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Articles 1 - 8 of 8
Full-Text Articles in Navigation, Guidance, Control, and Dynamics
Comparison Of Methods For Estimating Instantaneous Turn Radius Of Ackermann Steering Vehicles, Kenneth Gennaro Stutts
Comparison Of Methods For Estimating Instantaneous Turn Radius Of Ackermann Steering Vehicles, Kenneth Gennaro Stutts
Doctoral Dissertations and Master's Theses
The instantaneous turn radius of an Ackermann steering vehicle is the distance to a point in space about which the vehicle will travel in an arc during a turn. There are at least six ways to estimate instantaneous turn radius and each method uses different inputs and has distinct advantages and disadvantages. In this thesis, six different methods will be used to estimate the instantaneous turn radius of a vehicle traveling on a closed circuit. This testing will clarify similarities and differences between the methods. This thesis clarifies which method will be the most appropriate for a given set of …
On-Board Artificial Intelligence For Failure Detection And Safe Trajectory Generation, Eduardo Morillo
On-Board Artificial Intelligence For Failure Detection And Safe Trajectory Generation, Eduardo Morillo
Doctoral Dissertations and Master's Theses
The use of autonomous flight vehicles has recently increased due to their versatility and capability of carrying out different type of missions in a wide range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the operational safety of these systems can be easily affected if abnormal flight conditions are present, thereby compromising the nominal bounds of design of the system's flight envelop and trajectory following. This thesis focuses on …
Machine Learning To Predict Warhead Fragmentation In-Flight Behavior From Static Data, Katharine Larsen
Machine Learning To Predict Warhead Fragmentation In-Flight Behavior From Static Data, Katharine Larsen
Doctoral Dissertations and Master's Theses
Accurate characterization of fragment fly-out properties from high-speed warhead detonations is essential for estimation of collateral damage and lethality for a given weapon. Real warhead dynamic detonation tests are rare, costly, and often unrealizable with current technology, leaving fragmentation experiments limited to static arena tests and numerical simulations. Stereoscopic imaging techniques can now provide static arena tests with time-dependent tracks of individual fragments, each with characteristics such as fragment IDs and their respective position vector. Simulation methods can account for the dynamic case but can exclude relevant dynamics experienced in real-life warhead detonations. This research leverages machine learning methodologies to …
Active Drag Reduction Of Ground Vehicles Using Air-Jet Wheel Deflectors, Kaloki Nabutola
Active Drag Reduction Of Ground Vehicles Using Air-Jet Wheel Deflectors, Kaloki Nabutola
Doctoral Dissertations and Master's Theses
Seven turbulence models were used to simulate the flow within the wheelhouse of a simplified vehicle body. The performance of each model was evaluated by comparing the aerodynamic coefficients obtained using computational fluid dynamics (CFD) to data collected from wind tunnel experiments. The performance of large eddy simulation (LES) and detached eddy simulation (DES) was largely dependent on the time step and grid size to accurately resolve turbulent eddies. The standard k-e, realizable k-e, k-w, DES, and LES all trended towards a drag coefficient which was 20% lower than the experimental value. In all numerical cases, the lift coefficient was …
Finite Element Model Validation And Testing Of An Off-Road Vehicle Under Dynamic Loading Conditions, Mackenzie Susan Cunningham
Finite Element Model Validation And Testing Of An Off-Road Vehicle Under Dynamic Loading Conditions, Mackenzie Susan Cunningham
Doctoral Dissertations and Master's Theses
In the vehicle design life cycle, validation tests consume a significant portion of the available development time. With a short, one-year design cycle, the Embry-Riddle Baja Team leverages computer-aided engineering (CAE) tools to simulate critical test cases whose loading conditions can be accurately represented by a series of static loads and constraints. Using these conditions, a Finite Element Model (FEM) can be employed to accurately predict the effects of the loading conditions in the components. During the initial design of the front suspension, one major load case was determined to be the main failure load. However, after validation testing the …
Dynamic Understeer Control Using Active Rear Toe, Mark Oliver Dixon Kaufman
Dynamic Understeer Control Using Active Rear Toe, Mark Oliver Dixon Kaufman
Doctoral Dissertations and Master's Theses
This thesis was conducted to show the ability of Active Rear Toe to control the understeer characteristics of a vehicle. Active rear toe is the ability to control the angle of the rear wheels around the vertical axis, allowing the car’s turning radius to change. By changing this radius, the lateral acceleration can be controlled, therefore the understeer of the vehicle can be controlled. The controls scheme is a sliding mode control, specifically a hyperbolic tangent boundary layer and a type 1 zeno controller. The system shows effectiveness to control the understeer of the vehicle up until limit grip on …
Traction And Launch Control For A Rear-Wheel-Drive Parallel-Series Plug-In Hybrid Electric Vehicle, Adam Michael Szechy
Traction And Launch Control For A Rear-Wheel-Drive Parallel-Series Plug-In Hybrid Electric Vehicle, Adam Michael Szechy
Doctoral Dissertations and Master's Theses
Hybrid vehicles are becoming the future of automobiles leading into the all-electric generation of vehicles. Electric vehicles come with a great increase in torque at lower RPM resulting in the issue of transferring this torque to the ground effectively. In this thesis, a method is presented for limiting wheel slip and targeting the ideal slip ratio for dry asphalt and low friction surfaces at every given time step. A launch control system is developed to further reduce wheel slip on initial acceleration from standstill furthering acceleration rates to sixty miles per hour. A MATLAB Simulink model was built of the …
Nonholonomic Feedback Control Among Moving Obstacles, Stephen Gregory Armstrong
Nonholonomic Feedback Control Among Moving Obstacles, Stephen Gregory Armstrong
Doctoral Dissertations and Master's Theses
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.