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Full-Text Articles in Mechanical Engineering
Design Of Novel Charge Balancing Networks In Battery Packs, D. Dane Quinn, Tom Hartley
Design Of Novel Charge Balancing Networks In Battery Packs, D. Dane Quinn, Tom Hartley
Dr. D Dane Quinn
In a modern battery pack, the charge in the individual cells can diverge in time, leading to decreased capacity and reduced operating life of the pack. Charge balancing systems can be introduced to equalize the state of charge across the multiple cells, therefore increasing the performance of the battery pack. This work considers the dynamic performance of charge balancing systems, and through simulation explores how their ability to equalize the state of charge depends on the design of the underlying charge balancing network. The performance of the charge balancing system is described in terms of the rate at which the …
Modeling And Control Of Formations Of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, R. Vijay Kumar
Modeling And Control Of Formations Of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, R. Vijay Kumar
R. Vijay Kumar
This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between …