The Experts below are selected from a list of 21402 Experts worldwide ranked by ideXlab platform
Kaspar Althoefer - One of the best experts on this subject based on the ideXlab platform.
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Soil Parameter identification for wheel-terrain interaction dynamics and traversability prediction
International Journal of Automation and Computing, 2006Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle traversing unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson’s Rule is employed for this purpose. The key soil Parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified Parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust. The identified soil Parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy. The use of identified soil Parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.
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ICRA - Performance prediction of a wheeled vehicle on unknown terrain using identified soil Parameters
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle travelling on an unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque which can be employed for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The Newton Raphson method is used as the identification technique applied on the modified form of the wheel-soil interaction dynamics model using the composite Simpson's rule. This work focuses on identifying the internal friction angle, the shear deformation modulus, and the lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, does not influence the vehicle drawbar pull and is assigned an average value during the identification process. In an experimental study, the identified Parameters are compared with known values, and shown to be in good agreement. Soil Parameter identification can be carried out on-line and thus our approach is suitable for real-time applications. The robustness of the method is also shown to be relatively good. The identified soil Parameters can be used to predict drawbar pull and wheel drive torque with good accuracy
Andreas Dreuw - One of the best experts on this subject based on the ideXlab platform.
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Quantum chemistry with Coulomb Sturmians: Construction and convergence of Coulomb Sturmian basis sets at the Hartree-Fock level
Physical Review A, 2019Co-Authors: Michael F. Herbst, James Avery, Andreas DreuwAbstract:The first discussion of basis sets consisting of exponentially decaying Coulomb Sturmian functions for modelling electronic structures is presented. The proposed basis set construction selects Coulomb Sturmian functions using separate upper limits to their principle, angular momentum and magnetic quantum numbers. Their common Coulomb Sturmian exponent is taken as a Fourth Parameter. The convergence properties of such basis sets are investigated for second and third row atoms at the Hartree-Fock level. Thereby important relations between the values of the basis set Parameters and the physical properties of the electronic structure are recognised. For example, an unusually large limit for the angular momentum quantum number in unrestricted Hartree-Fock calculations can be linked to the breaking of spherical symmetry in such cases. Furthermore, a connection between the optimal, i.e. minimum-energy, Coulomb Sturmian exponent and the average Slater exponents values obtained by Clementi and Raimondi (E. Clementi and D. L. Raimondi, J. Chem. Phys. 38, 2686 (1963)) is made. These features of Coulomb Sturmian basis sets emphasise their ability to correctly reproduce the physical features of Hartree-Fock wave functions.
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Quantum chemistry with Coulomb Sturmians: Construction and convergence of Coulomb Sturmian basis sets at the Hartree-Fock level
Physical Review A, 2019Co-Authors: M. Herbst, James Avery, Andreas DreuwAbstract:The first discussion of basis sets consisting of exponentially decaying Coulomb Sturmian functions for modelling electronic structures is presented. The proposed basis set construction selects Coulomb Sturmian functions using separate upper limits to their principle, angular momentum and magnetic quantum numbers. Their common Coulomb Sturmian exponent is taken as a Fourth Parameter. The convergence properties of such basis sets are investigated for second and third row atoms at the Hartree-Fock level. Thereby important relations between the values of the basis set Parameters and the physical properties of the electronic structure are recognised. For example, an unusually large limit for the angular momentum quantum number in unrestricted Hartree-Fock calculations can be linked to the breaking of spherical symmetry in such cases. Furthermore, a connection between the optimal, i.e. minimum-energy, Coulomb Sturmian exponent and the average Slater exponents values obtained by Clementi and Raimondi (E. Clementi and D. L. Raimondi, J. Chem. Phys. 38, 2686 (1963)) is made. These features of Coulomb Sturmian basis sets emphasise their ability to correctly reproduce the physical features of Hartree-Fock wave functions.
Suksun Hutangkabodee - One of the best experts on this subject based on the ideXlab platform.
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Soil Parameter identification for wheel-terrain interaction dynamics and traversability prediction
International Journal of Automation and Computing, 2006Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle traversing unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson’s Rule is employed for this purpose. The key soil Parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified Parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust. The identified soil Parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy. The use of identified soil Parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.
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ICRA - Performance prediction of a wheeled vehicle on unknown terrain using identified soil Parameters
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle travelling on an unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque which can be employed for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The Newton Raphson method is used as the identification technique applied on the modified form of the wheel-soil interaction dynamics model using the composite Simpson's rule. This work focuses on identifying the internal friction angle, the shear deformation modulus, and the lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, does not influence the vehicle drawbar pull and is assigned an average value during the identification process. In an experimental study, the identified Parameters are compared with known values, and shown to be in good agreement. Soil Parameter identification can be carried out on-line and thus our approach is suitable for real-time applications. The robustness of the method is also shown to be relatively good. The identified soil Parameters can be used to predict drawbar pull and wheel drive torque with good accuracy
Lakmal Seneviratne - One of the best experts on this subject based on the ideXlab platform.
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Soil Parameter identification for wheel-terrain interaction dynamics and traversability prediction
International Journal of Automation and Computing, 2006Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle traversing unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson’s Rule is employed for this purpose. The key soil Parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified Parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust. The identified soil Parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy. The use of identified soil Parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.
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ICRA - Performance prediction of a wheeled vehicle on unknown terrain using identified soil Parameters
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle travelling on an unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque which can be employed for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The Newton Raphson method is used as the identification technique applied on the modified form of the wheel-soil interaction dynamics model using the composite Simpson's rule. This work focuses on identifying the internal friction angle, the shear deformation modulus, and the lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, does not influence the vehicle drawbar pull and is assigned an average value during the identification process. In an experimental study, the identified Parameters are compared with known values, and shown to be in good agreement. Soil Parameter identification can be carried out on-line and thus our approach is suitable for real-time applications. The robustness of the method is also shown to be relatively good. The identified soil Parameters can be used to predict drawbar pull and wheel drive torque with good accuracy
Yahya Zweiri - One of the best experts on this subject based on the ideXlab platform.
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Soil Parameter identification for wheel-terrain interaction dynamics and traversability prediction
International Journal of Automation and Computing, 2006Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle traversing unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson’s Rule is employed for this purpose. The key soil Parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified Parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust. The identified soil Parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy. The use of identified soil Parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.
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ICRA - Performance prediction of a wheeled vehicle on unknown terrain using identified soil Parameters
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Suksun Hutangkabodee, Yahya Zweiri, Lakmal Seneviratne, Kaspar AlthoeferAbstract:This paper presents a novel technique for identifying soil Parameters for a wheeled vehicle travelling on an unknown terrain. The identified soil Parameters are required for predicting vehicle drawbar pull and wheel drive torque which can be employed for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The Newton Raphson method is used as the identification technique applied on the modified form of the wheel-soil interaction dynamics model using the composite Simpson's rule. This work focuses on identifying the internal friction angle, the shear deformation modulus, and the lumped pressure-sinkage coefficient. The Fourth Parameter, cohesion, does not influence the vehicle drawbar pull and is assigned an average value during the identification process. In an experimental study, the identified Parameters are compared with known values, and shown to be in good agreement. Soil Parameter identification can be carried out on-line and thus our approach is suitable for real-time applications. The robustness of the method is also shown to be relatively good. The identified soil Parameters can be used to predict drawbar pull and wheel drive torque with good accuracy
