Abstract. The torque feedback of the vehicle's steering wheel or driver perception of steering feel is one of the aspects of steering quality that has been extensively investigated in recent decades. In this paper, modeling and designing the driver model for sensing torque feedback or haptic interaction between the vehicle equipped with steer-by-wire system (SWB) and the driver has been discussed. The driver model consists of a preview model and a neuromuscular model. The preview driver model calculates the desired angle of the steering wheel to follow the path, and the neuromuscular driver model that has the ability of perceiving real-time torque feedback, determines the real angle of the steering wheel according to muscular system transfer functions to follow its desired angle. Calculating torques on the steering wheel requires estimation of the tire-road forces. Whereas directly calculating the tire-road forces is too difficult, particularly in the lateral vehicle dynamics, designing suitable estimator to estimate these forces has been discussed here. The simulation results using the Carsim and Simulink software indicate that the designed driver model, with torque feedback, has an important role in controlling and vehicle steering in conducting double lane change maneuvers. The mean square error while there isn’t torque feedback is 0.2848 and when the torque feedback is active it is 0.1788. This means that the driver model performance is improved by 63 percent when torque feedback is enabled.

Abstract. In this paper, a neuromuscular driver model for sensing torque feedback or haptic interaction between the vehicle equipped with steer-by-wire (SBW) system and the driver has been developed. The proposed driver model consists of a preview model and a neuromuscular model. The preview driver model calculates the desired angle of the steering-wheel to follow the path, and the neuromuscular driver model, with the ability of perceiving real-time torque feedback, determines the real angle of the steering-wheel angle according to muscular system transfer functions to follow the desired steering-wheel angle. In order to calculate torques on the steering-wheel, the lateral tyre-road forces are estimated by Kalman filter designed using a linear 2-DOF vehicle model. So, the design of the neuromuscular driver model combined with torque feedback estimation is the main contribution of this paper. The simulation results from TruckSim and Simulink software indicate that the novel designed driver model with torque feedback estimation has an important role in the controlling and steering vehicle to follow the desired paths.

Abstract. RoboCup uses soccer competitions as a research area to promote robotics and artificial intelligence. The ultimate goal of the RoboCup is to develop a team of humanoid robots that can win against the human world champion soccer team in 2050. This paper presents the approach of the MRL TeenSize humanoid team to improve its hardware and software which leads to achieving first place in soccer competition and Drop-In games, second place in the technical challenge and third-best humanoid award.

Abstract. This paper introduces MRL-HSL multibody simulation for the humanoid robot based on Matlab/Simulink and Simscape software, which can be used for designing control systems, enhancing the stability of the robot and etc. purpose. MRL-HSL real-time simulation is a virtual humanoid robot which is the safe way of educational and research purpose without damaging to the robot in the real environment and reducing the cost of implementation. The structure of the robot includes a rigid multibody of the robot, actuators, sensors and it can be developed simply for other types of robots. For the gaiting purpose and other movement control designing aims, the forward kinematics is solved by Denavit Hartenberg (D-H) method and the analytical solution is used for solving the inverse kinematics. The kinematics chain consists of the head, Legs and arms of the humanoid robot. The cad models of each part of the virtual humanoid robot designed by SolidWorks software.

Abstract. This team description paper presents the specifications of the MRL KidSize humanoid robot system which contains different parts including system overview, robot vision, world modeling and motion control. MRL humanoid team is developed under the RoboCup 2019 rules to participate in the KidSize humanoid soccer league competition in Sydney, Australia and like the last years we will introduce a referee with sufficient knowledge of the rules available during the competitions. We use self-designed and self-constructed robots to participate in the competitions.

Abstract. This team description paper presents the specifications of the MRL TeenSize humanoid robot system which contains different parts including system overview, robot vision and motion control. MRL humanoid team is developed under the RoboCup 2019 rules to participate in the TeenSize humanoid soccer league competition in Sydney, Australia and like the last years we will introduce a referee with sufficient knowledge of the rules available during the competitions. We use self-designed and self-constructed robots to participate in the competitions.

An autonomous car is a kind of self-driving vehicle that can transport a man or a load with a conventional car characteristics. An autonomous car, like all self-driving vehicles, is capable to transport with sensing surrounding environment. Autonomous car is one of the most important vehicles due to precise navigation and without human intervention which conduct the required items to the desired destination without human intervention and its fatality. The purpose of this research is to design a vehicle guidance system. A three-axle vehicle with two front and rear steering axes is used in this research. To design controller, two degree of freedom vehicle model is used which is called bicycle model. To design lyapunov principle controller which is called backstepping is used. The stability designed controller is proved by the definition of the lyapunov candidate function based on the lyapunov stability theorem. To test the performance of the controller, a full car model is used for simulation. The full vehicle model is obtained by linking the TruckSim software to Matlab / Simulink software. To simulate the current system, sinusoidal paths, lane change and double lane change (overtaking) have been used. Also, the performance of the controller is simulated for various speeds and frictions (dry, wet and frozen roads).

Abstract. This team description paper presents the specifications of the MRL KidSize humanoid robot system which contains different parts including system overview, robot vision, world modeling and motion control. MRL humanoid team is developed under the RoboCup 2018 rules to participate in the KidSize humanoid soccer league competition in Montreal, Canada and like the last years we will introduce a referee with sufficient knowledge of the rules available during the competitions. We use self-designed and self-constructed robots to participate in the competitions. 

چکیده. در این مقاله با تحقیق در مورد بهره وری بهینه الکتروموتورها در صنعت که عامل مهمی کاهش مصرف انرژی در کشورهای توسعه یافته و درحال توسعه می باشد، بررسی خواهد شد. می توان گفت افزایش استفاده از انرژی الکتریکی در حوزه های مختلف زندگی روزمره اساسا ناشی از دسترسی به تنوع بسیار ماشین های الکتریکی به منظور تولید و استفاده از انرژی های الکتریکی بوده است. با ارتقا یا جایگزینی این الکتروموتورها می توان علاوه بر کاهش مصرف انرژی، به افزایش قابلیت اطمینان در خط تولید و کاهش هزینه های تعمیر و نگهداری دست پیدا کرد. با استفاده از متدولوژی های مربوطه که در کنوانسیون تغییر آب و هوای سازمان ملل متحد به ثبت رسیده می توان با کاهش مصرف انرژی، به کاهش انتشار گازهای گلخانه ای دست پیدا کرد که این امر موجب دریافت گواهی نامه از سازمان مربوطه می شود. این گواهی نامه کاهش انتشار علاوه بر بهبود شرایط جوی محیط زیست، موجب کسب درآمد از طریق فروش و واگذاری گواهی نامه خواهد شد. لذا ضروری است در کشور جمهوری اسلامی ایران زمینه های شناسایی بهره بردن از این فرصت طلایی برای کلیه ارگان ها زیربط فراهم شود. اصلاح سیاست های بخش انرژی و هدفمند کردن یارانه های انرژی خصوصاً بهره گیری از زمینه های اجرای مکانیزم توسعه پاک، می تواند منجر به بهینه سازی مصرف انرژی در کشور و کاهش انتشار گازهای گلخانه ای و در نتیجه رسیدن به توسعه پایدار ملی شود. جایگزینی ﻣﻮﺗﻮرﻫﺎ در سه بخش جایگزینی موتورهای کم بازده با انواع پربازده آن، جایگزینی موتورها و تجهیزات مربوطه و نصب درایو دور/ فرکانس متغییر ﻣﻮرد ﺑﺮرﺳﯽ ﻗﺮار ﮔﺮﻓﺘﻪ و پیشنهاداتی در این رابطه شرح داده شده است.