricia B.

1997-01-01

What does it take to establish a drug free work place. Are technologies available other than urine testing for pre- employment screening and monitoring of employees. Various methods are now available to screen for illicit drug residues on items handled by individuals. The residues can be acquired from the surfaces of items such as telephones, door knobs, steering wheels, lockers, clothing, identification cards, etc. Test kits are also available for urine testing at NIDA threshold levels. Analysis of hair, saliva, and sweat is now possible. How good ar these methods and kits. What value are they to the public. What are the legal concerns facing employers. What do the screening test show. These questions and others are addressed in this paper. The authors review for the reader how drug abuse by US workers costs businesses. The paper then addresses the various aspects of the DOT regulations to determine why urine analysis (UA) is insufficient to eliminate drug abuse. The authors present applications of screening technologies in addition to UA. Finally, the authors provide a conclusion of findings and recommendations for businesses that truly want or need drug free work places.

Practical Efficiency of Photovoltaic Panel Used for Solar Vehicles

NASA Astrophysics Data System (ADS)

Koyuncu, T.

2017-08-01

In this experimental investigation, practical efficiency of semi-flexible monocrystalline silicon solar panel used for a solar powered car called “Firat Force” and a solar powered minibus called “Commagene” was determined. Firat Force has 6 solar PV modules, a maintenance free long life gel battery pack, a regenerative brushless DC electric motor and Commagene has 12 solar PV modules, a maintenance free long life gel battery pack, a regenerative brushless DC electric motor. In addition, both solar vehicles have MPPT (Maximum power point tracker), ECU (Electronic control unit), differential, instrument panel, steering system, brake system, brake and gas pedals, mechanical equipments, chassis and frame. These two solar vehicles were used for people transportation in Adiyaman city, Turkey, during one year (June 2010-May 2011) of test. As a result, the practical efficiency of semi-flexible monocrystalline silicon solar panel used for Firat Force and Commagene was determined as 13 % in despite of efficiency value of 18% (at 1000 W/m2 and 25 °C ) given by the producer company. Besides, the total efficiency (from PV panels to vehicle wheel) of the system was also defined as 9%.

Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

NASA Astrophysics Data System (ADS)

Panomruttanarug, Benjamas; Higuchi, Kohji

This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

Experience of the ARGO autonomous vehicle

NASA Astrophysics Data System (ADS)

Bertozzi, Massimo; Broggi, Alberto; Conte, Gianni; Fascioli, Alessandra

1998-07-01

This paper presents and discusses the first results obtained by the GOLD (Generic Obstacle and Lane Detection) system as an automatic driver of ARGO. ARGO is a Lancia Thema passenger car equipped with a vision-based system that allows to extract road and environmental information from the acquired scene. By means of stereo vision, obstacles on the road are detected and localized, while the processing of a single monocular image allows to extract the road geometry in front of the vehicle. The generality of the underlying approach allows to detect generic obstacles (without constraints on shape, color, or symmetry) and to detect lane markings even in dark and in strong shadow conditions. The hardware system consists of a PC Pentium 200 Mhz with MMX technology and a frame-grabber board able to acquire 3 b/w images simultaneously; the result of the processing (position of obstacles and geometry of the road) is used to drive an actuator on the steering wheel, while debug information are presented to the user on an on-board monitor and a led-based control panel.

Analysis of explicit model predictive control for path-following control

PubMed Central

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration. PMID:29534080

Analysis of explicit model predictive control for path-following control.

PubMed

Lee, Junho; Chang, Hyuk-Jun

2018-01-01

In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration.

Assessing the thermo-mechanical TaMeTirE model in offline vehicle simulation and driving simulator tests

NASA Astrophysics Data System (ADS)

Durand-Gasselin, Benoit; Dailliez, Thibault; Mössner-Beigel, Monika; Knorr, Stephanie; Rauh, Jochen

2010-12-01

This paper presents the experiences using Michelin's thermo-mechanical TaMeTirE tyre model for real-time handling applications in the field of advanced passenger car simulation. Passenger car handling simulations were performed using the tyre model in a full-vehicle real-time environment in order to assess TaMeTirE's level of consistency with real on-track handling behaviour. To achieve this goal, a first offline comparison with a state-of-the-art handling tyre model was carried out on three handling manoeuvres. Then, online real-time simulations of steering wheel steps and slaloms in straight line were run on Daimler's driving simulator by skilled and unskilled drivers. Two analytical tyre temperature effects and two inflation pressure effects were carried out in order to feel their impact on the handling behaviour of the vehicle. This paper underlines the realism of the handling simulation results performed with TaMeTirE, and shows the significant impact of a pressure or a temperature effect on the handling behaviour of a car.

Measurement and modelling of the y-direction apparent mass of sitting human body-cushioned seat system

NASA Astrophysics Data System (ADS)

Stein, George Juraj; Múčka, Peter; Hinz, Barbara; Blüthner, Ralph

2009-04-01

Laboratory tests were conducted using 13 male subjects seated on a cushioned commercial vehicle driver's seat. The hands gripped a mock-up steering wheel and the subjects were in contact with the lumbar region of the backrest. The accelerations and forces in the y-direction were measured during random lateral whole-body vibration with a frequency range between 0.25 and 30 Hz, vibration magnitudes 0.30, 0.98, and 1.92 m s -2 (unweighted root mean square (rms)). Based on these laboratory measurements, a linear multi-degree-of-freedom (mdof) model of the seated human body and cushioned seat in the lateral direction ( y-axis) was developed. Model parameters were identified from averaged measured apparent mass values (modulus and phase) for the three excitation magnitudes mentioned. A preferred model structure was selected from four 3-dof models analysed. The mean subject parameters were identified. In addition, identification of each subject's apparent mass model parameters was performed. The results are compared with previous studies. The developed model structure and the identified parameters can be used for further biodynamical research in seating dynamics.

Monotony of road environment and driver fatigue: a simulator study.

PubMed

Thiffault, Pierre; Bergeron, Jacques

2003-05-01

Studies have shown that drowsiness and hypovigilance frequently occur during highway driving and that they may have serious implications in terms of accident causation. This paper focuses on the task induced factors that are involved in the development of these phenomena. A driving simulator study was conducted in order to evaluate the impact of the monotony of roadside visual stimulation using a steering wheel movement (SWM) analysis procedure. Fifty-six male subjects each drove during two different 40-min periods. In one case, roadside visual stimuli were essentially repetitive and monotonous, while in the other one, the environment contained disparate visual elements aiming to disrupt monotony without changing road geometry. Subject's driving performance was compared across these conditions in order to determine whether disruptions of monotony can have a positive effect and help alleviate driver fatigue. Results reveal an early time-on-task effect on driving performance for both driving periods and more frequent large SWM when driving in the more monotonous road environment, which implies greater fatigue and vigilance decrements. Implications in terms of environmental countermeasures for driver fatigue are discussed.

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2011 CFR

2011-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

3-Dimensional Analysis of Deformation of Disk Wheels and Transverse Force of Wheel Bolts

NASA Astrophysics Data System (ADS)

Kagiwada, Tadao; Harada, Hiroyuki

Loosening of the wheel nuts, which fix the disk wheels of automobiles to the wheel hub, may be the cause of accidents where the wheel falls off while the automobile is running. When the transverse force of wheel bolts exceeds a certain proportion of the bolt shaft force, the wheel nut begins to loosen. Further, the force on the bolt shaft may also be influenced by the loads acting to the wheel through the moment caused by the offset of the wheel. This study determined the 3-dimensional deformation of the disk wheels and the transverse forces on the wheel bolt by 3-dimensional numerical analysis. The results established that the transverse force was influenced by the bolt shaft force caused by the bolt fastening and was superposed on that due to the load, and that it fluctuated greatly during the revolution of the wheel. This phenomenon may be a large factor in the loosening of wheel nuts.

46 CFR 182.610 - Main steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Main steering gear. 182.610 Section 182.610 Shipping...) MACHINERY INSTALLATION Steering Systems § 182.610 Main steering gear. (a) A vessel must be provided with a main steering gear that is: (1) Of adequate strength and capable of steering the vessel at all service...

46 CFR 108.641 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Instructions for changing steering gear. 108.641 Section... steering gear. Instructions stating, in order, the different steps to be taken for changing to emergency and secondary steering gear must be posted in the steering gear room and at each secondary steering...

Steering and Suspension Systems. Auto Mechanics Curriculum Guide. Module 5. Instructor's Guide.

ERIC Educational Resources Information Center

Rains, Larry

This module is the fifth of nine modules in the competency-based Missouri Auto Mechanics Curriculum Guide. Seventeen units cover: steering system design; diagnosing steering systems problems; inspecting and replacing steering linkage components; manual and power steering gear service; manual and power rack and pinion steering gear service; power…

BEAMLINE-CONTROLLED STEERING OF SOURCE-POINT ANGLE AT THE ADVANCED PHOTON SOURCE

DOE Office of Scientific and Technical Information (OSTI.GOV)

Emery, L.; Fystro, G.; Shang, H.

An EPICS-based steering software system has been implemented for beamline personnel to directly steer the angle of the synchrotron radiation sources at the Advanced Photon Source. A script running on a workstation monitors "start steering" beamline EPICS records, and effects a steering given by the value of the "angle request" EPICS record. The new system makes the steering process much faster than before, although the older steering protocols can still be used. The robustness features of the original steering remain. Feedback messages are provided to the beamlines and the accelerator operators. Underpinning this new steering protocol is the recent refinementmore » of the global orbit feedback process whereby feedforward of dipole corrector set points and orbit set points are used to create a local steering bump in a rapid and seamless way.« less

New approaches to enhance active steering system functionalities: preliminary results

NASA Astrophysics Data System (ADS)

Serarslan, Benan

2014-09-01

An important development of the steering systems in general is active steering systems like active front steering and steer-by-wire systems. In this paper the current functional possibilities in application of active steering systems are explored. A new approach and additional functionalities are presented that can be implemented to the active steering systems without additional hardware such as new sensors and electronic control units. Commercial active steering systems are controlling the steering angle depending on the driving situation only. This paper introduce methods for enhancing active steering system functionalities depending not only on the driving situation but also vehicle parameters like vehicle mass, tyre and road condition. In this regard, adaptation of the steering ratio as a function of above mentioned vehicle parameters is presented with examples. With some selected vehicle parameter changes, the reduction of the undesired influences on vehicle dynamics of these parameter changes has been demonstrated theoretically with simulations and with real-time driving measurements.

Experimental heat and mass transfer of the separated and coupled rotating desiccant wheel and heat wheel

DOE Office of Scientific and Technical Information (OSTI.GOV)

Enteria, Napoleon; Yoshino, Hiroshi; Mochida, Akashi

The experimental evaluation of the separated and coupled rotating desiccant wheel and heat wheel is reported. The study aims to investigate the performance of the desiccant wheel and of the heat wheel both when operated separately and jointly. The performance evaluation of the desiccant wheel is based on its moisture removal capacity (MRC), moisture removal regeneration (MRR), and moisture mass balance (MMB). In addition, the study used the total energy balance (TEB), sensible coefficient of performance (COP{sub Sensible}), latent coefficient of performance (COP{sub Latent}) and, total coefficient of performance (COP{sub Total}). The performance of the heat wheel is based onmore » its effectiveness. The COP{sub Sensible}, COP{sub Latent} and, COP{sub Total} are used in the performance evaluation of the coupled desiccant wheel and heat wheel. The general results of the study show that the MRC, MRR and MMB coupled with the TEB, COP{sub Latent}, COP{sub Sensible} and COP{sub Total} predict adequately the performance of the desiccant wheel. In addition, the coupled operation of the desiccant wheel and heat wheel, contributed to the reduction of the external thermal energy requirement for the regeneration of the desiccant wheel. This study can be applied in other researches seeking evaluation of the desiccant wheel, heat wheel, and their combined operation. Moreover, the data presented here are significant for the desiccant wheel benchmarking and for evaluation of the desiccant wheel models. (author)« less

Cost of Einstein-Podolsky-Rosen steering in the context of extremal boxes

NASA Astrophysics Data System (ADS)

Das, Debarshi; Datta, Shounak; Jebaratnam, C.; Majumdar, A. S.

2018-02-01

Einstein-Podolsky-Rosen steering is a form of quantum nonlocality, which is weaker than Bell nonlocality, but stronger than entanglement. Here we present a method to check Einstein-Podolsky-Rosen steering in the scenario where the steering party performs two black-box measurements and the trusted party performs projective qubit measurements corresponding to two arbitrary mutually unbiased bases. This method is based on decomposing the measurement correlations in terms of extremal boxes of the steering scenario. In this context, we propose a measure of steerability called steering cost. We show that our steering cost is a convex steering monotone. We illustrate our method to check steerability with two families of measurement correlations and find out their steering cost.

Effects of preshipping management on measures of stress and performance of beef steers during feedlot receiving.

PubMed

Arthington, J D; Qiu, X; Cooke, R F; Vendramini, J M B; Araujo, D B; Chase, C C; Coleman, S W

2008-08-01

Over 2 yr, a total of 96 steers (approximately 7 mo of age) were allocated to 1 of 4 weaning management strategies: 1) control: weaned on the day of shipping; 2) creep-fed: allowed free-choice access to concentrate before weaning and shipping; 3) preweaned: weaned and provided supplemental concentrate on pasture before shipping; and 4) early-weaned: weaned at 70 to 90 d of age and kept on pasture. On the day of shipping, steers were loaded together onto a commercial livestock trailer and transported 1,600 km over 24 h before being received into the feedlot. At the feedlot, steers were penned by treatment (4 pens/treatment) and provided access to free-choice hay and concentrate in separate feeding spaces. Samples of blood were collected on d 0, 1, 4, 8, 15, 22, and 29 relative to shipping. Steer performance was assessed over the receiving period, including DMI of hay and concentrate, ADG, and G:F. Predetermined contrasts included control vs. early-weaned, creep-fed vs. preweaned, and control vs. creep-fed and preweaned. Overall ADG was greater (P < 0.01) for early-weaned vs. control steers (1.39 vs. 0.88 kg). In wk 1, early-weaned steers consumed more concentrate and less hay compared with control steers (P < 0.03), and preweaned steers consumed more concentrate (P < 0.01) but a similar amount of hay (P = 0.75) compared with creep-fed steers. Average DMI was greater for preweaned compared with creep-fed steers (2.84 vs. 2.50% of BW; P = 0.01) and tended to be greater for early-weaned compared with control steers (2.76 vs. 2.50% of BW; P = 0.06). Feed efficiency of early-weaned steers was greater than that of control steers (G:F = 0.17 vs. 0.12; P < 0.01) but similar for preweaned compared with creep-fed steers (P = 0.72). Plasma ceruloplasmin concentrations were less (P < 0.05) in control vs. early-weaned steers on d 0, but increased sharply after shipping and were greater in control vs. early-weaned steers on d 15 and 22 (P < 0.05). Creep-fed steers also experienced greater (P < 0.05) plasma ceruloplasmin concentrations than preweaned steers on d 29. These data suggest that early-weaned steers have improved performance in the feedlot compared with steers weaned directly before transport and feedlot entry. Differences in preshipping management appear to significantly affect measures of the acute phase protein response in steers.

A comparison of two types of running wheel in terms of mouse preference, health, and welfare.

PubMed

Walker, Michael; Mason, Georgia

2018-07-01

Voluntary wheel running occurs in mice of all strains, sexes, and ages. Mice find voluntary wheel running rewarding, and it leads to numerous health benefits. For this reason wheels are used both to enhance welfare and to create models of exercise. However, many designs of running wheel are used. This makes between-study comparisons difficult, as this variability could potentially affect the amount, pattern, and/or intensity of running behaviour, and thence the wheels' effects on welfare and exercise-related changes in anatomy and physiology. This study therefore evaluated two commercially available models, chosen because safe for group-housed mice: Bio Serv®'s "fast-trac" wheel combo and Ware Manufacturing Inc.'s stainless steel mesh 5″ upright wheel. Working with a total of three hundred and fifty one female C57BL/6, DBA/2 and BALB/c mice, we assessed these wheels' relative utilization by mice when access was free; the strength of motivation for each wheel-type when access required crossing an electrified grid; and the impact each wheel had on mouse well-being (inferred from acoustic startle responses and neophobia) and exercise-related anatomical changes (BMI; heart and hind limb masses). Mice ran more on the "fast-trac" wheel regardless of whether both wheel-types were available at once, or only if one was present. In terms of motivation, subjects required to work to access a single wheel worked equally hard for both wheel-types (even if locked and thus not useable for running), but if provided with one working wheel for free and the other type of wheel (again unlocked) accessible via crossing the electrified grid, the "fast-trac" wheel emerged as more motivating, as the Maximum Price Paid for the Ware metal wheel was lower than that paid for the "fast-trac" plastic wheel, at least for C57BL/6s and DBA/2s. No deleterious consequences were noted with either wheel in terms of health and welfare, but only mice with plastic wheels developed significantly larger hearts and hind limbs than control animals with locked wheels. Thus, where differences emerged, Bio Serv®'s "fast-trac" wheel combos appeared to better meet the aims of exercise provision than Ware Manufacturing's steel upright wheels. Copyright © 2018 Elsevier Inc. All rights reserved.

29 CFR 1910.211 - Definitions.

Code of Federal Regulations, 2011 CFR

2011-07-01

... having a diameter, thickness and wall—wheel is mounted on the diameter. (3) Type 6 straight cup wheels...—Type 6 Straight Cup Wheels EC27OC91.054 Type 6—Straight-cup Wheel Side grinding wheel having a diameter... describe this shape type. (4) Type 11 flaring cup wheels mean wheels having double diameter dimensions D...

Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure.

PubMed

Lee, Dae-Young; Kim, Sa-Reum; Kim, Ji-Suk; Park, Jae-Jun; Cho, Kyu-Jin

2017-06-01

A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68 mm, and it is light in weight at about 9.7 g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.

Factors affecting minimum push and pull forces of manual carts.

PubMed

Al-Eisawi, K W; Kerk, C J; Congleton, J J; Amendola, A A; Jenkins, O C; Gaines, W

1999-06-01

The minimum forces needed to manually push or pull a 4-wheel cart of differing weights with similar wheel sizes from a stationary state were measured on four floor materials under different conditions of wheel width, diameter, and orientation. Cart load was increased from 0 to 181.4 kg in increments of 36.3 kg. The floor materials were smooth concrete, tile, asphalt, and industrial carpet. Two wheel widths were tested: 25 and 38 mm. Wheel diameters were 51, 102, and 153 mm. Wheel orientation was tested at four levels: F0R0 (all four wheels aligned in the forward direction), F0R90 (the two front wheels, the wheels furthest from the cart handle, aligned in the forward direction and the two rear wheels, the wheels closest to the cart handle, aligned at 90 degrees to the forward direction), F90R0 (the two front wheels aligned at 90 degrees to the forward direction and the two rear wheels aligned in the forward direction), and F90R90 (all four wheels aligned at 90 degrees to the forward direction). Wheel width did not have a significant effect on the minimum push/pull forces. The minimum push/pull forces were linearly proportional to cart weight, and inversely proportional to wheel diameter. The coefficients of rolling friction were estimated as 2.2, 2.4, 3.3, and 4.5 mm for hard rubber wheels rolling on smooth concrete, tile, asphalt, and industrial carpet floors, respectively. The effect of wheel orientation was not consistent over the tested conditions, but, in general, the smallest minimum push/pull forces were measured with all four wheels aligned in the forward direction, whereas the largest minimum push/pull forces were measured when all four wheels were aligned at 90 degrees to the forward direction. There was no significant difference between the push and pull forces when all four wheels were aligned in the forward direction.

Detection of quantum steering in multipartite continuous-variable Greenberger-Horne-Zeilinger-like states

NASA Astrophysics Data System (ADS)

Wang, Meng; Xiang, Yu; He, Qiongyi; Gong, Qihuang

2015-01-01

The multipartite entangled state has drawn broad attention for both foundations of quantum mechanics and applications in quantum information processing. Here, we study the spatially separated N -partite continuous-variable Greenberger-Horne-Zeilinger-like states, which can be produced by a linear optical network with squeezed light and N -1 beamsplitters. We investigate the properties of multipartite Einstein-Podolsky-Rosen steering possessed by those states, and find that the steering of a given quantum mode is allowed when not less than half of the modes within the states take part in the steering group. This is certified by the detection of the correlation between position and momentum quadratures of the steered mode and a combination of quadratures of other modes inside the steering group. The steering is evidenced by the high correlation where the steering group can infer the quadratures of the steered mode to high precision, i.e., below the quantum limit for the position and momentum quadratures of the steered quantum mode. We also examine the influence of inefficiency on the multipartite steering, and derive the threshold of the loss tolerance. Furthermore, we discuss the collective N -partite steering induced by the asymmetric loss on beams, which exists when a given quantum mode can only be steered by all the remaining N -1 modes collaboratively. The present multipartite steering correlation may have potential applications in certain quantum information tasks where the issue of trust is important, such as one-sided device-independent quantum secret sharing.

Art on Wheels.

ERIC Educational Resources Information Center

Szekely, George

2002-01-01

Discusses the use of wheels in children's art. Focuses on collecting wheels, ideas for decorating different artworks with wheels, and objects that can move on wheels. Sees wheels as an inspiration for children's art, reflecting on the use of this object in the art classroom. (CMK)

A Study on Wheel Sinkage and Rolling Resistance with variations in wheel geometry for Plain and Lugged wheels on TRI -1 Soil Simulant

NASA Astrophysics Data System (ADS)

Gireesh Kumar, Pala; Jayalekshmi, S.

2018-03-01

Wheel-soil Interaction studies are gaining momentum in the field of Terramechanics, but the basis is Terzaghi’s bearing capacity equation. For the current study, on a lunar soil simulant TRI – 1, two plain rigid wheels are considered, i.e., small wheel (dia. of 210 mm and width of 50 mm) and large wheel (dia. 160 mm and width 32 mm). Also, different number of lugs (N = 8, 12, 16) with various lug heights (h = 5 mm, 10 mm, 15 mm) are used. In this paper, the variation of wheel sinkages from experiments obtained for various wheel weights are examined and presented. The parameter, Coefficient of rolling resistance (CRR) is determined for various cases. Hence, rolling resistance was determined and examined from the obtained CRR for all cases. Among the cases examined, the large wheel with weight 67.44 N for plain wheels and weight 67.85 N for lugged wheel (no. of lugs = 16, and height of lugs = 5 mm) registered better mobility. Similarly, for small wheel with weight 52.189 N for plain wheel and weight 52.481 N for lugged wheel (no. of lugs = 16, and height of lugs = 5 mm) registered better mobility, a lesser rolling resistance for these cases.

Miniature pipe crawler tractor

DOEpatents

McKay, Mark D.; Anderson, Matthew O.; Ferrante, Todd A.; Willis, W. David

2000-01-01

A pipe crawler tractor may comprise a half tractor assembly having a first base drive wheel, a second base drive wheel, and a top drive wheel. The drive wheels are mounted in spaced-apart relation so that the top drive wheel is positioned between the first and second base drive wheels. The mounting arrangement is also such that the first and second base drive wheels contact the inside surface of the pipe at respective first and second positions and so that the top drive wheel contacts the inside surface of the pipe at a third position, the third position being substantially diametrically opposed to the first and second positions. A control system connected to the half tractor assembly controls the rotation of the first base wheel, the second base wheel, and the top drive wheel to move the half tractor assembly within the pipe.

Monogamy of Einstein-Podolsky-Rosen Steering in the Background of an Asymptotically Flat Black Hole

NASA Astrophysics Data System (ADS)

Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We study the behavior of monogamy deficit and monogamy asymmetry for Einstein-Podolsky-Rosen steering of Gaussian states under the influence of the Hawking effect. We demonstrate that the monogamy of quantum steering shows an extreme scenario in the curved spacetime: the first part of a tripartite system cannot individually steer two other parties, but it can steer the collectivity of the remaining two parties. We also find that the monogamy deficit of Gaussian steering, a quantifier of genuine tripartite steering, are generated due to the influence of the Hawking thermal bath. Our results elucidate the structure of quantum steering in tripartite quantum systems in curved spacetime.

Reduction of extinction and reinstatement of cocaine seeking by wheel running in female rats.

PubMed

Zlebnik, Natalie E; Anker, Justin J; Gliddon, Luke A; Carroll, Marilyn E

2010-03-01

Previous work has shown that wheel running reduced the maintenance of cocaine self-administration in rats. In the present study, the effect of wheel running on extinction and reinstatement of cocaine seeking was examined. Female rats were trained to run in a wheel during 6-h sessions, and they were then catheterized and placed in an operant conditioning chamber where they did not have access to the wheel but were allowed to self-administer iv cocaine. Subsequently, rats were divided into four groups and were tested on the extinction and reinstatement of cocaine seeking while they had varying access to a wheel in an adjoining compartment. The four groups were assigned to the following wheel access conditions: (1) wheel running during extinction and reinstatement (WER), (2) wheel running during extinction and a locked wheel during reinstatement (WE), (3) locked wheel during extinction and wheel running during reinstatement (WR), and (4) locked wheel during extinction and reinstatement (WL). WE and WR were retested later to examine the effect of one session of wheel access on cocaine-primed reinstatement. There were no group differences in wheel revolutions, in rate of acquisition of cocaine self-administration, or in responding during maintenance when there was no wheel access. However, during extinction, WE and WER responded less than WR and WL. WR and WER had lower cocaine-primed reinstatement than WE and WL. One session of wheel exposure in WE also suppressed cocaine-primed reinstatement. Wheel running immediately and effectively reduced cocaine-seeking behavior, but concurrent access to running was necessary. Thus, exercise is a useful and self-sustaining intervention to reduce cocaine-seeking behavior.

Demonstration of Multisetting One-Way Einstein-Podolsky-Rosen Steering in Two-Qubit Systems

NASA Astrophysics Data System (ADS)

Xiao, Ya; Ye, Xiang-Jun; Sun, Kai; Xu, Jin-Shi; Li, Chuan-Feng; Guo, Guang-Can

2017-04-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability of one party to remotely affect another's state through local measurements. One of the most distinguishable properties of EPR steering is its asymmetric aspect. Steering can work in one direction but fail in the opposite direction. This type of one-way steering, which is different from the symmetry concepts of entanglement and Bell nonlocality, has garnered much interest. However, an experimental demonstration of genuine one-way EPR steering in the simplest scenario, i.e., one that employs two-qubit systems, is still lacking. In this Letter, we experimentally demonstrate one-way EPR steering with multimeasurement settings for a class of two-qubit states, which are still one-way steerable even with infinite settings. The steerability is quantified by the steering radius, which represents a necessary and sufficient steering criterion. The demonstrated one-way steering in the simplest bipartite quantum system is of fundamental interest and may provide potential applications in one-way quantum information tasks.

Fatty acid profiles, meat quality, and sensory attributes of organic versus conventional dairy beef steers.

PubMed

Bjorklund, E A; Heins, B J; Dicostanzo, A; Chester-Jones, H

2014-03-01

Meat from Holstein and crossbred organic and conventional dairy steers were evaluated and compared for fatty acid profiles, meat quality, sensory attributes, and consumer acceptance. Bull calves (n=49) were randomly assigned to 1 of 3 replicated groups: conventional (CONV), organic (ORG, pasture + concentrate), or grass-fed organic (GRS) and were born at the University of Minnesota West Central Research and Outreach Center (Morris, MN) between March and May 2011. The CONV steers (n=16) were fed a diet that contained 80% concentrate and 20% forage, and ORG steers (n=16) were fed a diet of organic corn, organic corn silage, and organic protein supplement. Furthermore, ORG steers consumed at least 30% of diet dry matter of high-quality organic pasture during the grazing season. The GRS steers (n=17) consumed 100% forage from pasture during the grazing season and high-quality hay or hay silage during the nongrazing season. The ORG steers had fat that was greater in oleic acid (C18:1) than the GRS and CONV steers (47.1, 36.1, and 39.9%, respectively). The GRS steers (21.9%) were lower for monounsaturated fat than the ORG (42.1%) and CONV (40.4%) steers. Furthermore, the GRS steers tended to have greater n-3 fat and had lower n-6 fat than the ORG and CONV steers. Consequently, the GRS (1.4%) steers had a lower n-6-to-n-3 fat ratio than the ORG (12.9%) and CONV (10.0%) steers. The GRS (2.6 kg) steers had steaks that were not different for Warner-Bratzler shear force than ORG (2.3 kg) steaks; however, the GRS steaks tended to have greater shear force than the CONV (2.0 kg) steaks. The 3 steer group had steaks that were not different for color brightness (L*; 0 = black and 100 = white) and yellowness/blueness (b*; positive values = yellow and negative values = blue) values; however, the GRS (10.5) steaks had lower redness/greenness (a*; positive values = red and negative values = green) values than CONV (14.5) steaks. For sensory attributes (0- to 120-point scale), no differences were observed for ORG (71.3) and CONV (69.2) steers for overall consumer liking of the beef; however, the GRS (56.3) steers had the lowest overall liking among beef consumers. The ORG (73.3) steers had greater flavor liking than the GRS (56.8) and CONV (69.2) steers. Conversely, the GRS (6.3) steers had the highest scores for off-flavor (0- to 20-point scale) compared with the ORG (3.9) and CONV (4.1) steers. The results of the current study suggest that a potential market may exist for organic grass-fed dairy steers in the United States, but quality and consistency of the beef needs to be improved. Copyright © 2014 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Progress toward a performance based specification for diamond grinding wheels

DOE Office of Scientific and Technical Information (OSTI.GOV)

Taylor, J.S.; Piscotty, M.S.; Blaedel, K.L.

1996-11-12

This work sought to improve the communication between users and makers of fine diamond grinding wheels. A promising avenue for this is to formulate a voluntary product standard that comprises performance indicators that bridge the gap between specific user requirements and the details of wheel formulations. We propose a set of performance specifiers of figures-of-merit, that might be assessed by straightforward and traceable testing methods, but do not compromise proprietary information of the wheel user of wheel maker. One such performance indicator might be wheel hardness. In addition we consider technologies that might be required to realize the benefits ofmore » optimized grinding wheels. A non-contact wheel-to- workpiece proximity sensor may provide a means of monitoring wheel wear and thus wheel position, for wheels that exhibit high wear rates in exchange for improved surface finish.« less

Miniature pipe crawler tractor

DOE Office of Scientific and Technical Information (OSTI.GOV)

McKay, M.D.; Anderson, M.O.; Ferrante, T.A.

2000-03-14

A pipe crawler tractor may comprise a half tractor assembly having a first base drive wheel, a second base drive wheel, and a top drive wheel. The drive wheels are mounted in spaced-apart relation so that the top drive wheel is positioned between the first and second base drive wheels. The mounting arrangement is also such that the first and second base drive wheels contact the inside surface of the pipe at respective first and second positions and so that the top drive wheel contacts the inside surface of the pipe at a third position, the third position being substantiallymore » diametrically opposed to the first and second positions. A control system connected to the half tractor assembly controls the rotation of the first base wheel, the second base wheel, and the top drive wheel to move the half tractor assembly within the pipe.« less

Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

NASA Astrophysics Data System (ADS)

Hendzel, Z.; Rykała, Ł.

2017-02-01

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

Reinforcement value and substitutability of sucrose and wheel running: implications for activity anorexia.

PubMed

Belke, Terry W; Pierce, W David; Duncan, Ian D

2006-09-01

Choice between sucrose and wheel-running reinforcement was assessed in two experiments. In the first experiment, ten male Wistar rats were exposed to concurrent VI 30 s VI 30 s schedules of wheel-running and sucrose reinforcement. Sucrose concentration varied across concentrations of 2.5, 7.5, and 12.5%. As concentration increased, more behavior was allocated to sucrose and more reinforcements were obtained from that alternative. Allocation of behavior to wheel running decreased, but obtained wheel-running reinforcement did not change. Overall, the results suggested that food-deprived rats were sensitive to qualitative changes in food supply (sucrose concentration) while continuing to defend a level of physical activity (wheel running). In the second study, 15 female Long Evans rats were exposed to concurrent variable ratio schedules of sucrose and wheel-running, wheel-running and wheel-running, and sucrose and sucrose reinforcement. For each pair of reinforcers, substitutability was assessed by the effect of income-compensated price changes on consumption of the two reinforcers. Results showed that, as expected, sucrose substituted for sucrose and wheel running substituted for wheel running. Wheel running, however, did not substitute for sucrose; but sucrose partially substituted for wheel running. We address the implications of the interrelationships of sucrose and wheel running for an understanding of activity anorexia.

Reinforcement Value and Substitutability of Sucrose and Wheel Running: Implications for Activity Anorexia

PubMed Central

Belke, Terry W; Duncan, Ian D; David Pierce, W

2006-01-01

Choice between sucrose and wheel-running reinforcement was assessed in two experiments. In the first experiment, ten male Wistar rats were exposed to concurrent VI 30 s VI 30 s schedules of wheel-running and sucrose reinforcement. Sucrose concentration varied across concentrations of 2.5, 7.5, and 12.5%. As concentration increased, more behavior was allocated to sucrose and more reinforcements were obtained from that alternative. Allocation of behavior to wheel running decreased, but obtained wheel-running reinforcement did not change. Overall, the results suggested that food-deprived rats were sensitive to qualitative changes in food supply (sucrose concentration) while continuing to defend a level of physical activity (wheel running). In the second study, 15 female Long Evans rats were exposed to concurrent variable ratio schedules of sucrose and wheel-running, wheel-running and wheel-running, and sucrose and sucrose reinforcement. For each pair of reinforcers, substitutability was assessed by the effect of income-compensated price changes on consumption of the two reinforcers. Results showed that, as expected, sucrose substituted for sucrose and wheel running substituted for wheel running. Wheel running, however, did not substitute for sucrose; but sucrose partially substituted for wheel running. We address the implications of the interrelationships of sucrose and wheel running for an understanding of activity anorexia. PMID:17002224

Design and manufacture of wheels for a dual-mode (manned - automatic) lunar surface roving vehicle. Volume 1: Detailed technical report

NASA Technical Reports Server (NTRS)

1970-01-01

The concept development, testing, evaluation, and the selection of a final wheel design concept for a dual-mode lunar surface vehicle (DLRV) is detailed. Four wheel configurations were fabricated (one open wheel and three closed wheel) (and subjected to a series of soft soil, mechanical, and endurance tests. Results show that the open wheel has lower draw-bar pull (slope climbing) capability in loose soil due to its higher ground pressure and tendency to dig in at high wheel slip. Endurance tests indicate that a double mesh, fully enclosed wheel can be developed to meet DLRV life requirements. There is, however, a 1.0 to 1.8 lb/wheel weight penalty associated with the wheel enclosure. Also the button cleats used as grousers for the closed-type wheels result in local stress concentration and early fatigue failure of the wire mesh. Load deflection tests indicate that the stiffness of the covered wheel increased by up to 50% after soil bin testing, due to increased friction between the fabric and the wire mesh caused by the sand. No change in stiffness was found for the open wheel. The single woven mesh open wheel design with a chevron tread is recommended for continued development

Large angle nonmechanical laser beam steering at 4.6 μm using a digital micromirror device

NASA Astrophysics Data System (ADS)

Lindle, James Ryan; Watnik, Abbie T.

2018-02-01

Large angle, nonmechanical beam steering is demonstrated at 4.62 μm using the digital light processing technology. A 42-deg steering range is demonstrated, limited by the field-of-view of the recollimating lens. The measured diffraction efficiency is 8.1% on-axis and falls-off with a sin2 dependence with the steering angle. However, within the 42-deg steering range, the power varied less than 25%. The profile of the steered laser beam is Gaussian with a divergence of 5.2 mrad. Multibeam, randomly addressable beam steering, is also demonstrated.

Relative entropy of steering: on its definition and properties

NASA Astrophysics Data System (ADS)

Kaur, Eneet; Wilde, Mark M.

2017-11-01

In Gallego and Aolita (2015 Phys. Rev. X 5 041008), the authors proposed a definition for the relative entropy of steering and showed that the resulting quantity is a convex steering monotone. Here we advocate for a different definition for relative entropy of steering, based on well grounded concerns coming from quantum Shannon theory. We prove that this modified relative entropy of steering is a convex steering monotone. Furthermore, we establish that it is uniformly continuous and faithful, in both cases giving quantitative bounds that should be useful in applications. We also consider a restricted relative entropy of steering which is relevant for the case in which the free operations in the resource theory of steering have a more restricted form (the restricted operations could be more relevant in practical scenarios). The restricted relative entropy of steering is convex, monotone with respect to these restricted operations, uniformly continuous, and faithful.

Effects of supplementing zinc or chromium to finishing steers fed ractopamine hydrochloride on growth performance, carcass characteristics, and meat quality.

PubMed

Edenburn, B M; Kneeskern, S G; Bohrer, B M; Rounds, W; Boler, D D; Dilger, A C; Felix, T L

2016-02-01

Objectives were to determine the effects of feeding ractopamine hydrochloride (RAC) with zinc (Zn) and chromium (Cr) on feedlot growth performance, carcass characteristics, and meat quality. Steers ( = 179; initial BW = 533 ± 94 kg) were blocked by BW and allotted to 30 pens, and pens were randomly assigned 1 of 5 treatments: (1) control (CONT), (2) RAC only (RO), (3) RAC + Zn (RZ), (4) RAC + Cr (RC), or (5) RAC + Zn + Cr (RZC). Trace minerals were fed from d 0 to 63 to target 1 g of Zn/steer·d (KemTRACE Zn; Kemin Industries, Inc., Des Moines, IA) and 3 mg Cr/steer·d (KemTRACE Chromium; Kemin Industries, Inc.) for Zn and Cr treatments, respectively. Dry-rolled corn, 0.605 kg/steer, was removed from the diet and 400 mg RAC, per 0.605 kg of ground corn carrier, was top dressed per steer immediately following feed delivery to pens fed RAC. There were no effects ( ≥ 0.45) of trace mineral supplementation on DMI, ADG, or G:F before RAC feeding. There were also no treatment effects ( ≥ 0.46) over all 63 d of the trial on DMI, ADG, or G:F. Despite the lack of differences in live performance, steers fed RO and RC averaged 0.10 kg/d greater ( = 0.10) carcass ADG than steers fed RZC and CONT, while steers fed RZ were intermediate and not different. Steers fed RO had the greatest ( = 0.09) carcass G:F, while steers fed CONT had the least carcass G:F, 0.0875 and 0.0774, respectively. Steers fed RO and RC averaged 5.5 kg heavier ( = 0.09) HCW than steers fed RZC and CONT, while steers fed RZ were intermediate and not different. There were no treatment effects ( ≥ 0.32) on LM area, 12th rib fat, marbling score, KPH, carcass yield, or USDA yield grade and distribution. However, carcasses from steers fed RC had the greatest ( = 0.10) percentage grading USDA Select. There were no treatment effects ( ≥ 0.20) on shear force, intramuscular fat, pH, a*, and b*. Steaks from steers fed RO and RC had 11.4% greater ( = 0.08) cook loss than steaks from steers fed CONT and RZC, whereas steaks from steers fed RZ were intermediate and not different. Also, steaks from steers fed RC had 2.11 units greater ( = 0.03) L* values (i.e., were lighter) than steaks from steers fed RZ; steaks from steers fed CONT, RO, and RZC were intermediate. In feedlot steers, the addition of both Cr and Zn supplementation did not improve growth performance or meat quality when fed in combination with 28 d of RAC supplementation; however, RAC, fed alone or in combination with Cr, did increase HCW.

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Reynolds, Reid G.; Liu, Frank X.; Lebsock, Kenneth L.

2009-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2013 CFR

2013-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2013-10-01 2013-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2014 CFR

2014-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2014-10-01 2014-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2014 CFR

2014-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2012 CFR

2012-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2012-10-01 2012-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2010 CFR

2010-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2011 CFR

2011-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2011 CFR

2011-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2011-10-01 2011-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2010-10-01 2010-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2012 CFR

2012-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2013 CFR

2013-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

Thermal fatigue performance of integrally cast automotive turbine wheels

NASA Technical Reports Server (NTRS)

Humphreys, V. E.; Hofer, K. E.

1980-01-01

Fluidized bed thermal fatigue testing was conducted on 16 integrally cast automotive turbine wheels for 1000-10,000 (600 sec total) thermal cycles at 935/50 C. The 16 wheels consisted of 14 IN-792 + 1% Hf and 2 gatorized AF2-1DA wheels; 6 of the IN-792 + Hf wheels contained crack arrest pockets inside the blade root flange. Temperature transients during the thermal cycling were measured in three calibration tests using either 18 or 30 thermocouples per wheel. Thermal cracking based on crack length versus accumulated cycles was greatest for unpocketed wheels developing cracks in 8-13 cycles compared to 75-250 cycles for unpocketed wheels. However, pocketed wheels survived up to 10,000 cycles with crack lengths less than 20 mm, whereas two unpocketed wheels developed 45 mm long cracks in 1000-2000 cycles.

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

NASA Technical Reports Server (NTRS)

Reynolds, R. G.; Markley, F. Landis

2001-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum which the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical implementation strategies for specific wheel configurations are also considered.

Wheel speed management control system for spacecraft

NASA Technical Reports Server (NTRS)

Goodzeit, Neil E. (Inventor); Linder, David M. (Inventor)

1991-01-01

A spacecraft attitude control system uses at least four reaction wheels. In order to minimize reaction wheel speed and therefore power, a wheel speed management system is provided. The management system monitors the wheel speeds and generates a wheel speed error vector. The error vector is integrated, and the error vector and its integral are combined to form a correction vector. The correction vector is summed with the attitude control torque command signals for driving the reaction wheels.

Influence of feed efficiency classification on diet digestibility and growth performance of beef steers.

PubMed

Russell, J R; Minton, N O; Sexten, W J; Kerley, M S; Hansen, S L

2016-04-01

The diet digestibility and feed efficiency (FE) relationship is not well characterized in cattle. The study objective was to determine effects of growing phase FE and diet as well as finishing phase diet on diet digestibility and finishing phase FE. Two groups, totaling 373 crossbred steers, were fed for 70 d at the University of Missouri for the growing phase and then shipped to Iowa State University (ISU) for finishing. GrowSafe feed bunks were used during both the growing and the finishing phases. Steers were fed either growing phase whole shell corn (G-Corn) or growing phase roughage-based (G-Rough) diets. Within each group, the 12 greatest and 12 least feed efficient steers from each growing diet ( = 96 total; 48 steers/group; 488 ± 5 kg) were selected for further evaluation. At ISU, steers were fed an average of 10 g TiO/steer daily in receiving phase diets similar to growing diets for 15 d, with fecal grab samples collected on d 14 and 15 to determine diet DM digestibility during receiving (GDMdig). For finishing, steers were transitioned to byproduct-based diets (F-Byp) or corn-based diets (F-Corn) with 12 steers per growing-finishing diet combination per group. Optaflexx (200 mg/d) was fed for 28 d before harvest, and the TiO protocol was repeated immediately before introducing Optaflexx to determine diet DM digestibility during finishing (FDMdig). Data from the 2 groups (96 steers) were pooled, and steers were ranked by growing phase G:F and then classified as the 24 greatest feed efficient (HFE) or 24 least feed efficient (LFE) steers from each growing diet. Data were analyzed using PROC MIXED of SAS with group applied as a fixed effect. There was a positive correlation between GDMdig and FDMdig for steers fed nutritionally similar diets during both feeding phases, G-Rough/F-Byp steers ( = 0.68, < 0.01) and G-Corn/F-Corn steers ( = 0.49, = 0.02), but a negative correlation for G:F between phases in G-Rough/F-Corn steers ( = -0.57, < 0.01). Finishing G:F was greater in HFE steers versus LFE steers ( = 0.04), but there was no difference ( ≥ 0.5) in GDMdig or FDMdig due to FE classification. There was a positive correlation for DM digestibility between feeding phases when steers were grown and finished on similar diets. Overall, FE was repeatable but was negatively correlated between phases when steers were roughage grown and corn finished, reinforcing the idea that cattle should be FE tested using diet types similar to the production environment of interest.

Performance, insulin sensitivity, carcass characteristics, and fatty acid profile of beef from steers fed microalgae.

PubMed

Carvalho, J R R; Brennan, K M; Ladeira, M M; Schoonmaker, J P

2018-05-25

Heterotrophic production of microalgae biomass provides a consistent, high quality source of docosahexaenoic acid (DHA; C22:6 n-3) in triglyceride oils that could be used as a ration supplement for feedlot steers to improve nutritional qualities of beef. Sixty Angus × Simmental steers (438 ± 6.4 kg) were allotted to 2 treatments (30 steers each, 6 pens, 5 steers/pen) to determine the effects of ForPLUS (DHA-rich microalgae Aurantiochytrium limacinum; 63.6 % fat; 17.9% DHA; 30 mg/kg Sel-Plex; Alltech Inc.) on performance, insulin sensitivity, LM fatty acid composition, and meat quality. Steers were fed basal diets containing 45% corn, 30% distillers dried grains with solubles, 20% corn silage, and 5% supplement. Basal diets were formulated to contain 16.1% CP and 1.32 Mcal/kg NEg. Treatments were delivered to steers in a ground corn based top-dress (454 g total/steer) and contained no microalgae for control steers or 100 g/steer daily of ForPLUS for microalgae steers. A glucose tolerance test (GTT) was performed 10 d prior to slaughter. Steers were slaughtered when a target pen BW of 621 kg was achieved. Fatty acid oxidation potential was determined by measuring thiobarbituric acid reactive substances (TBARS) on LM samples collected 24 h after slaughter and aged for 48 h or 21 d. Weight and BW gain did not differ during the study (P ≥ 0.13); however, steers fed microalgae remained in the feedlot 7 more d compared to steers fed the control diet (111 vs. 104 d; P = 0.04). Overall DMI decreased (P = 0.002) and G:F increased during the second half of the study (P = 0.04) in steers fed microalgae compared to steers fed the control diet. Steers fed microalgae secreted less insulin (P = 0.01) and took longer to clear glucose (P = 0.01) during a 2 h GTT. Carcass traits did not differ between treatments (P ≥ 0.23). Microalgae had no effect on n-6 content (P = 0.67), but more than doubled the n-3 fatty acid percentage and the n3:n6 ratio of the LM (P < 0.0001). The percentage of n-3 fatty acids C20:5 and C22:6 were increased (P < 0.0001) 4-fold and 6.25-fold, respectively, by microalgae supplementation. Concentration of TBARS did not differ in LM aged for 48 h (P = 0.91); however, when aged for 21 d, steers fed microalgae tended to produce LM with greater TBARS concentration compared to steers fed the control diet (P = 0.08). In conclusion, DHA-rich microalgae decreased DMI of steers, and increased n-3 fatty acids and beef oxidation in steaks aged for 21 d.

One-way EPR steering and genuine multipartite EPR steering

NASA Astrophysics Data System (ADS)

He, Qiongyi; Reid, Margaret D.

2012-11-01

We propose criteria and experimental strategies to realise the Einstein-Podolsky-Rosen (EPR) steering nonlocality. One-way steering can be obtained where there is asymmetry of thermal noise on each system. We also present EPR steering inequalities that act as signatures and suggest how to optimise EPR correlations in specific schemes so that the genuine multipartite EPR steering nonlocality (EPR paradox) can also possibly be realised. The results presented here also apply to the spatially separated macroscopic atomic ensembles.

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2012 CFR

2012-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2012-10-01 2012-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2012 CFR

2012-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2012-10-01 2012-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2010 CFR

2010-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2010-10-01 2010-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2011 CFR

2011-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2011-10-01 2011-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2014 CFR

2014-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2014-10-01 2014-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2013 CFR

2013-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2013-10-01 2013-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2010 CFR

2010-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2010-10-01 2010-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2011 CFR

2011-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2011-10-01 2011-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2014 CFR

2014-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2014-10-01 2014-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2013 CFR

2013-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2013-10-01 2013-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

Effect of sucrose availability and pre-running on the intrinsic value of wheel running as an operant and a reinforcing consequence.

PubMed

Belke, Terry W; Pierce, W David

2014-03-01

The current study investigated the effect of motivational manipulations on operant wheel running for sucrose reinforcement and on wheel running as a behavioral consequence for lever pressing, within the same experimental context. Specifically, rats responded on a two-component multiple schedule of reinforcement in which lever pressing produced the opportunity to run in a wheel in one component of the schedule (reinforcer component) and wheel running produced the opportunity to consume sucrose solution in the other component (operant component). Motivational manipulations involved removal of sucrose contingent on wheel running and providing 1h of pre-session wheel running. Results showed that, in opposition to a response strengthening view, sucrose did not maintain operant wheel running. The motivational operations of withdrawing sucrose or providing pre-session wheel running, however, resulted in different wheel-running rates in the operant and reinforcer components of the multiple schedule; this rate discrepancy revealed the extrinsic reinforcing effects of sucrose on operant wheel running, but also indicated the intrinsic reinforcement value of wheel running across components. Differences in wheel-running rates between components were discussed in terms of arousal, undermining of intrinsic motivation, and behavioral contrast. Copyright © 2013 Elsevier B.V. All rights reserved.

46 CFR 58.25-10 - Main and auxiliary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Main and auxiliary steering gear. 58.25-10 Section 58.25... AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-10 Main and auxiliary steering gear. (a) Power-operated main and auxiliary steering gear must be separate systems that are independent throughout their...

46 CFR 196.37-33 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Instructions for changing steering gear. 196.37-33... steering gear. (a) Instructions in at least 1/2 inch letters and figures shall be posted in the steering engineroom, relating in order, the different steps to be taken in changing to the emergency steering gear...

C57 mice increase wheel-running behavior following stress: preliminary findings.

PubMed

Sibold, Jeremy S; Hammack, Sayamwong E; Falls, William A

2011-10-01

Exercise has been shown to reduce anxiety in both humans and animals. To date, there are few, if any studies that examine the effect of stress on self-selected exercise using an animal model. This study examined the effect of acute stress on wheel-running distance in mice. Forty 8-week-old, male C57BL/6J mice were randomly assigned to one of three groups: no stress + wheel-running experience, stress + wheel-running experience, or stress with no wheel-running experience. Stressed mice were exposed to foot shock in a brightly lit environment. Following treatment, wheel-running distances were observed for three hours. Stress significantly increased voluntary wheel-running in mice with wheel-running experience as compared to nonstressed controls and stressed mice with no wheel-running experience. These results suggest that mice familiar with wheel-running may self-select this exercise as a modality for the mitigation of accumulated anxiety.

Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

NASA Astrophysics Data System (ADS)

Sun, Gang; Gao, Feng; Sun, Peng; Xu, Guoyan

2007-11-01

To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

The influence of Unruh effect on quantum steering for accelerated two-level detectors with different measurements

NASA Astrophysics Data System (ADS)

Liu, Tonghua; Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We propose a tight measure of quantum steering and study the dynamics of steering in a relativistic setting via different quantifiers. We present the dynamics of steering between two correlated Unruh-Dewitt detectors when one of them locally interacts with external scalar field. We find that the quantum steering, either measured by the entropic steering inequality or the Cavalcanti-Jones-Wiseman-Reid inequality, is fragile under the influence of Unruh thermal noise. The quantum steering is found always asymmetric and the asymmetry is extremely sensitive to the initial state parameter. In addition, the steering-type quantum correlations experience "sudden death" for some accelerations, which are quite different from the behaviors of other quantum correlations in the same system. It is worth noting that the domination value of the tight quantum steering exists a transformation point with increasing acceleration. We also find that the robustness of quantum steerability under the Unruh thermal noise can be realized by choosing the smallest energy gap in the detectors.

The influence of oscillating dietary protein concentrations on finishing cattle. I. Feedlot performance and odorous compound production.

PubMed

Archibeque, S L; Miller, D N; Freetly, H C; Berry, E D; Ferrell, C L

2007-06-01

We hypothesized that oscillation of the dietary CP concentration, which may improve N retention of finishing beef steers, would reduce production of manure odor compounds and total N inputs while yielding comparable performance. Charolais-sired steers (n = 144; 303 +/- 5 kg of initial BW) were used in a completely randomized block design (6 pens/treatment). The steers were fed to 567 kg of BW on the following finishing diets, which were based on dry-rolled corn: 1) low (9.1% CP), 2) medium (11.8% CP), 3) high (14.9% CP), or 4) low and high oscillated on a 48-h interval for each feed (oscillating). Steers fed low tended (P = 0.08) to have less DMI (7.80 kg/d) than steers fed medium (8.60 kg/d) or oscillating (8.67 kg/d), but not less than steers fed high (8.12 kg/d). Daily N intake was greatest (P < 0.01) for steers fed high (189 g), intermediate for medium (160 g) and oscillating (164 g), and least for low (113 g). The ADG was lower (P < 0.01) for steers fed low (1.03 kg) than for those fed medium (1.45 kg), high (1.45 kg), or oscillating (1.43 kg). Similarly, steers fed low had a lower adjusted fat thickness (P < 0.01) and yield grade (P = 0.05) and tended (P = 0.10) to have less marbling than steers fed the other 3 diets. In slurries with feces, urine, soil, and water, incubated for 35 d, nonsoluble CP was similar among slurries from steers fed medium, high, or oscillating, but was less (P < 0.01) in slurries from steers fed low. However, throughout the incubation period, slurries from steers fed high or oscillating had greater (P < 0.01) concentrations of total aromatics and ammonia than those from steers fed low or medium. Also, the slurries from steers fed oscillating had greater (P < 0.01) concentrations of branched-chain VFA than manure slurries from steers fed any of the other diets. These data indicate that although there is no apparent alteration in the performance of finishing steers fed diets with oscillation of the dietary protein, there may be undesirable increases in the production of compounds associated with malodor.

Technics study on high accuracy crush dressing and sharpening of diamond grinding wheel

NASA Astrophysics Data System (ADS)

Jia, Yunhai; Lu, Xuejun; Li, Jiangang; Zhu, Lixin; Song, Yingjie

2011-05-01

Mechanical grinding of artificial diamond grinding wheel was traditional wheel dressing process. The rotate speed and infeed depth of tool wheel were main technics parameters. The suitable technics parameters of metals-bonded diamond grinding wheel and resin-bonded diamond grinding wheel high accuracy crush dressing were obtained by a mount of experiment in super-hard material wheel dressing grind machine and by analysis of grinding force. In the same time, the effect of machine sharpening and sprinkle granule sharpening was contrasted. These analyses and lots of experiments had extent instruction significance to artificial diamond grinding wheel accuracy crush dressing.

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

A dynamic wheel-rail impact analysis of railway track under wheel flat by finite element analysis

NASA Astrophysics Data System (ADS)

Bian, Jian; Gu, Yuantong; Murray, Martin Howard

2013-06-01

Wheel-rail interaction is one of the most important research topics in railway engineering. It involves track impact response, track vibration and track safety. Track structure failures caused by wheel-rail impact forces can lead to significant economic loss for track owners through damage to rails and to the sleepers beneath. Wheel-rail impact forces occur because of imperfections in the wheels or rails such as wheel flats, irregular wheel profiles, rail corrugations and differences in the heights of rails connected at a welded joint. A wheel flat can cause a large dynamic impact force as well as a forced vibration with a high frequency, which can cause damage to the track structure. In the present work, a three-dimensional finite element (FE) model for the impact analysis induced by the wheel flat is developed by the use of the FE analysis (FEA) software package ANSYS and validated by another validated simulation. The effect of wheel flats on impact forces is thoroughly investigated. It is found that the presence of a wheel flat will significantly increase the dynamic impact force on both rail and sleeper. The impact force will monotonically increase with the size of wheel flats. The relationships between the impact force and the wheel flat size are explored from this FEA and they are important for track engineers to improve their understanding of the design and maintenance of the track system.

52. Patent steering gear, hatch and steering compass binnacle, view ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

52. Patent steering gear, hatch and steering compass binnacle, view from starboard looking aft. Photograph by Jet Lowe, April 1988. - Ship BALCLUTHA, 2905 Hyde Street Pier, San Francisco, San Francisco County, CA

Out-of-round railway wheels—assessment of wheel tread irregularities in train traffic

NASA Astrophysics Data System (ADS)

Johansson, Anders

2006-06-01

Results from an extensive wheel measurement campaign performed in Sweden are given and discussed. Out-of-roundness (OOR), transverse profile and surface hardness of 99 wheels on passenger trains (X2 and intercity), freight trains, commuter trains (Regina) and underground trains (C20) were measured. Both tread and disc braked wheels were investigated. The selected wheels had travelled a distance of more than 100000 km, and the measurements were conducted when the train wagons/coaches had been taken out of traffic for maintenance, most of them due to reasons other than wheel OOR. Mechanical contact measurement methods were used. The highest roughness levels (higher than 20 dB re 1 μm for some wheels) were found on powered high-speed (X2) train wheels. The previously known polygonalization of C20 underground wheels is quantified. It is also verified that an initial irregularity is formed due to the clamping in a three-jaw chuck during profiling of new C20 wheels. Magnitudes and wavelength contents of measured wheel roughness are compared with corresponding measurements of rail roughness.

A mechanical model for deformable and mesh pattern wheel of lunar roving vehicle

NASA Astrophysics Data System (ADS)

Liang, Zhongchao; Wang, Yongfu; Chen, Gang (Sheng); Gao, Haibo

2015-12-01

As an indispensable tool for astronauts on lunar surface, the lunar roving vehicle (LRV) is of great significance for manned lunar exploration. An LRV moves on loose and soft lunar soil, so the mechanical property of its wheels directly affects the mobility performance. The wheels used for LRV have deformable and mesh pattern, therefore, the existing mechanical theory of vehicle wheel cannot be used directly for analyzing the property of LRV wheels. In this paper, a new mechanical model for LRV wheel is proposed. At first, a mechanical model for a rigid normal wheel is presented, which involves in multiple conventional parameters such as vertical load, tangential traction force, lateral force, and slip ratio. Secondly, six equivalent coefficients are introduced to amend the rigid normal wheel model to fit for the wheels with deformable and mesh-pattern in LRV application. Thirdly, the values of the six equivalent coefficients are identified by using experimental data obtained in an LRV's single wheel testing. Finally, the identified mechanical model for LRV's wheel with deformable and mesh pattern are further verified and validated by using additional experimental results.

Aerodynamic Drag Reduction Apparatus For Wheeled Vehicles In Ground Effect

DOEpatents

Ortega, Jason M.; Salari, Kambiz

2005-12-13

An apparatus for reducing the aerodynamic drag of a wheeled vehicle in a flowstream, the vehicle having a vehicle body and a wheel assembly supporting the vehicle body. The apparatus includes a baffle assembly adapted to be positioned upstream of the wheel assembly for deflecting airflow away from the wheel assembly so as to reduce the incident pressure on the wheel assembly.

77 FR 70478 - RG Steel Wheeling, LLC, Wheeling Office, A Division Of RG Steel, LLC, Including On-Site Leased...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-26

... DEPARTMENT OF LABOR Employment and Training Administration [TA-W-81,880: TA-A-81,880A] RG Steel Wheeling, LLC, Wheeling Office, A Division Of RG Steel, LLC, Including On-Site Leased Workers From Pro Unlimited and Green Energy Initiatives LLC, Including Workers Whose Wages Were Reported Through Severstal Wheeling, Wheeling, WV: Mountain State...

Relationship between antioxidant capacity, oxidative stress, and feed efficiency in beef steers.

PubMed

Russell, J R; Sexten, W J; Kerley, M S; Hansen, S L

2016-07-01

Feed efficiency (FE) can vary between individuals but sources of variation are not well characterized. Oxidative stress is among the biological mechanisms believed to contribute to variation. The objective of this study was to evaluate the relationship between FE, antioxidant activity, and oxidative stress in feedlot steers representing phenotypic extremes for FE. Crossbred beef steers ( = 181) fed 70-d growing phase (GP) whole-shell corn-based (G-Corn) or rye baleage and soybean hull-based (G-Rough) diets in GrowSafe bunks at the University of Missouri were shipped to Iowa State University where the 12 most feed efficient (HFE) and 12 least feed efficient (LFE) steers from each diet (n = 48; 467 kg [SD 51]) were selected for evaluation. Steers received diets similar to GP diets, and 3 d after arrival, blood was sampled to evaluate antioxidant activity and oxidative stress markers for the GP following transit. Steers were transitioned to finishing phase (FP) cracked corn-based (F-Corn) or dried distillers' grains and soybean hull-based (F-Byp) diets, and on FP d 97, blood samples for the FP were collected. Data for the GP were analyzed as a 2 × 2 factorial, and data for the FP were analyzed as a 2 × 2 × 2 factorial using PROC MIXED of SAS. No GP diet × FP diet, FP diet × FE group, or 3-way interactions were noted ( ≥ 0.11) for FP measures. Steers fed the G-Rough diet had greater ( = 0.04) GP plasma protein carbonyl concentrations. During the GP, HFE steers had greater ( ≤ 0.04) protein carbonyl and ratio of oxidized:reduced blood lysate glutathione concentrations than LFE steers. There were GP diet × FE group interactions ( ≤ 0.03) during the GP and FP. During the GP, total blood lysate superoxide dismutase (SOD) activity was greater ( ≤ 0.03) in G-Rough/LFE steers than in G-Rough/HFE and G-Corn/LFE steers; G-Corn/HFE steers were intermediate. The G-Rough/LFE steers had greater ( < 0.04) glutathione peroxidase (GPX) activity than other groups and greater ( = 0.03) plasma malondialdehyde concentrations than G-Corn/LFE steers. During the FP, the G-Rough/LFE steers had greater ( ≤ 0.04) GPX activity than G-Rough/HFE and G-Corn/LFE steers; G-Corn/HFE steers were intermediate. The F-Byp diet had greater ( < 0.01) protein carbonyl than the F-Corn diet, and no other FP diet effects were noted ( ≥ 0.3) for any FP measures. The GP diet and FE groups had stronger relationships with antioxidant activity and oxidative stress markers measured for the GP than for the FP. Overall, antioxidant activity may play a role in FE as LFE steers, driven largely by G-Rough/LFE steers, had greater SOD activity and GPX activity than HFE steers, potentially using a greater proportion of energy otherwise available for tissue accretion.

Propulsion and Levitation with a Large Electrodynamic Wheel

NASA Astrophysics Data System (ADS)

Gaul, Nathan; Lane, Hannah

We constructed an electrodynamic wheel using a motorized bicycle wheel with a radius of 12 inches and 36 one-inch cube magnets attached to the rim of the wheel. The radial magnetic field on the outside of the wheel was maximized by arranging the magnets into a series of Halbach arrays which amplify the field on one side of the array and reduce it on the other side. Rotating the wheel produces a rapidly oscillating magnetic field. When a conductive metal ``track'' is placed in this area of strong magnetic flux, eddy currents are produced in the track. These eddy currents create magnetic fields that interact with the magnetic fields from the electrodynamic wheel. The interaction of the magnetic fields produces lift and drag forces on the track which were measured with force gauges. Measurements were taken at a variety of wheel speeds, and the results were compared to the theoretical prediction that there should be a linear relationship between the lift and drag forces with increasing wheel speed. Partial levitation was achieved with the current electrodynamic wheel. In the future, the wheel will be upgraded to include 72 magnets rather than 36 magnets. This will double the frequency at which the magnetic field oscillates, increasing the magnetic flux. Electrodynamic wheels have applications to the transportation industry, since multiple electrodynamic wheels could be used on a vehicle to produce a lift and propulsion force over a conductive track.

76 FR 73596 - Notice of Scope Rulings

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-29

... LLC and OTR Wheel Engineering, Inc.; its wheel hub units/assemblies with tapered roller bearings are...-601: Tapered Roller Bearings from the People's Republic of China Requestor: New Trend Engineering... Requestor: OTR Wheel Engineering, Inc. (``OTR Wheel''); whether OTR Wheel's ``Trac Master'' and ``Traction...

Investigation of the effects of sliding on wheel tread damage

DOT National Transportation Integrated Search

2005-11-05

Wheel tread spalling is the main source of damage to wheel treads and : a primary cause for wheel removals from service. Severe frictional : heating of the wheel-rail contact patch during sliding causes the : formation of martensite, a hard, brittle ...

Stabilizing Wheels For Rover Vehicle

NASA Technical Reports Server (NTRS)

Collins, Earl R., Jr.

1990-01-01

Proposed articulated, normally-four-wheeled vehicle holds extra pair of wheels in reserve. Deployed to lengthen wheelbase on slopes, thereby making vehicle more stable, and to aid vehicle in negotiating ledge or to right vehicle if turned upside down. Extra wheels are drive wheels mounted on arms so they pivot on axis of forward drive wheels. Both extra wheels and arms driven by chains, hydraulic motors, or electric motors. Concept promises to make remotely controlled vehicles more stable and maneuverable in such applications as firefighting, handling hazardous materials, and carrying out operations in dangerous locations.

Line of Sight Stabilization of James Webb Space Telescope

NASA Technical Reports Server (NTRS)

Meza, Luis; Tung, Frank; Anandakrishnan, Satya; Spector, Victor; Hyde, Tupper

2005-01-01

The James Webb Space Telescope (JWST) builds upon the successful flight experience of the Chandra Xray Telescope by incorporating an additional LOS pointing servo to meet the more stringent pointing requirements. The LOS pointing servo, referred to in JWST as the Fine Guidance Control System (FGCS), will utilize a Fine Guidance Sensor (FGS) as the sensor, and a Fine Steering Mirror (FSM) as the actuator. The FSM is a part of the Optical Telescope Element (OTE) and is in the optical path between the tertiary mirror and the instrument focal plane, while the FGS is part of the Integrated Science Instrument Module (ISIM). The basic Chandra spacecraft bus attitude control and determination architecture, utilizing gyros, star trackers/aspect camera, and reaction wheels, is retained for JWST. This system has achieved pointing stability of better than 0.5 arcseconds. To reach the JWST requirements of milli-arcsecond pointing stability with this ACS hardware, the local FGCS loop is added to the optical path. The FGCS bandwidth is about 2.0 Hz and will therefore attenuate much of the spacecraft ACS induced low frequency jitter. In order to attenuate the higher frequency (greatet than 2.0 Hz) disturbances associated with reaction wheel static and dynamic imbalances, as well as bearing run-out, JWST will employ a two-stage passive vibration isolation system consisting of (1) 7.0 Hz reaction wheel isolators between each reaction wheel and the spacecraft bus, and (2) a 1.0 Hz tower isolator between the spacecraft bus and the Optical Telescope Element (OTE). In order to sense and measure the LOS, the FGS behaves much like an autonomous star tracker that has a very small field of view and uses the optics of the telescope. It performs the functions of acquisition, identification and tracking of stars in its 2.5 x 2.5 arcminute field of view (FOV), and provides the centroid and magnitude of the selected star for use in LOS control. However, since only a single star is being tracked at any time within the FGS FOV there is only tip and tilt information; rotation about the FGS LOS will not be sensed. The FGCS uses the FSM to move the guide star within the FGS FOV and place the centroid of the guide star at any desired position within the FGS focal plane. Using this architecture allows the FGCS to correct the low frequency LOS jitter that is induced by the spacecraft ACS in pitch and yaw, and achieve the milli-arcsecond pointing stability required by JWST. The less stringent ISIM FOV roll performance will be provided solely by the ACS, using the spacecraft gyros and star trackers. Since the FSM is in the optical path, the pointing stabilrty of a science object in any of the instruments will be similar to that of the guide star LOS.

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

NASA Technical Reports Server (NTRS)

Contreras, Michael T.; Trease, Brian P.; Bojanowski, Cezary; Kulakx, Ronald F.

2013-01-01

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

Monogamy of quantum steering

NASA Astrophysics Data System (ADS)

Milne, Antony; Jennings, David; Jevtic, Sania; Rudolph, Terry; Wiseman, Howard

The quantum steering ellipsoid formalism naturally extends the Bloch vector picture for qubits to provide a visualisation of two-qubit systems. If Alice and Bob share a correlated state then a local measurement by Bob steers Alice's qubit inside the Bloch sphere; given all possible measurements by Bob, the set of states to which Alice can be steered form her steering ellipsoid. We apply the formalism to a three-party scenario and find that steering ellipsoid volumes obey a simple monogamy relation. This gives us a novel derivation of the well-known CKW (Coffman-Kundu-Wootters) inequality for entanglement monogamy. The geometric perspective also identifies a new measure of quantum correlation, `obesity', and a set of `maximally obese' states that saturate the steering monogamy bound. These states are found to have extremal quantum correlation properties that are significant in the steering ellipsoid picture and for the study of two-qubit states in general.

Effect of ractopamine hydrochloride (Optaflexx) dose and duration on growth performance and carcass characteristics of finishing steers.

PubMed

Bittner, C J; Crawford, G I; Berger, L L; Holt, S; Pritchard, R R; Platter, W J; Van Koevering, M T; Pyatt, N A; Erickson, G E

2016-12-01

Three experiments evaluated the effects of ractopamine hydrochloride (RAC) dose and duration on growth performance and carcass characteristics of feedlot steers. In total, 1,509 crossbred steers (530 kg initial BW [SD 22]) were used in a randomized complete block design using a 3 × 3 factorial treatment structure. Treatments consisted of RAC dose (0, 100, or 200 mg/steer daily) and duration (28, 35, or 42 d) of RAC feeding prior to harvest. Initiation of RAC dose was staggered (7 d apart) based on RAC duration, which resulted in common days on feed among treatments. Data from the 3 experiments were combined for statistical analyses. There were no RAC dose × duration interactions ( ≥ 0.85) for growth performance. Live final BW was not different ( ≥ 0.24) as RAC dose increased. Dry matter intake linearly decreased ( < 0.01) as RAC dose increased. Live ADG and G:F linearly increased ( ≤ 0.01) as RAC dose increased. Carcass-adjusted ADG and G:F linearly increased ( ≤ 0.02) as RAC dose increased. Compared with steers fed 0 mg RAC/steer daily, G:F was improved by 5.0 and 13.0% when steers were fed 100 ( = 0.31) and 200 ( = 0.01) mg RAC/steer daily, respectively. Hot carcass weight tended ( = 0.10) to linearly increase as RAC dose increased, with carcasses from steers fed 100 ( = 0.38) and 200 ( = 0.10) mg RAC/steer daily being 2.2 and 4.1 kg heavier, respectively, than carcasses from steers fed 0 mg RAC/steer daily. Increasing RAC dose linearly ( < 0.01) increased LM area and linearly ( = 0.02) decreased marbling score. Live final BW was not different ( ≥ 0.60) among RAC durations. Carcass-adjusted final BW, ADG, and G:F were not different ( ≥ 0.41) as RAC duration increased. Carcass traits did not differ ( ≥ 0.18) among RAC duration. Feeding 200 mg RAC/steer daily improved ADG, feed efficiency, and HCW. Increasing the feeding duration of RAC had no effect of growth performance or carcass characteristics. These data indicate that feeding 200 mg RAC/steer daily for 28 d improves steer growth performance.

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 6 2013-10-01 2013-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 6 2013-10-01 2013-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

Performance of the Boeing LRV wheels in a lunar soil simulant. Report 2: Effects of speed, Wheel load, and soil

NASA Technical Reports Server (NTRS)

Melzer, K.

1971-01-01

Two nearly identical Boeing-GM wire-mesh Lunar Roving Vehicle (LRV) wheels were laboratory tested in a lunar soil simulant to determine the influence of wheel speed and acceleration, wheel load, presence of a fender, travel direction, and soil strength on the wheel performance. Constant-slip and three types of programmed-slip tests were conducted with a single-wheel dynamometer system. Test results indicated that performance of single LRV wheels in terms of pull coefficient, power number, and efficiency were not influenced by wheel speed and acceleration, travel direction, the presence of a fender, or wheel load. Of these variables, only load influenced sinkage, which increased with increasing load. For a given slip, the pull coefficient and power number increased with increasing soil strength. However, for a given pull coefficient or slope, slip was less in firmer soil; thus, the power number decreased and efficiency increased with increasing soil strength.

Effects of tilmicosin phosphate, administered prior to transport or at time of arrival, and feeding of chlortetracycline, after arrival in a feedlot, on Mannheimia haemolytica in nasal secretions of transported steers.

PubMed

Frank, G H; Duff, G C

2000-12-01

To determine effects of time of administration of tilmicosin and feeding of chlortetracycline on colonization of the nasopharynx of transported cattle by Mannheimia haemolytica (MH). 454 steers (body weight, 200 kg). 3 studies included 4 truckloads of steers assembled and processed in the southeastern United States. For each truckload of steers, a third received tilmicosin before transportation (PRIOR), then all were transported to a feedlot in New Mexico (23 hours). At arrival (day 0), another third received tilmicosin (ARR). The remaining third did not receive tilmicosin (control steers [CTR]). Steers in studies 1 and 2 were housed in a feedlot, and steers in study 3 were housed on wheat pasture. One half of the steers from each group in studies 2 and 3 were fed chlortetracycline on days 5 to 9. Steer with signs of respiratory tract disease were treated. Nasal swab specimens were examined for MH to determine colonization. PRIOR and ARR steers had a lower incidence of respiratory tract disease and MH colonization than CTR steers, but PRIOR and ARR steers did not differ. Feeding chlortetracycline did not have an effect. Tilmicosin can inhibit MH from colonizing the nasopharynx of cattle. Because tilmicosin inhibits the growth of MH in the respiratory tract, medication with tilmicosin prior to transport should reduce the incidence of acute respiratory tract disease during the first week at the feedlot when calves are most susceptible to infectious organisms.

The response of a high-speed train wheel to a harmonic wheel-rail force

NASA Astrophysics Data System (ADS)

Sheng, Xiaozhen; Liu, Yuxia; Zhou, Xin

2016-09-01

The maximum speed of China's high-speed trains currently is 300km/h and expected to increase to 350-400km/h. As a wheel travels along the rail at such a high speed, it is subject to a force rotating at the same speed along its periphery. This fast moving force contains not only the axle load component, but also many components of high frequencies generated from wheel-rail interactions. Rotation of the wheel also introduces centrifugal and gyroscopic effects. How the wheel responds is fundamental to many issues, including wheel-rail contact, traction, wear and noise. In this paper, by making use of its axial symmetry, a special finite element scheme is developed for responses of a train wheel subject to a vertical and harmonic wheel-rail force. This FE scheme only requires a 2D mesh over a cross-section containing the wheel axis but includes all the effects induced by wheel rotation. Nodal displacements, as a periodic function of the cross-section angle 6, can be decomposed, using Fourier series, into a number of components at different circumferential orders. The derived FE equation is solved for each circumferential order. The sum of responses at all circumferential orders gives the actual response of the wheel.

Multipartite Gaussian steering: Monogamy constraints and quantum cryptography applications

NASA Astrophysics Data System (ADS)

Xiang, Yu; Kogias, Ioannis; Adesso, Gerardo; He, Qiongyi

2017-01-01

We derive laws for the distribution of quantum steering among different parties in multipartite Gaussian states under Gaussian measurements. We prove that a monogamy relation akin to the generalized Coffman-Kundu-Wootters inequality holds quantitatively for a recently introduced measure of Gaussian steering. We then define the residual Gaussian steering, stemming from the monogamy inequality, as an indicator of collective steering-type correlations. For pure three-mode Gaussian states, the residual acts as a quantifier of genuine multipartite steering, and is interpreted operationally in terms of the guaranteed key rate in the task of secure quantum secret sharing. Optimal resource states for the latter protocol are identified, and their possible experimental implementation discussed. Our results pin down the role of multipartite steering for quantum communication.

Growth, carcass characteristics, and profitability of organic versus conventional dairy beef steers.

PubMed

Bjorklund, E A; Heins, B J; Dicostanzo, A; Chester-Jones, H

2014-03-01

Bull calves (n=49), born at the University of Minnesota West Central Research and Outreach Center (Morris) between March and May 2011, were used to compare growth measurements and profitability of conventional and organic dairy steers. Calves were assigned to 1 of 3 replicated groups at birth: conventional (CONV; n=16), organic (pasture and concentrate; ORG; n=16), or organic grass only (GRS; n=17), and analysis of variables was on a pen basis. Breed groups of calves were Holstein (HO; n=9); Holsteins (n=11) maintained at 1964 breed average level; crossbreds (n=19) including combinations of HO, Montbéliarde, and Swedish Red; and crossbreds (n=10) including combinations of HO, Jersey, Swedish Red, and Normande. The CONV steers were fed a diet of 80% concentrate and 20% forage. The ORG steers were fed a diet of organic corn, organic corn silage, and at least 30% of their diet consisted of organic pasture during the grazing season. The GRS steers grazed pasture during the grazing season and were fed high-quality hay or hay silage during the nongrazing season. Intakes of a total mixed ration were recorded daily with herd management software. A profit function was defined to include revenues and expenses for beef value, feed intake, pasture intake, health cost, and yardage. The GRS (358.6 kg) steers had lesser total gains from birth to slaughter than ORG (429.6 kg) and CONV (534.5 kg) steers. Furthermore, the GRS (0.61 kg/d) steers had lesser average daily gain from birth compared with ORG (0.81 kg/d) and CONV (1.1 kg/d) steers. The GRS and ORG steers had smaller rib eye area (49.5 and 65.8 cm(2), respectively) compared with CONV (75.4 cm(2)) steers. For profitability, GRS steers had 43% greater profit than CONV steers due to organic beef price premiums and lower feed costs. On the other hand, ORG steers had substantially less profit than CONV steers. The higher cost of production for the ORG steers is due to the extreme high value of organic corn. The results of the current study illustrate the economic potential of alternative strategies for growing and marketing male offspring of organic dairy cattle in the Midwest. Copyright © 2014 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Research on fatigue driving pre-warning system based on multi-information fusion

NASA Astrophysics Data System (ADS)

Zhao, Xuyang; Ye, Wenwu

2018-05-01

With the development of science and technology, transportation network has grown faster. But at the same time, the quantity of traffic accidents due to fatigue driving grows faster as well. In the meantime, fatigue driving has been one of the main causes of traffic accidents. Therefore, it is indispensable for us to study the detection of fatigue driving to help to driving safety. There are numerous approaches in discrimination method. Each type of method has its reasonable theoretical basis, but the disadvantages of traditional fatigue driving detection methods have been more and more obvious since we study the traditional physiology and psychological features of fatigue drivers. So we set up a new system based on multi-information fusion and pattern recognition theory. In the paper, the fatigue driving pre-warning system discriminates fatigue by analyzing the characteristic parameters, the parameters derived from the steering wheel angle, the driver's power of gripping and the heart rate. And the data analysis system is established based on fuzzy C-means clustering theory. Finally, KNN classifier is used to establish the relation between feature indexes and fatigue degree. It is verified that the system has the better accuracy, agility and robustness according to our confirmatory experiment.

Virtual-reality-based system for controlled study of cataplexy

NASA Astrophysics Data System (ADS)

Augustine, Kurt E.; Cameron, Bruce M.; Camp, Jon J.; Krahn, Lois E.; Robb, Richard A.

2002-05-01

Cataplexy is a sudden loss of voluntary muscle control experienced by narcolepsy patients. It is usually triggered by strong, spontaneous emotions and is more common in times of stress. The Sleep Disorders Unit and the Biomedical Imaging Resource at Mayo Clinic are developing interactive display technology for reliably inducing cataplexy during clinical monitoring. The project is referred to as the Cataplexy/Narcolepsy Activation Program, or CatNAP. We have developed an automobile driving simulation that introduces humorous, surprising, and stress-inducing events and objects as the patient attempts to navigate a vehicle through a virtual town. The patient wears a head-mounted display and controls the vehicle via a driving simulator steering wheel and pedal cluster. As the patient attempts to drive through the town, various objects, sounds or conditions occur that distract, startle, frustrate or amuse. These responses may trigger a cataplectic episode, which can then be clinically evaluated. We believe CatNAP is a novel and innovative example of the effective application of virtual reality technology to study an important clinical problem that has resisted previous approaches. An evaluation phase with volunteer patients previously diagnosed with cataplexy has been completed. The prototype system is being prepared for a full clinical study.

Head posture measurements among work vehicle drivers and implications for work and workplace design.

PubMed

Eklund, J; Odenrick, P; Zettergren, S; Johansson, H

1994-04-01

An increased risk of musculoskeletal disorders, e.g. from the neck region, has been found among professional drivers of work vehicles. The purpose of this study was to identify causes of postural load and implications for vehicle design and work tasks. A second purpose was to develop the methods for measurement and analysis of head postures. Field measurements of head postures for drivers of fork lift trucks, forestry machines, and cranes were carried out. The equipment used was an electric goniometer measurement system, containing a mechanical transmission between the head and the upper trunk. Methods for data presentation and quantification were developed. The results showed that rotatable and movable driver cabins improved head postures and viewing angles substantially. Narrow window frame structures and large, optimally-placed windows were also advantageous. The steering wheel, controls, and a high backrest restricted shoulder rotation, which increased head rotation in unfavourable viewing angles. Improved workspace layouts and work organization factors such as job enlargement decreased the influence of strenuous postures. The results also showed that head postures should be analysed in two or three dimensions simultaneously, otherwise the postures taken will be underestimated in relation to the maximal voluntary movement.

Concurrent processing of vehicle lane keeping and speech comprehension tasks.

PubMed

Cao, Shi; Liu, Yili

2013-10-01

With the growing prevalence of using in-vehicle devices and mobile devices while driving, a major concern is their impact on driving performance and safety. However, the effects of cognitive load such as conversation on driving performance are still controversial and not well understood. In this study, an experiment was conducted to investigate the concurrent performance of vehicle lane keeping and speech comprehension tasks with improved experimental control of the confounding factors identified in previous studies. The results showed that the standard deviation of lane position (SDLP) was increased when the driving speed was faster (0.30 m at 36 km/h; 0.36 m at 72 km/h). The concurrent comprehension task had no significant effect on SDLP (0.34 m on average) or the standard deviation of steering wheel angle (SDSWA; 5.20° on average). The correct rate of the comprehension task was reduced in the dual-task condition (from 93.4% to 91.3%) compared with the comprehension single-task condition. Mental workload was significantly higher in the dual-task condition compared with the single-task conditions. Implications for driving safety were discussed. Copyright © 2013 Elsevier Ltd. All rights reserved.

Development and testing of a computer assisted remote-control system for the compact loader-trammer. Report of Investigations/1992

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ruff, T.M.

1992-01-01

A prototype mucking machine designed to operate in narrow vein stopes was developed by Foster-Miller, Inc., Waltham, MA, under contract with the U.S. Bureau of Mines. The machine, called a compact loader/trammer, or minimucker, was designed to replace slusher muckers in narrow-vein underground mines. The minimucker is a six-wheel-drive, skid-steered, load-haul-dump machine that loads muck at the front with a novel slide-bucket system and ejects it out the rear so that the machine does not have to be turned around. To correct deficiencies of the tether remote control system, a computer-based, radio remote control was retrofitted to the minimucker. Initialmore » tests indicated a need to assist the operator in guiding the machine in narrow stopes and an automatic guidance system that used ultrasonic ranging sensors and a wall-following algorithm was installed. Additional tests in a simulated test stope showed that these changes improved the operation of the minimucker. The design and functions of the minimucker and its computer-based, remote control system are reviewed, and an ultrasonic, sensor-based guidance system is described.« less

Independent Orbiter Assessment (IOA): Analysis of the hydraulics/water spray boiler subsystem

NASA Technical Reports Server (NTRS)

Duval, J. D.; Davidson, W. R.; Parkman, William E.

1986-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results for the Orbiter Hydraulics/Water Spray Boiler Subsystem. The hydraulic system provides hydraulic power to gimbal the main engines, actuate the main engine propellant control valves, move the aerodynamic flight control surfaces, lower the landing gear, apply wheel brakes, steer the nosewheel, and dampen the external tank (ET) separation. Each hydraulic system has an associated water spray boiler which is used to cool the hydraulic fluid and APU lubricating oil. The IOA analysis process utilized available HYD/WSB hardware drawings, schematics and documents for defining hardware assemblies, components, and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. Of the 430 failure modes analyzed, 166 were determined to be PCIs.

Methods of Collecting and Analyzing Rearward Visibility Data for Agricultural Machinery: Hazard and/or Object Detectability.

PubMed

Ehlers, Shawn G; Field, William E; Ess, Daniel R

2017-01-26

Recent interest in rearward visibility for private, construction, and commercial vehicles and documentation of rearward runovers involving bystanders outside the field of vision of the vehicle operator led to an investigation into the need for enhanced methods of rearward visibility for large, off-highway, agricultural equipment. A review of the literature found limited relevant research and minimal data on incidents involving rearward runovers of bystanders and co-workers. This article reviews the findings regarding the methods identified and tested to collect and analyze rearward visibility data, from the operator's perspective, for large self-propelled agricultural equipment, including the four-wheel drive tractors, combines, agricultural sprayers, and skid-steer loaders that are increasingly found on agricultural production sites. The methods identified, largely drawn from research conducted on private and commercial vehicles, were tested to determine their application in identifying rearward blind spots. These methods are described, and the findings from field-testing of specific machines are provided. Recommendations include establishing an appropriate engineering standard regarding rearward visibility of agricultural equipment with limited rearward vision and the use of rearward alarm systems for warning bystanders of rearward movement. Copyright© by the American Society of Agricultural Engineers.

Road sign recognition with fuzzy adaptive pre-processing models.

PubMed

Lin, Chien-Chuan; Wang, Ming-Shi

2012-01-01

A road sign recognition system based on adaptive image pre-processing models using two fuzzy inference schemes has been proposed. The first fuzzy inference scheme is to check the changes of the light illumination and rich red color of a frame image by the checking areas. The other is to check the variance of vehicle's speed and angle of steering wheel to select an adaptive size and position of the detection area. The Adaboost classifier was employed to detect the road sign candidates from an image and the support vector machine technique was employed to recognize the content of the road sign candidates. The prohibitory and warning road traffic signs are the processing targets in this research. The detection rate in the detection phase is 97.42%. In the recognition phase, the recognition rate is 93.04%. The total accuracy rate of the system is 92.47%. For video sequences, the best accuracy rate is 90.54%, and the average accuracy rate is 80.17%. The average computing time is 51.86 milliseconds per frame. The proposed system can not only overcome low illumination and rich red color around the road sign problems but also offer high detection rates and high computing performance.

Operation tools with dielectric elastomer pressure sensors

NASA Astrophysics Data System (ADS)

Böse, Holger; Müller, Dominik; Ehrlich, Johannes

2017-04-01

New sensors based on dielectric elastomers have recently been shown to exhibit high sensitivity for compression loads. The basic design of these sensors exhibits two profiled surfaces coated with electrode layers between which an elastomer film with the counter-electrode is confined. All components of the sensor are prepared with silicone whose stiffness can be varied in a wide range. Depending on the details of the sensor design, various effects contribute to the enhancement of the capacitance. The intermediate elastomer film is stretched upon compression, the elastomer profiles are deformed and the electrode layers on the elastomer profiles and in the elastomer film approach each other. Beside the detection of pressure, such sensors can also be used for operation tools in human-machine interfaces. To demonstrate this potential, a touch pad with six pressure-sensitive fields is presented. The corresponding sensors integrated in the touch fields detect the exerted forces of the finger, show them on a display and control the brightness of some LEDs. As a second example, the integration of sensor-based control fields on an automotive steering wheel is shown. Finally, the sensors can also be used in fabrics to control arbitrary functions of wearable electronic devices.

Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

PubMed Central

Deusdado, Pedro; Guedes, Magno; Silva, André; Marques, Francisco; Pinto, Eduardo; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Santana, Pedro; Corisco, José; Almeida, Susana Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

2016-01-01

This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling. PMID:27618060

Fiber Optic Control System Integration program: for optical flight control system development

NASA Astrophysics Data System (ADS)

Weaver, Thomas L.; Seal, Daniel W.

1994-10-01

Hardware and software were developed for optical feedback links in the flight control system of an F/A-18 aircraft. Developments included passive optical sensors and optoelectronics to operate the sensors. Sensors with different methods of operation were obtained from different manufacturers and integrated with common optoelectronics. The sensors were the following: Air Data Temperature; Air Data Pressure; and Leading Edge Flap, Nose Wheel Steering, Trailing Edge Flap, Pitch Stick, Rudder, Rudder Pedal, Stabilator, and Engine Power Lever Control Position. The sensors were built for a variety of aircraft locations and harsh environments. The sensors and optoelectronics were as similar as practical to a production system. The integrated system was installed by NASA for flight testing. Wavelength Division Multiplexing proved successful as a system design philosophy. Some sensors appeared to be better choices for aircraft applications than others, with digital sensors generally being better than analog sensors, and rotary sensors generally being better than linear sensors. The most successful sensor approaches were selected for use in a follow-on program in which the sensors will not just be flown on the aircraft and their performance recorded; but, the optical sensors will be used in closing flight control loops.

Road Sign Recognition with Fuzzy Adaptive Pre-Processing Models

PubMed Central

Lin, Chien-Chuan; Wang, Ming-Shi

2012-01-01

A road sign recognition system based on adaptive image pre-processing models using two fuzzy inference schemes has been proposed. The first fuzzy inference scheme is to check the changes of the light illumination and rich red color of a frame image by the checking areas. The other is to check the variance of vehicle's speed and angle of steering wheel to select an adaptive size and position of the detection area. The Adaboost classifier was employed to detect the road sign candidates from an image and the support vector machine technique was employed to recognize the content of the road sign candidates. The prohibitory and warning road traffic signs are the processing targets in this research. The detection rate in the detection phase is 97.42%. In the recognition phase, the recognition rate is 93.04%. The total accuracy rate of the system is 92.47%. For video sequences, the best accuracy rate is 90.54%, and the average accuracy rate is 80.17%. The average computing time is 51.86 milliseconds per frame. The proposed system can not only overcome low illumination and rich red color around the road sign problems but also offer high detection rates and high computing performance. PMID:22778650

Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots

PubMed Central

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-01-01

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. PMID:24152933

Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots.

PubMed

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-10-21

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments.

Effect of post-ethanol extraction sorghum silage as a forage source in growing and finishing diets on steer performance, carcass characteristics, and nutrient digestibility.

PubMed

Blank, C P; Loy, D D; Hansen, S L

2017-07-01

Two experiments evaluated the use of post-ethanol extraction sorghum silage as an alternative forage source in feedlot diets. Seventy-two crossbred steers (397 kg [SD 23]) were used to evaluate growth and carcass characteristics. Steers were blocked by BW into pens of 6 steers and randomly assigned to growing diets containing 40% (DM basis) sorghum silage (SS; 57.6% NDF) or grass hay (CON; 63.3% NDF) for 56 d ( = 6 pens per treatment). Within each treatment, steers transitioned to dry-rolled corn-based finishing diets (fed for 56 d) containing 6% effective NDF contributed by the forage source, resulting in forage inclusions of 16% for SS and 13.1% for CON, where forage replaced corn. A subsample of steers ( = 12 per treatment) housed in pens equipped with GrowSafe bunks were used for determination of growing phase diet total tract digestibility. From d 28 to 42, steers received titanium dioxide at approximately 10 g∙steer∙d, and fecal samples were collected on d 41 and 42. Fecal and total mixed ration samples were dried and ground for analysis of DM, OM, NDF, ADF, CP, ether extract (EE), and starch. Data were analyzed with the MIXED procedure of SAS, with fixed effects of treatment and block for performance and carcass data or treatment for digestibility data; significance was determined at ≤ 0.05 and tendencies at ≤ 0.10. Growing phase DMI and ADG did not differ due to treatment ( ≥ 0.19); however, SS-fed steers had improved G:F compared with CON-fed steers ( = 0.04). Finishing period ADG and G:F did not differ ( ≥ 0.15) between treatments, despite SS-fed steers having lesser ( = 0.008) DMI than CON-fed steers. No differences in DMI, ADG, or G:F over the whole trial were noted between treatments ( ≥ 0.12) nor were any carcass traits affected ( ≥ 0.23). During the digestibility assessment period, DMI was less ( = 0.003) in SS-fed steers. Growing phase total tract apparent digestibility of DM and starch did not differ ( ≥ 0.19) due to treatment; however, OM digestibility tended to be greater ( = 0.09) in SS-fed steers. Steers fed SS had greater ( ≤ 0.03) digestibility of EE, CP, NDF, and hemicellulose than CON-fed steers. However, CON-fed steers had greater ( < 0.0001) ADF digestibility than SS-fed steers. These data suggest that postextraction sorghum silage can be effectively used in feedlot diets as an alternative forage source.

Fine pointing control for a Next-Generation Space Telescope

NASA Astrophysics Data System (ADS)

Mosier, Gary E.; Femiano, Michael; Ha, Kong; Bely, Pierre Y.; Burg, Richard; Redding, David C.; Kissil, Andrew; Rakoczy, John; Craig, Larry

1998-08-01

The Next Generation Space Telescope will provide at least ten times the collecting area of the Hubble Space Telescope in a package that fits into the shroud of an expendable launch vehicle. The resulting large, flexible structure provides a challenge to the design of a pointing control system for which the requirements are at the milli-arcsecond level. This paper describes a design concept in which pointing stability is achieved by means of a nested-loop design involving an inertial attitude control system (ACS) and a fast steering mirror (FSM). A key to the integrated control design is that the ACS controllers has a bandwidth well below known structural modes and the FSM uses a rotationally balanced mechanism which should not interact with the flexible modes that are within its control bandwidth. The ACS controller provides stable pointing of the spacecraft bus with star trackers and gyros. This low bandwidth loop uses nearly co-located sensors and actuators to slew and acquire faint guide stars in the NIR camera. This controller provides a payload reference stable to the arcsecond level. Low-frequency pointing errors due to sensor noise and dynamic disturbances are suppressed by a 2-axis gimbaled FSM locate din the instrument module. The FSM servo bandwidth of 6 Hz is intended to keep the guide star position stable in the NIR focal plane to the required milli-arcsecond level. The mirror is kept centered in its range of travel by a low-bandwidth loop closed around the ACS. This paper presents the result of parametric trade studies designed to assess the performance of this control design in the presence of modeled reaction wheel disturbances, assumed to be the principle source of vibration for the NGST, and variations in structural dynamics. Additionally, requirements for reaction wheel disturbance levels and potential vibration isolation subsystems were developed.

Magnetic air capsule robotic system: proof of concept of a novel approach for painless colonoscopy.

PubMed

Valdastri, P; Ciuti, G; Verbeni, A; Menciassi, A; Dario, P; Arezzo, A; Morino, M

2012-05-01

Despite being considered the most effective method for colorectal cancer diagnosis, colonoscopy take-up as a mass-screening procedure is limited mainly due to invasiveness, patient discomfort, fear of pain, and the need for sedation. In an effort to mitigate some of the disadvantages associated with colonoscopy, this work provides a preliminary assessment of a novel endoscopic device consisting in a softly tethered capsule for painless colonoscopy under robotic magnetic steering. The proposed platform consists of the endoscopic device, a robotic unit, and a control box. In contrast to the traditional insertion method (i.e., pushing from behind), a "front-wheel" propulsion approach is proposed. A compliant tether connecting the device to an external box is used to provide insufflation, passing a flexible operative tool, enabling lens cleaning, and operating the vision module. To assess the diagnostic and treatment ability of the platform, 12 users were asked to find and remove artificially implanted beads as polyp surrogates in an ex vivo model. In vivo testing consisted of a qualitative study of the platform in pigs, focusing on active locomotion, diagnostic and therapeutic capabilities, safety, and usability. The mean percentage of beads identified by each user during ex vivo trials was 85 ± 11%. All the identified beads were removed successfully using the polypectomy loop. The mean completion time for accomplishing the entire procedure was 678 ± 179 s. No immediate mucosal damage, acute complications such as perforation, or delayed adverse consequences were observed following application of the proposed method in vivo. Use of the proposed platform in ex vivo and preliminary animal studies indicates that it is safe and operates effectively in a manner similar to a standard colonoscope. These studies served to demonstrate the platform's added advantages of reduced size, front-wheel drive strategy, and robotic control over locomotion and orientation.

Collective multipartite Einstein-Podolsky-Rosen steering: more secure optical networks.

PubMed

Wang, Meng; Gong, Qihuang; He, Qiongyi

2014-12-01

Collective multipartite Einstein-Podolsky-Rosen (EPR) steering is a type of quantum correlation shared among N parties, where the EPR paradox of one party can only be realized by performing local measurements on all the remaining N-1 parties. We formalize the collective tripartite steering in terms of local hidden state model and give the steering inequalities that act as signatures and suggest how to optimize collective tripartite steering in specific optical schemes. The special entangled states with property of collective multipartite steering may have potential applications in ultra-secure multiuser communication networks where the issue of trust is critical.

Effects of a Saccharomyces cerevisiae fermentation product in receiving diets of newly weaned beef steers II: Digestibility and response to a vaccination challenge.

PubMed

Deters, E L; Stokes, R S; Genther-Schroeder, O N; Hansen, S L

2018-06-15

Thirty-six newly weaned, crossbred beef steers (323 ± 12 kg; SD) from a single-source were used in a 56-d study to examine the effects of a Saccharomyces cerevisiae fermentation product (SCFP; Original XPC, Diamond V, Cedar Rapids, IA) on total tract nutrient digestibility and response to a vaccination challenge. Twelve d after arrival, steers were blocked by body weight (BW) and randomly assigned to treatments: SCFP at 0 (CON), 14 (SCFP14), or 28 (SCFP28) g·steer-1·d-1. Steers were fed via bunks that measured individual intake and received ear tags (CowManager, Select Sires, Plain City, OH) that recorded rumination and activity. Body weights were collected on d -1, 0, 14, 28, 42, 55, and 56. Titanium dioxide was fed as an indigestible marker to all steers from d 12 to 27, followed by consecutive d fecal samples, for determination of total tract nutrient digestibility. On d 34, steers received a Mannheimia haemolytica vaccination (One Shot, Zoetis, Kalamazoo, MI) to induce an acute phase protein (APP) response. Blood was collected from all steers on d 34 (prior to vaccination) and 3, 6, 9, 11, and 14 d post-vaccination. Data were analyzed using Proc Mixed of SAS (experimental unit = steer; n = 12/treatment); the model included the fixed effect of treatment and block and the random effect of steer. Blood measures, ear tag, and dry matter intake (DMI) data for the 15-d vaccination period were analyzed as repeated measures. Contrast statements (CON vs. SCFP14; SCFP14 vs. SCFP28) were used to compare treatment means. Digestibility of dry matter and organic matter was greater for SCFP14 vs. SCFP28 (P ≤ 0.03). Steers fed SCFP14 exhibited greater crude protein digestibility compared to CON (P < 0.01). Steers fed SCFP14 exhibited greater DMI for 15 d post-vaccination (P = 0.02) and greater ADG from d 28 to 56 (P = 0.05) vs. SCFP28-fed steers. Post-vaccination, steers fed SCFP14 spent less time ruminating per kg of dry matter, neutral detergent fiber (NDF), and physically effective NDF consumed than CON or SCFP28 (P ≤ 0.07). Serum IL-8 and haptoglobin concentrations tended to be lesser for steers fed SCFP14 vs. SCFP28 (P ≤ 0.08). Ceruloplasmin concentrations were lesser on d 14 post-vaccination for steers fed SCFP14 vs. CON or SCFP28 (treatment × d; P = 0.004); there were no differences on other sampling days due to treatment. Although no overall performance benefit was noted, steers fed SCFP14 responded better to a vaccination challenge vs. SCFP28-fed steers.

Why Animals Run on Legs, Not on Wheels.

ERIC Educational Resources Information Center

Diamond, Jared

1983-01-01

Speculates why animals have not developed wheels in place of inefficient legs. One study cited suggests three reasons why animals are better off without wheels: wheels are efficient only on hard surfaces, limitation of wheeled motion due to vertical obstructions, and the problem of turning in spaces cluttered with obstacles. (JN)

The Fatigue Life Prediction of Train Wheel Rims Containing Spherical Inclusions

NASA Astrophysics Data System (ADS)

Li, Yajie; Chen, Huanguo; Cai, Li; Chen, Pei; Qian, Jiacheng; Wu, Jianwei

2018-03-01

It is a common phenomenon that fatigue crack initiation occurs frequently in the inclusions of wheel rims. Research on the fatigue life of wheel rims with spherical inclusions is of great significance on the reliability of wheels. To find the danger point and working condition of a wheel, the stress state of the wheel rim with spherical inclusions was analyzed using the finite element method. Results revealed that curve conditions are dangerous. The critical plane method, based on the cumulative fatigue damage theory, was used to predict the fatigue life of the wheel rim and whether it contained spherical inclusions or not under curve conditions. It was found that the fatigue life of the wheel rim is significantly shorter when the wheel rim contains spherical inclusions. Analysis of the results can provide a theoretical basis and technical support for train operations and maintenance.

Propulsion Wheel Motor for an Electric Vehicle

NASA Technical Reports Server (NTRS)

Herrera, Eduardo (Inventor); Farrell, Logan Christopher (Inventor); Guo, Raymond (Inventor); Junkin, Lucien Q. (Inventor); Bluethmann, William J. (Inventor); Vitale, Robert L. (Inventor); Weber, Steven J. (Inventor); Lee, Chunhao J. (Inventor); Eggleston, IV, Raymond Edward (Inventor); Figuered, Joshua M. (Inventor);

Suspension system for a wheel rolling on a flat track. [bearings for directional antennas

NASA Technical Reports Server (NTRS)

Mcginness, H. D. (Inventor)

1981-01-01

An improved suspension system for an uncrowned wheel rolling on a flat track is presented. It is characterized by a wheel frame assembly including a wheel frame and at least one uncrowned wheel connected in supporting relation with the frame. It is adapted to be seated in rolling engagement with a flat track, a load supporting bed, and a plurality of flexural struts interconnecting the bed in supported relation with the frame. Each of said struts is disposed in a plane passing through the center of the uncrowned wheel surface along a line substantially bisecting the line of contact established between the wheel surface and the flat surface of the truck and characterized by a modulus of elasticity sufficient for maintaining the axis of rotation for the wheel in substantial parallelism with the line of contact established between the surfaces of the wheel and track.

Peculiarities of Clutch Forming Rails and Wheel Block Construction

NASA Astrophysics Data System (ADS)

Shiler, V. V.; Galiev, I. I.; Shiler, A. V.

2018-03-01

The clutch of the wheel and rail is significantly influenced by the design features of the standard wheel pair, which are manifested in the presence of "parasitic" slipping of the wheels along the rails during its movement. The purpose of the presented work is to evaluate new design solutions for wheel sets. The research was carried out using methods of comparative simulation modelling and physical prototyping. A new design of the wheel pair (block wheel pair) is proposed, which features an independent rotation of all surfaces of the wheels in contact with the rails. The block construction of the wheel pair forms open mechanical contours with the track gauge, which completely eliminates the "parasitic" slippage. As a result, in the process of implementing traction or braking forces, the coupling coefficient of the block construction of the wheel pair is significantly higher than that of existing structures. In addition, in the run-out mode, the resistance to movement of the block wheel pair is half as much. All this will allow one to significantly reduce the energy consumption for traction of trains, wear of track elements and crew, and to increase the speed and safety of train traffic.

Body weight manipulation, reinforcement value and choice between sucrose and wheel running: a behavioral economic analysis.

PubMed

Belke, Terry W; Pierce, W David

2009-02-01

Twelve female Long-Evans rats were exposed to concurrent variable (VR) ratio schedules of sucrose and wheel-running reinforcement (Sucrose VR 10 Wheel VR 10; Sucrose VR 5 Wheel VR 20; Sucrose VR 20 Wheel VR 5) with predetermined budgets (number of responses). The allocation of lever pressing to the sucrose and wheel-running alternatives was assessed at high and low body weights. Results showed that wheel-running rate and lever-pressing rates for sucrose and wheel running increased, but the choice of wheel running decreased at the low body weight. A regression analysis of relative consumption as a function of relative price showed that consumption shifted toward sucrose and interacted with price differences in a manner consistent with increased substitutability. Demand curves showed that demand for sucrose became less elastic while demand for wheel running became more elastic at the low body weight. These findings reflect an increase in the difference in relative value of sucrose and wheel running as body weight decreased. Discussion focuses on the limitations of response rates as measures of reinforcement value. In addition, we address the commonalities between matching and demand curve equations for the analysis of changes in relative reinforcement value.

Measurements of characteristic parameters of extremely small cogged wheels with low module by means of low-coherence interferometry

NASA Astrophysics Data System (ADS)

Pakula, Anna; Tomczewski, Slawomir; Skalski, Andrzej; Biało, Dionizy; Salbut, Leszek

2010-05-01

This paper presents novel application of Low Coherence Interferometry (LCI) in measurements of characteristic parameters as circular pitch, foot diameter, heads diameter, in extremely small cogged wheels (cogged wheel diameter lower than θ=3 mm and module m = 0.15) produced from metal and ceramics. The most interesting issue concerning small diameter cogged wheels occurs during their production. The characteristic parameters of the wheel depend strongly on the manufacturing process and while inspecting small diameter wheels the shrinkage during the cast varies with the slight change of fabrication process. In the paper the LCI interferometric Twyman - Green setup with pigtailed high power light emitting diode, for cogged wheels measurement, is described. Due to its relatively big field of view the whole wheel can be examined in one measurement, without the necessity of numerical stitching. For purposes of small cogged wheel's characteristic parameters measurement the special binarization algorithm was developed and successfully applied. At the end the results of measurement of heads and foot diameters of two cogged wheels obtained by proposed LCI setup are presented and compared with the results obtained by the commercial optical profiler. The results of examination of injection moulds used for fabrication of measured cogged wheels are also presented. Additionally, the value of cogged wheels shrinkage is calculated as a conclusion for obtained results. Proposed method is suitable for complex measurements of small diameter cogged wheels with low module especially when there are no measurements standards for such objects.

Exercise to reduce the escalation of cocaine self-administration in adolescent and adult rats.

PubMed

Zlebnik, Natalie E; Anker, Justin J; Carroll, Marilyn E

2012-12-01

Concurrent access to an exercise wheel decreases cocaine self-administration under short access (5 h/day for 5 days) conditions and suppresses cocaine-primed reinstatement in adult rats. The effect of exercise (wheel running) on the escalation of cocaine intake during long access (LgA, 6 h/day for 26 days) conditions was evaluated. Adolescent and adult female rats acquired wheel running, and behavior was allowed to stabilize for 3 days. They were then implanted with an iv catheter and allowed to self-administer cocaine (0.4 mg/kg, iv) during 6-h daily sessions for 16 days with concurrent access to either an unlocked or a locked running wheel. Subsequently, for ten additional sessions, wheel access conditions during cocaine self-administration sessions were reversed (i.e., locked wheels became unlocked and vice versa). In the adolescents, concurrent access to the unlocked exercise wheel decreased responding for cocaine and attenuated escalation of cocaine intake irrespective of whether the locked or unlocked condition came first. However, cocaine intake increased when the wheel was subsequently locked for the adolescents that had initial access to an unlocked wheel. Concurrent wheel access either before or after the locked wheel access did not reduce cocaine intake in adults. Wheel running reduced cocaine intake during LgA conditions in adolescent but not adult rats, and concurrent access to the running wheel was necessary. These results suggest that exercise prevents cocaine seeking and that this effect is more pronounced in adolescents than adults.

Ruminal acidosis challenge impact on ruminal temperature in feedlot cattle.

PubMed

Wahrmund, J L; Ronchesel, J R; Krehbiel, C R; Goad, C L; Trost, S M; Richards, C J

2012-08-01

The objective of this experiment was to determine if ruminal temperature rise coincides with pH reduction using an acidosis challenge model. Twelve ruminally cannulated steers (518 ± 28 kg BW) were administered ruminal temperature-monitoring devices that recorded temperature every 2 min. Steers were fed a 63% concentrate diet at 1.6% BW for 20 d before being randomly assigned to 1 of 3 acidosis challenge treatments: no dietary change (CON), one-half of daily DMI replaced with cracked corn (HALF), or all of daily DMI replaced with cracked corn (CORN). The challenge was initiated by ruminally dosing steers with their treatment diets. Ruminal pH and rectal temperatures (T(rec)) were recorded every 3 h for 72 h. All steers were offered CON diets at 24 and 48 h after challenge. Ruminal pH showed a treatment × day effect (P = 0.01). Ruminal pH of CORN steers was lower (P = 0.03) than that of HALF steers on d 1, was lower (P ≤ 0.004) than that of HALF and CON steers on d 2, and tended to be lower (P ≤ 0.10) than that of HALF and CON steers on d 3. Treatment did not affect (P ≥ 0.42) RecT. Ruminal temperature (T(rum)) showed a treatment · d(-1) · h(-1) after feeding interaction (P < 0.01). At 3 h after challenge, T(rum) of CORN and HALF steers was higher (P ≤ 0.01) than that of CON steers. On d 2, T(rum) of CORN steers was higher (P ≤ 0.03) than that of CON between 6 and 12 h after feeding. From 15 to 21 h after feeding on d 2, T(rum) of HALF steers was higher (P < 0.01) than that of CORN and CON steers. On d 3, at the time of feeding until 3 h later, T(rum) of CORN steers was lower (P ≤ 0.04) than that of all other steers. Rectal temperature was correlated (P ≤ 0.01) with T(rum) on all days for CON and CORN steers. Ruminal pH was negatively correlated (P ≤ 0.04) with T(rec) on d 2 and T(rum) on d 1 in CORN steers, and T(rum) was negatively correlated (P ≤ 0.02) with ruminal pH in HALF and CON steers on d 1 and 3, respectively. The amount of time above T(rum) of 39.0°C or 39.45°C was correlated (P ≤ 0.05) with the time spent below a ruminal pH of 5.5 in CORN steers; however, time above T(rum) of 39.0°C did not differ (P = 0.87) among treatments. Results indicate that there is a negative relationship between T(rum) and ruminal pH during an acidotic episode; therefore, T(rum) monitoring can detect a potential acidotic episode.

Quantum steerability: Characterization, quantification, superactivation, and unbounded amplification

NASA Astrophysics Data System (ADS)

Hsieh, Chung-Yun; Liang, Yeong-Cherng; Lee, Ray-Kuang

2016-12-01

Quantum steering, also called Einstein-Podolsky-Rosen steering, is the intriguing phenomenon associated with the ability of spatially separated observers to steer—by means of local measurements—the set of conditional quantum states accessible by a distant party. In the light of quantum information, all steerable quantum states are known to be resources for quantum information processing tasks. Here, via a quantity dubbed steering fraction, we derive a simple, but general criterion that allows one to identify quantum states that can exhibit quantum steering (without having to optimize over the measurements performed by each party), thus making an important step towards the characterization of steerable quantum states. The criterion, in turn, also provides upper bounds on the largest steering-inequality violation achievable by arbitrary finite-dimensional maximally entangled states. For the quantification of steerability, we prove that a strengthened version of the steering fraction is a convex steering monotone and demonstrate how it is related to two other steering monotones, namely, steerable weight and steering robustness. Using these tools, we further demonstrate the superactivation of steerability for a well-known family of entangled quantum states, i.e., we show how the steerability of certain entangled, but unsteerable quantum states can be recovered by allowing joint measurements on multiple copies of the same state. In particular, our approach allows one to explicitly construct a steering inequality to manifest this phenomenon. Finally, we prove that there exist examples of quantum states (including some which are unsteerable under projective measurements) whose steering-inequality violation can be arbitrarily amplified by allowing joint measurements on as little as three copies of the same state. For completeness, we also demonstrate how the largest steering-inequality violation can be used to bound the largest Bell-inequality violation and derive, analogously, a simple sufficient condition for Bell nonlocality from the latter.

Wheeled and Tracked Vehicle Endurance Testing

DTIC Science & Technology

2014-10-02

Vehicle (ATV) 10 10 50 30 Fire Trucks - Crash and Rescue, Brush, Structural 49/56/50 22/16/50 - 29/28/0 a Wheeled Combat 30 40 15 15 Roboticb - 30 50... Wheeled Light W-M = Wheeled Medium W-H = Wheeled Heavy LM-TT = Light/Medium Truck H-TT = Heavy Truck Tractor/Trailer M = Motorcycle FT = Fire ...TYPE Final 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Test Operations Procedure (TOP) 02-2-506A Wheeled and Tracked Vehicle Endurance

Leg pairs as virtual wheels

NASA Astrophysics Data System (ADS)

Howe, Russel; Duttweiler, Mark; Khanlian, Luke; Setrakian, Mark

2005-05-01

We propose the use of virtual wheels as the starting point of a new vehicle design. Each virtual wheel incorporates a pair of simple legs that, by simulating the rotary motion and ground contact of a traditional wheel, combine many of the benefits of legged and wheeled motion. We describe the use of virtual wheels in the design of a robotic mule, presenting an analysis of the mule's mobility the results of our efforts to model and build such a device.

Investigation of diamond wheel topography in Elliptical Ultrasonic Assisted Grinding (EUAG) of monocrystal sapphire using fractal analysis method.

PubMed

Wang, Qiuyan; Zhao, Wenxiang; Liang, Zhiqiang; Wang, Xibin; Zhou, Tianfeng; Wu, Yongbo; Jiao, Li

2018-03-01

The wear behaviors of grinding wheel have significant influence on the work-surface topography. However, a comprehensive and quantitative method is lacking for evaluating the wear conditions of grinding wheel. In this paper, a fractal analysis method is used to investigate the wear behavior of resin-bonded diamond wheel in Elliptical Ultrasonic Assisted Grinding (EUAG) of monocrystal sapphire, and a series of experiments on EUAG and conventional grinding (CG) are performed. The results show that the fractal dimension of grinding wheel topography is highly correlated to the wear behavior, i.e., grain fracture, grain pullout, and wheel loading. An increase in cutting edge density on the wheel surface results in an increase of the fractal dimension, but an increase in the grain pullout and wheel loading results in a decrease in the fractal dimension. The wheel topography in EUAG has a higher fractal dimension than that in CG before 60 passes due to better self-sharpening behavior, and then has a smaller fractal dimension because of more serious wheel loadings after 60 passes. By angle-dependent distribution analysis of profile fractal dimensions, the wheel surface topography is transformed from isotropic to anisotropic. These indicated that the fractal analysis method could be further used in monitoring of a grinding wheel performance in EUAG. Copyright © 2017 Elsevier B.V. All rights reserved.

Timing performance of a self-cancelling turn-signal mechanism in motorcycles based on the ATMega328P microcontroller

NASA Astrophysics Data System (ADS)

Nurbuwat, Adzin Kondo; Eryandi, Kholid Yusuf; Estriyanto, Yuyun; Widiastuti, Indah; Pambudi, Nugroho Agung

2018-02-01

The objective of this study is to measure the time performance of a self-cancelling turn signal mechanism based on the In this study the performance of self-cancelling turn signal based on ATMega328P microcontroller is measured at low speed and high speed treatment on motorcycles commonly used in Indonesia. Time performance measurements were made by comparing the self-cancelling turn signal based on ATMega328P microcontroller with standard motor turn time. Measurements of time at low speed treatment were performed at a speed range of 15 km / h, 20 km / h, 25 km / h on the U-turn test trajectory. The angle of the turning angle of the potentiometer is determined at 3°. The limit of steering wheel turning angle at the potentiometer is set at 3°. For high-speed treatment is 30 km / h, 40 km / h, 50km / h, and 60 km / h, on the L-turn test track with a tilt angle (roll angle) read by the L3G4200D gyroscope sensor. Each speed test is repeated 3 replications. Standard time is a reference for self-cancelling turn signal performance. The standard time obtained is 15.68 s, 11.96 s, 9.34 s at low speed and 4.63 s, 4.06 s, 3.61 s, 3.13 s at high speed. The time test of self-cancelling turn signal shows 16.10 s, 12.42 s, 10.24 s at the low speed and 5.18, 4.51, 3.73, 3.21 at the high speed. At a speed of 15 km / h occurs the instability of motion turns motorcycle so that testing is more difficult. Small time deviations indicate the tool works well. The largest time deviation value is 0.9 seconds at low speed and 0.55 seconds at high speed. The conclusion at low velocity of the highest deviation value occurred at the speed of 25 km / h test due to the movement of slope with inclination has started to happen which resulted in slow reading of steering movement. At higher speeds the time slows down due to rapid sensor readings on the tilt when turning fast at ever higher speeds. The timing performance of self-cancelling turn signal decreases as the motorcycle turning characteristics move from the turn using the steering angle to using a tilt angle based on speed, or vice versa.

14 CFR 23.479 - Level landing conditions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... attitudes: (1) For airplanes with tail wheels, a normal level flight attitude. (2) For airplanes with nose wheels, attitudes in which— (i) The nose and main wheels contact the ground simultaneously; and (ii) The main wheels contact the ground and the nose wheel is just clear of the ground. The attitude used in...

Curve squeal of urban rolling stock—Part 1: State of the art and field measurements

NASA Astrophysics Data System (ADS)

Vincent, N.; Koch, J. R.; Chollet, H.; Guerder, J. Y.

2006-06-01

This is the first part of a series of three papers dealing with curve squeal of urban rolling stock such as metros and trams. After a brief review of the present state of the art, the key parameters involved in curve squeal generation are discussed. Then, some results of field measurement campaigns, on metro and on tramway systems, are presented. A specific measurement methodology is applied for both campaigns in order to record the main key parameters: rolling speed, axle angle of attack, wheel/rail lateral position and modal damping of relevant wheel modes. On-board microphones are mounted close to each wheel of the instrumented bogies in order to locate the squealing wheels. No squeal occurs on the outer wheel of the leading axle in flange contact with the rail. The highest squeal levels are generally found on the front inner wheel. Pure tone frequencies are related to wheel axial modes for metro (undamped steel wheel) and for tramway (resilient wheels). Squeal occurrence is also observed on a bogie with independent wheels.

Sensor set-up for wireless measurement of automotive rim and wheel parameters in laboratory conditions

NASA Astrophysics Data System (ADS)

Borecki, M.; Prus, P.; Korwin-Pawlowski, M. L.; Rychlik, A.; Kozubel, W.

2017-08-01

Modern rims and wheels are tested at the design and production stages. Tests can be performed in laboratory conditions and on the ride. In the laboratory, complex and costly equipment is used, as for example wheel balancers and impact testers. Modern wheel balancers are equipped with electronic and electro-mechanical units that enable touch-less measurement of dimensions, including precision measurement of radial and lateral wheel run-out, automatic positioning and application of the counterweights, and vehicle wheel set monitoring - tread wear, drift angles and run-out unbalance. Those tests are performed by on-wheel axis measurements with laser distance meters. The impact tester enables dropping of weights from a defined height onto a wheel. Test criteria are the loss of pressure of the tire and generation of cracks in the wheel without direct impact of the falling weights. In the present paper, a set up composed of three accelerometers, a temperature sensor and a pressure sensor is examined as the base of a wheel tester. The sensor set-up configuration, on-line diagnostic and signal transmission are discussed.

Nocturnal to Diurnal Switches with Spontaneous Suppression of Wheel-Running Behavior in a Subterranean Rodent

PubMed Central

Tachinardi, Patricia; Tøien, Øivind; Valentinuzzi, Veronica S.; Buck, C. Loren; Oda, Gisele A.

2015-01-01

Several rodent species that are diurnal in the field become nocturnal in the lab. It has been suggested that the use of running-wheels in the lab might contribute to this timing switch. This proposition is based on studies that indicate feed-back of vigorous wheel-running on the period and phase of circadian clocks that time daily activity rhythms. Tuco-tucos (Ctenomys aff. knighti) are subterranean rodents that are diurnal in the field but are robustly nocturnal in laboratory, with or without access to running wheels. We assessed their energy metabolism by continuously and simultaneously monitoring rates of oxygen consumption, body temperature, general motor and wheel running activity for several days in the presence and absence of wheels. Surprisingly, some individuals spontaneously suppressed running-wheel activity and switched to diurnality in the respirometry chamber, whereas the remaining animals continued to be nocturnal even after wheel removal. This is the first report of timing switches that occur with spontaneous wheel-running suppression and which are not replicated by removal of the wheel. PMID:26460828

Analysis and control on changeable wheel tool system of hybrid grinding and polishing machine tool for blade finishing

NASA Astrophysics Data System (ADS)

He, Qiuwei; Lv, Xingming; Wang, Xin; Qu, Xingtian; Zhao, Ji

2017-01-01

Blade is the key component in the energy power equipment of turbine, aircraft engines and so on. Researches on the process and equipment for blade finishing become one of important and difficult point. To control precisely tool system of developed hybrid grinding and polishing machine tool for blade finishing, the tool system with changeable wheel for belt polishing is analyzed in this paper. Firstly, the belt length and wrap angle of each wheel in different position of tension wheel swing angle in the process of changing wheel is analyzed. The reasonable belt length is calculated by using MATLAB, and relationships between wrap angle of each wheel and cylinder expansion amount of contact wheel are obtained. Then, the control system for changeable wheel tool structure is developed. Lastly, the surface roughness of blade finishing is verified by experiments. Theoretical analysis and experimental results show that reasonable belt length and wheel wrap angle can be obtained by proposed analysis method, the changeable wheel tool system can be controlled precisely, and the surface roughness of blade after grinding meets the design requirements.

The vibration behavior of railway track at high frequencies under multiple preloads and wheel interactions

PubMed

Wu; Thompson

2000-09-01

The track foundation is preloaded by multiple wheel loads due to the train weight and, as the pad and ballast are nonlinear, their stiffness depends upon the preload in them. Due to the influence of these resilient components of the track, the track vibration is affected by the wheel loads. It is also affected by the wheel/rail interactions. In this article the preloads in the pad and ballast are calculated by considering the nonlinear properties of the track foundation, and thus the preloaded pad and ballast stiffnesses are determined. The vibration properties are explored for the track under multiple wheel loads and multiple wheel/rail interactions by comparing the results from different track models with and without these effects. It is found that the point receptance of the track is reduced and the vibration decay rate is enhanced at low frequencies due to the wheel loads. The effects of the wheel/rail interactions are most significant for frequencies 400-2000 Hz. Because of the wheel/rail interactions, the point receptance fluctuates and the vibration decay is enhanced in the regions around the wheels.

Impact of grazing dairy steers on winter rye (Secale cereale) versus winter wheat (Triticum aestivum) and effects on meat quality, fatty acid and amino acid profiles, and consumer acceptability of organic beef

PubMed Central

Phillips, Hannah N.; Delate, Kathleen; Turnbull, Robert

2017-01-01

Meat from Holstein and crossbred organic dairy steers finished on winter rye and winter wheat pastures was evaluated and compared for meat quality, fatty acid and amino acid profiles, and consumer acceptability. Two adjacent 4-ha plots were established with winter rye or winter wheat cover crops in September 2015 at the University of Minnesota West Central Research and Outreach Center (Morris, MN). During spring of 2015, 30 steers were assigned to one of three replicate breed groups at birth. Breed groups were comprised of: Holstein (HOL; n = 10), crossbreds comprised of Montbéliarde, Viking Red, and HOL (MVH; n = 10), and crossbreds comprised of Normande, Jersey, and Viking Red (NJV; n = 10). Dairy steers were maintained in their respective replicate breed group from three days of age until harvest. After weaning, steers were fed an organic total mixed ration of organic corn silage, alfalfa silage, corn, soybean meal, and minerals until spring 2016. Breed groups were randomly assigned to winter rye or winter wheat and rotationally grazed from spring until early summer of 2016. For statistical analysis, independent variables were fixed effects of breed, forage, and the interaction of breed and forage, with replicated group as a random effect. Specific contrast statements were used to compare HOL versus crossbred steers. Fat from crossbreds had 13% greater omega-3 fatty acids than HOL steers. Furthermore, the omega-6/3 ratio was 14% lower in fat from crossbreds than HOL steers. For consumer acceptability, steaks from steers grazed on winter wheat had greater overall liking than steers grazed on winter rye. Steak from crossbreeds had greater overall liking than HOL steers. The results suggest improvement in fatty acids and sensory attributes of beef from crossbred dairy steers compared to HOL steers, as well as those finished on winter wheat compared to winter rye. PMID:29099863

Impact of grazing dairy steers on winter rye (Secale cereale) versus winter wheat (Triticum aestivum) and effects on meat quality, fatty acid and amino acid profiles, and consumer acceptability of organic beef.

PubMed

Phillips, Hannah N; Heins, Bradley J; Delate, Kathleen; Turnbull, Robert

2017-01-01

Meat from Holstein and crossbred organic dairy steers finished on winter rye and winter wheat pastures was evaluated and compared for meat quality, fatty acid and amino acid profiles, and consumer acceptability. Two adjacent 4-ha plots were established with winter rye or winter wheat cover crops in September 2015 at the University of Minnesota West Central Research and Outreach Center (Morris, MN). During spring of 2015, 30 steers were assigned to one of three replicate breed groups at birth. Breed groups were comprised of: Holstein (HOL; n = 10), crossbreds comprised of Montbéliarde, Viking Red, and HOL (MVH; n = 10), and crossbreds comprised of Normande, Jersey, and Viking Red (NJV; n = 10). Dairy steers were maintained in their respective replicate breed group from three days of age until harvest. After weaning, steers were fed an organic total mixed ration of organic corn silage, alfalfa silage, corn, soybean meal, and minerals until spring 2016. Breed groups were randomly assigned to winter rye or winter wheat and rotationally grazed from spring until early summer of 2016. For statistical analysis, independent variables were fixed effects of breed, forage, and the interaction of breed and forage, with replicated group as a random effect. Specific contrast statements were used to compare HOL versus crossbred steers. Fat from crossbreds had 13% greater omega-3 fatty acids than HOL steers. Furthermore, the omega-6/3 ratio was 14% lower in fat from crossbreds than HOL steers. For consumer acceptability, steaks from steers grazed on winter wheat had greater overall liking than steers grazed on winter rye. Steak from crossbreeds had greater overall liking than HOL steers. The results suggest improvement in fatty acids and sensory attributes of beef from crossbred dairy steers compared to HOL steers, as well as those finished on winter wheat compared to winter rye.

46 CFR 169.251 - Steering apparatus.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Steering apparatus. 169.251 Section 169.251 Shipping... Inspection and Certification Inspections § 169.251 Steering apparatus. At each inspection for certification and periodic inspection the steering apparatus is inspected and operationally tested to determine that...

46 CFR 169.251 - Steering apparatus.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering apparatus. 169.251 Section 169.251 Shipping... Inspection and Certification Inspections § 169.251 Steering apparatus. At each inspection for certification and periodic inspection the steering apparatus is inspected and operationally tested to determine that...

All-Versus-Nothing Proof of Einstein-Podolsky-Rosen Steering

PubMed Central

Chen, Jing-Ling; Ye, Xiang-Jun; Wu, Chunfeng; Su, Hong-Yi; Cabello, Adán; Kwek, L. C.; Oh, C. H.

2013-01-01

Einstein-Podolsky-Rosen steering is a form of quantum nonlocality intermediate between entanglement and Bell nonlocality. Although Schrödinger already mooted the idea in 1935, steering still defies a complete understanding. In analogy to “all-versus-nothing” proofs of Bell nonlocality, here we present a proof of steering without inequalities rendering the detection of correlations leading to a violation of steering inequalities unnecessary. We show that, given any two-qubit entangled state, the existence of certain projective measurement by Alice so that Bob's normalized conditional states can be regarded as two different pure states provides a criterion for Alice-to-Bob steerability. A steering inequality equivalent to the all-versus-nothing proof is also obtained. Our result clearly demonstrates that there exist many quantum states which do not violate any previously known steering inequality but are indeed steerable. Our method offers advantages over the existing methods for experimentally testing steerability, and sheds new light on the asymmetric steering problem. PMID:23828242

Highly sensitive beam steering with plasmonic antenna

PubMed Central

Rui, Guanghao; Zhan, Qiwen

2014-01-01

In this work, we design and study a highly sensitive beam steering device that integrates a spiral plasmonic antenna with a subwavelength metallic waveguide. The short effective wavelength of the surface plasmon polaritons (SPPs) mode supported by the metallic waveguide is exploited to dramatically miniaturize the device and improve the sensitivity of the beam steering. Through introducing a tiny displacement of feed point with respect to the geometrical center of the spiral plasmonic antenna, the direction of the radiation can be steered at considerably high angles. Simulation results show that steering angles of 8°, 17° and 34° are obtainable for a displacement of 50 nm, 100 nm and 200 nm, respectively. Benefiting from the reduced device size and the shorter SPP wavelength, the beam steering sensitivity of the beam steering is improved by 10-fold compared with the case reported previously. This miniature plasmonic beam steering device may find many potential applications in quantum optical information processing and integrated photonic circuits. PMID:25091405

Chaos vibration of pinion and rack steering trapezoidal mechanism containing two clearances

NASA Astrophysics Data System (ADS)

Wei, Daogao; Wang, Yu; Jiang, Tong; Zheng, Sifa; Zhao, Wenjing; Pan, Zhijie

2017-08-01

The multi-clearances of breaking type steering trapezoidal mechanism joints influences vehicle steering stability. Hence, to ascertain the influence of clearance value on steering stability, this paper takes the steering mechanism of a certain vehicle type as a prototype that can be simplified into a planar six-bar linkage, then establishes the system dynamic differential equations after considering the two clearances of tie rods and the steering knuckle arms. The influence of the clearance parameters on the movement stability of the steering mechanism is studied using a numerical computation method. Results show that when the two clearances are equal, the planar movement of the tie rods changes from period-doubling to chaos as the clearances increase. When the two clearances are 0.25 mm and 1.5 mm respectively, the planar movements of the two side tie rods come into chaos, causing the steering stability to deteriorate. Moreover, with the increase of clearances, turning moment fluctuates more intensively and the peak value increases.

Experimental verification of steerability via geometric Bell-like inequalities

NASA Astrophysics Data System (ADS)

Li, Jian; Wang, Cen-Yang; Liu, Tong-Jun; Wang, Qin

2018-03-01

Quantum steering is one form of quantum correlations interpolating between entanglement and Bell nonlocality, which in some cases can be detected by various steering inequalities. Recently, a remarkable and useful steerability criterion via geometric Bell-like inequalities was established [M. Zukowski, A. Dutta, and Z. Yin, Phys. Rev. A 91, 032107 (2015), 10.1103/PhysRevA.91.032107]. We report an experimental investigation of this steering criterion and verify the geometric Bell-like steering inequality experimentally by using of the Werner states. The results demonstrate that the geometric Bell-like steering inequality is a convenient tool to detect quantum steering both theoretically and practically.

Experimental test of single-system steering and application to quantum communication

NASA Astrophysics Data System (ADS)

Liu, Zhao-Di; Sun, Yong-Nan; Cheng, Ze-Di; Xu, Xiao-Ye; Zhou, Zong-Quan; Chen, Geng; Li, Chuan-Feng; Guo, Guang-Can

2017-02-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability to steer remotely quantum states of an entangled pair by measuring locally one of its particles. Here we report on an experimental demonstration of single-system steering. The application to quantum communication is also investigated. Single-system steering refers to steering of a single d -dimensional quantum system that can be used in a unifying picture to certify the reliability of tasks employed in both quantum communication and quantum computation. In our experiment, high-dimensional quantum states are implemented by encoding polarization and orbital angular momentum of photons with dimensionality of up to 12.

Optimized detection of steering via linear criteria for arbitrary-dimensional states

NASA Astrophysics Data System (ADS)

Zheng, Yu-Lin; Zhen, Yi-Zheng; Cao, Wen-Fei; Li, Li; Chen, Zeng-Bing; Liu, Nai-Le; Chen, Kai

2017-03-01

Einstein-Podolsky-Rosen (EPR) steering, as a new form of nonlocality, stands between entanglement and Bell nonlocality, implying promising applications for quantum information tasks. The problem of detecting EPR steering plays an important role in characterization of quantum nonlocality. Despite some significant progress, one still faces a practical issue: how to detect EPR steering in an experimentally friendly fashion. Resorting to an EPR steering inequality, one is required to apply a strategy as efficiently as possible for any selected measurement settings on the two subsystems, one of which may not be trusted. Inspired by the recent powerful linear criteria proposed by Saunders et al. [D. J. Saunders, S. J. Jones, H. M. Wiseman, and G. J. Pryde, Nat. Phys. 6, 845 (2010)., 10.1038/nphys1766], we present an optimized method of certifying steering for an arbitrary-dimensional state in a cost-effective manner. We provide a practical way to signify steering via only a few settings to optimally violate the steering inequality. Our method leads to steering detections in a highly efficient way, and can be performed with any number of settings, for an arbitrary bipartite mixed state, which can reduce experimental overheads significantly.

Gaussian quantum steering and its asymmetry in curved spacetime

NASA Astrophysics Data System (ADS)

Wang, Jieci; Cao, Haixin; Jing, Jiliang; Fan, Heng

2016-06-01

We study Gaussian quantum steering and its asymmetry in the background of a Schwarzschild black hole. We present a Gaussian channel description of quantum state evolution under the influence of Hawking radiation. We find that thermal noise introduced by the Hawking effect will destroy the steerability between an inertial observer Alice and an accelerated observer Bob who hovers outside the event horizon, while it generates steerability between Bob and a hypothetical observer anti-Bob inside the event horizon. Unlike entanglement behaviors in curved spacetime, here the steering from Alice to Bob suffers from a "sudden death" and the steering from anti-Bob to Bob experiences a "sudden birth" with increasing Hawking temperature. We also find that the Gaussian steering is always asymmetric and the maximum steering asymmetry cannot exceed ln 2 , which means the state never evolves to an extremal asymmetry state. Furthermore, we obtain the parameter settings that maximize steering asymmetry and find that (i) s =arccosh cosh/2r 1 -sinh2r is the critical point of steering asymmetry and (ii) the attainment of maximal steering asymmetry indicates the transition between one-way steerability and both-way steerability for the two-mode Gaussian state under the influence of Hawking radiation.

A theoretical model of speed-dependent steering torque for rolling tyres

NASA Astrophysics Data System (ADS)

Wei, Yintao; Oertel, Christian; Liu, Yahui; Li, Xuebing

2016-04-01

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange-Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.

View aft of compartment D23, aft steering station; note steering ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

View aft of compartment D-23, aft steering station; note steering unit with crosshead and shaft bearing supports. Note framing supports for armored protective deck at top of photo. (p60) - USS Olympia, Penn's Landing, 211 South Columbus Boulevard, Philadelphia, Philadelphia County, PA

75 FR 45159 - Delphi Steering Currently Known as Nexteer Automotive Including On-Site Leased Workers From Acro...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-02

..., Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledgetechnologies... Corporation, Aerotek, Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledge... steering systems and components such as steering columns, gears, pumps and electronic power steering...