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Mahaling R. N.,Jana G. K.,Das C. K.,Jeong, H.,Ha C. S. The Polymer Society of Korea 2005 Macromolecular Research Vol.13 No.4
Surface modified nanofillers are often used as curative-cum reinforcing agents for functional polymers. The polymer nanofiller interaction depends on the curative systems used. In the present study the carboxylic group of the carboxylated nitrile elastomer participated in the reaction with Zn-ion coated nanosilica filler producing a type of ionomeric elastomer. The interaction at the molecular level thus produced a high modulus vulcanizate. In this case, the S and MBT system, as curative, had an edge over the MDA and DPG curative system. Interfacial adhesion was enhanced in the presence of Zn-ion-coated nanosilica filler associated with dynamic mechanical behavior. The inferior properties obtained in the case of the MDA and DPG curative system were due to the decreased reactivity of the silica surface, thus reducing interfacial adhesion.
DESIGN AND DEVELOPMENT OF A HEADING ANGLE CONTROLLER FOR AN UNMANNED GROUND VEHICLE
S. SAHOO,S. C. SUBRAMANIAN,N. MAHALE,S. SRIVASTAVA 한국자동차공학회 2015 International journal of automotive technology Vol.16 No.1
This paper describes the design and implementation of a controller to track the desired heading angle for an unmanned ground vehicle (UGV) considering the limits on rotation of steering wheel and steering motor rate. The well-known “bicycle model” approximation, that considers the vehicle slip angle and ground-wheel interaction, has been used. In this work, combined closed loop control for steering motor and heading angle of the vehicle has been considered for better accuracy. The challenge in designing this control system is to include the actuator dynamics as the response time to steer the front wheel is in the same order as that of the heading angle dynamics of the vehicle. Experiments have been conducted, analysis of data collected is presented and the resulting mathematical representation is explained in detail. Results from both simulation and experimental implementation are also compared. It has been found that the vehicle controller can be tuned effectively to achieve the desired heading angle changes up to twenty degrees within three seconds when the vehicle is moving at a speed of 1.4 m/sec.