相关论文: Rack Force Estimation for Driving on Uneven Road S…
The curved uncut chip thickness model is presented to predict the cutting forces for general uncut chip geometries. The cutting force is assumed to be distributed along a curved path on the rake face of the cutting tool, which makes the…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
For the autonomous operation of articulated vehicles at distribution centers, accurate positioning of the vehicle is of the utmost importance. Automation of these vehicle poses several challenges, e.g. large swept path, asymmetric steering…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
The availability of massive vehicle trajectory data enables the modeling of road-network constrained movement as travel-cost distributions rather than just single-valued costs, thereby capturing the inherent uncertainty of movement and…
A method is developed to distinguish between cars and trucks present in a video feed of a highway. The method builds upon previously done work using covariance matrices as an accurate descriptor for regions. Background subtraction and other…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Model steering, which involves intervening on hidden representations at inference time, has emerged as a lightweight alternative to finetuning for precisely controlling large language models. While steering efficacy has been widely studied,…
Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…
Most traversability estimation techniques divide off-road terrain into traversable (e.g., pavement, gravel, and grass) and non-traversable (e.g., boulders, vegetation, and ditches) regions and then inform subsequent planners to produce…
The paper introduces an approach to telematics devices data application in automotive insurance. We conduct a comparative analysis of different types of devices that collect information on vehicle utilization and driving style of its…
We study the effect of viscoelastic dynamics on the frictional properties of a (mean field) spring-block system pulled on a rough surface by an external drive. When the drive moves at constant velocity V, two dynamical regimes are observed:…
We study how crack buckling affects stress and strain in a thin sheet with random disorder. The sheet is modeled as an elastic lattice of beams where each of the beams have individual thresholds for breaking. A statistical distribution with…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
Deep reinforcement learning (DRL) has emerged as a promising approach for developing more intelligent autonomous vehicles (AVs). A typical DRL application on AVs is to train a neural network-based driving policy. However, the black-box…
The frequency response function (FRF) is a typical way to describe the outcome of experiments where posture control is perturbed with an external stimulus. The FRF is an empirical transfer function between an input stimulus and the induced…
The survival analysis of driving trajectories allows for holistic evaluations of car-related risks caused by collisions or curvy roads. This analysis has advantages over common Time-To-X indicators, such as its predictive and probabilistic…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
Electric truck operations require routing decisions that remain feasible under limited battery range, long charging times, travel and energy consumption, and competition for shared charging infrastructure. These features make electric truck…
Low-fidelity analytical models of turbine wakes have traditionally been used for wind farm planning, performance evaluation, and demonstrating the utility of advanced control algorithms in increasing the annual energy production. In…