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One design of ideal vehicle models in adaptive steering driver-vehicle systems

One design of ideal vehicle models in adaptive steering driv...

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作者： Wang, Qiang Oya, Masahiro Takagi, Natsuki Department of Systems Design and Informatics Kyushu Institute of Technology 680-4 Kawazu Iizuka-shi Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology 1-1 Sensui-cho Tobata-ku Kitakyushushi Fukuoka Japan

ISBN: (纸本)9780955529337

If the dynamics of combined vehicles such as tractor-semitrailer varies greatly, it may be very difficult for inexperienced drivers to achieve good handling stability. Moreover, once combined vehicles become unstable, it is very difficult for all drivers to stabilize vehicles. However, if the behavior of actual combined vehicles tracks the designed ideal vehicle models, the good handling property can be maintained even when the dynamics of actual combined vehicles varies largely. In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method of ideal vehicle model for driver-vehicle systems is proposed, then, an adaptive steering controller is developed so that the actual vehicle tracks the ideal vehicle model. In the adaptive steering driver-vehicle systems, the actual vehicle can track the ideal vehicle model even when the dynamics of actual combined vehicles varies large. Using this property of adaptive steering driver-vehicle systems, the ideal vehicle model can be designed easily for different characteristics of driver. Carrying out numerical simulations, it is shown that good handling performance can be achieved when the actual vehicle tracks the designed ideal vehicle model.

关键词： Steering

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One design of ideal vehicle models in adaptive steering driver-vehicle systems

One design of ideal vehicle models in adaptive steering driv...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Qiang Wang Masahiro Oya Natsuki Takagi Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan

关键词： Chromium Transforms Driver circuits

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A design method of ideal vehicle models in adaptive driver-combined-vehicles system

A design method of ideal vehicle models in adaptive driver-c...

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SICE Annual Conference

作者： Qiang Wang Hideki Wada Singo Tamaru Masahiro Oya Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan Shin-Nippon Nondestructive Inspection Company Limited Fukuoka Japan

In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method of ideal vehicle models for driver-combined-vehicles system is proposed, then, an adaptive steering controller is developed so that the actual vehicle can track the ideal vehicle models. In the adaptive driver-combined-vehicles system, the actual vehicle can track the ideal vehicle model even when the dynamics of actual combined vehicles varies large. Using this property, the ideal vehicle models can be designed easily for different characteristics of driver. In this paper, the behavior of driver in cornering is considered. The property of driver is described by the preview driver model in cornering. Carrying out numerical simulations, it is shown that good handling performance can be achieved when the actual vehicle tracks the designed ideal vehicle model.

关键词： Vehicles Driver circuits Adaptation model Agricultural machinery Vehicle dynamics Mathematical model Adaptive systems

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An experimental and theoretical approach for the biogas steam reforming reaction

An experimental and theoretical approach for the biogas stea...

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作者： Avraam, D.G. Halkides, T.I. Liguras, D.K. Bereketidou, O.A. Goula, M.A. Prefecture Authority of Imathia Section of Town-Planning and Environment GR-59100 Veria Greece Technological Educational Institute of Western Macedonia Pollution Control Technologies Department GR-50100 Koila Kozani Greece HELBIO S.A. Hydrogen and Energy Production Systems Patras Science Park Stadiou Street Platani GR-26504 Rio Greece University of Western Macedonia Department of Mechanical Engineering Bakola and Sialvera GR-50100 Kozani Greece

An experimental and theoretical study for the biogas steam reforming reaction over 5%Ru/Al2O3 catalyst have been performed. An apparatus was constructed for the conduction of the experiments, the core of which was a tube reactor, filled with the catalyst in form of pellets. The inlet gas mixture consisted of CH4 and CO2 in various composition ratios as a model biogas and steam. A theoretical model of the process was developed. The experimental reactor was modelled as an isothermal pseudo homogeneous fixed bed reactor. Internal and external transport phenomena were neglected and appropriate effectiveness factors were employed instead. A physical properties model was used for the calculation of the physicochemical properties of the real mixture. Five reactant species, CH4, CO 2, H2O, CO and H2, were included in the model, whereas the feed consisted of the first three. Steam reforming and water gas shift were the main reactions. Experimental results and theoretical predictions match closely, stability of the catalyst was assured and an optimal operational window was identified, at GHSV = 10,000-20,000 h-1, T = 700-800 °C, CH4/CO2 = 1.0-1.5 and H2O/CH 4 = 3.0-5.0. © 2010 Published by Elsevier Ltd on behalf of Professor T. Nejat Veziroglu.

关键词： Catalysis

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A design method of ideal vehicle models in adaptive driver-combined- vehicles system

A design method of ideal vehicle models in adaptive driver-c...

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作者： Wang, Qiang Tamaru, Singo Wada, Hideki Oya, Masahiro Department of Systems Design and Informatics Kyushu Institute of Technology 680-4 Kawazu Iizuka-shi Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology 1-1 Sensui-cho Tobata-ku Kitakyushu-shi Fukuoka Japan Shin-Nippon Nondestructive Inspection Co. Ltd. 4-10-13 Ibori Jokurakita-ku Kitakyushu-shi Fukuoka Japan

ISBN: (纸本)9784907764364

关键词： design

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Automated diagnostic approaches for defective rolling element bearings using minimal training pattern classification methods

Automated diagnostic approaches for defective rolling elemen...

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4th World Congress on engineering Asset Management: engineering Asset Lifecycle Management, WCEAM 2009

作者： Gryllias, K.C. Yiakopoulos, C. Antoniadis, I. School of Mechanical Engineering Machine Design and Control Systems Section Dynamics and Structures Laboratory Athens 15773 Greece

ISBN: (纸本)9781849960021

Rolling Element Bearings consist one of the most widely used industrial machine elements, being the interface between the stationary and the rotating part of the machine. Due to their importance a plethora of monitoring methods and fault diagnosis procedures have been developed, in order to reduce maintenance costs, improve productivity, and prevent malfunctions and failures during operation which could lead to the downtime of the machine. Towards this direction, among different automatic diagnostic methods, the Support Vector Machine (SVM) method has been shown to present a number of advantages. Support Vector Machine is a relatively new computational learning method based on Statistical Learning Theory and combines fundamental concepts and principles related to learning, well-defined formulation and self-consistent mathematical theory. The key aspects about the use of SVMs as a rolling element bearing health monitoring tool are the lack of actual experimental data, the optimal selection of the type and the number of input features, and the correct selection of the kernel function and its corresponding parameters. A large number of input features have been proposed, being divided in two big categories: A) Traditional signal statistical features in the time domain, such as mean value, rms value, variance, skewness, kurtosis etc, B) Frequency domain based indices, such as energy values obtained at characteristic frequency bands of the measured and the demodulated signals. In this paper, the structure and the performance of a Support Vector Machine based approach for rolling element bearing fault diagnosis is presented. The main advantage of this method is that the training of the SVM is based on a model describing the dynamic behavior of a defective rolling element bearing, enabling thus the direct application of the SVM to experimental measurements of defective bearings, without the need of training the SVM with experimental data of a defective bearing.

关键词： Support vector machines

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Comparison of criteria for optimal demodulation of defective rolling element bearings vibration response with complex shifted morlet wavelets (CSMW)

Comparison of criteria for optimal demodulation of defective...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Gryllias, Konstantinos C. Antoniadis, Ioannis A. National Technical University of Athens School of Mechanical Engineering Machine Design and Control Systems Section Athens 15773 Greece

ISBN: (纸本)9781615677368

Complex Shifted Morlet Wavelets (C.S.M.W.) present a number of advantages over other similar methods. Since Morlet Wavelets are modulated in the time domain by a Gaussian shaped time window (and for this reason are also known as Gabor wavelets), they present the optimal resolution simultaneously in the time and in the frequency domain. Moreover, compared to the Discrete Wavelet Transform (DWT), they lead to a continuous (and thus more accurate) approximation in both time and frequency domains. Furthermore, it should be noted that although CWT is been considered as more computationally intensive than the DWT, relevant algorithms may overcome this disadvantage to a significant degree. In addition, contrary to the traditional Morlet Wavelet Transform, CSMW results to complex wavelet coefficients in the time domain, thus enabling the direct calculation of the signal envelope by the magnitude of the wavelet coefficients, in a quite similar way to the traditional Hilbert Transform. Finally, in contrast to the classical concept of "scaling" the wavelet in the time or frequency domain, which allows the identification of only the wavelet scale, the concept of shifting the Morlet wavelet in the frequency domain allows the simultaneous optimal selection of both the wavelet parameters necessary to identify it as a proper filter in the frequency domain: The center frequency and the bandwidth. Concerning the optimal selection of these last two parameters, a number of criteria have been proposed: a) The signal Entropy, b) The Crest Factor c) The Number of the wavelet amplitude Peaks exceeding a threshold, d) A Smoothness Index factor. A number of application cases are presented and the effectiveness of the different Criteria is examined and compared. None of these criteria presents an overall optimum behavior in all test cases considered.

关键词： Discrete wavelet transforms

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Doppler effect minimization in the spectra emitted by moving vehicles by the application of a Harmonic Signal Detection (HARD) Method

Doppler effect minimization in the spectra emitted by moving...

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6th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies 2009

作者： Yiakopoulos, C.T. Gryllias, K.C. Antoniadis, I.A. National Technical University of Athens School of Mechanical Engineering Machine Design and Control Systems Section Dynamics and Structures Laboratory Athens 15773 Greece

ISBN: (纸本)9781618390097

On-line fault diagnosis of moving vehicles is of increasing importance, especially if the diagnosis can be performed from a stationary byside station near the way of the moving vehicle. The diagnostically interesting information of a moving vehicle is available in the acoustic signal which is emitted by the source. However, the Doppler effect introduces a spectrum smear depending on the speed of the moving source, which shifts the interesting frequencies to different bands. A method is presented that allows the acquired information to be connected to the proper running of the moving vehicle, indicating the useful carrier frequencies of the source signals. The basic idea is based on the Harmonic Signal Detection Method. Since this method is a special parametric method performing directly in the time domain, it can track on-line the instantaneous speed of the moving object. The estimated speed variation of the moving object can be used to fix the problem of the frequency distortion introduced by the Doppler effect. The paper includes results of the proposed technique to simulated data and to an experimental measurement which was taken by a moving rail vehicle.

关键词： Doppler effect

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Demodulation of defective rolling element bearings vibration response with Complex Shifted Wavelets (CSMW) using a Peak Energy Criterion (PEC)

Demodulation of defective rolling element bearings vibration...

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6th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies 2009

作者： Gryllias, Konstantinos C. Antoniadis, Ioannis A. National Technical University of Athens School of Mechanical Engineering Machine Design and Control Systems Section Dynamics and Structures Laboratory Athens 15773 Greece

ISBN: (纸本)9781618390097

Complex Shifted Morlet Wavelets (CSMW) can be used for the demodulation of the vibration response of defective rolling element bearings, as they present a number of advantages. The most important is that according to this method, the maximal timefrequency resolution is obtained, while the magnitudes of the complex wavelet coefficients in the time domain lead directly to the required envelope. However, the key element for the successful application of the method is the optimal selection and location of the corresponding necessary time-frequency window both in the time and in the frequency domains. For this reason, a Peak Energy Criterion (PEC) is proposed in order to tune the relevant wavelet window by choosing simultaneously in an optimal way and automatically both the center frequency and the bandwidth. A number of application cases are presented and the criterion demonstrates excellent behavior as it combines the benefits of energy based criteria, with criteria characterizing the spikiness of the response.

关键词： Demodulation

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A morphological index for fault detection and trending in defective gearboxes

A morphological index for fault detection and trending in de...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Gryllias, K.C. Yiakopoulos, C.T. Antoniadis, I.A. Guminski, R. Radkowski, St. National Technical University of Athens School of Mechanical Engineering Machine Design and Control Systems Section Athens 15773 Greece Warsaw University of Technology Institute of Machine Design Fundamentals ul. Narbutta 84 02-524 Warszawa Poland

ISBN: (纸本)9781615677368

Gearboxes consist one of the most widely used industrial machine parts. Due to its importance, a plethora of monitoring methods and fault diagnosis procedures have been developed in order to reduce maintenance costs, improve productivity, and prevent malfunctions and failures during operation which could lead to downtime of machinery. Thus, it is crucial to detect accurately and on time fault symptoms. Typical faults of gears include pitting, chipping and even tooth cracking. The development of a local fault at a gear often introduces both amplitude and phase modulations at the vibration measured signals. A remarkable number of frequency based signal processing methods have been proposed for gear fault identification and detection, including Ceptrum Analysis, Hilbert Transformation, Cyclostationary Analysis, Deconvolution Filters and different Time-Frequency Analysis methods, such as wavelets. The aforementioned methods, although they present a quite effective behaviour in the detection of defects, usually require complex and sophisticated analysis and as a result there are some important obstacles in using them in an automated manner without the presence of special trained personnel Moreover, a number of traditional time domain signal processing methods have been developed, such as the root mean square of the signal, the crest factor, the kurtosis, the shape factor, the impulse factor and the recently introduced morphological analysis. Morphological Signal Processing is closely related to mathematical morphology. Its basic concept is to modify the geometrical features of a signal in the time domain in order to construct a kind of envelop. In this paper Morphological Analysis and the resulting Morphological Index is applied to a set of vibration measurements from a gearbox prior to tooth breakage. Morphological Index, as is shown at the results, seems to be able to monitor the evolution of the potential fault, providing a clear warning prior to the breakage of the t

关键词： Mathematical morphology

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