An NMPC-Based Integrated Longitudinal and Lateral Vehicle Stability Control Based on the Double-Layer Torque Distribution.

With the ongoing promotion and adoption of electric vehicles, intelligent and connected technologies have been continuously advancing. Electrical control systems implemented in electric vehicles have emerged as a critical research direction. Various drive-by-wire chassis systems, including drive-by-wire driving and braking systems and steer-by-wire systems, are extensively employed in vehicles. Concurrently, unavoidable issues such as conflicting control system objectives and execution system interference emerge, positioning integrated chassis control as an effective solution to these challenges. This paper proposes a model predictive control-based longitudinal dynamics integrated chassis control system for pure electric commercial vehicles equipped with electro-mechanical brake (EMB) systems, centralized drive, and distributed braking. This system integrates acceleration slip regulation (ASR), a braking force distribution system, an anti-lock braking system (ABS), and a direct yaw moment control system (DYC). This paper first analyzes and models the key components of the vehicle. Then, based on model predictive control (MPC), it develops a controller model for integrated stability with double-layer torque distribution. The required driving and braking torque for each wheel are calculated according to the actual and desired motion states of the vehicle and applied to the corresponding actuators. Finally, the effectiveness of this strategy is verified through simulation results from Matlab/Simulink. The simulation shows that the braking deceleration of the braking condition is increased by 32% on average, and the braking distance is reduced by 15%. The driving condition can enter the smooth driving faster, and the time is reduced by 1.5 s~5 s. The lateral stability parameters are also very much improved compared with the uncontrolled vehicles.

Resonance Suppression of Servo System Based on State Equalizer Method.

Aiming at the problem of mechanical resonance faced by the servo control system of the aero-optical stabilization platform, based on the proportional integral and disturbance observer combination (PI+DOB) control algorithm, a state equalizer speed closed loop is proposed. Compared with the traditional PI+DOB control algorithm, this new control structure can suppress the resonance peak and the anti-resonance peak at the same time. The experimental results show that compared with the PI+DOB control algorithm, after adding the state equalizer speed closed-loop to compensate for the model, the closed-loop bandwidth is increased by 42%. The anti-disturbance capability of the control system has been significantly improved, and it has good robustness under vibration conditions. To sum up, adding the state equalizer speed closed loop on the basis of PI+DOB has an obvious effect on the suppression of mechanical resonance and the performance improvement of the control system.

Iterative Learning-Based Negative Effect Compensation Control of Disturbance to Improve the Disturbance Isolation of System.

At present, the cogging torque of permanent magnet synchronous motors (PMSM) seriously limits the Los pointing accuracy of aviation photoelectric stabilization platforms based on PMSM, which also restricts the requirements of ultra-long-distance and high-precision aviation reconnaissance and detection. For this problem, an off-line iterative learning control (ILC) was designed, and on this basis, a control method of negative effect compensation of disturbance (NECOD) is proposed. Firstly, the "dominant disturbance torque" in the system, that is, the cogging torque with the characteristics of position periodicity, was suppressed by off-line ILC according to different positions. Then, for the "residual disturbance" after compensation, NECOD was used to suppress it. In the constant speed scanning experiment of the aviation photoelectric stabilization platform, the method of combining the off-line iterative learning controller and the negative effect compensation of disturbance (NECOD + ILC) proposed in this paper significantly improved the Los control accuracy of the platform when compared with the classical active disturbance rejection control (ADRC) and ADRC + ILC methods, and the Los pointing error of the constant speed scanning process had only increased by less than 5% when the system had ±15% parameter perturbation. In addition, NECOD + ILC has fewer parameters and is easy to adjust, which is conducive to engineering application and promotion.

Head-Mounted and Hand-Held Displays Diminish the Effectiveness of Fall-Resisting Skills.

Use of head-mounted displays (HMDs) and hand-held displays (HHDs) may affect the effectiveness of stability control mechanisms and impair resistance to falls. This study aimed to examine whether the ability to control stability during locomotion is diminished while using HMDs and HHDs. Fourteen healthy adults (21-46 years) were assessed under single-task (no display) and dual-task (spatial 2-n-back presented on the HMD or the HHD) conditions while performing various locomotor tasks. An optical motion capture system and two force plates were used to assess locomotor stability using an inverted pendulum model. For perturbed standing, 57% of the participants were not able to maintain stability by counter-rotation actions when using either display, compared to the single-task condition. Furthermore, around 80% of participants (dual-task) compared to 50% (single-task) showed a negative margin of stability (i.e., an unstable body configuration) during recovery for perturbed walking due to a diminished ability to increase their base of support effectively. However, no evidence was found for HMDs or HHDs affecting stability during unperturbed locomotion. In conclusion, additional cognitive resources required for dual-tasking, using either display, are suggested to result in delayed response execution for perturbed standing and walking, consequently diminishing participants' ability to use stability control mechanisms effectively and increasing the risk of falls.

Recent Advances in Electrocatalysts for Alkaline Hydrogen Oxidation Reaction.

With the rapid development of anion-exchange membrane technology and adequate supply of high-performance non-noble metal oxygen reduction reaction (ORR) catalysts in alkaline media, the commercialization of anion exchange membrane fuel cells (AEMFCs) become possible. However, the kinetics of the anodic hydrogen oxidation reaction (HOR) in AEMFCs is significantly decreased compared to the HOR in proton exchange membrane fuel cells (PEMFCs). Therefore, it is urgent to develop HOR catalysts with low price, high activity, and robust stability. However, comprehensive timely reviews on this specific subject do not exist enough yet and it is necessary to update reported major achievements and to point out future investigation directions. In this review, the current reaction mechanisms on HOR are summarized and deeply understood. The debates between the mechanisms are greatly harmonized. Recent advances in developing highly active and stable electrocatalysts for the HOR are reviewed. Moreover, the side reaction control is for the first time systematically introduced. Finally, the challenges and future opportunities in the field of HOR catalysis are outlined.

The impact of aging and reaching movements on grip stability control during manual precision tasks.

BACKGROUND: Operating an object by generating stable hand-grip force during static or dynamic posture control of the upper extremities simultaneously is an important daily activity. Older adults require different attentional resources during grip strength control and arm movements. However, the impact of aging and reaching movements on precise grip strength and stability control among older adults is not well understood. This study investigated the impact of aging and reaching movements on grip strength and stability control in both hands of the upper extremities. METHODS: Fifty healthy young adults (age: 28.8 ± 14.0 years) and 54 healthy older adults (73.6 ± 6.3 years) were recruited to perform isometric grip strength test at 20% maximal voluntary contraction as the target force during three manual precision tasks simultaneously: stationary task (without arm movements), forward-reach task, and backward-reach task. The average grip force (in kg) and coefficient of variation values (expressed as a percentage) during manual precision tasks were calculated to determine the quality of participants' grip strength. The deviation error, absolute error, and force-stability index values were calculated to determine the strength control relative to the target force. RESULTS: For both the young and older groups, the force-stability index values in both hands were significantly higher during forward- and backward-reaching movements than in the stationary condition (p < 0.05). The older group exhibited a significantly lower hand-grip strength and stability of strength control in both hands than the young group (p < 0.05). CONCLUSIONS: Aging and reaching task performance reduced the grip strength of participants and increased the variations in strength control of both hands relative to the target force, indicating that older adults exhibit poor grip strength and stability control when performing arm-reaching movements. These findings may help clinical therapists in establishing objective indexes for poor grip-stability control screening and developing appropriate rehabilitation programs or health-promotion exercises that can improve grip strength and stability control in older people.

LMI-Based H∞ Controller of Vehicle Roll Stability Control Systems with Input and Output Delays.

Many of the current research works are focused on the development of different control systems for commercial vehicles in order to reduce the incidence of risky driving situations, while also improving stability and comfort. Some works are focused on developing low-cost embedded systems with enough accuracy, reliability, and processing time. Previous research works have analyzed the integration of low-cost sensors in vehicles. These works demonstrated the feasibility of using these systems, although they indicate that this type of low-cost kit could present relevant delays and noise that must be compensated to improve the performance of the device. For this purpose, it is necessary design controllers for systems with input and output delays. The novelty of this work is the development of an LMI-Based H∞ output-feedback controller that takes into account the effect of delays in the network, both on the sensor side and the actuator side, on RSC (Roll Stability Control) systems. The controller is based on an active suspension with input and output delays, where the anti-roll moment is used as a control input and the roll rate as measured data, both with delays. This controller was compared with a controller system with a no-delay consideration that was experiencing similar delays. The comparison was made through simulation tests with a validated vehicle on the TruckSim® software.

Optimized Design of a Pump Laser System for a Spin Exchange Relaxation Free Inertial Measurement Device.

In order to improve the precision and beam quality of a pump laser for a spin exchange relaxation free inertial measurement device, we applied one scheme to achieve the square wave modulation and power stability control of the pump laser and another one to obtain the uniform intensity distribution of the laser beam, in which the acousto-optic modulator (AOM) and proportion integration differentiation (PID) controller were used to achieve the former, and the freeform surface lens was designed and optimized to achieve the latter based on the TracePro software. In experiments, the first-order diffraction light beam coming through the AOM had a spot size of about 1.1×0.7 mm2, and a spherical vapor cell with a radius of 7 mm was placed behind the freeform surface lens. Results show that the uniformity of the reshaped intensity distribution is higher than 90% within the target area with a radius of 7 mm both in the simulation and the experiment, which ensure that the uniform laser beam covers the area of cell. On the other hand, the power stability of the pump laser is controlled to be less than 0.05%. Compared with traditional methods, the complicated calculation process in optical design is better solved, and a higher uniformity with slight energy loss is achieved.

Stability Control of a Biped Robot on a Dynamic Platform Based on Hybrid Reinforcement Learning.

In this work, we introduced a novel hybrid reinforcement learning scheme to balance a biped robot (NAO) on an oscillating platform, where the rotation of the platform is considered as the external disturbance to the robot. The platform had two degrees of freedom in rotation, pitch and roll. The state space comprised the position of center of pressure, and joint angles and joint velocities of two legs. The action space consisted of the joint angles of ankles, knees, and hips. By adding the inverse kinematics techniques, the dimension of action space was significantly reduced. Then, a model-based system estimator was employed during the offline training procedure to estimate the dynamics model of the system by using novel hierarchical Gaussian processes, and to provide initial control inputs, after which the reduced action space of each joint was obtained by minimizing the cost of reaching the desired stable state. Finally, a model-free optimizer based on DQN (λ) was introduced to fine tune the initial control inputs, where the optimal control inputs were obtained for each joint at any state. The proposed reinforcement learning not only successfully avoided the distribution mismatch problem, but also improved the sample efficiency. Simulation results showed that the proposed hybrid reinforcement learning mechanism enabled the NAO robot to balance on an oscillating platform with different frequencies and magnitudes. Both control performance and robustness were guaranteed during the experiments.

Stability Control and Turning Algorithm of an Alpine Skiing Robot.

This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Subsequently, the robot will be able to pass through gates with LiDAR sensors. By using ZMP control, the robot can avoid falling down while tracking its desired path. The performance of the proposed stabilization method and autonomous turning algorithm are verified by a dynamics simulation software, Webots, and the simulation results are obtained while using the small humanoid robot platform DARwIn-OP.

Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment.

For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for the CP tracking control is generated using the real-time zero moment point (ZMP) manipulation without information on future footstep commands. This trajectory can be modified at any time during the single support phase according to a given footstep command. Accordingly, this makes it possible for the robot to walk stably with dynamically modifiable walking patterns, including sudden changes in navigational commands during the single support phase. A reference CP trajectory during the double support phase is also generated for continuity. The CP of the robot is controlled to track the reference trajectory using a ZMP-based CP tracking controller. The ZMP while walking is measured by the force-sensing resistor sensors mounted on the sole of each foot. A handling method for infeasible footstep commands is utilized so that the manipulated ZMP satisfies the allowable ZMP region for stability. The validity of the proposed method is verified through simulations and experiments.

Development of Wheel Pressure Control Algorithm for Electronic Stability Control (ESC) System of Commercial Trucks.

This paper presents a wheel cylinder pressure control algorithm for application to the vehicle electronic stability control (ESC) systems for commercial trucks. An ESC system is an active system that improves the driving stability by distributing the appropriate braking pressure to each wheel, which is an essential system for safe driving. It is important that the ESC system, through proper braking pressure supply, delivers the correct pressure under control. However, to reduce the cost involved, commercial trucks use a solenoid valve of the on/off-type, rather than a proportional valve that has good pressure control capability. The performance of a proposed wheel pressure control system based on an on/off solenoid valve control was verified by means of experiments conducted using the wheel pressure control algorithm presented in this paper.

Transmission of stability information through the N-domain of tropomyosin is interrupted by a stabilizing mutation (A109L) in the hydrophobic core of the stability control region (residues 97-118).

Tropomyosin (Tm) is an actin-binding, thin filament, two-stranded α-helical coiled-coil critical for muscle contraction and cytoskeletal function. We made the first identification of a stability control region (SCR), residues 97-118, in the Tm sequence that controls overall protein stability but is not required for folding. We also showed that the individual α-helical strands of the coiled-coil are stabilized by Leu-110, whereas the hydrophobic core is destabilized in the SCR by Ala residues at three consecutive d positions. Our hypothesis is that the stabilization of the individual α-helices provides an optimum stability and allows functionally beneficial dynamic motion between the α-helices that is critical for the transmission of stabilizing information along the coiled-coil from the SCR. We prepared three recombinant (rat) Tm(1-131) proteins, including the wild type sequence, a destabilizing mutation L110A, and a stabilizing mutation A109L. These proteins were evaluated by circular dichroism (CD) and differential scanning calorimetry. The single mutation L110A destabilizes the entire Tm(1-131) molecule, showing that the effect of this mutation is transmitted 165 Å along the coiled-coil in the N-terminal direction. The single mutation A109L prevents the SCR from transmitting stabilizing information and separates the coiled-coil into two domains, one that is ∼9 °C more stable than wild type and one that is ∼16 °C less stable. We know of no other example of the substitution of a stabilizing Leu residue in a coiled-coil hydrophobic core position d that causes this dramatic effect. We demonstrate the importance of the SCR in controlling and transmitting the stability signal along this rodlike molecule.

Effect of eco-driving on commercial motor vehicle driver collision risk.

INTRODUCTION: This study investigates the effect among commercial motor vehicle (CMV) drivers of the adoption of fuel-efficient driving techniques (commonly known as eco-driving) on the odds of being involved in safety-related events. METHOD: For 2,637 long-haul class 8 drivers employed by four carriers in Canada, information on driving style, total distance driven, and safety-related events like collisions, hard-braking, hard-turning, and stability control events were collected for each trip. Three carriers provided driving style-related data from the ISAAC instrument, which provides a score on a 0 to 100 scale that measures the degree to which a driver is using an appropriate amount of engine power according to driving conditions. The fourth carrier provided data on driving style characteristics, including fuel consumption, use of cruise control, and use of top gear. Depending on the carrier, information on speeding, driver age, and years of experience driving a commercial vehicle was also collected. Logit statistical models were developed to estimate the change in odds of a driver experiencing a safety-related event dependent on the measures of driving style. RESULTS: A one-unit increase in the ISAAC score was associated with a 7%, 8%, 8%, and 4% reduction in the odds of having a hard-braking event, hard left-turn event, hard right-turn event, and collision, respectively. For the carrier not employing the ISAAC system, an increase of 10% in the time spent driving in top gear with steady speed near 100 km per hour (km/h) was associated with a substantial 34% decrease in stability control events. In addition, a year increase in the driver's age, as well as a 1% increase in the amount of time spent driving using cruise control, reduced the number of hard-braking events by 9% and 3%, respectively. Conclusion/Practical Applications: The adoption of fuel-efficient driving techniques enhances the safety of CMV drivers.

Effects of sedentary behaviour and long-term regular Tai Chi exercise on dynamic stability control during gait initiation in older women.

Background: Sedentary behaviour has been associated with an increased risk of falls among older adults. Although gait initiation (GI) is a promising tool used to assess fall risk, it has yet to be quantitatively evaluated for dynamic stability in sedentary populations. Tai Chi exercise is believed to be effective in preventing falls in older adults, but its effect on GI stability has not been quantified. This study aims to compare the stability of GI in sedentary older individuals versus those who are long-term Tai Chi exercisers by using a quantitative approach. Methods: This study included 17 sedentary older women without exercise habits (age: 65.59 ± 3.66 years, average daily sitting time: 8.735 ± 1.847 h/day) and 19 older women who regularly engage in Tai Chi exercise (age: 65.58 ± 3.63 years, years of exercise: 9.84 ± 3.48 years). Every participant underwent five trials of self-paced GI walking tests. Eight cameras and four force plates were used to obtain kinematic and kinetic parameters. The trajectory of the centre of mass (CoM) and the position of the foot placement were recorded. The anterior-posterior (A-P) and medio-lateral (M-L) dynamic stability at the onset and end moments of the single-legged support was calculated using CoM and gait spatiotemporal parameters. The stepping dynamic stability and foot placement positions of both groups were compared. Results: The Tai Chi group had greater stability in the M-L directions at the swing leg's toe-off moment and in the M-L and A-P directions at the heel-strike moment, as well as significantly larger step length, step width and step speed during locomotion than sedentary older women. However, the stability in the A-P directions at the swing leg's toe-off moment and the foot inclination angle was not statistically different between the two groups. Conclusion: Long-term regular Tai Chi exercise can enhance the dynamic stability of GI in older women, and effectively improve their foot placement strategy during GI. The findings further confirm the negative effect of sedentary on the stability control of older women and the positive role of Tai Chi in enhancing their gait stability and reducing the risk of falls.

Meta-analysis of the safety effect of electronic stability control.

OBJECTIVE: Electronic Stability Control (ESC) is a standard feature on most modern cars, due to its reported efficiency to reduce the number of crashes of several types. However, empirical studies of safety effects of ESC for passenger vehicles have not considered some methodological problems that might have inflated the effects. This includes self-selection of drivers who buy/use ESC and behavioral adaptation to the system over long time periods, but also the dominant method of induced exposure. This study aimed to investigate whether such methodological problems might have influenced the results. METHOD: A meta-analysis was undertaken to investigate whether there are systematic differences between published studies. Moderators tested included when the study was undertaken, the type of vehicle studied, the percent ESC in the sample, size of sample, the length of the study, whether matched or un-matched vehicles were studied, whether induced exposure was used, and two variants of types of crashes used as controls. RESULTS: The effects found ranged from 38% to 75% reduction of crashes for the main targets of singles, running off road and rollover crashes. However, these effects were heterogeneous, and differed depending on the methods used. Most importantly, information that could have allowed more precise analyses of the moderators were missing in most publications. CONCLUSIONS: Although average effects were large and in agreement with previous meta-analyses, heterogeneity of the data was large, and lack of information about important moderators means that firm conclusions about what kind of mechanisms were influencing the effects cannot be drawn. The available data on ESC efficiency are not unanimous, and further investigations into the effects of ESC on safety using different methodologies are warranted.

A review of research on tire burst and vehicle stability control.

Tire burst is an accidental occurrence that poses a serious threat to the driving stability and road safety of vehicles. Therefore, it is of great practical significance to investigate early warning systems for tire burst and develop stability and safety control measures after burst incidents. The development of an accurate model that can effectively represent the impact of tire burst on vehicle dynamics is crucial for the design of control systems and the development of stability control strategies. Most of the existing research on tire burst models is based on static tire tests, the effectiveness of these models still needs to be further verified. The main approach to studying the impact of burst tires on vehicle performance is to embed a burst tire model into a vehicle dynamics model. Understanding the impact of tire burst on vehicle performance is essential for identifying burst incidents and developing stability control strategies. The research on burst identification primarily focuses on early warning systems and estimating vehicle state parameters after burst incidents, while the current research on stability control strategies focuses on enabling vehicles to continue running safely after burst incidents through braking, active steering, and collaborative control. Currently, there is no comprehensive review of research on vehicle tire burst stability control. Therefore, this paper primarily reviews five aspects: (a) the causes and prevention of tire burst, (b) the impact of tire burst on vehicle performance, (c) burst identification, (d) stability control strategies for burst incidents, and (e) future prospects for tire burst research.

Synthesis of stabilized zero-valent iron particles and role investigation of humic acid-Fex+ shell in Fenton-like reactions and surface stability control.

Herein, a novel humic acid-Fex+ complex-coated ZVI (HA-Fex+@ZVI) was synthesized and used to activate peroxydisulfate (PDS) for phenol degradation. The HA-Fex+ shell selectively reacted with PDS rather than O2, leading to the formation of modified ZVI with excellent surface stability in storage and ultraefficient PDS activation in advanced oxidation processes (AOPs). As a result, the phenol degradation and PDS activation efficiencies of HA-Fex+@ZVI/PDS were ∼14.4 and ∼1.8 times higher than those of ZVI/PDS, respectively. Mechanistic explorations revealed that the replacement of the HA-Fex+ shell relative to the original passivation layer of ZVI greatly changed the SO4•- generation pathway from a heterogeneous process to a homogeneous process, resulting from the slow exposure of Fe0 (generating dissolved Fe2+) and the depolymerized HA (enhancing the Fe3+/Fe2+ cycle). Based on experimental analysis and density functional theory (DFT) calculations, the Fe3+ in HA-Fex+ could be reduced to Fe2+ by PDS, resulting in the disintegration of the HA-Fex+ shell and exposure of Fe0 core active sites. Furthermore, compared to similar catalysts synthesized with commercial HA and traditional chemicals, HA-Fex+@ZVI synthesized with multiple waste biomasses exhibited better performance. This research provides valuable insights for designing ZVI-based catalysts with excellent storage stability and ultraefficient PDS catalytic activity for AOPs.

Robust-optimal control of rotary inverted pendulum control through fuzzy descriptor-based techniques.

Expanding upon the well-established Takagi-Sugeno (T-S) fuzzy model, the T-S fuzzy descriptor model emerges as a robust and flexible framework. This article introduces the development of optimal and robust-optimal controllers grounded in the principles of stability control and fuzzy descriptor systems. By transforming complicated inequalities into linear matrix inequalities (LMI), we establish the essential conditions for controller construction, as delineated in theorems. To substantiate the utility of these controllers, we employ the rotary inverted pendulum as a testbed. Through diverse simulation scenarios, these controllers, rooted in fuzzy descriptor systems, demonstrate their practicality and effectiveness in ensuring the stable control of inverted pendulum systems, even in the presence of uncertainties within the model. This study highlights the adaptability and robustness of fuzzy descriptor-based controllers, paving the way for advanced control strategies in complex and uncertain environments.

Evolution analysis of research on disaster-causing mechanism and prevention technology of mine goaf disaster.

The goaf is an important factor that induces major accidents. Based on the quantitative analysis of the existing research results, summarize and sort out the research and prevention technology of the goaf disaster with the experience of experts. Temporally, the research on goaf disasters was divided into two stages: the embryonic stage and the rapid development stage. Spatially, a collaborative network with the United States, China, Germany, France, Turkey, and the United Kingdom as the core, including India, Japan, Belgium, Italy, South Korea, and Canada, was analyzed. By constructing a co-occurrence and clustering network of keywords and co-cited literature to explore the focus and hotspots of goaf disaster research, the hotspots of goaf disaster research are summarized into four main aspects, such as goaf detection technology, goaf disaster analysis, goaf risk assessment and goaf treatment technology, which grasp the content of goaf research from a macro perspective. The burst detection analysis of keywords and co-cited literature was conducted to obtain the research frontiers of goaf disaster research in different periods. At the current stage, the microstructural characteristics of surrounding rocks in the context of deep mining and complex goaf group effect and the mining technology of the integration of excavation, anchoring and supporting are the current frontier research directions. This combined qualitative and quantitative method is more helpful to grasp the development context of goaf disaster research and provides a new reference perspective for sorting out the process of goaf disaster research.