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- 저자 : A.S.S. El-Kabbani (검색결과 2 건)
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EFFECT OF NUMBER OF WHEELS ON HIGH SPEED UGV TRAVERSABILITY: ONLINE TERRAIN ASSESSMENT APPROACH
A. S. EL-KABBANY,A. RAMIREZ-SERRANO 한국자동차공학회 2013 International journal of automotive technology Vol.14 No.2
This paper addresses the problem of determining the maximum allowable speed (Vmax) of Unmanned Ground Vehicles (UGVs) traversing off-road heterogeneous rough/complex terrain. The maximum speed is calculated based on online terrain assessment and the vehicle’s characteristics; this speed achieves the high speed navigation without exceeding a predefined allowable range of transmitted force and moments (i.e., moments in the roll and pitch directions) to the vehicle’s frame. The proposed system enables UGV’s to change their speed autonomously and transit between terrains with different characteristics (e.g., pavement, rocky) safely. This paper proposes a computationally inexpensive approach to process acquired data and assess the terrain roughness. The proposed Roughness Index (RI) is used to represent the terrain roughness on a scale from 0.0 (highly rough to be traversed by a particular vehicle) to 1.0 (perfectly flat/smooth surface). A general vehicle model (workable for any vehicle size and wheel configuration) is presented in this paper. A closed form expression of the maximum allowable vehicle speed is developed. Simulation results obtained on real vehicles (e.g., military tank LEOPARD I) show the effect of increasing the number of wheels to improve the capability of a ground vehicle to traverse rough terrains at high speeds. In addition, the proposed terrain assessment system is a key module in UGVs navigation systems enabling them to be truly autonomous by providing the navigation system with the necessary information for path and speed planning.
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K.G. Abdel-Kader,A.A.M. Ismail,F.A.S. Soliman,A.S.S. El-Kabbani,A.Yahya,A.M. Abdel-Maksood 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.12
Recent developments in airborne magnetic detection systems have made it possible to detect much small magnetic objects such as unexploded ordnance. However, the data sets are extremely large and the measurements must be processed and interpreted. Therefore, there is an increasing need for a fully automatic processing and interpretation techniques that can be used to make decisions regarding the nature of the source in real time. So, the aim of the present paper is to shed further light on the real time correction of parallax/Lag -and air-condition-noises in airborne magnetic data acquisition. A novel electronic technique, based on micro-controllers design and implementation, was designated for real-time processing applications. The proposed technique shows excellent airborne magnetic data results considering actual field examples. The proposed technique verifies an accurate and objective tool for magnetic objects detection compared with the existing PEI tools considering cost and processing automation capabilities.
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