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The vulnerability of GPS to interference has been a major concern for both military and civilian applications, including small UAVs. Various signal processing techniques have been developed to improve the reliability of GPS receivers against different types of interference. Among these techniques, null steering is recognized as an effective method to protect GPS against both narrowband and broadband interference. However, due to the requirement of multiple antenna channels, it has mainly been implemented for large platform applications. This thesis examines the suitability of null steering techniques for small UAV applications and determines the practically achievable anti-jamming ability by implementing a two-element miniaturized adaptive antenna array. The adaptive antenna array is tested against a 2MHz broadband jamming signal under both laboratory testing conditions and a real jamming environment. Approximately 40dB anti-jamming range was achieved in the laboratory testing conditions. 38dB and 42dB were obtained in a real jamming environment with different antenna configuration. The likely performance limitations and possible further performance enhancements are also outlined in this thesis. / http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1363608 / Thesis (M.Eng.Sc.) - University of Adelaide, School of Electrical and Electronic Engineering, 2008

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Theme of this diploma thesis is a design of a hydrostatic steering circuit of the Maxterra tractor, where the working medium is oil from the gearbox. Part of the design is also check calculation of the hydrostatic circuit of the steering. Next part is also the design of the steering column. The circuit of the hydrostatic steering and the steering column will be used on the new Zetor Maxterra tractor.

The topic of this thesis is strength check of hydrostatic steering circuit for Zetor Forterra HSX tractor. Next part of the thesis deals with steering column support structure and pedal group console design including FEM analysis, allowing installation of steering columns of different types.

Racing drivers always want to traverse path at vehicle’s maximum performance limits while keeping the vehicle at its ideal trajectory. The main objective of this report is to elaborate strategy for the path following problem in which driver has to follow the predefined 2D roads. New steering controller design for closed loop racing driver model in Dymola vehicle dynamics library is developed. The methodology proposed by Sharp et al. [2] is followed with the optimal velocity profile that tries to mimic the actions of the real drivers in real time scenarios. Vehicle handling limits i.e. longitudinal and lateral limits are defined before simulation. While travelling in the neighbourhood of optimal velocity on the straight road as well as during the curves, the performance of the steering controller is tested by conducting the test on J turn, Clothoid, Extended chicane and the closing curve path and also tested during the different environment effects e.g. when there is a side wind affecting the vehicle. Performance of existing and new steering controllers discussed and compared in result chapter. It is ensured that the drawbacks in the existing steering controller are eliminated by using the proposed methodology in new implemented steering controller. Key Words: Driver Model, Steering Controller, Path following, Velocity profile

The project presented in this report is a master's thesis performed at Scania CV. The main purpose is to develop an algorithm that estimates the offset of the values that the steering wheel angle sensor reports in a truck or tractor, and also to investigate the possibility to estimate the steering wheel angle in real-time. The developed algorithm successfully estimates the offset to an accuracy on the order of degrees, and the uncertainty of the estimate is ultimately determined by the backlash in the steering system, which may range up to approximately 15 degrees or more depending on service standards. The investigation also shows that two general approaches to estimate the steering wheel angle in real-time can produce unbiased estimates only when the vehicle is cornering at low speeds.

A comparison of a high speed container ship using a rudder versus a podded propulsor is made to study replacing a rudder with a pod. A mathematical model is altered to simulate a ship operating with a rudder and with a pod to maneuver. The model incorporates the nonlinear maneuvering equations and couples the surge and sway forces, yaw and roll moment, and the roll angle induced during a steady turn with varying rudder and pod angles. The model uses the hydrodynamic derivatives and coefficients for a high speed container ship. The equations are numerically integrated in order to predict the roll angle, sway and surge velocities, and the ship's position in the xy-plane. Both transient and steady state results are utilized to quantify the relative efficiency of each system. The results are used as a preliminary study into replacing a rudder on a ship with a podded propulsor. The results indicate that the ship responds faster and has a shorter turning radius with the pod at lower initial speeds and pod angles, while the rudder responds better at high speeds regardless of angle. Further research is necessary to study the effects of changing the pod's position and increasing the number of pods used. / US Navy (USN) author.

<div>Due to recent advances in sensor technology and the exponential increase in computation power of electronic control units (ECUs) along with their increasing affordability, active safety and vehicle automation have become major trends in the commercial vehicle industry. New regulations for increased safety are also a major driver behind the industry's increased interest in that topic. As a result, being a crucial part of vehicle automation, steering systems had to be adapted to enable Active Steering. Consequently, commercial vehicle steering designers introduced the concept of torque and angle overlay using an electric motor in series with the conventional hydraulic steering system. However, despite the fact that these systems are becoming more prevalent in the market, they still suffer from inefficiencies intrinsic to the conventional hydraulic steering system still being used. These inefficiencies are a result of</div><div>flow metering losses due to the use of control valves to regulate the pump flow output, as well as inside the steering gear with the use control valves to build assistance pressure.</div><div><br></div><div><div>In this research project, we investigate the potential use of the proven pump Displacement Control (DC) technology in steering on-highway commercial vehicles. DC pumps have been shown to signicantly improve system efficiency as they allow the removal of control valves typically used to regulate </div><div>ow [1]. Instead, the displacement of the pump can be directly controlled to vary the pump's flow rate and direction,</div><div>and thus eliminating throttling losses. The DC technology has been successfully used in a steer-by-wire conguration for an articulated frame steering vehicle and has been shown to signicantly improve efficiency and productivity, as well as result in a reduction in fuel consumption [2].</div></div><div><br></div><div><div>In this work, we propose a steer-by-wire system, using DC pump technology, for on-highway commercial vehicles, and present the dierent possible congurations in which it can be implemented. Moreover, the benets and drawbacks of the steer-by-wire system are researched and identied. Subsequently, the system is designed and validated in simulation, on laboratory test setup, as well as on a test vehicle to prove its feasibility.</div></div><div><br></div><div><div>Chief among the drawbacks of the steer-by-wire system is potential failures that can lead to the complete loss of the steering function of the vehicle. As a result, different possible fail-safe mechanisms are researched from which the most suitable ones are proposed to allow the steer-by-wire system to fail safely. Moreover, two of the proposed fail-safe mechanism are implemented onto the test vehicle to prove and validate their feasibility.</div></div><div><br></div><div><div>Furthermore, an alternative way of using displacement controlled pumps for active steering is be proposed. For this concept, we investigate the possibility of actively controlling the driver's steering effort by varying the pump displacement while maintaining the mechanical link between the steering wheel and the road wheels. If successful, this method will allow for a more efficient way of providing steering assistance as it does away with the conventional control valves used to build pressure and regulate pump flow, and thus eliminating throttling losses. This method has also the advantage of having an intrinsic fail-safe mechanism with manual steering being always possible should the hydraulic or electric systems fail.</div></div>