TITLE:

RESEARCH AT THE ROBOTICS AND MECHATRONICS LAB AT SDSU

DATE:

Friday, October 19th, 2007

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.

HOST:

Jose Castillo

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