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Performance Analysis of Constant Speed Local Abstacle Avoidance Controller Using a MPC Algorithym on Granular Terrain Nicholas Haraus Marquette University
Marquette University e-Publications@Marquette Master's Theses (2009 -) Dissertations, Theses, and Professional Projects Performance Analysis of Constant Speed Local Abstacle Avoidance Controller Using a MPC Algorithym on Granular Terrain Nicholas Haraus Marquette University Recommended Citation Haraus, Nicholas, "Performance Analysis of Constant Speed Local Abstacle Avoidance Controller Using a MPC Algorithym on Granular Terrain" (2017). Master's Theses (2009 -). 443. http://epublications.marquette.edu/theses_open/443 PERFORMANCE ANALYSIS OF A CONSTANT SPEED LOCAL OBSTACLE AVOIDANCE CONTROLLER USING A MPC ALGORITHM ON GRANULAR TERRAIN by Nicholas Haraus, B.S.M.E. A Thesis submitted to the Faculty of the Graduate School, Marquette University, in Partial Fulfillment of the Requirements for the Degree of Master of Science Milwaukee, Wisconsin December 2017 ABSTRACT PERFORMANCE ANALYSIS OF A CONSTANT SPEED LOCAL OBSTACLE AVOIDANCE CONTROLLER USING A MPC ALGORITHM ON GRANULAR TERRAIN Nicholas Haraus, B.S.M.E. Marquette University, 2017 A Model Predictive Control (MPC) LIDAR-based constant speed local obstacle avoidance algorithm has been implemented on rigid terrain and granular terrain in Chrono to examine the robustness of this control method. Provided LIDAR data as well as a target location, a vehicle can route itself around obstacles as it encounters them and arrive at an end goal via an optimal route. This research is one important step towards eventual implementation of autonomous vehicles capable of navigating on all terrains. Using Chrono, a multibody physics API, this controller has been tested on a complex multibody physics HMMWV model representing the plant in this study. A penalty-based DEM approach is used to model contacts on both rigid ground and granular terrain. -
Mechanics of Pneumatic Tires
CHAPTER 1 MECHANICS OF PNEUMATIC TIRES Aside from aerodynamic and gravitational forces, all other major forces and moments affecting the motion of a ground vehicle are applied through the running gear–ground contact. An understanding of the basic characteristics of the interaction between the running gear and the ground is, therefore, essential to the study of performance characteristics, ride quality, and handling behavior of ground vehicles. The running gear of a ground vehicle is generally required to fulfill the following functions: • to support the weight of the vehicle • to cushion the vehicle over surface irregularities • to provide sufficient traction for driving and braking • to provide adequate steering control and direction stability. Pneumatic tires can perform these functions effectively and efficiently; thus, they are universally used in road vehicles, and are also widely used in off-road vehicles. The study of the mechanics of pneumatic tires therefore is of fundamental importance to the understanding of the performance and char- acteristics of ground vehicles. Two basic types of problem in the mechanics of tires are of special interest to vehicle engineers. One is the mechanics of tires on hard surfaces, which is essential to the study of the characteristics of road vehicles. The other is the mechanics of tires on deformable surfaces (unprepared terrain), which is of prime importance to the study of off-road vehicle performance. 3 4 MECHANICS OF PNEUMATIC TIRES The mechanics of tires on hard surfaces is discussed in this chapter, whereas the behavior of tires over unprepared terrain will be discussed in Chapter 2. A pneumatic tire is a flexible structure of the shape of a toroid filled with compressed air. -
Information on Tire Radial Force Variation (RFV)
Information on Tire Radial Force Variation (RFV) 2019 and Prior GM Passenger Cars and Light Duty Trucks This Bulletin also applies to any of the above models that may be Export from North America vehicles. This Bulletin has been revised to add the 2018 and 2019 Model Year. Please discard Corporate Bulletin Number 00-03-10-006M. Important Before measuring tires on GM approved tire force variation measurement equipment, the vehicle MUST be driven a minimum of 24 km (15 mi) to ensure removal of any flat-spotting. Refer to the latest version of Corporate Bulletin Number 03-03-10-007: Tire/Wheel Characteristics of GM Original Equipment Tires. GM approved tire force variation measurement equipment MUST be calibrated prior to measuring tire/wheel assemblies for each vehicle. Note If the equipment being used is capable of performing a centering check, the centering check must be completed before taking measurements of balance or RFV. The purpose of this bulletin is to provide guidance to GM dealers when using GM approved tire force variation measurement equipment. This type of equipment can be a valuable tool in diagnosing vehicle ride concerns. The most common ride concern involving tire radial force variation is highway speed (105-115 km/h (65-70 mph) shake on smooth roads. Tire related smooth road highway speed shake can be caused by three conditions: imbalance, out of round and tire force variation. These three conditions are not necessarily related. All three conditions must be addressed. Imbalance is normally addressed first, because it is the simplest of the three to correct. -
Mitas Tires – Designed to Perform in Your Fields
AGRICULTURAL RADIAL TIRES Mitas Tires – DESIGNED TO PERFORM IN YOUR FIELDS • Product Information • Warranty Policy • Service After the Sale www.mitasag.com A TECHNOLOGY FOR TECHNOLOGY Agricultural technology is evolving rapidly, and today’s high-horsepower tractors and combines demand tires that can keep up with the pace. That’s why Mitas is committed to providing advanced radial tires to ensure your farming operation is expertly outfitted from the ground up. If your tires aren’t up to speed with your machinery, you may experience: • Subpar machine performance • Decreased productivity • Increased operating costs • Suboptimal crop yields • Lost profits EXPERTISE MEANS EVERYTHING Given the high stakes and rewards of your operation, would you rather buy your tires from a manufacturer that dabbles in agriculture or one that focuses all its resources solely on agricultural and off-road tires? At Mitas, agriculture alone accounts for 70 percent of our global business. When you purchase Mitas premium-grade agricultural radial tires, you can be confident they are engineered and manufactured to exacting standards for superior quality, durability and performance. 1 Table of Contents Tire applications .............................................................................3 List of tire sizes ...............................................................................5 SuperFlexionTire (SFT) .................................................................7 Combine drive tires: AC 70 H / G / N and SuperFlexionTire (SFT) .................................................. -
Summer, All-Season and Winter Tyres 2018 Passenger Car and Van
SUMMER, ALL-SEASON AND WINTER TYRES 2018 PASSENGER CAR AND VAN SPORTY. STRONG. SAFE! Viking. A brand of Continental. SUMMER TYRES 2018 SPORTY. STRONG. SAFE! Viking is a brand of Continental, developed in Germany and manufactured in Europe. With more than 80 years of experience ProTech HP CityTech II TransTech II as a European tyre manufacturer and the continuous further development of For middle-class vehicles For compact- and For transporter our products in state-of-the-art develop- and executive cars. middle-class cars. and vans. ment centres, Viking stands for cutting- edge technology. Convincing ALL-SEASON & WINTER TYRES 2017/18 quality features Sporty: Outstanding performance, even for powerful vehicles Strong: Durable products which deliver even in demanding conditions FourTech FourTech Van WinTech WinTech Van Safe: For compact- and For transporter For compact- and For transporter Reliable protection due to state-of-the- middle-class cars. and vans. middle-class cars. and vans. art technology 2 3 ProTech HP The UHP tyre CityTech II The compact tyre The well balanced high performance tyre The CityTech II is an economical attractive tyre with sporting capabilities. with low rolling resistance and high mileage. For middle-class vehicles and executive cars. For compact-class and middle-class vehicles. Technical highlights Technical highlights Exemplary handling in dry conditions. Improved protection against aquaplaning. The closed outer shoulder of the tyre increases the The modern lateral groove system in the tread transverse rigidity and enlarges the area in contact grooves means that water is effectively channelled with the road. This results in exemplary handling in from the contact area in the middle to the large dry conditions and improves the transfer of forces, circumferential grooves. -
Tire Building Drum Having Independently Expandable Center and End Sections
Europäisches Patentamt *EP001295702A2* (19) European Patent Office Office européen des brevets (11) EP 1 295 702 A2 (12) EUROPEAN PATENT APPLICATION (43) Date of publication: (51) Int Cl.7: B29D 30/24, B29D 30/20 26.03.2003 Bulletin 2003/13 (21) Application number: 02021255.1 (22) Date of filing: 19.09.2002 (84) Designated Contracting States: (72) Inventors: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR • Currie, William Dudley IE IT LI LU MC NL PT SE SK TR Stow, Ohio 44224 (US) Designated Extension States: • Reding, Emile AL LT LV MK RO SI 9163 Kehmen (LU) • Roedseth, John Kolbjoern (30) Priority: 21.09.2001 US 960211 7790 Bissen (LU) (71) Applicant: THE GOODYEAR TIRE & RUBBER (74) Representative: Leitz, Paul COMPANY Goodyear S.A., Akron, Ohio 44316-0001 (US) Patent-Department 7750 Colmar-Berg (LU) (54) Tire building drum having independently expandable center and end sections (57) A tire building drum has a center section (720) therebetween. In an embodiment of the invention, the and two end sections (722, 724). Each end section is bead lock assembly comprises a cylinder and two pis- provided with an expandable bead lock assembly (726). tons (P1, P2) disposed within the cylinder. The pistons The center section is preferably expandable. The ex- are free to move axially within the cylinder, in response pandable bead lock assembly comprises a carrier ring to pneumatic pressure. The first piston (P1) is con- (CR) and a plurality of elongate links (K) extending be- strained from moving axially inward by rods (R1P1, tween the carrier ring (CR) and a plurality of radially- R2P1, R3P1). -
May-2017 Subject: Information on Hunter Road Force Balancer
Bulletin No.: 17-NA-170 Date: May-2017 Subject: Information on Hunter Road Force Balancer Brand: Model: Model Year: VIN: Engine: Transmission: from to from to All GM Passenger 2000 2018 Cars and Light Duty Trucks Involved Region or Country North America and N.A. Export Regions Information Effective February 2017, a Generation 3, 4 or 5 Hunter Road Force Balancer is designated as Essential Dealer Equipment in the United States. No other wheel balancer will be considered an acceptable substitute in GM Dealers. The Hunter Road Force Balancer allows technicians to perform a static balance and to check Road Force during a single measurement. With the use of the Hunter Road Force balancer, technicians can be sure that the tire/wheel assembly meets or exceeds GM specifications prior to mounting the assembly back onto the vehicle. This ensures that problem(s) can be corrected early in the process. This prevents repeat repairs and customer dissatisfaction in ride quality. Hunter Generation 3, 4 and 5 Balancers The Hunter Road Force Balancer was developed over 17 years ago. Currently, the Generation 5 is the latest version available. Any dealer having a Generation 3, 4 or 5 balancer, meets the GM requirements. Generation 1 and 2 balancers are not capable of properly measuring and correcting all GM assemblies. Header Header Header Header GSP9722 Up to 8 Years Old 180 Match Mount process (Generation 3) available Ability to Measure and Correct up to 22” assemblies 1 Road Force Touch Up to 3 Years Old Introduces Touch Screen (Generation 4) 180 Match -
05(167-178) 120160093 조현석.Hwp
Transactions of KSAE, Vol. 25, No. 2, pp.167-178 (2017) Copyright Ⓒ 2017 KSAE / 147-05 pISSN 1225-6382 / eISSN 2234-0149 DOI https://doi.org/10.7467/KSAE.2017.25.2.167 Sensitivity Analysis of Steering Wheel Return-ability at Low Speed HyeonSeok Cho․ByungRim Lee*․SeHyun Chang․YoungDae Park․MinJun Kim․SangWoo Hwang Suspension and Steering Research Lab, Hyundai Motor Company, 150 Hyundaiyeonguso-ro, Hwaseong-si, Gyeonggi 18280, Korea (Received 26 September 2016 / Revised 13 December 2016 / Accepted 11 January 2017) Abstract : The steering wheel of a vehicle has a typical characteristic of automatically returning to its neutral state when the driver releases it. Steering returnability originated from the tire forces and kingpin moments. It is proportional to the reaction torque that is generated through the rack and column, which are dependent on suspension and steering geometry. It is also important to accurately predict and design it because steering returnability is related to steering performance. In this study, a detailed multibody dynamics model of a vehicle was designed by using ADAMS/Car and simulated for steering returnability. In addition, a tolerance analysis of the chassis system in terms of part dimension and properties has been performed in order to minimize the design parameters. The sensitivity of the selected design parameters was then analyzed via Design of Experiments(DOE). As a result, we were able to obtain the main parameters through a contribution analysis. It can be used to predict steering returnability and improve -
A Novel Chassis Concept for Power Steering Systems Driven by Wheel Individual Torque at the Front Axle M
25th Aachen Colloquium Automobile and Engine Technology 2016 1 A Novel Chassis Concept For Power Steering Systems Driven By Wheel Individual Torque At The Front Axle M. Sc. Philipp Kautzmann Karlsruhe Institute of Technology, Institute of Vehicle System Technology, Karlsruhe, Germany M. Sc. Jürgen Römer Schaeffler Technologies AG & Co. KG, Karlsruhe, Germany Dr.-Ing. Michael Frey Karlsruhe Institute of Technology, Institute of Vehicle System Technology, Karlsruhe, Germany Dr.-Ing. Marcel Ph. Mayer Schaeffler Technologies AG & Co. KG, Karlsruhe, Germany Summary The project "Intelligent Assisted Steering System with Optimum Energy Efficiency for Electric Vehicles (e²-Lenk)" focuses on a novel assisted steering concept for electric vehicles. We analysed different suspensions to use with this innovative power steering concept driven by wheel individual drive torque at the front axle. Our investigations show the potential even for conventional suspensions but reveal the limitations of standard chassis design. Optimized suspension parameters are needed to generate steering torque efficiently. Requirements arise from emergency braking, electronic stability control systems and the potential of the suspension for the use with our steering system. In lever arm design a trade-off between disturbing and utilizable forces occurs. We present a new design space for a novel chassis layout and discuss a first suspension design proposal with inboard motors, a small scrub radius and a big disturbance force lever arm. 1 Introduction Electric vehicles are a promising opportunity to reduce local greenhouse gas emissions in transport and increase overall energy efficiency, as electric drivetrain vehicles operate more efficiently compared to conventionally motorized vehicles. The internal combustion engine of common vehicles not only accelerates the vehicle, but also supplies energy to on-board auxiliary systems, such as power-assisted steering, which reduces the driver’s effort at the steering wheel. -
VTI Rapport 971A Published 2021 Vti.Se/Publications
The effect of water and snow on the road surface on rolling resistance Annelie Carlson Tiago Vieira VTI rapport 971A Published 2021 vti.se/publications VTI rapport 971 A The effect of water and snow on the road surface on rolling resistance Annelie Carlson Tiago Vieira Author: Annelie Carlson, VTI, http://orcid.org/0000-0002-8957-8727 Tiago Vieira, VTI, https://orcid.org/0000-0001-8057-6031 Reg.No.: 2016/0589-9.1 Publication: VTI rapport 971A Published by VTI, 2021 Publikationsuppgifter – Publication Information Titel/Title Effekten på rullmotstånd av vatten och snö på vägytan/The effect of water and snow on the road surface on rolling resistance Författare/Author Annelie Carlson, Linköpings Universitet, http://orcid.org/0000-0002-8957-8727 Tiago Vieira, VTI, https://orcid.org/0000-0001-8057-6031 Utgivare/Publisher VTI, Statens väg- och transportforskningsinstitut/ Swedish National Road and Transport Research Institute (VTI) www.vti.se/ Serie och nr/Publication No. VTI rapport 971A Utgivningsår/Published 2021 VTI:s diarienr/Reg. No., VTI 2016/0589-9.1 ISSN 0347–6030 Projektnamn/Project State-of-the-art om påverkan av vatten och snö på rullmotstånd/State-of-the-art om påverkan av vatten och snö på rullmotstånd Uppdragsgivare/Commissioned by Trafikverket/Swedish Transport Administration Språk/Language Engelska/English Antal sidor inkl. bilagor/No. of pages incl. appendices 43 VTI rapport 971A 3 Sammanfattning Effekten på rullmotstånd av vatten och snö på vägytan av Annelie Carlson (VTI) och Tiago Vieira (VTI) Rullmotstånd uppkommer vid interaktionen mellan vägyta och däck och utgör en del av det färdmotstånd som ett fordon behöver överkomma för att röra sig framåt. -
Influência Da Estrutura Ímpar Em Pneus De Lonas Cruzadas
Igor Zucato Influência da estrutura ímpar em pneus de lonas cruzadas (“Cross-Ply”) São Paulo 2006 Livros Grátis http://www.livrosgratis.com.br Milhares de livros grátis para download. Igor Zucato Influência da estrutura ímpar em pneus de lonas cruzadas (“Cross-Ply”) Dissertação apresentada à Escola Politécnica da Universidade de São Paulo para obtenção do título de Mestre em Engenharia Mecânica. Orientador: Prof. Dr. Marco Stipkovic Fº. São Paulo 2006 II Folha de Aprovação Igor Zucato Influência da estrutura ímpar em pneus lonas cruzadas (“Cross-Ply”) Dissertação apresentada à Escola Politécnica da Universidade de São Paulo para obtenção do título de Mestre em Engenharia Mecânica. Aprovado em: 21 de novembro de 2006 Banca Examinadora Prof. Dr. Marco Stipkovic Filho Instituição: EP – USP Assinatura :__________________ Prof. Dr. Gilberto Francisco Martha de Souza Instituição: EP – USP Assinatura :__________________ Prof. Dr. Renato Barbieri Instituição: PUC – PR (externo) Assinatura :__________________ III "Nosso maior desejo na vida é encontrar alguém que nos faça fazer o melhor que pudermos." Ralph Waldo Emerson Fabiana, obrigado minha esposa e companheira, com todo o amor de minha vida. IV Agradecimentos Primeiramente ao meu amigo e por acaso meu chefe, Eduardo Pinheiro, que me incentivou e apostou no desenvolvimento desse trabalho com suas sugestões e opiniões, bem como no desenvolvimento desta pós-graduação. Ao meu orientador e amigo que teve a paciência para suportar, guiar e me ajudar durante essa caminhada. À Pirelli Pneus S.A. pelo apoio e oportunidade de desenvolver e publicar este trabalho que reúne uma parte da minha experiência na área de pesquisa e desenvolvimento de pneus, e pelo suporte do R&D. -
The Effect of the Tractor Tires Load on the Ground Loading Pressure
ACTA UNIVERSITATIS AGRICULTURAE ET SILVICULTURAE MENDELIANAE BRUNENSIS Volume 65 165 Number 5, 2017 https://doi.org/10.11118/actaun201765051607 THE EFFECT OF THE TRACTOR TIRES LOAD ON THE GROUND LOADING PRESSURE Lukáš Renčín1, Adam Polcar1, František Bauer1 1 Department of Technology and Automobile Transport, Faculty of AgriSciences, Mendel University in Brno, Zemědělská 1, 613 00 Brno, Czech Republic Abstract RENČÍN LUKÁŠ, POLCAR ADAM, BAUER FRANTIŠEK. 2017. The Effect of the Tractor Tires Load on the Ground Loading Pressure. Acta Universitatis Agriculturae et Silviculturae Mendelianae Brunensis, 65(5): 1607 – 1614. The contribution, based on the experimental measurement, analyses the issue of a specific pad loading pressure in relation to radial wheel load and tire inflation. Tile inflation in terms of allowed radial load, which we wish to be high as far as possible in terms of the power transmission from the wheels to the ground is important for the field tensile works, on the other hand, the pressure in the tire is closely related to the contact area and ground loading pressure. The obtained results show the following: Michelin Multibib 650/65 R38 tire, inflated to a pressure of 80 kPa has a sufficient reserve in radial load. As the measurement results show, ground loading pressure at the highest load of 36.55 kN, which was used during the measurement, is under the value of 100 kPa, which would mean on loamy soil at a humidity of 17 % that the limit of the ground pressure on the ground has not been exceeded. Keywords: stress transmission, tire inflation pressure, area of imprint, pressure in area of imprint layer.