In this paper, a new model predictive PID controller design method for the slip suppression control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simula...

A high fidelity field test of a four-wheeled lunar micro-rover, code-named Moonraker, was conducted by the Space Robotics Lab at a lunar analog site in Hamamatsu Japan, in cooperation with Google Lunar XPRIZE Team Hakuto. For the target mission to a lunar maria region with a steep slope, slippage in loose soil is a key risk; a prediction method of the slip ratio of the system based on the angle...

A high aspect ratio 3D electrokinetic nanoprobe is used to trap polystyrene particles (200 nm), gold nanoshells (120 nm), and gold nanoparticles (mean diameter 35 nm) at low voltages (<1 V(rms)). The nanoprobe is fabricated using room temperature self-assembly methods, without the need for nanoresolution lithography. The nanoprobe (150-500 nm in diameter, 2-150 μm in length) is mounted on the e...

Incorporating the velocity slip effect of the gas flow at the solid boundary, the performance and dynamic response of a micro gas-bearing-rotor system are investigated in this paper. For the characteristic length scale of the micro gas bearing, the gas flow in the bearing resides in the slip regime rather than in the continuum regime. The modified Reynolds equations of different slip models are...

Peristaltic pumping induced by a sinusoidal traveling wave in the walls of a two-dimensional channel filled with a viscous incompressible fluid mixed with rigid spherical particles is investigated theoretically taking the slip effect on the wall into account. A perturbation solution is obtained which satisfies the momentum equations for the case in which amplitude ratio (wave amplitude/channel ...

This paper presents an integrated traction control strategy (ITCS) for distributed drive electric vehicles. The purpose of the proposed strategy is to improve vehicle economy and longitudinal driving stability. On high adhesion roads, economy optimization algorithm is applied to maximize motors efficiency by means of the optimized torque distribution. On low adhesion roads, a sliding mode contr...

Comprehension of stick-slip motion is very important for understanding tribological principles. The transition from creep-dominated to inertia-dominated stick-slip as the increase of sliding velocity has been described by researchers. However, the associated micro-contact behavior during this transition has not been fully disclosed yet. In this study, we investigated the stick-slip behaviors of...

The (13)C- and (1)H- NMR spectra of isopropyl N-dodecanoylsarcosinate (SLIP) were measured in CDCl(3), CD(3)OD and in sodium dodecanoylsarcosinate (Sar) aqueous solution. The existence of both cis and trans isomeric forms are observed for SLIP just as for Sar. The trans/cis ratio of SLIP in a dilute CDCl(3) solution is over 3.2, which is indicating that SLIP-trans conformation is more stable in...