Virtual verification of automotive steering systems

The vehicle industry is in a transformation where software and electronics are revolutionizing the way we engineer the cars of the future. This is particularly true for steering systems, which have developed from passive mechanical systems to now enabling advanced driver support systems and the evolution toward fully autonomous driving. With this ever increasing complexity, relying only on physical testing is no longer practical due to slow feedback loops from testing back to development and the lack of repeatability. The question addressed in this paper is how computational methods can help to increase test coverage, shorten development cycles and enable continuous integration of software for steering systems. In particular the development, validation and application of methods to virtually release steering systems for passenger vehicles is presented

The 31st Aerospace Mechanisms Symposium

The proceedings of the 31st Aerospace Mechanisms Symposium are reported. Topics covered include: robotics, deployment mechanisms, bearings, actuators, scanners, boom and antenna release, and test equipment. A major focus is the reporting of problems and solutions associated with the development and flight certification of new mechanisms

A Virtual Shaker Table for Predicting Loads in Automotive Powertrain Mounts

In the automotive industry, multi-axis shaker tables are often used to study the damage caused by motion-induced inertia loads to components such as engine mounts or fuel tank strips. To assess the component durability characteristics using this approach, prototype parts must be built and a test rig must be installed. This process is both time and budget consuming, so there is an incentive to reduce the number of physical shaking tests. To that end, this thesis introduces a set of software tools that are capable of conducting virtual shaking simulations with quality output results, i.e., a virtual multi-axial shaker table (VMAST). By refining and reproducing vehicle body acceleration signals collected from the proving grounds, the VMAST is able to replay the body motion of a vehicle. The reproduced motion (drive file) can then be used to drive the virtual dynamic shaking. With the additional consideration of vehicle body local flexibility, the flexible motion can be added to the rigid body motion to improve the simulation accuracy. The dynamic shaking simulation can be done natively in MATLAB, or the drive files derived from MATLAB can be used by other commercial software, such as Altair MotionView. The virtual load data acquisition of the engine bushing mount is implemented during the simulation to predict the fatigue index, which can be referenced in the design procedure. This VMAST provides the automotive engineer with a cost effective tool for analysis, and optimizes the testing process, allowing rapid design iteration

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Subjective Evaluation of Vehicle Semi-Active Suspension for Improved Ride and Handling

The number of passenger cars currently equipped with semi-active suspensions has been steadily increasing in recent decades. These suspension systems provide an improvement in ride and handling when compared to passive suspensions. Currently, the approach to evaluating and tuning semi-active suspensions has been limited to objective methods or time-consuming alterations made on physical components. To alleviate the time and costs and improve the fidelity of such methods, a novel solution to subjectively evaluating vehicle semi-active suspensions is presented. The subjective evaluation method herein involves the use of a state-of-the-art dynamic driving simulator with drivers to subjectively evaluate and tune virtual semi-active suspensions. To consider the results of the proposed evaluation method accurate, high-fidelity vehicle models supplied by an OEM are studied. These vehicle models have previously been validated with objective and subjective performance data by an OEM’s expert drivers. First, offline co-simulations between VI-grade’s CarRealTime vehicle simulation software and several versions of a Simulink semi-active suspension controller are completed to objectively evaluate ride and handling. The semi-active suspension controller is based on several well-known control strategies and incorporates the vehicle’s passive suspension settings as one of the suspension modes. This feature permits a comparison between the passive and semi-active suspensions in terms of ride and handling. For the subjective evaluation, the vehicle and controller models are uploaded in a driver-in-the-loop environment. Expert drivers then execute a series of maneuvers and provide subjective feedback on the ride and handling of the different suspension modes. A questionnaire is implemented involving a list of subjective metrics tailored for ride and handling of semi-active suspensions. Furthermore, a correlation between changes in objective and subjective metrics is made to determine where correlation exists and to suggest predictive methods for future subjective ratings. A specific evaluation procedure is presented to ensure a bias among drivers is removed. The results of the subjective evaluation method prove that the method is effective at capturing relatively small changes in ride and handling, in a timely manner. The subjective ratings from the drivers showed acceptable agreement and considered many ride and handling improvements as major differences according to SAE standards. The correlation study identified a list of strong correlations between objective and subjective metrics. These results can be used to predict subjective performance when implementing offline changes to suspensions

Dynamical systems : mechatronics and life sciences

Proceedings of the 13th Conference „Dynamical Systems - Theory and Applications" summarize 164 and the Springer Proceedings summarize 60 best papers of university teachers and students, researchers and engineers from whole the world. The papers were chosen by the International Scientific Committee from 315 papers submitted to the conference. The reader thus obtains an overview of the recent developments of dynamical systems and can study the most progressive tendencies in this field of science

39th Aerospace Mechanisms Symposium

The Aerospace Mechanisms Symposium (AMS) provides a unique forum for those active in the design, production, and use of aerospace mechanisms. A major focus is the reporting of problems and solutions associated with the development and flight certification of new mechanisms. Organized by the Mechanisms Education Association, NASA Marshall Space Flight Center (MSFC) and Lockheed Martin Space Systems Company (LMSSC) share the responsibility for hosting the AMS. Now in its 39th symposium, the AMS continues to be well attended, attracting participants from both the United States and abroad. The 39th AMS was held in Huntsville, Alabama, May 7-9, 2008. During these 3 days, 34 papers were presented. Topics included gimbals and positioning mechanisms, tribology, actuators, deployment mechanisms, release mechanisms, and sensors. Hardware displays during the supplier exhibit gave attendees an opportunity to meet with developers of current and future mechanism components

Design of high-performance legged robots: A case study on a hopping and balancing robot

The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple

Applicable Solutions in Non-Linear Dynamical Systems

From Preface: The 15th International Conference „Dynamical Systems - Theory and Applications” (DSTA 2019, 2-5 December, 2019, Lodz, Poland) gathered a numerous group of outstanding scientists and engineers who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without great effort of the staff of the Department of Automation, Biomechanics and Mechatronics of the Lodz University of Technology. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our event was attended by over 180 researchers from 35 countries all over the world, who decided to share the results of their research and experience in different fields related to dynamical systems. This year, the DSTA Conference Proceedings were split into two volumes entitled „Theoretical Approaches in Non-Linear Dynamical Systems” and „Applicable Solutions in Non-Linear Dynamical Systems”. In addition, DSTA 2019 resulted in three volumes of Springer Proceedings in Mathematics and Statistics entitled „Control and Stability of Dynamical Systems”, „Mathematical and Numerical Approaches in Dynamical Systems” and „Dynamical Systems in Mechatronics and Life Sciences”. Also, many outstanding papers will be recommended to special issues of renowned scientific journals.Cover design: Kaźmierczak, MarekTechnical editor: Kaźmierczak, Mare