Browsing by Subject "Wheels"
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Item Open Access A 3D dynamic model of a spherical wheeled self-balancing robot(2012) İnal, Ali Nail; Morgül, Ömer; Saranlı, UluçMobility through balancing on spherical wheels has recently received some attention in the robotics literature. Unlike traditional wheeled platforms, the operation of such platforms depends heavily on understanding and working with system dynamics, which have so far been approximated with simple planar models and their decoupled extension to three dimensions. Unfortunately, such models cannot capture inherently spatial aspects of motion such as yaw motion arising from the wheel rolling motion or coupled inertial effects for fast maneuvers. In this paper, we describe a novel, fully-coupled 3D model for such spherical wheeled platforms and show that it not only captures relevant spatial aspects of motion, but also provides a basis for controllers better informed by system dynamics. We focus our evaluations to simulations with this model and use circular paths to reveal advantages of this model in dynamically rich situations. © 2012 IEEE.Item Open Access Concurrent design of energy management and vehicle traction supervisory control algorithms for parallel hybrid electric vehicles(Institute of Electrical and Electronics Engineers Inc., 2016) Dokuyucu, H. I.; Cakmakci, M.In this paper, concurrent design of energy management (EM) and traction control algorithms for a vehicle equipped with a parallel hybrid powertrain is studied. This paper focuses on designing the two control algorithms together as one control design problem, which are traditionally considered separately. First, optimal control actions and operating points are obtained by applying dynamic programming (DP). Then, this information is used for developing a rule-based supervisory controller. Our objective is to minimize the fuel consumption and the wheel slip simultaneously. Two control problems are also solved separately and compared with the concurrent solution. Results show that promising benefits can be obtained by using the concurrent design approach rather than considering two control problems separately. Under the same conditions, the vehicle with the concurrent supervisory controller is 16% more efficient in fuel consumption and experiences 12% less wheel slip, assuming slippery road friction conditions. © 1967-2012 IEEE.Item Open Access A fault tolerant vehicle stability control using adaptive control allocation(ASME, 2018) Temiz, Ozan; Çakmakçı, Melih; Yıldız, YıldırayThis paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.Item Open Access One-dimensional copper (II) coordination polymer as an electrocatalyst for water oxidation(Wiley-VCH Verlag, 2017) Mishra, R.; Ülker, E.; Karadas, F.Although cobalt-based heterogeneous catalysts are the central focus in water oxidation research, interest in copper-based water oxidation catalysts has been growing thanks the great abundance of copper and its biological relevance. Several copper oxides have recently been reported to be active catalysts for water oxidation. In this study, a heterogeneous copper-based water oxidation catalyst that is not an oxide has been reported for the first time. Single-crystal XRD studies indicate that the compound is a one-dimensional coordination compound incorporating copper paddle-wheel units connected through phosphine dioxide ligands. The catalyst exhibits an onset potential of 372 mV at pH 10.2, whereas an overpotential of only 563 mV is required to produce a current density of 1 mA cm−2. In addition to cyclic voltammetric and chronoamperometric studies, an investigation into the effect of pH on the catalytic activity and the robustness of the catalyst using long-term bulk electrolysis (12 h) is presented.