Relevant bibliographies by topics / 4WS kinematika

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic '4WS kinematika'

Author: Grafiati
Published: 28 June 2021
Last updated: 17 February 2022

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Journal articles on the topic "4WS kinematika"

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Wada, Masayoshi. "Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs." Journal of Robotics and Mechatronics 19, no. 3 (June 20, 2007): 264–71. http://dx.doi.org/10.20965/jrm.2007.p0264.

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This paper presents a new type of omnidirectional and holonomic mobile platform with a four-wheel-drive (4WD) mechanism for improving traction of electric wheelchairs on slippery surfaces and enhancing mobility on rough terrain. The 4WD mechanism includes a pair of normal wheels on the back and a pair of omniwheels on the front. The normal wheel in back and the omniwheel in front, on the same side of the drive mechanism, are connected by a power transmission to rotate in unison with a common motor. Omniwheels enable the front of the mechanism to roll freely from side to side. A third motor turns the chair about a vertical axis at the center of the mobile platform. One goal of this project is to apply the 4WD mechanism to a holonomic omnidirectional mobile base for wheelchairs to enhance both maneuverability and mobility in single wheelchair design. The 4WD mechanism guarantees traction on irregular surfaces and enhances step climbing over that of standard wheelchairs because all wheels have a large diameter and no passive casters are used. For omnidirectional control of the 4WD mobile base, two wheel motors are coordinated to move the center of the chair in an arbitrary direction while chair orientation is controlled separately by the third motor. The three motors thus provide nonredundant 3DOF chair movement. A wheelchair with our proposed mobile base moves in all directions without changing chair orientation and turns in place, i.e., holonomic. The configuration minimizing number of motors cuts costs and ensures a high reliable mechanism. We analyze the kinematics of planar motion and statics on the wheel step of the synchronized 4WD, then discuss the development of omnidirectional 4WD control. A series of experiments using a small robotic vehicle verifies kinematic and static models and the feasibility of the 4WD omnidirectional system proposed.
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Markina, A. A., S. N. Chepkasov, and M. A. Berezhnaya. "KINEMATIC STUDY OF THE FOUR-WHEELED STEERING SYSTEM." Russian Automobile and Highway Industry Journal 16, no. 5 (November 2, 2019): 580–91. http://dx.doi.org/10.26518/2071-7296-2019-5-580-591.

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Introduction. Since the second half of the 20th century the safety in the automotive industry has been bringing to the forefront. Therefore, researches pay special attention to stability and controllability. These properties increase in a variety of ways, one of which is using of the four-wheel steering system (4WS). Foreign literature presents technical solutions on the example of sport cars and some Japanese models.Materials and methods. The paper provided an analysis of the four-wheeled steering passenger car’s kinematics. The authors considered the turning geometry with positive and negative steering angles of rear axle, on the basis of which the researches proposed calculation formulas for determining the turning radius of the car and the angles of the wheels’ rotation. The kinematic relations used in designing a steering system with four steered wheels.Results. The authors on the example of Volkswagen Polo calculated the turning radius and controllability depending on the steering wheels’ angles of the front and rear axles. As a result, the paper demonstrated the change in parameters and the effect on the safety and handling of the vehicle. The authors also highlighted the advantages of using a four-wheeled steering system.
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Hang, Peng, and Xinbo Chen. "Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles." Actuators 10, no. 8 (August 5, 2021): 184. http://dx.doi.org/10.3390/act10080184.

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In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID-4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.
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NAKABE, Noboru. "Evaluation of Shoe Sole Stability Based on Knee Joint Kinematics." Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics 2003 (2003): 191–94. http://dx.doi.org/10.1299/jsmesports.2003.0_191.

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Lai, Xin, Xin Bo Chen, Xiao Jun Wu, and Dong Liang. "A Study on Control System for Four-Wheels Independent Driving and Steering Electric Vehicle." Applied Mechanics and Materials 701-702 (December 2014): 807–11. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.807.

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The structure and principle of four-wheels independent driving and steering (4WIS-4WID) electric vehicle are presented firstly, and on this basis the structure of network control system base on CAN bus is built. Kinematics and dynamics models of typical steering modes (such as all wheel steering, front (rear) wheel steering, parallel steering, zero-radius steering) are built, and the control strategy is presented. The experimental results show that the control system structure and control algorithm are effective.
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KOLATOR, Bronisław, Michał JANULIN, and Oleksandr VRUBLEVSKYI. "EFFECT OF A TORSEN DIFFERENTIAL MECHANISM ON CAR TYRE WEAR." Tribologia 280, no. 4 (August 1, 2018): 31–37. http://dx.doi.org/10.5604/01.3001.0012.7482.

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4WD systems include various constructions aimed at optimal distribution of torque between drive axles. In these systems, it is necessary to apply mechanisms separating the power provided from the engine to drive wheels. Many systems operate on the basis of wet multi-disc clutch or/and dog clutch control with the use of mechatronic devices. However, in view of their reliability and construction simplicity, the most valuable 4WD systems under field conditions are mechanical solutions. Torsen is an inter-axle differential mechanism, where the emerging internal friction moment of this mechanism causes that all kinematic discrepancies between transmission shafts of the front and rear axle of a vehicle produce a change in the distribution of torque, helping to level the rotational speeds of transmission shafts of the front and rear axles. As a result of the phenomenon described, the drive wheels of both axles of the vehicle move with different peripheral speeds, which causes energy losses and wear of tyres on both vehicle axles. This paper presents an analysis of the results obtained in tests on a vehicle with the Torsen system and describes phenomena occurring in the examined system as a result of emerging kinematic discrepancies, which may be caused by such factors as vertical force acting on the wheels of individual drive axles and tyre pressure.
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Alexandru, C. "Design sensitivity analysis in the kinematics of the 4SS-axle guiding mechanism with Panhard bar." IOP Conference Series: Materials Science and Engineering 1169, no. 1 (August 1, 2021): 012002. http://dx.doi.org/10.1088/1757-899x/1169/1/012002.

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Shen, Yue, Bingnan Zhang, Hui Liu, Yemin Cui, Fida Hussain, Siwei He, and Fangyuan Hu. "Design and Development of a Novel Independent Wheel Torque Control of 4WD Electric Vehicle." Mechanics 25, no. 3 (July 1, 2019): 210–18. http://dx.doi.org/10.5755/j01.mech.25.3.21879.

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In this paper, a novel hybrid vehicle chassis is designed without assisted steering system and its kinematics model, dynamics model as well as a model of the control system. The existing steering mechanism does not provide enough torque or has a shortage of mechanical strength and control. The proposed design has the capability to solve these problems easily. In the first part of this study, the design and development of the vehicle are introduced. After that, a new 4-wheel-drive (4WD) hybrid vehicle chassis including a vehicle platform, a control device, and self-steering mechanism is designed. Its kinematics and dynamics models are built. Furthermore, to optimize the control model and linkage are added between the front and rear bodies. In addition, the new hybrid vehicle chassis has been tested in actual driving. The reliability and feasibility of the vehicle are evaluated by UG software. The open-loop simulation for validation is performed by MATLAB. Finally, traditional proportion-integration-differentiation (PID) control system of the improved model of vehicle chassis is presented. Therein, the PID feedback control loop was employed to track the reference torque of 4-independent wheels. The results are verified using the real-time vehicle. The proposed design is proved feasibility not only has a small turning radius but also has a high control precision, which ensures the flexibility of the vehicle and can control the direction as well. In addition, the proposed design is best for modern agricultural vehicle and can be implemented in commercial and private vehicles.
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Bailey, Dallin J., and Christopher Dromey. "Bidirectional Interference Between Speech and Nonspeech Tasks in Younger, Middle-Aged, and Older Adults." Journal of Speech, Language, and Hearing Research 58, no. 6 (December 2015): 1637–53. http://dx.doi.org/10.1044/2015_jslhr-s-14-0083.

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Purpose The purpose of this study was to examine divided attention over a large age range by looking at the effects of 3 nonspeech tasks on concurrent speech motor performance. The nonspeech tasks were designed to facilitate measurement of bidirectional interference, allowing examination of their sensitivity to speech activity. A cross-sectional design was selected to explore possible changes in divided-attention effects associated with age. Method Sixty healthy participants were separated into 3 groups of 20: younger (20s), middle-aged (40s), and older (60s) adults. Each participant completed a speech task (sentence repetitions) once in isolation and once concurrently with each of 3 nonspeech tasks: a semantic-decision linguistic task, a quantitative-comparison cognitive task, and a manual motor task. The nonspeech tasks were also performed in isolation. Results Data from speech kinematics and nonspeech task performance indicated significant task-specific divided attention interference, with divided attention affecting speech and nonspeech measures in the linguistic and cognitive conditions and affecting speech measures in the manual motor condition. There was also a significant age effect for utterance duration. Conclusions The results increase what is known about bidirectional interference between speech and other concurrent tasks as well as age effects on speech motor control.
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Nikoghosyan, E. H., H. A. Harutyunian, N. M. Azatyan, and A. M. Grigoryan. "Stellar kinematics in the IC 348 cluster." Communications of the Byurakan Astrophysical Observatory, 2018, 200–210. http://dx.doi.org/10.52526/25792776-2018.2.2-200.

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In 30 - 40s of the last century Viktor Ambartsumian has published several studies on the kinematics and dynamics of stellar systems. The scientific issues of these papers not only remain relevant up to nowadays, but also are of key importance for the construction of the generalized theory of star formation. The launch of the Gaia spacecraft on December 19, 2013, opens up new horizons in the study of young stellar systems origin and evolution. The accuracy of astrometric measurements (the typical uncertainty is about 0.04 - 0.7 mas for the positions and parallaxes, and about 0.05 - 1.2 mas yr-1 for the proper motions), undoubtedly, will allow lifting the possibilities of study the kinematics and dynamics of star-forming regions to a new level. We focus our present research on the young (∼ 2 - 3Myr) stellar cluster IC 348. It has a complex structure, which includes the older compact core and the younger subgroup in the vicinity of HH 211 outflow. Based on the Gaia DR2 data, we considered the kinematic properties of both the cluster as a whole and its subgroups. We found that special velocity dispersion significantly exceeds the virial velocity dispersion and, therefore, the IC 348 stellar cluster is a supervirial or gravitationally unbound system.
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Dissertations / Theses on the topic "4WS kinematika"

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Michal, Mikuláš. "Rozvinutí elektroniky a softwaru na robotickém vozidle Car4." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444973.

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Tato diplomová práce se zabývá revizí elektroniky robotického vozidla car4 se zaměřením na měření rychlosti otáčení kol, výkonovou a řídicí elektroniku. Car4 posloužilo jako základ pro již přes 20 diplomových prací od roku 2010. To znamenalo, že některé základní aspekty car4 byly zastaralé. Bylo vytvořeno schéma elektroniky vozidla, které bylo dále využito pro vývoj a výrobu nového hardwaru. Komponenty byly poté otestovány a implementovány na vozidlo. Dále byl vytvořen kinematický model 4WS vozidla za použití Ackermanovy geometrie, který byl implenetován a otestován na car4. Dále by měl sloužit jako základ řídicího algoritmu pro budoucí vývoj car4.
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Conference papers on the topic "4WS kinematika"

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Deur, Josˇko, Matthew Hancock, and Francis Assadian. "Bond Graph Modeling and Analysis of Active Differential Kinematics." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2285.

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This paper describes the kinematic structures of Active Limited Slip Differential (ALSD) and different concepts of Torque Vectoring Differentials (TVD) (superposition clutch concept, stationary clutch concept, and 4WD concept). The bond graph method is used to derive the models of ALSD/TVD kinematics. Based on the developed models, a comparative analysis of active differential operating modes and performance is conducted.
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Jazar, Reza N., M. Mahinfalah, and A. Khazaei. "Four-Wheel Steering Autonomous Vehicles." In ASME 2009 International Mechanical Engineering Congress and Exposition. ASMEDC, 2009. http://dx.doi.org/10.1115/imece2009-11407.

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Employing an independent four-wheel-steering (4WS) system, we introduce an autodriver algorithm to keep an autonomous vehicle on a given road. The kinematic condition of steering can be used to set the steer angles such that the kinematic center of rotation is at a desired point. The road and tire characteristics, along with the dynamics of a moving vehicle cause the vehicle to turn about an actual point that is not necessarily at the road curvature center. The position of the dynamic turning center can be controlled by adjusting the steer angles such that it coincides with the road curvature center. Such a vehicle will move on the desired road autonomously.
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Jazar, Reza N., Milan Simic, and A. Khazaei. "Autodriver Algorithm for Autonomous Vehicle." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-37609.

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In a recent research a superior algorithm has been introduced to design an autodriver to keep an autonomous vehicle on a given road using independent four-wheel-steering (4WS) system. The kinematic condition of steering sets the steer angles such that the kinematic center of rotation of the vehicle be controlled on a two dimensional space. The vehicle however, will turn about an actual point that is not necessarily at the road curvature center; because of the road, tire characteristics, and dynamics of the moving vehicle. The algorithm shows how the position of the dynamic turning center can be controlled by adjusting the steer angles such that it coincides with the road curvature center. Such a vehicle will move on the desired road autonomously. In this paper, the required facilities to apply the algorithm experimentally will be discussed.
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Purbowaskito, Widagdo, and Chung-Hao Hsu. "Kinematics Model Based Motion Control of a 4WIS Mobile Robot with Lyapunov Stability." In 2020 12th International Conference on Information Technology and Electrical Engineering (ICITEE). IEEE, 2020. http://dx.doi.org/10.1109/icitee49829.2020.9271742.

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Cheli, Federico, Paolo Dellacha`, and Andrea Zorzutti. "Development of the Control Strategy for an Innovative 4WD Device." In ASME 8th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2006. http://dx.doi.org/10.1115/esda2006-95399.

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The potentialities shown by controlled differentials are making the automotive industry to explore this field. While VDC systems can only guarantee a safe behaviour at limit, a controlled differential can also increase the handling performance. The system derives from a rear wheel drive architecture with a semi-active differential, to which has been added a controlled wet clutch that directly connects the front axle and the engine crankshaft. This device allows distributing the drive torque between the two axles, according to the constraints due to kinematics and thermal problems. It can be easily understood that in this device the torque distribution doesn’t depend only from the central clutch action, but also from the engaged gear. Because of that the central clutch controller has to consider the gear position too. The control algorithms development was carried on using a vehicle model which can precisely simulate the handling response, the powertrain dynamic and the actuation system behaviour. A right powertrain response required the development of a customize library in Simulink. The approach chosen to carry on this research was the one used in automotive industry nowadays: an intensive simulation campaign was executed to realize an initial controller design and tuning.
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Martinez-Garcia, Edgar A., Oscar Mar, and Rafael Torres-Cordoba. "Dead-reckoning inverse and direct kinematic solution of a 4W independent driven rover." In 2010 IEEE ANDESCON. IEEE, 2010. http://dx.doi.org/10.1109/andescon.2010.5633569.

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