NBC News Scripts
WBAP-TV (Television station : Fort Worth, Tex.)
1954-12-31
Search results
15 records were found.
This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile vehicle at our laboratory. Simulation results are then used to show the significance of this zero and its effect on closed-loop heading angle control
This paper examines the kinematics and control of a Load Haul Dump Vehicle used in underground mining operations. The aim of the work is to develop an autonomous guidance strategy. A linear, state-space, mathematical model of the vehicle is derived purely from geometric consideration of the vehicle and its desired path. Autonomous regulation of the vehicle is shown to be theoretically feasible using state variable feedback of displacement, heading, and curvature error. A relationship between stability and vehicle speed is derived. This expression forms the basis of an adaptive tuning strategy, which optimizes the vehicle's dynamic response.
This paper discusses the development of a
dynamic model for a torpedo shaped sub-
marine. Expressions for hydrostatic, added
mass, hydrodynamic, control surface and pro-
peller forces and moments are derived from
first principles. Experimental data obtained
from flume tests of the submarine are inserted
into the model in order to provide computer
simulations of the open loop behavior of the
system.
