Three results pertaining to lateral control of heavy duty vehicles on Automated Highway System are presented. First, a time domain, frequency domain and pole/zero analysis of the linearized model for lateral control of tractor-trailer vehicles is presented. The steering response subject to variation of speed, road adhesion and look-ahead distance is studied. Based on the analysis, a simple base...

in this paper, the mechanical behavior of three-phase inhomogeneous materials is modeled using the meso-scale model with lattice beams for static and dynamic analyses. the timoshenko beam theory is applied instead of the classical euler-bernoulli beam theory and the mechanical properties of lattice beam connection are derived based on the continuum medium using the non-local continuum theory. t...

spatial-temporal modeling of air pollutants, ground-level ozone concentrations in particular, has attracted recent attention because by using spatial-temporal modeling, can analyze, interpolate or predict ozone levels at any location. in this paper we consider daily averages of troposphere ozone over tehran city. for eliminating the trend of data, a dynamic linear model is used, then some featu...

This paper presents a study on the coupled aeroelastic/flight dynamic stability and gust response of a blendedwing-body aircraft that derives from the U.S. Air Force’s High Lift-Over-Drag Active (HiLDA) wing experimental model. An effective method is used to model very flexible blended-wing-body vehicles based on a low-order aeroelastic formulation that is capable of capturing the important str...

We investigate the thermodynamic and dynamic properties of a three dimensional associating lattice gas (ALG) model through Monte Carlo simulations. The ALG model combines a soft core potential and orientational degrees of freedom. The competition of directional attractive forces and the soft core potential results in two coexisting liquid phases which are also connected through order-disorder c...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

This paper presents the application of an ellipsoidal method for robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a fac...

The dynamic stability and equilibrium conditions of a parachute are studied using a six degree of freedom dynamic model that includes apparent inertia effects. Existing parachute dynamic models are discussed and the selection of a relevant model is shown. The chosen dynamic model that incorporates apparent inertia is summarized and used for analysis. The moments on the parachute system caused b...

By exploiting centrifugal and Coriolis forces, simple, lowdegree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulationplanner that finds manipulator trajectories to move an object fr...

in this paper, an innovative mobile platform is presented which is equipped by three new wheels. the core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. the structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. each wheel has two degrees of freedom. the fi...