The Experts below are selected from a list of 1032 Experts worldwide ranked by ideXlab platform
Saïd Mammar - One of the best experts on this subject based on the ideXlab platform.
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Motorcycle Maximal Safe Speed in Cornering Situation
2013Co-Authors: Hamid Slimi, Dalil Ichalal, Hichem Arioui, Saïd MammarAbstract:In this paper, we present a new method for the computation of the maximal authorized motorcycle speed in curves. The three main actors which are the vehicle, the driver and the infrastructure are taken into account. The vehicle dynamics are represented by a dynamic four degrees of freedom model which includes the vehicle's Longitudinal Slip and side Slip angle. The driver behavior model considers his ability in deceleration maneuvers according to the mobilized friction. The infrastructure characteristics introduce a precise handling of the road geometry and of the maximal available friction.
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ICNSC - Motorcycle maximal safe speed in cornering situation
2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING SENSING AND CONTROL (ICNSC), 2013Co-Authors: Hamid Slimi, Dalil Ichalal, Hichem Arioui, Saïd MammarAbstract:In this paper, we present a new method for the computation of the maximal authorized motorcycle speed in curves. The three main actors which are the vehicle, the driver and the infrastructure are taken into account. The vehicle dynamics are represented by a dynamic four degrees of freedom model which includes the vehicle's Longitudinal Slip and side Slip angle. The driver behavior model considers his ability in deceleration maneuvers according to the mobilized friction. The infrastructure characteristics introduce a precise handling of the road geometry and of the maximal available friction.
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Motorcycle speed profile in cornering situation
Proceedings of the 2010 American Control Conference, 2010Co-Authors: Hamid Slimi, Hichem Arioui, L. Nouveliere, Saïd MammarAbstract:In this paper, we present a new method for the computation of the maximal authorized motorcycle speed in curves. The three main factors which are the vehicle, the driver and the infrastructure are taken into account. The vehicle dynamics are represented by a four degrees of freedom model which includes the vehicle's Longitudinal Slip and sideSlip angle. The driver behavior model considers the ability in deceleration maneuvers according to the mobilized friction. The infrastructure characteristics introduce a precise handling of the road geometry and of the maximal available friction.
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ACC - Motorcycle speed profile in cornering situation
Proceedings of the 2010 American Control Conference, 2010Co-Authors: Hamid Slimi, Hichem Arioui, L. Nouveliere, Saïd MammarAbstract:In this paper, we present a new method for the computation of the maximal authorized motorcycle speed in curves. The three main factors which are the vehicle, the driver and the infrastructure are taken into account. The vehicle dynamics are represented by a four degrees of freedom model which includes the vehicle's Longitudinal Slip and sideSlip angle. The driver behavior model considers the ability in deceleration maneuvers according to the mobilized friction. The infrastructure characteristics introduce a precise handling of the road geometry and of the maximal available friction.
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advanced vehicle infrastructure driver speed profile for road departure accident prevention
Vehicle System Dynamics, 2006Co-Authors: Chouki Sentouh, Sebastien Glaser, Saïd MammarAbstract:In this paper, we present a new method for the calculation of the maximal authorized speed in curves where the three elements of the situation, the vehicle, the driver, and the infrastructure are taken into account. The vehicle dynamics is represented by a four-wheel model that includes Longitudinal Slip and side-Slip angle of the vehicle. Our analysis of the driver behaviour considers his ability during deceleration, taking into account the mobilized friction, while the infrastructure characteristics introduce a precise definition of the road geometry and the maximal available friction.
F. Gara - One of the best experts on this subject based on the ideXlab platform.
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Displacement‐based formulations for composite beams with Longitudinal Slip and vertical uplift
International Journal for Numerical Methods in Engineering, 2006Co-Authors: F. Gara, Gianluca Ranzi, Graziano LeoniAbstract:This paper describes three novel displacement-based formulations for the analysis of composite beams with a flexible connection which is capable of deforming along the Longitudinal axis of the member as well as vertically, i.e. transverse to the interface connection. For completeness, the analytical model which forms the basis of the proposed modelling technique is presented in both its weak and strong forms. The three novel finite element formulations are derived and tested using different structural systems; their nodal freedoms include the vertical and axial displacements as well as the rotations at each element end of both layers. Curvature locking problems are observed to occur for one of these elements and the origin of this behaviour is demonstrated analytically. Two applications are then proposed adopting a bi-linear constitutive relationship for the vertical interface connection to reflect the more realistic case in which, already in the linear-elastic range of the materials forming the cross-section and of the Longitudinal interface connection, two vertical connection stiffnesses are required, i.e. one to model the event of separation between the layers and one when one bears against the other one.
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displacement based formulations for composite beams with Longitudinal Slip and vertical uplift
International Journal for Numerical Methods in Engineering, 2006Co-Authors: F. Gara, Gianluca Ranzi, Graziano LeoniAbstract:This paper describes three novel displacement-based formulations for the analysis of composite beams with a flexible connection which is capable of deforming along the Longitudinal axis of the member as well as vertically, i.e. transverse to the interface connection. For completeness, the analytical model which forms the basis of the proposed modelling technique is presented in both its weak and strong forms. The three novel finite element formulations are derived and tested using different structural systems; their nodal freedoms include the vertical and axial displacements as well as the rotations at each element end of both layers. Curvature locking problems are observed to occur for one of these elements and the origin of this behaviour is demonstrated analytically. Two applications are then proposed adopting a bi-linear constitutive relationship for the vertical interface connection to reflect the more realistic case in which, already in the linear-elastic range of the materials forming the cross-section and of the Longitudinal interface connection, two vertical connection stiffnesses are required, i.e. one to model the event of separation between the layers and one when one bears against the other one.
Graziano Leoni - One of the best experts on this subject based on the ideXlab platform.
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Displacement‐based formulations for composite beams with Longitudinal Slip and vertical uplift
International Journal for Numerical Methods in Engineering, 2006Co-Authors: F. Gara, Gianluca Ranzi, Graziano LeoniAbstract:This paper describes three novel displacement-based formulations for the analysis of composite beams with a flexible connection which is capable of deforming along the Longitudinal axis of the member as well as vertically, i.e. transverse to the interface connection. For completeness, the analytical model which forms the basis of the proposed modelling technique is presented in both its weak and strong forms. The three novel finite element formulations are derived and tested using different structural systems; their nodal freedoms include the vertical and axial displacements as well as the rotations at each element end of both layers. Curvature locking problems are observed to occur for one of these elements and the origin of this behaviour is demonstrated analytically. Two applications are then proposed adopting a bi-linear constitutive relationship for the vertical interface connection to reflect the more realistic case in which, already in the linear-elastic range of the materials forming the cross-section and of the Longitudinal interface connection, two vertical connection stiffnesses are required, i.e. one to model the event of separation between the layers and one when one bears against the other one.
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displacement based formulations for composite beams with Longitudinal Slip and vertical uplift
International Journal for Numerical Methods in Engineering, 2006Co-Authors: F. Gara, Gianluca Ranzi, Graziano LeoniAbstract:This paper describes three novel displacement-based formulations for the analysis of composite beams with a flexible connection which is capable of deforming along the Longitudinal axis of the member as well as vertically, i.e. transverse to the interface connection. For completeness, the analytical model which forms the basis of the proposed modelling technique is presented in both its weak and strong forms. The three novel finite element formulations are derived and tested using different structural systems; their nodal freedoms include the vertical and axial displacements as well as the rotations at each element end of both layers. Curvature locking problems are observed to occur for one of these elements and the origin of this behaviour is demonstrated analytically. Two applications are then proposed adopting a bi-linear constitutive relationship for the vertical interface connection to reflect the more realistic case in which, already in the linear-elastic range of the materials forming the cross-section and of the Longitudinal interface connection, two vertical connection stiffnesses are required, i.e. one to model the event of separation between the layers and one when one bears against the other one.
Guangjun Liu - One of the best experts on this subject based on the ideXlab platform.
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optimized control for Longitudinal Slip ratio with reduced energy consumption
Acta Astronautica, 2015Co-Authors: Haibo Gao, Kerui Xia, Liang Ding, Zongquan Deng, Zhen Liu, Guangjun LiuAbstract:Abstract Wheeled exploration robots (WERs) used for applications such as planetary exploration have to traverse loose terrain, often, during which time they may suffer Longitudinal Slip and side Slip owing to the interaction between their rigid wheels and the loose soil. Longitudinal Slip and side Slip are the main causes for WERs delay or deviate from the ideal trajectory. But the presented work is indeed focused on Longitudinal Slip. By analyzing and simplifying the wheel–soil interaction terramechanics model for this case, the algorithm for an adaptive fuzzy control law based on Slip ratio optimization is designed to optimize the tractive efficiency and minimize energy consumption. Its stability is proved, and conditions for control parameters are derived. Analytical and simulation results demonstrate that the proposed control system significantly improves the mobile performance of the WER.
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Longitudinal Slip versus skid of planetary rovers wheels traversing on deformable slopes
Intelligent Robots and Systems, 2013Co-Authors: Liang Ding, Haibo Gao, Zongquan Deng, Junlong Guo, Guangjun LiuAbstract:The wheels of planetary rovers will Slip when they climbs up deformable slopes. On the contrary, the wheels will skid in the Longitudinal direction in order to generate resistance force to balance the gravity component when a rover moves down the slopes. The wheel-terrain interaction principles of Slip versus skid are quite different, but there is little research about the Longitudinal skid mechanics and the relationship of it with the Slip mechanics. This paper analyzes the problem of Longitudinal Slip and skid that occur to a wheel on the slopes with the knowledge of terramechanics. The Slip and skid mechanics are compared based on experimental results measured by a single wheel testbed. The piece wise linear function is proposed to predict the drawbar pull and resistance moment under both Slip and skid conditions. A semi-empirical equation of predicting the skid mechanics according to the Slip mechanics is also provided. The models are verified using the experimental data.
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IROS - Longitudinal Slip versus skid of planetary rovers' wheels traversing on deformable slopes
2013 IEEE RSJ International Conference on Intelligent Robots and Systems, 2013Co-Authors: Liang Ding, Haibo Gao, Zongquan Deng, Junlong Guo, Guangjun LiuAbstract:The wheels of planetary rovers will Slip when they climbs up deformable slopes. On the contrary, the wheels will skid in the Longitudinal direction in order to generate resistance force to balance the gravity component when a rover moves down the slopes. The wheel-terrain interaction principles of Slip versus skid are quite different, but there is little research about the Longitudinal skid mechanics and the relationship of it with the Slip mechanics. This paper analyzes the problem of Longitudinal Slip and skid that occur to a wheel on the slopes with the knowledge of terramechanics. The Slip and skid mechanics are compared based on experimental results measured by a single wheel testbed. The piece wise linear function is proposed to predict the drawbar pull and resistance moment under both Slip and skid conditions. A semi-empirical equation of predicting the skid mechanics according to the Slip mechanics is also provided. The models are verified using the experimental data.
Sergio M. Savaresi - One of the best experts on this subject based on the ideXlab platform.
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Slip-deceleration control in anti-lock braking systems
IFAC Proceedings Volumes, 2016Co-Authors: Sergio M. Savaresi, Mara Tanelli, Carlo Cantoni, Demos Charalambakis, Fabio Previdi, Sergio BittantiAbstract:Abstract In road vehicles, wheel locking can be prevented by means of closed-loop Anti-lock Braking Systems (ABS). Two output measured variables are usually considered for regulation: wheel- deceleration and wheel Longitudinal Slip. The traditional controlled variable used in ABS is the wheel deceleration, since it can be easily measured with a simple wheel encoder; however, it can be dynamically critical if the road-surface rapidly changes. On the other hand, the regulation of the Longitudinal Slip is much robust from the dynamical point of view, but the Slip measurement is critical, since it requires the estimation of the Longitudinal vehicle speed. In this work a control strategy is proposed, where the regulated variable is a combination of wheel deceleration and Longitudinal Slip.
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Combining Slip and Deceleration Control for Brake-by-Wire Control Systems: a Sliding-Mode Approach
European Journal of Control, 2007Co-Authors: Mara Tanelli, Roberto Sartori, Sergio M. SavaresiAbstract:In road vehicles, wheel locking can be prevented by means of closed-loop Anti-lock Braking Systems (ABSs). Two output measured variables are usually considered for regulation: wheel deceleration and wheel Longitudinal Slip. The traditional controlled variable used in ABS is the wheel deceleration, since it can be easily measured with a simple wheel encoder; however, it can be dynamically critical if the road-surface rapidly changes. On the other hand, the regulation of the Longitudinal Slip is more robust from the dynamical point of view, but the Slip measurement is critical, since it requires the estimation of the Longitudinal vehicle speed. In this work we propose a control strategy whose regulated variable is a combination of wheel deceleration and Longitudinal Slip. In particular, this work proposes a Sliding Mode approach to the design of an active braking controller whose controlled variable is a convex combination of wheel deceleration and wheel Slip.
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Sliding mode Slip-deceleration control for brake-by-wire control systems
IFAC Proceedings Volumes, 2007Co-Authors: Mara Tanelli, Roberto Sartori, Sergio M. SavaresiAbstract:Abstract In Anti-lock Braking Systems (ABS) two output variables are usually considered for regulation: wheel deceleration and wheel Longitudinal Slip. The wheel deceleration can be easily measured: however, it can be dynamically critical if the road-surface rapidly changes. On the other hand, the Longitudinal Slip offers good dynamical properties, but the Slip measurement is critical as it requires the estimation of the Longitudinal vehicle speed. This work proposes a Sliding Mode approach to the design of an active braking controller whose controlled variable is a convex combination of wheel deceleration and wheel Slip.
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mixed Slip deceleration control in automotive braking systems
Journal of Dynamic Systems Measurement and Control-transactions of The Asme, 2006Co-Authors: Sergio M. Savaresi, Mara Tanelli, Carlo CantoniAbstract:In road vehicles, wheel locking can be prevented by means of closed-loop anti-lock braking systems (ABS). Automatic braking is extensively used also for electronic stability control (ESC) systems. In braking control systems, two output variables are usually considered for regulation purposes: wheel deceleration and wheel Longitudinal Slip. Wheel deceleration is the controlled output traditionally used in ABS, since it can be easily measured with a simple wheel encoder; however, the dynamics of a classical regulation loop on the wheel deceleration critically depend on the road conditions. A regulation loop on the wheel Longitudinal Slip is simpler and dynamically robust; moreover, Slip control is perfectly suited for both ABS and ESC applications. However, the wheel-Slip measurement is critical, since it requires the estimation of the Longitudinal speed of the vehicle body, which cannot be directly measured. Noise sensitivity of Slip control hence is a critical issue, especially at low speed. In this work a new control strategy called mixed Slip-deceleration (MSD) control is proposed: the basic idea is that the regulated variable is a convex combination of wheel deceleration and Longitudinal Slip. This strategy turns out to be very powerful and flexible: it inherits all the attractive dynamical features of Slip control, while providing a much lower sensitivity to Slip-measurement noise.
