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Browse AllTo solve the poor mobility of traditional camping vehicle chassis in complex terrains and confined spaces, this paper proposes an underactuated omnidirectional mobile chassis for outdoor camping vehicles. The chassis adopts a coupled commutation mechanism (double-crank elastic special-shaped connecting rods cross sliders), allowing each wheel to realize two motion modes (omnidirectional translation, in-situ rotation) with just one drive motor, reducing system complexity and cost. A control system based on the RoboMaster Development Board C Type integrates PID angle-loop control and motor speed-current dual closed-loop control for motion stability. Kinematic models for these two modes are established to derive the wheel parameter-chassis motion relationship. MATLAB R2023b-ADAMS 2024 co-simulations show the chassis maintains attitude stability under S-shaped curve, circular curve, and in-situ rotation; Qualisys 3D motion capture experiments confirm its stable attitude in omnidirectional movement.
Aligned with the “3060 dual carbon” goal, the rapid growth of new energy installation capacity in China’s western high-altitude regions has caused an urgent demand for UHV converter station construction. This paper suggests a prefabricated structural system by using embedded ear-shaped tongue-and-groove UHPC wall-column connections to meet the challenges of traditional cast-in-place concrete firewalls, such as prolonged construction periods and difficulty in quality control in harsh environments. The seismic performance of the connection was investigated through pseudo-static tests and finite element analysis. The results show that failure mainly occurs on the wall–column interface, with cracks mainly appearing at the wall panel corners. The scaled model demonstrated full hysteresis loops, indicating stable energy dissipation. The ear-shaped tongue-and-groove connection showed superior initial stiffness and ultimate load-bearing capacity (404.3 kN) compared with the straight-type connection (177.5 kN). An increase in the semicircular diameter improved load capacity, while the axial compression ratio had little effect. This study proposes a theoretical reference for the design and application of prefabricated valve hall structures in high-altitude regions.
This paper proposes a nonlinear and robust State-Dependent Riccati Equation (SDRE) combined with H∞ control architecture for brake- by-wire systems, specifically designed to handle severe tire-road friction variations and μ-split scenarios. The primary objective is to maximize deceleration capabilities while rigorously maintaining yaw stability, trajectory tracking, and passenger comfort through jerk limitation. Situated within the domain of active safety, this research addresses robustness against real-world uncertainties by utilizing a high-fidelity 14-degree-of-freedom vehicle model that accounts for longitudinal, lateral, and yaw dynamics, suspension-induced pitch and roll effects, and nonlinear tire behavior with explicit load transfer. To ensure near-optimal slip tracking under variable surface conditions, the system employs online friction estimation via Extended and Unscented Kalman Filters (EKF/UKF) fusing wheel and IMU data to adaptively adjust slip targets. The control strategy is bifurcated: the SDRE component manages dominant nonlinearities through state-dependent gains to prevent wheel lock-up, while the H∞ component provides robust disturbance rejection against parametric uncertainties such as mass variations and sensor noise. Control efforts are distributed via a Quadratic Programming (QP) torque allocator featuring anti-windup mechanisms and explicit saturation handling to compensate for lateral drift during μ-split braking. Validation is conducted through a Model- in-the-Loop (MIL) to Software-in-the-Loop (SIL) pipeline using scenarios including wet surfaces and panic braking. Simulation results demonstrate enhanced yaw stability and controlled deceleration profiles compared to conventional baselines, ensuring computational feasibility for automotive Electronic Control Units (ECUs).
Due to their high specific modulus and specific strength, carbon fiber reinforced polymer (CFRP) composites have been widely adopted in the aviation field. However, CFRP components produced by conventional vacuum assisted resin transfer molding (VARTM) often exhibit defects such as Pores and dry spots. To address these limitations, this study develops a large-area, highly uniform vibration-assisted VARTM (UAVR) system and conducts ultrasound-assisted experiments. The results demonstrate that ultrasonic treatment at various frequencies consistently improves moulding uniformity. In particular, when the ultrasound frequency is 22 kHz, the tensile strength increases by up to 13.23%, and the compressive strength increases by up to 8.48%. This study has practical significance for improving the performance of CFRP.














