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Experiences from Model Based Development of Drive-By-Wire Control Systems [chapter]

Per Johannessen, Fredrik Törner, Jan Torin
IFIP International Federation for Information Processing  
FAR focused on the development of drive-by-wire systems using model based development.  ...  Key words: Research in distributed dependable control systems within the automotive industry is of high importance today. One reason is the introduction of more mechatronical systems.  ...  The project was funded by The Program Board for the Swedish Automotive Research Program at VINNOVA, the Swedish Agency for Innovation Systems.  ... 
doi:10.1007/1-4020-8149-9_11 dblp:conf/ifip10-3/JohannessenTT04 fatcat:xymgzgw6c5epdmyqqv2wqzmux4

Hyper-finger for Remote Minimally Invasive Surgery in Deep Area [chapter]

Koji Ikuta, Shinichi Daifu, Takahiko Hasegawa, Humihiro Higashikawa
2002 Lecture Notes in Computer Science  
Each finger has nine degrees of freedom and several unique mechanisms are employed to solve the fundamental issues of conventional wire drive manipulators.  ...  The new concept and system were verified successfully by in-vivo remote minimally invasive surgery. Further improvements of the system toward a clinical version are now underway.  ...  Kazuhiro Shinohara at Saitama Medical School for their assistance in the animal experiment. We also acknowledge the assistance of Shinko Senda at Nagoya University and all contributors.  ... 
doi:10.1007/3-540-45786-0_22 fatcat:x3zfxap2wrcq5mlkbkvtwwcx5i

An Overview on Study of Identification of Driver Behavior Characteristics for Automotive Control

Na Lin, Changfu Zong, Masayoshi Tomizuka, Pan Song, Zexing Zhang, Gang Li
2014 Mathematical Problems in Engineering  
, and the vehicle dynamics control system.  ...  methods of the driver behavior characteristics, experimental design and data acquisition, and model adaptation.  ...  X-by-wire control technology comprises steer-by-wire, brake-by-wire, driveby-wire, and suspension-by-wire (active suspensions) subsystems and has higher accurate and more complex control algorithms than  ... 
doi:10.1155/2014/569109 fatcat:gyj6iud64fajfcui5zp2iqvwju

Pneumatic Valve Operated by Multiplex Pneumatic Transmission

Yasutaka NISHIOKA, Koichi SUZUMORI, Takefumi KANDA, Shuichi WAKIMOTO
2008 Journal of Advanced Mechanical Design, Systems, and Manufacturing  
Dynamic simulation was used to confirm the working principle of the resonance driving system. A prototype device confirming the principle was designed and developed based on the simulation.  ...  The experiments show that this new control system works very well to control two separated valves through single pneumatic tube.  ...  Acknowledgment This research was supported by a Grant-in-Aid for Scientific Research on Priority Areas (No. 438) "Intelligent Actuators for Multi-Degrees-of-Freedom Mechatronics (16078209)" from the Ministry  ... 
doi:10.1299/jamdsm.2.222 fatcat:rjskrgjr65e2hkpnxwvpedhgei

Modelling Driver Behaviour in the Case of Failures in a Steer-by-Wire System [chapter]

Jeroen Hogema, Paul Wewerinke
2011 Human Modelling in Assisted Transportation  
In the design and development of advanced vehicle control systems such as X-by-Wire (XBW), system safety is a crucial aspect. Failures in XBW can easily result in accidents.  ...  This chapter describes a driver model for the case of a Steer-by-Wire system.  ...  Method Steer-by-wire and errors The Steer-by-Wire (SBW) system consisted of a conventional steering wheel as the input device and two main control systems: a rack actuator that controlled the wheel angle  ... 
doi:10.1007/978-88-470-1821-1_14 fatcat:44bszghm4zht5eo2iou5z3ehna

A NEW PNEUMATIC CONTROL SYSTEM USING MULTIPLEX PNEUMATIC TRANSMISSION

Yasutaka NISHIOKA, Koichi SUZUMORI, Takefumi KANDA, Shuichi WAKIMOTO
2008 Proceedings of the JFPS International symposium on fluid power  
The purpose of this research is simplifying and downsizing of pneumatic system consisting of many pneumatic KEY WORDS Actuator, Pneumatic valve, Resonance Copyright (C) 2008 by JFPS, ISBN 4-931070-07-X  ...  In this paper, experimental models was developed and adapted to pneumatic system. In this experiment, the independent driving of two pneumatic cylinders is realized.  ...  It shows a great potential of new pneumatic control system. From the experiment, the response of pneumatic cylinder was confirmed each.  ... 
doi:10.5739/isfp.2008.439 fatcat:6trmehzihvdf5bupcfkq3yffdm

Direct current measurement based steer-by-wire systems for realistic driving feeling

Ba-Hai Nguyen, Jee-Hwan Ryu
2009 2009 IEEE International Symposium on Industrial Electronics  
This effect could be useful and valuable for improving steer-by-wire development based on torque-map based method.  ...  The simulated results show that this method offers a cheaper and simpler solution for the development of steer-by-wire systems.  ...  ACKNOWLEDGEMENT This work was supported by the grant for industry-university cooperation laboratory program in 2009.  ... 
doi:10.1109/isie.2009.5221999 fatcat:ozp66w2b7zduthtr5abyvf6zhe

Development of a Pneumatically-Driven Robotic Forceps with a Flexible Wrist Joint

Daisuke Haraguchi, Kotaro Tadano, Kenji Kawashima
2013 Procedia CIRP  
Theoretical models of the proposed mechanism are developed; kinematic relation between joint positions and actuator displacements is described as a simple ideal continuum model, and dynamic model of the  ...  The joint position control system employs a cascade structure: the outer loop of the position control with dynamics compensation and the inner loop of the pneumatic force control.  ...  feed-forward compensation for the driving forces is added based on the dynamic model shown in equation (4) . The pneumatic force control system is shown in Fig.6 .  ... 
doi:10.1016/j.procir.2013.01.012 fatcat:tz4owxyvu5ex3hedklkh7rtsli

Motion Control and External Force Estimation of a Pneumatically Driven Multi-DOF Robotic Forceps

Dongbo Zhou, Kotaro Tadano, Daisuke Haraguchi
2020 Applied Sciences  
Moreover, we designed an external force observer in the position controller by applying the disturbance observer scheme. The results of the performance evaluation experiments are as follows.  ...  This work introduces a pneumatically driven multi-DOF (DOF: degree of freedom) forceps using a rigid-link mechanism with less interference of the wire drive between joints and realizes external force estimation  ...  Acknowledgments: This work was supported by the collaborative research fund of RIVERFIELD Inc. Conflicts of Interest: The authors declare no conflicts of interest.  ... 
doi:10.3390/app10113679 fatcat:vuzha2czhrhs3npelredxtwvzy

Study on motion following with feedback force disturbance in interventional surgical robot system

Yuan Wang, Shuxiang Guo, Baofeng Gao, Weili Peng, Guangxuan Li
2016 2016 IEEE International Conference on Mechatronics and Automation  
The master side can provide haptic feedback for doctors and collect guide wire control commands from doctors.  ...  In this paper, design of the developed interventional surgical robot system was presented. And design experiments to assess the follow of axial movement, rotation.  ...  The feasibility of the developed system is proved.  ... 
doi:10.1109/icma.2016.7558611 fatcat:dwiyzahwwnfwxlyyham4gl3eea

Modeling and Simulation of integrated steering and braking control for vehicle active safety system

Beibei Zhang, Liang Tong
2011 International Journal of Image Graphics and Signal Processing  
A test vehicle which is equipped with the systems of steer-by-wire and brake-bywire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim, is used to fulfill the RCP (Rapid Control Prototyping  ...  The seven-freedom vehicle model is constructed first and the approach of vehicle parameters estimation based on the Extended Kalman Filter (EKF) is proposed.  ...  Active brake-by-wire The brake-by-wire system in which the hydraulic power is used to create a more versatile braking system from MICO Incorporated, consists of an electronic pedal, a line drive, an electro-hydraulic  ... 
doi:10.5815/ijigsp.2011.02.01 fatcat:2kmm3iieozf7tatnkaronvfpai

Force control of wire driving lower limb rehabilitation robot

Yupeng Zou, Huizi Ma, Zhiyuan Han, Yang Song, Kai Liu, Carlos Gómez, Severin P. Schwarzacher, Huiyu Zhou
2018 Technology and Health Care  
METHODS: The dynamics model of the wire driving module (WDM) was built based on which a multiple feedback loop controller (including a forward controller and a surplus force compensator) was designed.  ...  CONCLUSIONS: The machinery and control system of the WDM met the design request.  ...  Fig. 7 . 7 Multiple feedback loop force control strategy for the wire driving system. resulted in the variation in the dynamics model of WDM for the nonlinearity and time variation of the system, which  ... 
doi:10.3233/thc-174714 pmid:29758963 pmcid:PMC6004983 fatcat:swqelhtjq5ebrev4xhkhjlpbtu

The Effects of Time Lag on Driving Performance and a Possible Mitigation

James Davis, Christopher Smyth, Kaleb McDowell
2010 IEEE Transactions on robotics  
This experiment examined the effects of lag and lag variability on a simulated driving task, as well as a possible mitigation (predictive display) for the effects of lag.  ...  Performance decrements for human-in-the-loop control systems as a result of time lags are generally associated with the operator's inability to predict the outcome of their control input and are dependent  ...  Army Tank and Automotive Research and Development Command, Marcel Cannon of DCS Corporation, and Heather Stoner of Realtime Technologies, Inc. for their integral roles in the development of the simulated  ... 
doi:10.1109/tro.2010.2046695 fatcat:ijs7lncdyzcdnj3ttdnpbtoxw4

Electrical Vehicle Speed Limiter using RF Technology

U. Subha, G. Joga Rao, G.A.V. Durga Prasad, A.H. Naga Priya, G. Venkata Akhil, G. L. Sai Kumar, Y. D. V. S Prasanth
2019 International Journal of Scientific Research in Science Engineering and Technology  
If the system was at lower speed than the limit received from the sign post, then there will be no changes made to the speed of the system.  ...  If the speed of the vehicle was manually incremented to a higher value, then the controller will impose the speed restriction and bring back the speed value to the value specified by the limit.  ...  ACKNOWLEDGEMENT We would like to thank our Management, Director Academics, Principal, Head of the Department of Electronics and Instrumentation Engineering and Faculty Members of the EIE Department of  ... 
doi:10.32628/ijsrset196264 fatcat:kk7bbqi4ynfcvhh3ilpd5zd3pm

Design of Model-based Controller with Disturbance Estimation in Steer-by-wire System

Sanghun Jung, Seibum Choi, H.F. Abdul Amir, S. Kok Swee
2018 MATEC Web of Conferences  
Targeted steer-by-wire system is identified through the experiment and system identification method. Moreover, model-based controller is designed using the identified plant model.  ...  Experiment of various scenarios are conducted to validate the robust performance of proposed model-based controller.  ...  XBW system is being developed to provide the driver with the convenience of driving, steering, and braking.  ... 
doi:10.1051/matecconf/201816602009 fatcat:tnr2o7qmvndmphb4mqcplctecy
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