In this paper, we propose a method of mobile robot localization based on chirp-spread-spectrum (CSS) ranging. By using the CSS system, the distances between a mobile robot and CSS nodes fixed at known coordinates can be measured according to the time of flight of radio frequency signals. Based on the measured distances, the coordinates of a mobile robot can be calculated by the method of trilateration. To deal with measurement noise, an extended Kalman filter (EKF) can be applied to estimate the coordinate of the mobile robot. These measured distances, however, are not only noisy but also biased. Therefore, the estimated coordinates of the mobile robot represent inconsistent values. To solve the problem of bias, we define a scaling factor, which corresponds to the change of the magnitude of a measured distance vector that is due to biases. Based on the scaling factor, we develop a new biased measurement model and apply the EKF to our model for estimating the coordinates of a mobile robot. Through localization experiments, we evaluate the performance of the proposed algorithm.

Mobile Robot Localization Using Biased Chirp-Spread-Spectrum Ranging

The PID control system is widely used for industrial machine control processes. The success of PID control is determined by tuning PID parameters. In PID control the tuning is carried out offline without taking into account changes that occur in the plant and the disturbances that arise. This study aims to optimize PID parameters online by taking into account the changes that occur in the plant and the disturbances that arise using fuzzy logic-based controls and tested on a BLDC motor which is a non-linear system. Set PID parameters with fuzzy logic using a combination of 49 if-then rules. To set proper PID parameters in real time, a two-level control system was built. The first level to define PID parameters by finding the minimum and maximum values of  kp, ki and kd by the reaction method curve. The second level is designing the Fuzzy system to automatically set the PID parameters, then formulating a combination of 49 fuzzy if-then rules to get the value kp, ki, kd, error and change in delta error value. Testing of set point changes at BLDC Motor loads with no load and 0.5kg load and changes in speed get a response from the PID control system with an average value of 0.025 seconds rise time, 0.1625 seconds preset time, and 15.98% overshoot. While the Fuzzy PID control produces an average rise time value of 0.0025 seconds, preset time 0.057 seconds, overshoot of 5.42%.

/pdf/autotuning-fuzzy-pid-controller-for-speed-control-of-bldc-3f256f5q5z.pdf

Autotuning Fuzzy PID Controller for Speed Control of BLDC Motor

An effective Kalman filter localization method for mobile robots is investigated in terms of the robust Kalman filter with perturbation estimator. In the recursive algorithm, the perturbation estimator produces equivalent perturbations with respect to the nominal state equation and the action model of a mobile robot is adaptively modified with the perturbation estimates. The integral control property of the perturbation estimator enables a great reduction of the localization error, specifically when the odometric disturbance is large. The Kalman filter recursive equations including predictor, corrector, perturbation estimator, and the corresponding covariance propagation equations are formulated systematically. The effectiveness of the proposed scheme is verified through simulation and experimental results for a wheeled mobile robot.

An Effective Kalman Filter Localization Method for Mobile Robots

This paper describes the concept of a multilayer brushless DC motor which is suitable for use on unmanned aerial vehicles (UAVs) and capable of carrying a heavy payload. The paper deals with a unique multilayer structure, using three standard stators placed in parallel with a single rotor body, to increase the torque even under low-speed conditions. In this solution, nine inner windings can use different star/delta interconnections to optimize the performance of the BLDC motor on demand. The proposed multilayer BLDC motor solution utilizes the main advantages of BLDC motors, ensuring highly reliable operation, and thus enabling a BLDC motor to be applied to UAVs. This paper gives an overview of the design, assumes an extension with an electronic inner winding switching capability, and provides practical details about realization, testing, and experimental verification. Practical measurements and obtained data are utilized to confirm the approach.

A Multilayer Brushless DC Motor for Heavy Lift Drones

A passenger vehicle includes: a vehicle intelligent key device, configured to send a starting signal and a control signal; and a passenger vehicle, configured to receive the starting signal and the control signal, to start a remote control mode according to the starting signal, and to control the passenger vehicle according to the control signal, wherein the passenger vehicle comprises an automatic transmission and an electrical parking brake, the automatic transmission is configured to receive the control signal, and to control the electrical parking brake to disengage a parking cable of the passenger vehicle and to set a gearbox to a “Drive” state or a “Reverse” state when the passenger vehicle is in the remote control mode.

Vehicle Intelligent Key Device, Remote Control System, and Method for Driving a Passenger Vehicle

The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates estimation errors. In this paper, we propose a new method to increase the accuracy of estimated position using the U-SAT (Ultrasonic Satellite system). U-SAT is composed of a distance measurement using ultrasonic wave and the position acquisition in the world coordinate using the GPS. It is shown that we will be able to estimate the position of mobile robot precisely, in which errors are not accumulated. The experimental results show that the proposed method is enable to estimate the position of the mobile robot.

http://ieeexplore.ieee.org/iel5/9792/30877/01433352.pdf

Ultrasonic satellite system for the positioning of mobile robots

A dual clutch apparatus for a dual clutch transmission having a first input shaft and a second input shaft includes: a first clutch of generally annular shape; a second clutch of generally annular shape disposed coaxially with the first clutch; and, a plurality of first and second clutch levers received in a clutch retaining housing in a circularly arranged pattern with the first clutch levers alternately interleaved with the second clutch levers; in which the first clutch includes a clutch finger plate of generally annular shape, the clutch finger plate having a plurality of fingers extending in the axial direction of the first clutch and through an outer circumference of the second clutch and configured to push a first clutch application plate of generally annular shape which is coupled with the first clutch levers for clutch application of the first clutch, and a friction plate arranged next to the first clutch application plate and coupled with a hub of the first clutch, the hub of the first clutch coupled with the first input shaft.

Dual clutch transmission and dual clutch actuators thereof

A gear shifting device for shifting gears of a transmission comprises: at least one guide rail each extending in a longitudinal axis thereof; a plurality of shift effecting members (eg, shift forks or the like) configured to move a plurality of corresponding sliding sleeves coupled to the guide rail for shifting gears upon actuation of a shift actuator, the shift effecting members each having a terminal end portion with a finger receiving opening formed therein, the finger receiving opening extending in a direction generally parallel to the longitudinal axis of the guide rail; and a shift shaft extending in a direction generally parallel to the longitudinal axis of the guide rail, the shift shaft having a shift finger coupled thereto The shift shaft is rotatable to pivotally position the shift finger at locations aligned with the finger receiving openings of the shift effecting members, and is also displaceable in the longitudinal direction in the finger receiving openings to move the shift effecting members to effect a gear shifting operation Methods of shifting gears with a gear shifting device are also disclosed

Gear Shifting Actuator and Method of Shifting Gear Ratios

Disclosed is a range shift mechanism in the form of a floating planetary gear assembly for a transfer case. The range shift mechanical according to the present invention can improve power efficiency and generate low noises by suppressing gear rotation in a high range mode of the range shift system.

Range shift system for transfer case

Motor drivers employ film capacitors instead of the conventional electrolytic capacitors to achieve better reliability and smaller volume. However, these drivers have an instability problem because of a resonance between the small dc-link capacitance and grid side line inductance. In order to solve the problem, this paper proposes an active damping method using d-axis current injection. Since the injected current acts as damping impedance, the proposed method suppress dc-link voltage fluctuations. The relationship between the injected current and the virtual damping impedance is mathematically analyzed. Moreover, the proposed method is able to reduce the torque ripple caused by the injected current in spite of system loss increase. The increased loss also can be minimized by characteristics of the motor. The feasibility of the proposed method is proved by several experimental results.

DC-Link Voltage Stabilization Using d-Axis Current Injection for SPMSM Driver with Small DC-Link Capacitance

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