Steering-wheel model

A polarimeter measures the angle that an enantiomer can rotate plane polarized light. Observed rotation (a) is the value recorded directly from a polarimeter. Specific rotation ([a]) is the standardized value for optical rotation, where [a] = a/l c. The absolute configuration (R or S) of an enantiomer is determined by applying the Cahn-Ingold-Prelog selection rules and the steering wheel model. 

Cahn-Ingold-Prelog Priority Rules and the Steering Wheel Model... 

It is time to return to the initial problem posed for 6 and 7 the enantiomers of 2-butanol. Using the steering wheel model, the absolute configuration of each enantiomer of 2-butanol can be determined. Obviously, one is R and the other is S. The two enantiomers in Fischer projection are 6A and 7A and these are also drawn in tetrahedral forms 6B and 7B. Note the use of the shorthand terms Et (for ethyl, -CH2CHg) and Me (for methyl, -CHg). Using the atomic mass priority scheme, ethyl, methyl, hydrogen, and OH are attached to the stereogenic... 

For this reason, seat belts on counter-balance trucks have become the norm. In addition to a seat belt is a modified operator s seat that includes a wrap-around shoulder support system, referred to as a wing seat. On other models, the base of the seat may be modified to include bolsters on each side to prevent the body from sliding out of the seat during tipover. The operator would still have to brace his feet, hold onto the steering wheel, and lean away from the tilt. It should be noted that a tipover occurs in approximately 1.5 seconds. This does not provide much time for anyone to plan response actions once the tipover has begun. As a result of the seat and seat belt improvements, the operator is provided with an added margin of safety. 

An autonomous controller for an underground mining truck is presented in this paper. The controlled truck is an articulated type with 4 electric drive motors. Dynamic model of this truck including steering and 4-wheel differential control is setup. A sliding mode control law is proposed for asymptotically stabilizing the truck to a desired trajectory. It is shown that the proposed scheme is robust to bounded external disturbances. Experimental results on Hardware-in-the-loop demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme. 

On articulated vehicle modeling and SMC application, many researchers have revealed approaches. More analytically, in Ridley and Corke (2003), Lee and Yoo (2009), Nayl et al. (2012), kinematics model of articulated vehicle and error model between real and reference path are presented, and the path tracking simulation with model predictive control is applied, while in Petrov and Chakyrski (2009) the feedback controller based on Lyapunov approach is designed. The simulations in these literatures are non-real-time. The real-time feature is not verified. Moreover, in Korayem et al. (2012), the spatial cable robot path planning is presented, while in Aslam et al. (2014) the fuzzy SMC is used for path tracking of the four-wheel skid steer vehicle. Both the literatures have designed the controller of SMC. However, the models of the plants are distinct from the articulated vehicle. 

Apart from aerodynamic resistances and gravitational effects, all external forces acting on a vehicle are applied through the wheels. Consequently, total vehicle control will entail the application of control action at the wheels, and will be based on a combination of propulsion, steering and suspension control. Therefore it is necessary to develop vehicle models which are capable of representing all these actions simultaneously. 

The formulation is developed for a mobile robot with four wheels as shown in Figure 1. In this model, the front wheels perform as signal wheels and the back wheels steer. 

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