Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)最新文献_第2页

Design of Light Weight-Low Cost Remotely Operated Underwater Vehicle 轻重量低成本遥控水下航行器的设计

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70555

S. Salah, Kareem El Telbany, Bavly Samy, Ahmed Khalil, Karim El-Ghanzory, W. Hussein, M. Yacoub

{"title":"Design of Light Weight-Low Cost Remotely Operated Underwater Vehicle","authors":"S. Salah, Kareem El Telbany, Bavly Samy, Ahmed Khalil, Karim El-Ghanzory, W. Hussein, M. Yacoub","doi":"10.1115/detc2021-70555","DOIUrl":"https://doi.org/10.1115/detc2021-70555","url":null,"abstract":"\u0000 Remotely Operated Underwater Vehicles (ROV) currently have been utilized for scientific and commercial applications. Many industries are involved in developing robots in order to reduce human effort as well as increase productivity, efficiency, and monitoring. That said, the need to optimize the cost for design of ROVs became popular. In the present work, a simplified design procedure of a low cost-light-weight ROV is proposed. The design overview includes a description of the three thrusters operated by bilge pump electric motors. The ROV contains only a camera, an IMU and a GPS sensor. The ROV is wired to a control station that is equipped with a screen with a GUI, a joystick and a keyboard to monitor and control the ROV. The design is optimized to achieve a neutral buoyancy force in order to reduce the stabilizing effort during operation, hence reducing energy consumption. The drag force, lift force, drag center, lift center and fluid velocity contours are predicted using a CFD tool. Dynamic analysis including thrust and drag forces in longitudinal, vertical and yaw directions of motion are investigated to facilitate selection of the prime movers. Finally, the control strategy and electrical system description is presented. The proposed methodology proved that a satisfactory performance with an optimized design is achievable. The ROV design presented could be used in quick and low cost inspection of ships.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123167624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-Objective Structural Optimization of Vehicle Wheels 车辆车轮多目标结构优化

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71062

P. Stabile, F. Ballo, M. Gobbi, G. Previati

{"title":"Multi-Objective Structural Optimization of Vehicle Wheels","authors":"P. Stabile, F. Ballo, M. Gobbi, G. Previati","doi":"10.1115/detc2021-71062","DOIUrl":"https://doi.org/10.1115/detc2021-71062","url":null,"abstract":"\u0000 This work focuses on the development of an innovative design methodology for lightweight wheels of road vehicles. In particular, the activity is carried out for the specific case of a wheel designed for an ultra-efficient vehicle for Shell Eco-marathon competition, with the aim of finding preliminary design solutions. A simplified finite element model of the tire structure is employed for an accurate modelling of the forces acting at the tire/rim interface. The material properties of the tire structure are identified by means of experimental tests. The computed tire/rim force distribution is applied to the rim exploiting a simplified finite element model of the wheel rim. A multi-objective optimization problem is formulated, based on mass and compliance minimization. Several wheel design layouts are investigated, which differ in terms of number of spokes (i.e. 3, 5 and 7), spokes layout (i.e. straight and Y-shape) and spokes cross section (i.e. rectangular, C and I). Geometric quantities related to the cross section dimensions of the spokes and to the rim thickness are optimized. Design constraints related to structural stiffness and elastic stability (both global and local buckling) are taken into account. The developed finite-element based model of the wheel is used to train a set of neural networks to approximate the objective functions and the design constraints to reduce the computational effort. A multi-objective genetic algorithm is adopted to obtain the Pareto-optimal solutions. The implemented method has proved to be a valuable tool to support design engineers in taking critical decisions in the early stages of the design process.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121439999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Test Bench for Characterization and Durability Tests of Motorbike Clutches 摩托车离合器特性和耐久性试验试验台

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70007

G. Previati, M. Gobbi

{"title":"Test Bench for Characterization and Durability Tests of Motorbike Clutches","authors":"G. Previati, M. Gobbi","doi":"10.1115/detc2021-70007","DOIUrl":"https://doi.org/10.1115/detc2021-70007","url":null,"abstract":"\u0000 In the paper, a new test bench for characterization and durability assessment of multi disc wet clutches for motorbike applications is presented. The design of the new test bench is inspired by the current SAE standards J2490 and J286 that refer to the testing of friction material for automatic transmissions wet clutches. Differently from the test bench described in the two standards, which is mainly designed to test the friction material, the test bench presented in this paper has been designed for testing the whole clutch, comprising all discs and the actuation mechanism. The lubrication system of the clutch utilized on the test bench is very similar to the one present on the actual motorbike. The design and instrumentation of the new test rig is analysed and discussed in the paper. The test bench has been used for the characterization of different motorbike clutches. The bench has proved to be able to measure the clutch characteristic for different temperatures and clutch wear levels. A very good repeatability of the tests has been achieved allowing for a comparison of different clutches design, friction material properties and operating conditions (temperature, ..). Some experimental results are presented and discussed in the paper.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124958224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Direct Longitudinal Force Feedback for High-Performance Vehicle Dynamics Control Systems 高性能车辆动力学控制系统的直接纵向力反馈

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69432

G. Riva, Luca Mozzarelli, M. Corno, S. Formentin, S. Savaresi

{"title":"Direct Longitudinal Force Feedback for High-Performance Vehicle Dynamics Control Systems","authors":"G. Riva, Luca Mozzarelli, M. Corno, S. Formentin, S. Savaresi","doi":"10.1115/detc2021-69432","DOIUrl":"https://doi.org/10.1115/detc2021-69432","url":null,"abstract":"\u0000 State of the art vehicle dynamics control systems do not exploit tire road forces information, even though the vehicle behaviour is ultimately determined by the tire road interaction. Recent technological improvements allow to accurately measure and estimate these variables, making it possible to introduce such knowledge inside a control system. In this paper, a vehicle dynamics control architecture based on a direct longitudinal tire force feedback is proposed. The scheme is made by a nested architecture composed by an outer Model Predictive Control algorithm, written in spatial coordinates, and an inner longitudinal force feedback controller. The latter is composed by four classical Proportional-Integral controllers in anti-windup configuration, endowed with a suitably designed gain switching logic to cope with possible unfeasible references provided by the outer loop, avoiding instability. The proposed scheme is tested in simulation in a challenging scenario where the tracking of a spiral path on a slippery surface and the timing performance are handled simultaneously by the controller. The performance is compared with that of an inner slip-based controller, sharing the same outer Model Predictive Control loop. The results show comparable performance in presence of unfeasible force references, while higher robustness is achieved with respect to friction curve uncertainties.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129952328","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Seamless Shifting Control Based on Power Balance Method in Emergency Braking Condition 基于功率平衡法的紧急制动无缝换挡控制

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71284

Zhenghong Lu, Jian Song, Liangyao Yu

{"title":"Seamless Shifting Control Based on Power Balance Method in Emergency Braking Condition","authors":"Zhenghong Lu, Jian Song, Liangyao Yu","doi":"10.1115/detc2021-71284","DOIUrl":"https://doi.org/10.1115/detc2021-71284","url":null,"abstract":"\u0000 Implementation of multi-speed transmission for battery electric vehicle (BEV) is considered as one of effective methods in improving dynamic capability, reducing power consumption and downsizing the powertrain. Considering two trends of automotive technology, advanced driving assistance system (ADAS) and BEV electric powertrain, equipped with a two-speed transmission, can enhance the performance of automatic emergency braking systems (AEBS). When downshift operation is executed during regenerative braking, the multi-speed transmission in first gear can provide adequate brake force capacity for hard braking requirement, improving efficiency of energy recovery of drive motor as well as eliminating the dynamic lag of active braking booster. To ensure both the braking command and downshift requirement, a seamless clutch-to-clutch shifting control strategy based on power balance method is developed by analyzing the frictional work of two friction clutches inside the gear box and the transformation process of kinetic energy of rotational mechanical elements. To maintain the total energy balance of the powertrain as the control objective, the active power compensation of the drive motor during shifting fills the energy gap of the whole transmission system. With the estimation of clutches’ friction torque and shifting stage analyzer, optimal drive motor torque command can be numerically solved and a complete shifting control flow is designed in this study. Simulation results demonstrate the effectiveness of proposed control method in achieving seamless downshifting during regenerative braking, enhancing AEBS performance and improving energy recovery efficiency.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128959350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-Time Measurement Method of Rail Vehicle Wheel Flange Wear Using Inductive and Temperature Sensors 基于感应和温度传感器的轨道车辆轮缘磨损实时测量方法

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-66879

James Ndodana Njaji, Celestin Nkundineza

{"title":"Real-Time Measurement Method of Rail Vehicle Wheel Flange Wear Using Inductive and Temperature Sensors","authors":"James Ndodana Njaji, Celestin Nkundineza","doi":"10.1115/detc2021-66879","DOIUrl":"https://doi.org/10.1115/detc2021-66879","url":null,"abstract":"\u0000 Railway systems are expected to be in their most safe state ensuring safe operations of trains. The contact between rail and wheel is one of the most fundamental aspects in railway systems. Therefore, instruments and measurement systems that give critical information about operating railway systems are expected to work efficiently and effectively. Previous research on using inductive displacement sensor for wheel flange wear measurement has focused on the light rail vehicles, and considered effect of temperature negligible, as opposed to mainline vehicle where the wheel temperature variation is large. Also, the filtering of noises has been done using non-real time data. This paper focuses on the real-time measurement system for freight vehicle wheel flange wear by fusing measurement data from inductive displacement and thermocouple sensors, and filtering of the noises. A CAD model of the sensor support fixed on the bogie frame is presented. Several experimental measurements are carried in the lab on a moving disk heated at different temperatures. Then multiple regression analysis of the data is carried out to come up with the measurement model equation. This equation is used for calibration in LabVIEW program interfaced with data acquisition system for real time measurement. Experimental results show effect of temperature on the inductive sensor measurement data. This effect is taken into account to quantify the clearance between the disk and the sensor tip. The precision and accuracy are determined to be 0.06 Volts and 0.03 mm, respectively. This system is expected to enhance the real-time and/or online monitoring of the safety of rail vehicles. Also, it can be integrated with Automatic Train Protection (ATP) and the detection of track lateral irregularities from the wheel flange real time measurement data.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122219698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Local Trajectory Planning for Autonomous Racing Vehicles Based on the Rapidly-Exploring Random Tree Algorithm 基于快速探索随机树算法的自主赛车局部轨迹规划

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67434

Eugenio Tramacere, Sara Luciani, Stefano Feraco, S. Circosta, Irfan Khan, A. Bonfitto, N. Amati

{"title":"Local Trajectory Planning for Autonomous Racing Vehicles Based on the Rapidly-Exploring Random Tree Algorithm","authors":"Eugenio Tramacere, Sara Luciani, Stefano Feraco, S. Circosta, Irfan Khan, A. Bonfitto, N. Amati","doi":"10.1115/detc2021-67434","DOIUrl":"https://doi.org/10.1115/detc2021-67434","url":null,"abstract":"\u0000 This paper presents a local trajectory planning method based on the Rapidly-exploring Random Tree (RRT) algorithm using Dubins curves for autonomous racing vehicles. The purpose of the investigated method is the real-time computation of a trajectory that could be feasible in autonomous driving. The vehicle is considered as a three Degree-of-Freedom bicycle model and a Model Predictive Control (MPC) algorithm is implemented to control the lateral and longitudinal vehicle dynamics. The trajectory planning algorithm exploits a perception pipeline using a LiDAR sensor that is mounted onto the front wing of the racing vehicle. The MPC computes the acceleration/ deceleration command and the front wheel steering angle to follow the predicted trajectory. The trajectory and control algorithms are tested on real data acquisition performed on-board the vehicle. For validation purposes, the vehicle is driven autonomously during different maneuvers performed in the racing environment that is structured with traffic cones. The feasibility of the algorithm is evaluated in terms of error with respect to the planned trajectory, tracking velocity and maximum longitudinal acceleration. The effectiveness of the method is also evaluated with respect to command signals for the steering and acceleration actuators featured by the retained racing vehicle. The results demonstrate that the trajectory is well-tracked and the signals are compatible with the actuator constraints.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126654101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Design and Path Planning of Autonomous Solar Lawn Mower 自主太阳能割草机的设计与路径规划

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69996

Souhail Hazem, M. Mostafa, E. Mohamed, M. Hesham, Abdelrahman Mohamed, Eyad Lotfy, A. Mahmoud, M. Yacoub

{"title":"Design and Path Planning of Autonomous Solar Lawn Mower","authors":"Souhail Hazem, M. Mostafa, E. Mohamed, M. Hesham, Abdelrahman Mohamed, Eyad Lotfy, A. Mahmoud, M. Yacoub","doi":"10.1115/detc2021-69996","DOIUrl":"https://doi.org/10.1115/detc2021-69996","url":null,"abstract":"\u0000 Current conventional lawn mowers have the following drawbacks; high initial costs, increasing engine noise levels, high operating costs due to high fuel consumption rates, the need to implement perimeter wires across the desired lawn mowing field, and high exhaustion of the operator in the long operating time. Hence, the need for a system that can achieve the same cutting effect of the existing lawn mowers with little or no operator’s fatigue, minimized noise pollution and running cost has risen. In present work, design of an autonomous solar lawn mower, a robotic vehicle that cut grass automatically with little human intervention, is discussed. The robotic vehicle is powered by Lithium-Ion batteries and depend on solar power delivered from a solar base station for charging the batteries. The mechanical design of the vehicle is flexible with the ability to control the height of the vehicle during grass mowing. Differential steering, with the implementation of multiple sensors is presented for obstacle avoidance. Also, a Raspberry Pi microcontroller for the image processing application through a camera is used for path planning. Furthermore, a solar based station structure is designed for charging the robotic vehicle batteries with minimized running cost, utilization of renewable energy source, no health hazards, not having any effect on the environment, and human’s effort and time are saved.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"32 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123407045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Influence of the Cyclist’s Characteristics on the Optimal Pacing Strategy for an Ascending Road 骑车人特征对上坡道路最优步速策略的影响

Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71645

Manuel Angulo, A. Polanco, L. Munoz

{"title":"Influence of the Cyclist’s Characteristics on the Optimal Pacing Strategy for an Ascending Road","authors":"Manuel Angulo, A. Polanco, L. Munoz","doi":"10.1115/detc2021-71645","DOIUrl":"https://doi.org/10.1115/detc2021-71645","url":null,"abstract":"\u0000 Pacing strategies are used in cycling to optimize the power delivered by the cyclist during a race. Gains in race time have been obtained when using these strategies compared to self-paced approaches. For this reason, this study is focused on revising the effect that the variation of the cyclist’s parameters has on the pacing strategy and its results.\u0000 A numeric method was used to propose pacing strategies for a cyclist riding on an ascending 3.7 km route with a constant 6.26% road grade. The method was validated and then implemented to study the effect of aerobic and anaerobic power delivery capacity, mass, and drag area on the pacing strategies and their corresponding estimated race times.\u0000 The results showed that modifying 1% of the aerobic capacity or cyclist mass value led to a change of 1% on the race time. Modifying 1% the anaerobic capacity and the drag area led to changes of 0.03% and 0.02% on the race time, respectively. These results are strongly dependent on the route characteristics.\u0000 It was concluded that for the studied route (constantly ascending), the variation of the cyclist’s aerobic capacity influences the pacing strategy (i.e., the power delivery over the distance). The anaerobic capacity and mass of the cyclist also influence the pacing strategy to a lesser extent.","PeriodicalId":194875,"journal":{"name":"Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129497811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0