To assess the contributions of the vestibular system to whole-body motion discrimination in the dark, we measured direction recognition thresholds as a function of frequency for yaw rotation, superior-inferior translation ("z-translation"), interaural translation ("y-translation"), and roll tilt for 14 normal subjects and for 3 patients following total bilateral vestibular ablation. The patient...

An analytical relationship is derived between the angles of two parallel road markings, projected onto an image plane, and the lateral position of the host vehicle. The resulting model proves that the relative position of a vehicle can be determined by the two lane angles alone, independent of camera height, yaw, and tilt. Furthermore, we find an optimally stable set of values for the measureme...

In this thesis we develop a gain-scheduled control law for the quadcopter unmanned aerial vehicle (UAV). Techniques from linear control theory are introduced and used to construct adaptive proportional and proportional-integral control laws for use with both state and observer-based output feedback. The controller monitors the yaw angle of the quadcopter and updates a gain matrix as the system ...

This paper investigates the problems of the z-axis dynamic balance and high energy consumption in practical application of humanoid robot. Considering z-axis dynamic balance conditions, a novel yaw moment compensation solution based on arms-swinging is proposed by computing the optimal arms-swinging trajectories to counteract the yaw moment caused by the movement of humanoid robot. Given the op...

A key concern in Automatic Face Recognition (AFR) is the decrease of recognition performance as the quality of images decreases. This paper introduces a method to evaluate the impact of face pose variability on face recognition accuracy. Experiments were conducted using three leading commercial face recognition algorithms on data with poses from 0 to ±20 deg in each of the roll, pitch, and yaw ...

Combined heading control and rudder-roll damping systems are diicult to analyze due to the complexity of the mathematical model required to describe the nonlinear couplings in sway, roll and yaw. Except for linear systems, no theoretical results with regard to robustness have been presented. In a linear analysis important nonlinear eeects due to rigid-body dynamics, hydrodynamics and kinematics...

In electric vehicles that use in-wheel motors, the right and left traction forces become unbalanced if a motor malfunctions by motor lock or loss of traction, generating yaw moment. Control methods were designed to reduce this effect by stopping the motor output on the opposite side of the same axle. By using a prototype “Eliica” car, the maximum yaw rate and lateral acceleration were compared ...

Aiming at a class of multiple-input multiple-output (MIMO) system with uncertainty, a sliding mode control algorithm based on neural network disturbance observer is designed and applied to ship yaw and roll joint stabilization. The nonlinear disturbance observer is finished by radial basis function neural network and with that a terminal sliding mode control algorithm is proposed. The asymptoti...

A bstmct— This paper proposes a new Hm yawmoment control scheme using brake torque for improving vehicle performance and stability especially in high speed driving. Its characteristics is that only one brake is used for control depending on the vehicle state. Steering angles are modeled as a disturbance input to the system and the controller minimizes the difference between the performance of t...

This study is motivated by three-dimensional ows about protrusions and cavities with an arbitrary angle between the external ow and rigid elements. The novel type of a \building block" cavity ow is proposed where the cavity lid moves along its diagonal (Case A). The proposed case is taken as a typical representative of essentially three-dimensional highly separated vortical ows having simple si...