In this paper a steering controller is derived using robust unilateral decoupling control. By this method automatic car steering can be split into two subtasks: a) good lane tracking of a point mass for stepwise change of the curvature of the lane reference and for lateral force disturbances and b) good yaw stabilization in the presence of yaw torque disturbances. In the design process the trac...

A novel vehicle stability control method integrated direct yaw moment control (DYC) with active front steering (AFS) is presented in this paper. By the phase plane of sideslip angle and sideslip angular velocity, vehicle stable region is determined. When the vehicle is outside the stable region, DYC controller is firstly used to produce proper direct yaw moment, which can make the vehicle back ...

Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate sideslip angle based on a single-input single-output (SISO) controller. With SISO formulation, reference is first defined according to vehicle requirements then corrected actual angle. Th...

A m ultiaxis thrust-vectoring nozzle designed to have equal ow-turning capability in pitch and yaw was conceived and experimentally tested for internal static performance at Langley Research Center. The cruciform-shaped, convergent-divergent nozzle turned the ow for thrust vectoring by deeecting the divergent surfaces of the nozzle, called aps. Methods for eliminating physical interference betw...

Galvanic vestibular stimulation (GVS) can be applied to induce the feeling of directional virtual head motion by stimulating the vestibular organs electrically. Conventional studies used a two-pole GVS, in which electrodes are placed behind each ear, or a three-pole GVS, in which an additional electrode is placed on the forehead. These stimulation methods can be used to induce virtual head roll...

This paper proposes an estimation method for ships on collision courses taking crash astern maneuvers based on a new potential area of water (PAW) for maneuvering. A crash astern maneuver is an emergency option a ship can take when exposed to the risk of a collision with other ships that have lost control. However, lateral forces and yaw moments exerted by the reversing propelle...

Theria comprises all but three living mammalian genera and is one of the most ecologically pervasive clades on Earth. Yet, the origin and early history of therians and their close relatives (i.e., cladotherians) remains surprisingly enigmatic. A critical biological function that can be compared among early mammal groups is mastication. Morphometrics and modeling analyses of the jaws of Mesozoic...

When swimming, the lamprey maintains a definite orientation of its body in the vertical planes, in relation to the gravity vector, as the result of postural vestibular reflexes. Do the vestibular-driven mechanisms also play a role in the control of the direction of swimming in the horizontal (yaw) plane, in which the gravity cannot be used as a reference direction? In the present study, we addr...