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This study proposes an application design for Stewart platform. The Stewart platform is selected to function as a mass center adjusting mechanism. The mechanism is attached to the chassis of a coaxial two-wheeled self-balancing car so that the mass center of the car can be shifted backward and forward to change the car speed. Besides, the mechanism can be applied to adjust the contacting forces between wheels and the ground if the mass center is shifted to the left and right of the car. In order to verify the feasibility of the design, the dynamic behavior of the car and the designing requirements for the Stewart platform are examined by using dynamic simulations on both sagittal plane and coronal plane. Therefore, the equation of motion of the car is derived from Lagrange mechanics. The driving torques to the wheels for balancing control, velocity control, and direction control are all determined by PID controllers. An algorithm for determining the displacement, that the mass center should be shifted to prevent losing contact force between wheels and the ground, is also introduced. The results of dynamic simulation show that the proposed application is feasible. Designing requirements for synthesizing the dimensions of the adjusting mechanism are also determined from the simulations. Finally, the dimensions of the desired Stewart platform are determined according to the designing requirements. The workspace of the Stewart platform is then investigated by inversed kinematic analysis method. Since the workspace includes the necessary space for the proposed application, which means the specified dimensions of the Stewart platform is valid.

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The work deals with the design of an urban two-wheeled electric vehicle. The final product excels in simple shaping, a unique design solution and the possibility of tilting the saddle. Another interesting element is the possibility of extending the range using an additional battery or connecting to a mobile phone. With its features, the concept stands on the border of electric motorbikes, scooters and bicycles.

Approved for public release, distribution is unlimited / The Marine Corps is fielding the MTVR Truck as a replacement for its aging fleet of five-ton cargo trucks. The MTVR is an Acquisition Category II program that was a multi-service Army-Marine Corps program. The purpose of this thesis is to examine the effectiveness of having an Army Product Office execute a Marine Corps Program. The study analyzes the effectiveness of the timing of the program's transition from the Army to the Marine Corps. A detailed literature search, as well as information gathered from attending various IPRs and conducting interviews with program officials and contractors, provided the basis for the in-depth background study presented. Analysis of the data gathered led to a justification for multi-service managed programs, as well as to recommendations on the timing of the MTVR program transition. / Civilian, United States Army

<p>Dat je pregled i analiza performansi lakih vojnih terenskih točka&scaron;kih vozila (LVTTV), lakih komercijalnih terenskih točka&scaron;kih vozila (LKTTV) u Pik-ap verziji i postojećih sistema naoružanja pogodnih za primenu na LKTTV Pik-ap verzija.<br />Posebno je razmotrena problematika elastično-prigu&scaron;nog oslanjanja naoružanja pri njegovom jediničnom dejstvu.<br />Definisana je metodologija i projektovana je i realizovana oprema za simulaciju impulsne sile u cilju statičkih i dinamičkih ispitivanja sistema vozilo-platforma-naoružanje u laboratorijskim uslovima.<br />Prikazan je postupak ispitivanja pri statičkom opterećenju sistema i dinamičkih ispitivanja sistema vozilo-platforma-naoružanje u uslovima kontinuirane impulsne sile u cilju odredjivanja pomeranja &scaron;asije u zonama točkova i napona u &scaron;asiji vozila i osloncima platforme za prihvat naoružanja.<br />Postavljen je matematički model sistema vozilo-platforma-naoružanje i data teorijska pomeranja &scaron;asije vozila u zonama točkova pri jediničnoj impulsnoj sili odnosno impulsu.</p> / <p>The review and analysis of the performances of military ground wheeled vehicles (LVTTV), light commercial wheeled ground vehicles (LKTTV) of Pick-up version and current systems of armament convenient for the application on LKTTV Pick-up versions, were given.<br />The issues of elastic-absorbtion suspension of armament during its single shooting function was analised in detail.<br />The methodology was defined, the equipment for the simulation of impulse force was designed and realised with purpose of static and dynamic tests of the vehicle-platform-armament system in the laboratory conditions.<br />The test procedure of static and dynamic loads of system vehicle-platform-armament in conditions of continual impulse force was presented. The aim of these tests was the determination of motion of vehicle chassis in the stress of vehicle chassis and platform supports for the armament.<br />The mathematical model of vehicle-platform-armamaent system was defined and theoretical motions of vehicle chassis in the wheels zones under the single impulse force, were given.</p>

The goal of this work is to come up with user interface in virtual reality for vehicle robot teleoperation that is equipped with cameras, Velodyne laser distance meter and localization system. The user interface is designed with generally accepted methods for creation of user interfaces in virtual reality. This work also deals with the problem of sickness from VR. The user interface is implemented in Unity3D game engine. The HTC Vive Pro virtual reality kit was used during implementation and testing.

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CNPq - Conselho Nacional de Desenvolvimento Científico e Tecnológico / Esse trabalho propõe a modelagem e o controle neuro-fuzzy aplicados na estabilidade estática de um veículo de duas rodas do tipo pêndulo invertido, utilizando como método de otimização a evolução diferencial. Durante a fase de modelagem, determinam-se as incertezas relacionadas aos parâmetros e também à resposta do modelo neuro-fuzzy. Verifica-se que este é capaz de se ajustar satisfatoriamente aos dados extraídos experimentalmente do veículo. Na determinação do controlador neuro-fuzzy, testam-se três estratégias de ajuste de parâmetros, sendo duas delas propostas neste texto, e os resultados são comparados entre si e aos obtidos através de controladores clássicos, e verifica-se experimentalmente e por meio de testes estatísticos que as abordagens propostas apresentam grande capacidade de adaptação às restrições impostas à planta, garantindo a estabilidade estática e a eficiência energética do sistema. / This work proposes the neuro-fuzzy modeling and control applied to the static stability of a two-wheeled inverted pendulum vehicle, using differential evolution as optimization technique. During the modeling phase, the uncertainties related to the parameters and also to the neuro-fuzzy model response are determined. It is possible to verify that the neuro-fuzzy system is capable of satisfactorily adjusts to the data experimentally extracted from the vehicle. In the determination of the neuro-fuzzy controller, three strategies of parameter adjustment are tested, two of them being proposed in this text, and the results are compared between them and those obtained through classical controllers, and it is verified experimentally and through tests that the proposed approaches present a great capacity to adapt to the constraints imposed on the plant, guaranteeing the static stability and the energy efficiency of the system. / Dissertação (Mestrado)

Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics. In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle. In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.