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Using Modeling And Simulation To Evaluate Stability And Traction Performance Of A Track Laying Robotic Vehicle
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Book Synopsis Using Modeling and Simulation to Evaluate Stability and Traction Performance of a Track Laying Robotic Vehicle by :
Download or read book Using Modeling and Simulation to Evaluate Stability and Traction Performance of a Track Laying Robotic Vehicle written by and published by . This book was released on 2005 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this paper will be to describe the computer-based modeling, simulation, and limited field testing effort that has been undertaken to investigate the dynamic performance of an unmanned tracked vehicle system while conducting a full matrix of tests designed to evaluate system shock, vibration, dynamic stability and off road mobility characteristics. In this paper we will describe the multi-body modeling methodology used as well as the characteristic data incorporated to define the models and their subsystems. The analysis undertaken is applying M & S to baseline the dynamic performance of the vehicle, and comparing these results with performance levels recorded for several manned vehicle systems. We will identify the virtual test matrix over which we executed the models. Finally we will describe our efforts to visualize our findings through the use of computer generated animations of the vehicle system negotiating various virtual automotive tests making up the test matrix.
Author :Dawn A. Trevisani Publisher :SPIE-International Society for Optical Engineering ISBN 13 :9780819457905 Total Pages :458 pages Book Rating :4.4/5 (579 download)
Book Synopsis Enabling Technologies for Simulation Science IX by : Dawn A. Trevisani
Download or read book Enabling Technologies for Simulation Science IX written by Dawn A. Trevisani and published by SPIE-International Society for Optical Engineering. This book was released on 2005 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings of SPIE present the original research papers presented at SPIE conferences and other high-quality conferences in the broad-ranging fields of optics and photonics. These books provide prompt access to the latest innovations in research and technology in their respective fields. Proceedings of SPIE are among the most cited references in patent literature.
Book Synopsis Vehicle Dynamics by : Dieter Schramm
Download or read book Vehicle Dynamics written by Dieter Schramm and published by Springer. This book was released on 2017-07-03 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context, different levels of complexity are presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models based on real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios. In addition to some corrections, further application examples for standard driving maneuvers have been added for the present second edition. To take account of the increased use of driving simulators, both in research, and in industrial applications, a new section on the conception, implementation and application of driving simulators has been added.
Book Synopsis A Model Study to Compare Rail Vehicle Stability Performance with Curved Track Simulator Results by : R. V. Dukkipati
Download or read book A Model Study to Compare Rail Vehicle Stability Performance with Curved Track Simulator Results written by R. V. Dukkipati and published by . This book was released on 1984 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Mechatronic Modeling of Real-Time Wheel-Rail Contact by : Nicola Bosso
Download or read book Mechatronic Modeling of Real-Time Wheel-Rail Contact written by Nicola Bosso and published by Springer Science & Business Media. This book was released on 2013-03-15 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: Real-time simulations of the behaviour of a rail vehicle require realistic solutions of the wheel-rail contact problem which can work in a real-time mode. Examples of such solutions for the online mode have been well known and are implemented within standard and commercial tools for the simulation codes for rail vehicle dynamics. This book is the result of the research activities carried out by the Railway Technology Lab of the Department of Mechanical and Aerospace Engineering at Politecnico di Torino. This book presents work on the project for the development of a real-time wheel-rail contact model and provides the simulation results obtained with dSpace real-time hardware. Besides this, the implementation of the contact model for the development of a real-time model for the complex mechatronic system of a scaled test rig is presented in this book and may be useful for the further validation of the real-time contact model with experiments on a full scale test rig.
Book Synopsis The Dynamics of Vehicles on Roads and on Tracks by : Robert Frohling
Download or read book The Dynamics of Vehicles on Roads and on Tracks written by Robert Frohling and published by CRC Press. This book was released on 2021-07-01 with total page 741 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings provide an authoritative source of information in the field of suspension design, vehicle-infrastructure interaction, mechatronics and vehicle control systems for road as well as rail vehicles. The research presented includes modelling and simulation.
Book Synopsis Studies of the Dynamics of Tracked Vehicles by : Allan S. Lessem
Download or read book Studies of the Dynamics of Tracked Vehicles written by Allan S. Lessem and published by . This book was released on 1972 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advances in Dynamics of Vehicles on Roads and Tracks II by : Anna Orlova
Download or read book Advances in Dynamics of Vehicles on Roads and Tracks II written by Anna Orlova and published by Springer Nature. This book was released on 2022-08-08 with total page 1274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a snapshot of the latest research and developments in road and railway vehicle dynamics. Gathering peer-reviewed contributions to the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD), held online on August 17–19, 2021, from Saint Petersburg, Russia, it offers extensive information for both researchers and professionals in the field of ground vehicle dynamics, control and design. It covers cutting-edge methods and solutions for solving ground vehicle system dynamics-related problems, concerning control and monitoring, performance, safety and braking of road and rail vehicles, including electric and autonomous ones. Further, it reports on significant advances in vehicle design, and important applications to improve ride comfort. Overall, the book provides academics and professional with a timely reference guide on theories and methods to understand, analyze and improve vehicle stability and dynamics in a broad range of different operating conditions. Chapter "Experimental Validation of a Semi-physical Modelling Approach of the Influence of Tyre Rotation on the Vertical Tyre Force Transmission and Tyre Kinematics" is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Book Synopsis Railroad Vehicle Dynamics by : Ahmed A. Shabana
Download or read book Railroad Vehicle Dynamics written by Ahmed A. Shabana and published by CRC Press. This book was released on 2007-07-23 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computational multibody system approaches have been extensively used in modeling many physical systems. Railroad Vehicle Dynamics: A Computational Approach presents computational multibody system formulations that can be used to develop computer models for complex railroad vehicle systems. Focusing on nonlinear formulations, this book explains the limitations of linearized formulations that are frequently used in analysis. Vehicle/rail interaction, a distinguishing feature of railroad vehicle systems, requires a special force or kinematic element to be included in multibody system algorithms. Using this approach, the authors address and solve geometric problems that are specific to railroad vehicle systems.
Book Synopsis Rail Vehicle Dynamics by : Klaus Knothe
Download or read book Rail Vehicle Dynamics written by Klaus Knothe and published by Springer. This book was released on 2016-11-23 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book on the dynamics of rail vehicles is developed from the manuscripts for a class with the same name at TU Berlin. It is directed mainly to master students with pre-knowledge in mathematics and mechanics and engineers that want to learn more. The important phenomena of the running behaviour of rail vehicles are derived and explained. Also recent research results and experience from the operation of rail vehicles are included. One focus is the description of the complex wheel-rail contact phenomena that are essential to understand the concept of running stability and curving. A reader should in the end be able to understand the background of simulation tools that are used by the railway industry and universities today.
Book Synopsis Track/Train Dynamics and Design by : Gerald J. Moyar
Download or read book Track/Train Dynamics and Design written by Gerald J. Moyar and published by Elsevier. This book was released on 2013-10-22 with total page 482 pages. Available in PDF, EPUB and Kindle. Book excerpt: Track/Train Dynamics and Design: Advanced Techniques reviews the progress that has been made in the development and applications of advanced analytical techniques for improving the dynamic stability, safety, and reliability of current generation rail freight vehicle components and track structures. Topics covered range from structural mechanics and stress analysis methods to and material science techniques for the prediction of fracture and wear in railroad applications. The nature of technology transfer from other application areas, notably aerospace, is considered, along with the unique nature of some railroad problems. This book is comprised of 26 chapters and opens with an overview of Phase II of the Cooperative Track-Train Dynamics Program, including its main goals, tasks, and progress. The reader is then introduced to the state Of the art of rail analytical techniques and cost/benefit issues associated with railways and railroad transportation. The following chapters explore body centerplate fatigue cracking; mathematical models for track/train dynamics; wheel and rail wear during freight car curving; and application of advanced stress analysis techniques in the design of freight car components. The application of finite element analysis to the study of railroad wheel failure phenomena is also outlined. This monograph will be a useful resource for transportation and mechanical engineers, especially those dealing with railroads.
Book Synopsis Modeling and Simulation of the Lateral Stability of Rail Vehicles by : R. V. Dukkipati
Download or read book Modeling and Simulation of the Lateral Stability of Rail Vehicles written by R. V. Dukkipati and published by . This book was released on 1988 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Terrain-vehicle Interaction Model for Analysis of Steering Performance of Track-laying Vehicles. Final Report by : George Y. Baladi
Download or read book A Terrain-vehicle Interaction Model for Analysis of Steering Performance of Track-laying Vehicles. Final Report written by George Y. Baladi and published by . This book was released on 1979 with total page 139 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vehicle-terrain Parameter Estimation for Small-scale Robotic Tracked Vehicle by : Tehmoor Mehmoud Dar
Download or read book Vehicle-terrain Parameter Estimation for Small-scale Robotic Tracked Vehicle written by Tehmoor Mehmoud Dar and published by . This book was released on 2010 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods for estimating vehicle-terrain interaction parameters for small scale robotic vehicles have been formulated and evaluated using both simulation and experimental studies. A model basis was developed, guided by experimental studies with an iRobot PackBot. The intention was to demonstrate whether a nominally instrumented robotic vehicle could be used as a test platform for generating data for vehicle-terrain parameter estimation. A comprehensive skid-steered model was found to be sensitive enough to distinguish between various forms of unknown terrains. This simulation study also verified that the Bekker model for large scale vehicles adopted for this research was applicable to the small scale robotic vehicle used in this work. This fact was also confirmed by estimating coefficients of friction and establishing their dependence on forward velocity and turning radius as the vehicle traverses different terrains. On establishing that mobility measurements for this robotic were sufficiently sensitive, it was found that estimates could be made of key dynamic variables and vehicle-terrain interaction parameters. Four main contributions are described for reliably and robustly using PackBot data for vehicle-terrain property estimation. These estimation methods should contribute to efforts in improving mobility of small scale tracked vehicles on uncertain terrains. The approach is embodied in a multi-tiered algorithm based on the dynamic and kinematic models for skid-steering as well as tractive force models parameterized by key vehicle-terrain parameters. In order to estimate and characterize the key parameters, nonlinear estimation techniques such as the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and a General Newton Raphson (GNR) method are integrated into this multi-tiered algorithm. A unique idea in using an EKF with an added State Noise Compensation algorithm is presented which shows its robustness and consistency in estimating slip variables and other parameters for deformable terrains. In the multi-tiered algorithm, a kinematic model of the robotic vehicle is used to estimate slip variables and turning radius. These estimated variables are stored in a truth table and used in a skid-steered dynamic model to estimate the coefficients of friction. The total estimated slip on the left and right track, along with the total tractive force computed using a motor model, are then used in the GNR algorithm to estimate the key vehicle-terrain parameters. These estimated parameters are cross-checked and confirmed with EKF estimation results. Further, these simulation results verify that the tracked vehicle tractive force is not dependent on cohesion for frictional soils. This sequential algorithm is shown to be effective in estimating vehicle-terrain interaction properties with relatively good accuracy. The estimated results obtained from UKF and EKF are verified and compared with available experimental data, and tested on a PackBot traversing specified terrains at the Southwest Research Institute (SwRI), Small Robotics Testbed in San Antonio, Texas. In the end, based on the development and evaluation of small scale vehicle testing, the effectiveness of on-board sensing methods and estimation techniques are also discussed for potential use in real time estimation of vehicle-terrain parameters.
Book Synopsis Simulation in Chassis Technology by : Dirk Adamski
Download or read book Simulation in Chassis Technology written by Dirk Adamski and published by Springer Nature. This book was released on 2020-10-22 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: Anyone who wants to simulate the behavior of vehicles must think about how they want to model the vehicle's chassis. Depending on the question (vehicle dynamics, ride comfort, load data prediction ...) there are a variety of possibilities. This book should help to find and implement the right models and processes. In addition to a short introduction to simulation technology, the most important types of modelling for the assemblies of the chassis using the method of multi-body systems are presented. However, successful simulation does not only mean the assembly of suitable models, but always represents a well thought-out process that goes from data acquisition to the validation of the models. This will be discussed using suitable examples for concrete questions.
Book Synopsis Simulation and Analysis of Trucks Using the Modeling and Simulation Program BAMMS by : CH. Verheul
Download or read book Simulation and Analysis of Trucks Using the Modeling and Simulation Program BAMMS written by CH. Verheul and published by . This book was released on 1994 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt: A description is given of a general purpose, open-structured simulation tool based on the bond graph method. The method and capacities of the program are discussed. Research performed with the help of the program are discussed. Models are made of a race truck in order to study and optimize the road-handling behavior of the vehicle. The final part of the paper discusses models made of truck trailer combinations. The purpose of these simulations is to study parameter variations with respect to the stability of these vehicles. The general intention of the paper is to give an impression of the modeling and analysis approach used when working with BAMMS.
Book Synopsis Dynamic Simulation of Track Laying Vehicles by : M. D. Bennett
Download or read book Dynamic Simulation of Track Laying Vehicles written by M. D. Bennett and published by . This book was released on 1984 with total page 18 pages. Available in PDF, EPUB and Kindle. Book excerpt: A computer model to simulate the dynamic response of a track laying vehicle traversing defined terrain is described. Results used for validation tests are given together with a selection of typical applications. The model has proved to be flexible with applicability to a wide range of problems. (Author).
