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Vehicle drifting: mathematical theory and dynamic analysis for stabilised drifting of RWD vehicles 车辆漂移:RWD车辆稳定漂移的数学理论和动力学分析
Q4 Engineering Pub Date : 2021-05-21 DOI: 10.1504/IJAMECHS.2021.10038137
Sina Milani, H. Marzbani, R. Jazar
This paper introduces a mathematical definition for drifting of vehicles. A necessary kinematic condition for enabling negative body side-slip angle at centre of the front wheel during a left-hand turn is identified as drifting indicator. Dynamics of the drifting motion is investigated by means of a simplified three-wheel vehicle model in steady-state, focusing on rear wheel drive (RWD) vehicles. Drifting point is identified as an unstable equilibrium point of the nonlinear system. The equilibrium point is made stable by means of direct control only over yaw velocity, as a single key stabilising objective, and using the steady-state model as feedforward. A four-wheel planar dynamic simulation model is used together with a combined slip tyre model to investigate the accuracy of the proposed analysis. Steady-state RWD drifting motion is achieved by using the proposed method, validating the proposed dynamics analysis. Finally, the drifting metric is used to measure the amount of drifting achieved during a manoeuvre and its effectiveness is observed.
本文介绍了车辆漂移的数学定义。在左转弯过程中,在前轮中心启用负车身侧滑角的必要运动学条件被识别为漂移指示器。以后轮驱动(RWD)汽车为研究对象,采用简化的三轮汽车稳态模型研究了漂移运动的动力学。漂移点被识别为非线性系统的不稳定平衡点。通过仅对偏航速度进行直接控制,作为单一的关键稳定目标,并使用稳态模型作为前馈,使平衡点稳定。将四轮平面动力学仿真模型与组合滑移轮胎模型结合使用,以研究所提出分析的准确性。利用所提出的方法实现了RWD的稳态漂移运动,验证了所提出的动力学分析。最后,漂移度量用于测量机动过程中实现的漂移量,并观察其有效性。
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引用次数: 1
Handling performance criteria evaluation for vehicle suspension system with semi-active control strategies 采用半主动控制策略的车辆悬架系统操纵性能评价
Q4 Engineering Pub Date : 2021-05-21 DOI: 10.1504/IJAMECHS.2021.10038133
M. F. Soong, R. Ramli, A. Saifizul, A. Mamat
The vehicle suspension is an important system in a vehicle which provides ride comfort and handling capability, albeit with a compromise between the two. Semi-active suspension system, which solves this compromise, has been studied frequently with well-known control strategies. However, many of these strategies are designed based on vertical dynamics, focusing on ride improvement. This study evaluates any potential improvement in handling performance brought by a semi-active suspension system with these ride-oriented control strategies. In this study, these were implemented independently on the four wheel stations of a 10-degree-of-freedom full vehicle model which was subjected to step-steering and sine-steering manoeuvres, and the relevant handling performance criteria were evaluated. Results from the simulations indicated that, despite these control strategies mostly being designed for ride comfort, some of them are actually capable of bringing improvement in the handling aspect also, judging from the improvement in a few handling performance criteria.
车辆悬架是车辆中的一个重要系统,它提供乘坐舒适性和操纵能力,尽管两者之间存在折衷。半主动悬架系统解决了这一折衷方案,并以众所周知的控制策略进行了频繁的研究。然而,这些策略中的许多都是基于垂直动态设计的,重点是改善乘坐体验。本研究评估了采用这些行驶导向控制策略的半主动悬架系统在操纵性能方面的任何潜在改进。在这项研究中,这些是在10自由度全车模型的四个车轮站上独立实施的,该模型经历了步进转向和正弦转向操作,并评估了相关的操纵性能标准。模拟结果表明,尽管这些控制策略主要是为了乘坐舒适性而设计的,但从一些操控性能标准的改进来看,其中一些策略实际上也能够在操控方面带来改进。
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引用次数: 2
Simulation with car-following model considering vehicle dynamic features 考虑车辆动态特性的车辆跟随模型仿真
Q4 Engineering Pub Date : 2021-05-21 DOI: 10.1504/IJAMECHS.2021.10038132
Xiaowei Hu, Xiaoyi Ma, D. Schramm
Microscopic traffic simulation has been applied not only for traffic prediction but also in more and more research fields. The typical car-following models widely used in simulation always need massive traffic observation data. By mathematical abstraction from traffic data, some important characteristics of vehicles and drivers will be inevitably abandoned. In this article, a modelling method of car-following behaviour has been proposed, in which the dynamic features of different vehicles have been considered. As an example, an internal combustion engine vehicle model and electric vehicle model were implemented in the traffic simulation. The simulation results of using typical car-following models were also compared with the results using new model. From the result, the new model can display during simulation corresponding dynamic features. The internal combustion engine vehicle model also presented different dynamic characteristics from electric vehicle model, which caused a different simulation result.
微观交通仿真不仅用于交通预测,而且应用于越来越多的研究领域。在仿真中广泛应用的典型车辆跟随模型往往需要大量的交通观测数据。通过对交通数据的数学抽象,不可避免地会抛弃车辆和驾驶员的一些重要特征。本文提出了一种考虑不同车辆动态特性的汽车跟随行为建模方法。以内燃机汽车模型和电动汽车模型为例进行了交通仿真。并将典型车辆跟随模型的仿真结果与新模型的仿真结果进行了比较。结果表明,该模型在仿真过程中能够显示出相应的动态特征。内燃机汽车模型与电动汽车模型表现出不同的动态特性,导致仿真结果不同。
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引用次数: 1
System configuration of instrumented half-scaled armoured vehicle to enhance handling performance due to lateral firing impact 仪表化半比例装甲车辆的系统配置,以提高处理侧向射击冲击的性能
Q4 Engineering Pub Date : 2021-05-21 DOI: 10.1504/IJAMECHS.2021.10038134
V. R. Aparow, K. Hudha, M. S. Rahmat, Z. A. Kadir, N. H. Amer
Yaw disturbance rejection control (YDRC) is developed to improve the handling performance of armoured vehicle due firing impact. Therefore, a complete system configuration of instrumented half-scaled armoured vehicle is required to interface the YDRC algorithm with integrated measurement and control (IMC) data acquisition system, inertial measurement unit (IMU) and rotary encoder sensors. By using this configuration, the impact of firing test has been evaluated at maximum firing angle of 90° and vehicle speed of 40 km/h. Based on the actual testing, the handling response of the armoured vehicle in terms of yaw rate and angle, lateral displacement and acceleration has been improved compare to passive armoured vehicle up to 45% of reduction.
为了提高装甲车辆在射击冲击下的操纵性能,研制了偏航干扰抑制控制系统。因此,仪表化半尺寸装甲车辆的完整系统配置需要将YDRC算法与集成测量与控制(IMC)数据采集系统、惯性测量单元(IMU)和旋转编码器传感器相连接。在最大射击角度为90°、车速为40 km/h的情况下,采用该构型进行了射击冲击试验。通过实际试验,该装甲车的横摆角速度、横摆角、横向位移和加速度等操纵响应均比被动式装甲车提高了45%。
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引用次数: 1
Optimal wavelet analysis and enhanced independent component analysis for isolated and combined mechanical faults diagnosis 基于最优小波分析和增强独立分量分析的机械故障诊断
Q4 Engineering Pub Date : 2020-11-06 DOI: 10.1504/ijamechs.2020.10033406
T. Thelaidjia, Abdelkrim Moussaoui, S. Chenikher
In this paper, a new approach is suggested for isolated and combined mechanical faults diagnosis. The suggested approach consists of two main steps: vibration signal denoising and characteristic frequency extracting. Firstly, an optimal wavelet multi-resolution analysis is employed for reducing noise from vibration signals. Secondly, the enhanced independent component analysis (EICA) algorithm which overcomes the shortcoming of the ICA algorithm and allows selecting the reliable independent components is adopted for source separation. Therefore, simple and comprehensible spectra will be obtained. Finally, the suggested method is tested using real vibration signals. Compared with other approaches, it has been revealed that the suggested method can efficiently be employed to diagnose both isolated and combined mechanical faults.
本文提出了一种新的机械故障孤立和组合诊断方法。所提出的方法包括两个主要步骤:振动信号去噪和特征频率提取。首先,采用最优小波多分辨率分析方法对振动信号进行降噪处理。其次,采用增强型独立分量分析(EICA)算法进行源分离,该算法克服了ICA算法的缺点,可以选择可靠的独立分量。因此,将获得简单易懂的光谱。最后,使用实际振动信号对所提出的方法进行了测试。与其他方法相比,该方法可以有效地诊断孤立和组合机械故障。
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引用次数: 4
Operator-based nonlinear fault detection and fault tolerant control for microreactor using one-class SVM 基于算子的微反应器非线性故障检测与一类支持向量机容错控制
Q4 Engineering Pub Date : 2020-11-06 DOI: 10.1504/ijamechs.2020.10033420
Yoshiki Ogihara, M. Deng
This paper proposes a method of nonlinear fault detection scheme using one-class support vector machine (SVM) and operator-based fault tolerant control system for a microreactor with Peltier device. This method requires only one-shot training data for the normal condition of the plant. The data is used to learn for the SVM, it realises nonlinear fault detection without the known fault condition of the plant. Also, the control system that consists of the nonlinear model of the microreactor system and operator-based controller designed by the model is introduced as the fault tolerant control system using compensation operator to remove the sensor fault. The usefulness of the method is shown by an experiment of the temperature sensor fault case for the temperature control system of the microreactor system.
针对带Peltier装置的微反应器,提出了一种基于一类支持向量机(SVM)和基于算子的容错控制系统的非线性故障检测方案。这种方法只需要一次性的设备正常状态下的训练数据。将这些数据用于支持向量机的学习,在不知道设备故障状态的情况下实现非线性故障检测。同时,介绍了由微反应器系统的非线性模型和基于模型设计的算子控制器组成的控制系统,作为利用补偿算子消除传感器故障的容错控制系统。以微反应器温度控制系统的温度传感器故障为例,验证了该方法的有效性。
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引用次数: 2
Obstacle avoidance system and wireless communication for an unmanned underwater vehicle for low depth water surfaces 低深度水面无人潜航器避障系统及无线通信
Q4 Engineering Pub Date : 2020-11-06 DOI: 10.1504/IJAMECHS.2020.111300
A. Selvakumar, Vivek Ghodeswar
An underwater glider is a most commonly used unmanned underwater vehicle but it has limitations to avoid obstructions in its path. To overcome this problem, the application of obstacle avoiding system is needed. This paper describes the development of an unmanned underwater vehicle (UUV) with integration of sensor-actuator network to avoid obstacles. To study the hydrodynamic behaviour of the proposed UUV, computational fluid dynamics (CFD) is carried out by considering pure surge and heave motion. The UUV is equipped with obstacle avoidance system with infra-red (IR) sensor and wireless communication module. Experimental tests are conducted to understand the behaviour of the UUV in low depth water surfaces and also to validate the CFD simulation results. The UUV's development, motion analyses and preliminary tests in obstacle avoidance are reported.
水下滑翔机是一种最常用的无人水下航行器,但它在躲避路径上的障碍物方面存在局限性。为了克服这一问题,需要应用避障系统。本文介绍了一种基于传感器-执行器网络的无人潜航器避障系统的研制。为了研究所提出的UUV的水动力特性,计算流体动力学(CFD)考虑了纯喘振和升沉运动。该无人潜航器配备有红外(IR)传感器和无线通信模块的避障系统。进行了实验测试,以了解UUV在低深度水面上的行为,并验证CFD模拟结果。介绍了无人潜航器的研制、运动分析和避障初步试验。
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引用次数: 0
Structural design and analysis of a lower limb exoskeleton for elderly 老年人下肢外骨骼的结构设计与分析
Q4 Engineering Pub Date : 2020-11-06 DOI: 10.1504/ijamechs.2020.10033415
Vishnu Vardhan Dadi, P.V.N.S. Sathwik, D. Mahesh, D. Jaswanth, S. K. Kumar, M. M. Ramya, D. Dinakaran
Rehabilitation of the elderly is often limited to restoration of the ability to perform as many activities of daily living. Mobility is identified as most essential rehabilitation required for elderly. Sit-to-stand (STS) manoeuvre is a common aspect of mobility. In this paper, a lower limb exoskeleton is designed to assist elderly during STS cycle. The design of lower limb exoskeleton is tested for its structural strength. The mechanical design of the exoskeleton can adapt to varying body shapes (height, weight and waist circumference) of elderly. Static structural analysis for stand position is carried out in Ansys workbench to find whether the design can withstand a maximum load during the static condition. Modal analysis was done to find the natural frequency vibration of the design and the deformation of the exoskeleton with respect to the mode vibrations.
老年人的康复通常限于恢复进行尽可能多的日常生活活动的能力。活动能力被认为是老年人最基本的康复需求。坐立(STS)机动是机动性的一个常见方面。本文设计了一种辅助老年人进行STS循环的下肢外骨骼。对设计的下肢外骨骼进行了结构强度测试。外骨骼的机械设计可以适应老年人不同的体型(身高、体重、腰围)。在Ansys工作台上对支架位置进行静力结构分析,以确定该设计在静力状态下是否能承受最大载荷。进行了模态分析,找出了设计的固有频率振动和外骨骼相对于模态振动的变形。
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引用次数: 1
Maze path planning of mobile robots by gradient map rendering and gradient follow 基于梯度地图绘制和梯度跟踪的移动机器人迷宫路径规划
Q4 Engineering Pub Date : 2020-11-06 DOI: 10.1504/ijamechs.2020.10033414
A. Selvakumar, A. Das, K. Pavan, D. Dinakaran
Path planning for a human being is very easy to reach a desired location in a room, by avoiding obstacles on the way, by generating a mental map and uses this map to find the optimal path. This is a difficult task in case of a robot. In order to make the robot adapt, the system is fed with different obstacle arrangement in the same room and allow the robot to finalise the optimal path avoiding the obstacles. To achieve, the gradient map rendering algorithm is proposed with successful simulation results in MATLAB. The new map produced has given a gradient again using the same algorithm. After the rendering process is completed, the robot climbs up or down the gradient using the maximum or minimum local gradient technique respectively, to find its way to the destination cell. Gradient surface plots are obtained for a variety of mazes to give a visualisation of how the gradient is being formed. Results are obtained after maze simulation successfully shows the most optimised path in any kind of maze.
人类的路径规划非常容易到达房间中的理想位置,通过避开路上的障碍物,通过生成心理地图并使用该地图找到最佳路径。对于机器人来说,这是一项艰巨的任务。为了使机器人适应,系统在同一房间内设置不同的障碍物,并使机器人最终确定避开障碍物的最佳路径。为此,提出了梯度地图绘制算法,并在MATLAB中进行了成功的仿真。生成的新地图使用相同的算法再次给出了梯度。在绘制过程完成后,机器人分别使用最大或最小局部梯度技术向上或向下爬梯度,以找到到达目的细胞的路。获得了各种迷宫的梯度表面图,以可视化梯度是如何形成的。迷宫模拟成功地显示了任何类型的迷宫中最优化的路径后,获得了结果。
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引用次数: 0
Treatment approaches for Scheuermann kyphosis: a systematic review of historic and current management. Scheuermann 脊柱的治疗方法:对历史和当前治疗方法的系统回顾。
IF 2.9 Q4 Engineering Pub Date : 2019-11-01 Print Date: 2020-02-01 DOI: 10.3171/2019.8.SPINE19500
Sakibul Huq, Jeffrey Ehresman, Ethan Cottrill, A Karim Ahmed, Zach Pennington, Erick M Westbroek, Daniel M Sciubba

Objective: Scheuermann kyphosis (SK) is an idiopathic kyphosis characterized by anterior wedging of ≥ 5° at 3 contiguous vertebrae managed with either nonoperative or operative treatment. Nonoperative treatment typically employs bracing, while operative treatment is performed with either a combined anterior-posterior fusion or posterior-only approach. Current evidence for these approaches has largely been derived from retrospective case series or focused reviews. Consequently, no consensus exists regarding optimal management strategies for patients afflicted with this condition. In this study, the authors systematically review the literature on SK with respect to indications for treatment, complications of treatment, differences in correction and loss of correction, and changes in treatment over time.

Methods: Using PubMed, Embase, CINAHL, Web of Science, and the Cochrane Library, all full-text publications on the operative and nonoperative treatment for SK in the peer-reviewed English-language literature between 1950 and 2017 were screened. Inclusion criteria involved fully published, peer-reviewed, retrospective or prospective studies of the primary medical literature. Studies were excluded if they did not provide clinical outcomes and statistics specific to SK, described fewer than 2 patients, or discussed results in nonhuman models. Variables extracted included treatment indications and methodology, maximum pretreatment kyphosis, immediate posttreatment kyphosis, kyphosis at last follow-up, year of treatment, and complications of treatment.

Results: Of 659 unique studies, 45 met our inclusion criteria, covering 1829 unique patients. Indications for intervention were pain, deformity, failure of nonoperative treatment, and neural impairment. Among operatively treated patients, the most common complications were hardware failure and proximal or distal junctional kyphosis. Combined anterior-posterior procedures were additionally associated with neural, pulmonary, and cardiovascular complications. Posterior-only approaches offered superior correction compared to combined anterior-posterior fusion; both groups provided greater correction than bracing. Loss of correction was similar across operative approaches, and all were superior to bracing. Cross-sectional analysis suggested that surgeons have shifted from anterior-posterior to posterior-only approaches over the past two decades.

Conclusions: The data indicate that for patients with SK, surgery affords superior correction and maintenance of correction relative to bracing. Posterior-only fusion may provide greater correction and similar loss of correction compared to anterior-posterior approaches along with a smaller complication profile. This posterior-only approach has concomitantly gained popularity over the combined anterior-posterior approach in recent years.

目的:谢尔曼脊柱侧弯症(SK)是一种特发性脊柱侧弯症,其特征是在 3 个连续的椎体上前部楔入≥ 5°,可通过非手术或手术治疗进行处理。非手术治疗通常采用支具,而手术治疗则采用前后联合融合或单纯后路治疗。目前这些方法的证据主要来自于回顾性病例系列或重点回顾。因此,对于该病患者的最佳治疗策略还没有达成共识。在本研究中,作者系统地回顾了有关 SK 的文献,内容涉及治疗适应症、治疗并发症、矫正和丧失矫正的差异以及治疗方法随时间的变化:通过PubMed、Embase、CINAHL、Web of Science和Cochrane图书馆,筛选了1950年至2017年间同行评审的英文文献中所有关于SK手术和非手术治疗的全文出版物。纳入标准包括已完全发表、经同行评审、回顾性或前瞻性研究的主要医学文献。如果研究未提供 SK 的特定临床结果和统计数据、描述的患者人数少于 2 人或讨论了非人类模型的结果,则排除在外。提取的变量包括治疗适应症和方法、治疗前最大后凸度、治疗后即刻后凸度、最后一次随访时的后凸度、治疗年份以及治疗并发症:在 659 项研究中,有 45 项符合我们的纳入标准,涉及 1829 名患者。干预的指征包括疼痛、畸形、非手术治疗失败和神经损伤。在接受手术治疗的患者中,最常见的并发症是硬件故障和近端或远端交界性脊柱后凸。前后联合手术还与神经、肺部和心血管并发症有关。与前后路联合融合术相比,单纯后路手术的矫正效果更好;两组手术的矫正效果均优于支撑术。各种手术方法的矫正损失相似,均优于支撑术。横断面分析表明,在过去的二十年里,外科医生已经从前后路手术方法转向了单纯后路手术方法:数据表明,对于SK患者,手术矫正和维持矫正的效果优于支具矫正。与前路-后路方法相比,纯后路融合可提供更大的矫正效果和相似的矫正损失,并发症较少。近年来,这种仅采用后路的方法比前后路联合方法更受欢迎。
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引用次数: 0
期刊
International Journal of Advanced Mechatronic Systems
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