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Colloquia Archive
Untitled Document
| DATE: |
Friday, October 19th, 2007 |
| TITLE: |
RESEARCH AT THE ROBOTICS AND MECHATRONICS LAB AT SDSU |
| TIME: |
3:30 PM |
| LOCATION: |
GMCS 214 |
| SPEAKER: |
Jingang Yi
Department of Mechanical Engineering
San Diego State University |
| ABSTRACT: |
In this talk, I will review some research activities at the
Robotics and Mechatronics Lab at SDSU. In the first part of this talk, I
will discuss some research activities in the vehicle and transportation
area. Two subjects will be presented: safety-preserved tire/road interaction
estimation and control, and macroscopic traffic flow stability. Tire/road
friction characteristics determine the vehicle’s safety limits and
need to be monitored and estimated on-line for vehicle safe operations.
I will describe two different schemes for on-line estimation and control
of the tire/road friction coefficient. An attractive property of these two
approaches is that the estimates of the maximum friction coefficient and
slip remain below their true values, which, in turn, guarantees safety of
the vehicle spacing policies. I will also discuss some ongoing work on the
development of a “smart tire” system. At traffic flow level, I
will present some results on macroscopic traffic flow stability. A wavefront
expansion technique is applied to establish a traffic flow stability criterion
for both manual and adaptive cruise controlled vehicles. In the second part
of this talk, I will present a design of vision-based motion planning and
trajectory tracking control of an autonomous motorcycle. I will discuss
how a vision vector space, a unitary vector set that represents local collision-free
directions in the image coordinate system, is constructed for the highly
dynamic requirements of motion planning of a motorcycle. I will also present
a balance and trajectory tracking control algorithm for an autonomous motorcycle.
The planning and control systems are validated by experimental and numerical
testing based on a real prototype motorcycle system.
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| HOST: |
Jose E. Castillo |
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Computational Science Research Center :: 5500 Campanile Drive :: San Diego, CA 92182-1245 :: (619) 594-3430
©2007 Computational Science Research Center, SDSU - All rights
reserved.
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Last
updated:
February 21, 2008 8:38 AM
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