This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is design...This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.展开更多
This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and incre...This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.展开更多
This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle mode...This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.展开更多
Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,ec...Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,economic development level,traveling vehicle composition etc..When some problems occur,such as the congestions caused by contradiction between the road capacity and vehicle composition,the city transport system may come into temporary maturity period.If the improvement for road system is limited meanwhile,optimized structure of vehicle composition should be an effective solution in this case.With the development of economy-internationalization,the development speed of city transport modernization is rapid.When traveling easiness is conflicting with efficiency,the advantages of public transport system become more obvious.Correspondingly,the superiority of two-wheel vehicles will reappear.Though the important function of two-wheel vehicles for alleviating city traffic problems is obvious,however,their development strategy must be reasonably proposed,and operation regulations must be performed accordingly.展开更多
A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learnin...A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.展开更多
With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsib...With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.展开更多
Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production econom...Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production economy. In this context a study was conducted to predict accumulated R＆M costs （Y） of two-wheel drive （2WD） tractors based on accumulated usage hours （X） in Misagh-e-Sabz Agribusiness Company in Iran. Recorded data of the company were used to determine regression models for predicting accumulated R＆M costs （as percentage of initial purchase price） based on accumulated usage hours. The statistical results of the study indicated that in order to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or less the power regression model Y=0.013 （X/100）1.677 with R2=0.976, and to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or more the polynomial regression model Y=0.004 （X/100）2-0.181 （X/1 00）＋4.373 with R2=0.998 can be strongly suggested.展开更多
Yaw rate and sideslip angle are critical indicators for evaluating vehicle handling stability.When a vehicle is driven at high speed,emergency steering by the driver may cause loss of control,leading to severe acciden...Yaw rate and sideslip angle are critical indicators for evaluating vehicle handling stability.When a vehicle is driven at high speed,emergency steering by the driver may cause loss of control,leading to severe accidents such as rollover.This paper establishes a mathematical model of a two-wheel steering system to analyze vehicle handling stability.Using Matlab/Simulink,steady-state response curves under different front-wheel steering angles and speeds are compared to investigate the influence of yaw rate and sideslip angle on vehicle handling stability.展开更多
This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries...This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries outperform lead-acid batteries in various parameters,with Na-ion and Li-ion batteries exhibiting higher energy densities,higher power densities,longer cycle lives,faster charge rates,better compactness,lighter weight and lower self-discharge rates.In economic comparison,Na-ion batteries were found to be~12-14%more expensive than Li-ion batteries.However,the longer lifespans and higher energy densities of Na-ion and Li-ion batteries can offset their higher costs through improved performance and long-term savings.Lead-acid batteries have the highest environmental impact,while Li-ion batteries demonstrate better environmental performance and potential for recycling.Na-ion batteries offer promising environmental advantages with their abundance,lower cost and lower toxic and hazardous material content.Efficient recycling processes can further enhance the environmental benefits of Na-ion batteries.Overall,this research examines the potential of Na-ion batteries as a cheaper alternative to Li-ion batteries,considering India’s abundant sodium resources in regions such as Rajasthan,Chhattisgarh,Jharkhand and others.展开更多
Powered two-wheelers(PTWs)are considered as one of the risky means of transport as it is vulnerable to road crashes,which may lead to fatal injuries.Crash data revealed that the number of deaths caused by PTWs is sign...Powered two-wheelers(PTWs)are considered as one of the risky means of transport as it is vulnerable to road crashes,which may lead to fatal injuries.Crash data revealed that the number of deaths caused by PTWs is significantly higher than any other road users.Literature reports that one of the major causes of high PTW crashes is the riding behavior of the users.Therefore,the present paper reviews existing literature related to factors affecting riding behavior.Several factors with different levels of influence on PTW riding behavior are explored in the paper.Further,safety strategies to improve PTW safety have been reported in the study by categorizing it based on risk factors,i.e.,riding behavior,vehicle technology,and road infrastructure.The paper concludes with some of the major findings,i)riding behavior plays an essential role in improving PTW safety,ii)numerous research stated that riding behavior can be improved by enforcement and providing feedback about their riding behavior by profiling them into different categories,and iii)segregation of PTW traffic from other road users is reported to be an effective solution for increasing PTW safety in some developing countries.While a considerable amount of research related to riding behavior and PTW safety has been done,studies related to the impact of riding feedback on PTW riding behavior are scant.Further,it is suggested that future research should focus on the feasibility of advanced traffic management strategies,such as the segregation of PTWs from main traffic to reduce the conflict between vehicles.展开更多
To meet the requirements for high-risk testing scenarios in the safety assessment of advanced driver assistance systems(ADASs),this study selected 239 vehicle-to-powered two-wheeler accidents occurring in Xiangtan Cou...To meet the requirements for high-risk testing scenarios in the safety assessment of advanced driver assistance systems(ADASs),this study selected 239 vehicle-to-powered two-wheeler accidents occurring in Xiangtan County from the China In-depth Mobility Safety Study—Traffic Accident(CIMSS-TA)database.Seven scenario elements were selected from the levels of static road elements,dynamic traffic participants and environment elements.The accident characteristics were obtained through statistical analysis.The results showed that 75.73%of accidents occurred at T-junctions/intersections,and 34.73%were caused by visual obstructions.Six typical vehicle-to-powered two-wheeler crash scenarios were established by cluster analysis,including two straight road scenarios(scenarios 3 and 6),two T-junction scenarios(scenarios 1 and 5)and two intersection scenarios(scenarios 2 and 4).Furthermore,six vehicle-to-powered two-wheeler testing scenarios,which represent the traffic environment characteristics of Chinese county-level districts,were constructed by analysing the vehicle/powered two-wheeler speed,the first collision point of the vehicle,the obstacle type and location,etc.The results showed that the vehicle speed in scenario 4 was higher than that in scenario 2,with average values of 34.32 km/h and 21.99 km/h,respectively.The results of this study provide testing scenarios for the safety assessment of ADASs,and contribute to improving vehicle active safety technology.展开更多
文摘This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.
文摘This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.
基金the National Natural Science Foundation of China(No.61375086)the Key Project of Science and Technique Plan of Beijing Municipal Commission of Education(No.KZ201210005001)+1 种基金the National Basic Research Program(973)of China(No.2012CB720000)the China Scholarship Council Program(No.201406540017)
文摘This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.
文摘Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,economic development level,traveling vehicle composition etc..When some problems occur,such as the congestions caused by contradiction between the road capacity and vehicle composition,the city transport system may come into temporary maturity period.If the improvement for road system is limited meanwhile,optimized structure of vehicle composition should be an effective solution in this case.With the development of economy-internationalization,the development speed of city transport modernization is rapid.When traveling easiness is conflicting with efficiency,the advantages of public transport system become more obvious.Correspondingly,the superiority of two-wheel vehicles will reappear.Though the important function of two-wheel vehicles for alleviating city traffic problems is obvious,however,their development strategy must be reasonably proposed,and operation regulations must be performed accordingly.
文摘A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.
文摘With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.
文摘Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production economy. In this context a study was conducted to predict accumulated R＆M costs （Y） of two-wheel drive （2WD） tractors based on accumulated usage hours （X） in Misagh-e-Sabz Agribusiness Company in Iran. Recorded data of the company were used to determine regression models for predicting accumulated R＆M costs （as percentage of initial purchase price） based on accumulated usage hours. The statistical results of the study indicated that in order to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or less the power regression model Y=0.013 （X/100）1.677 with R2=0.976, and to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or more the polynomial regression model Y=0.004 （X/100）2-0.181 （X/1 00）＋4.373 with R2=0.998 can be strongly suggested.
文摘Yaw rate and sideslip angle are critical indicators for evaluating vehicle handling stability.When a vehicle is driven at high speed,emergency steering by the driver may cause loss of control,leading to severe accidents such as rollover.This paper establishes a mathematical model of a two-wheel steering system to analyze vehicle handling stability.Using Matlab/Simulink,steady-state response curves under different front-wheel steering angles and speeds are compared to investigate the influence of yaw rate and sideslip angle on vehicle handling stability.
文摘This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries outperform lead-acid batteries in various parameters,with Na-ion and Li-ion batteries exhibiting higher energy densities,higher power densities,longer cycle lives,faster charge rates,better compactness,lighter weight and lower self-discharge rates.In economic comparison,Na-ion batteries were found to be~12-14%more expensive than Li-ion batteries.However,the longer lifespans and higher energy densities of Na-ion and Li-ion batteries can offset their higher costs through improved performance and long-term savings.Lead-acid batteries have the highest environmental impact,while Li-ion batteries demonstrate better environmental performance and potential for recycling.Na-ion batteries offer promising environmental advantages with their abundance,lower cost and lower toxic and hazardous material content.Efficient recycling processes can further enhance the environmental benefits of Na-ion batteries.Overall,this research examines the potential of Na-ion batteries as a cheaper alternative to Li-ion batteries,considering India’s abundant sodium resources in regions such as Rajasthan,Chhattisgarh,Jharkhand and others.
文摘Powered two-wheelers(PTWs)are considered as one of the risky means of transport as it is vulnerable to road crashes,which may lead to fatal injuries.Crash data revealed that the number of deaths caused by PTWs is significantly higher than any other road users.Literature reports that one of the major causes of high PTW crashes is the riding behavior of the users.Therefore,the present paper reviews existing literature related to factors affecting riding behavior.Several factors with different levels of influence on PTW riding behavior are explored in the paper.Further,safety strategies to improve PTW safety have been reported in the study by categorizing it based on risk factors,i.e.,riding behavior,vehicle technology,and road infrastructure.The paper concludes with some of the major findings,i)riding behavior plays an essential role in improving PTW safety,ii)numerous research stated that riding behavior can be improved by enforcement and providing feedback about their riding behavior by profiling them into different categories,and iii)segregation of PTW traffic from other road users is reported to be an effective solution for increasing PTW safety in some developing countries.While a considerable amount of research related to riding behavior and PTW safety has been done,studies related to the impact of riding feedback on PTW riding behavior are scant.Further,it is suggested that future research should focus on the feasibility of advanced traffic management strategies,such as the segregation of PTWs from main traffic to reduce the conflict between vehicles.
基金funded by the National Key R&D Program of China(Grant No.2022YFB4300300)the Hunan Science Foundation for Distinguished Young Scholars of China(Grant No.2021JJ110059)+2 种基金the National Natural Science Foundation of China(Grants No.52105523 and 52075553)the Natural Science Foundation of Shandong(Grant No.ZR2021QE249)the China Postdoctoral Science Foundation Funded Project(Grant No.2021M703559).
文摘To meet the requirements for high-risk testing scenarios in the safety assessment of advanced driver assistance systems(ADASs),this study selected 239 vehicle-to-powered two-wheeler accidents occurring in Xiangtan County from the China In-depth Mobility Safety Study—Traffic Accident(CIMSS-TA)database.Seven scenario elements were selected from the levels of static road elements,dynamic traffic participants and environment elements.The accident characteristics were obtained through statistical analysis.The results showed that 75.73%of accidents occurred at T-junctions/intersections,and 34.73%were caused by visual obstructions.Six typical vehicle-to-powered two-wheeler crash scenarios were established by cluster analysis,including two straight road scenarios(scenarios 3 and 6),two T-junction scenarios(scenarios 1 and 5)and two intersection scenarios(scenarios 2 and 4).Furthermore,six vehicle-to-powered two-wheeler testing scenarios,which represent the traffic environment characteristics of Chinese county-level districts,were constructed by analysing the vehicle/powered two-wheeler speed,the first collision point of the vehicle,the obstacle type and location,etc.The results showed that the vehicle speed in scenario 4 was higher than that in scenario 2,with average values of 34.32 km/h and 21.99 km/h,respectively.The results of this study provide testing scenarios for the safety assessment of ADASs,and contribute to improving vehicle active safety technology.
