Browsing by Author "Wu, Ping-Lin"

Now showing 1 - 2 of 2

Least Squares Approach to Odometry based on Multiple Optical Mouse Sensors
(2010)
Wu, Ping-Lin
;
Jeng, Shyr-Long
;
Chieng, Wei-Hua
;
機械工程學系
;
Department of Mechanical Engineering
This work describes an optical measuring device that comprises multiple laser mouse sensors to estimate 3-DOF planar motion. The linear least squares (LLS) method and nonlinear least squares (NLS) method are adopted to estimate the positions in this over-determined system. Two circular trajectories - non-orientated and self-orientated - are employed to evaluate the feasibility of the proposed device. The results are presented and validated by simulations and experimentally. For a circular trajectory with self-orientation, the estimated positions of device determined using the NLS method are associated with apparently smaller positional errors than those calculated using the LLS method. The noise at the sensor outputs has a large impact on the estimate of position. The analysis is essential to examining the error sources and increasing the accuracy of odometric measurement.
OPTIMIZATION SETTING OF DYNAMICS PARAMETERS FOR AN ATV SIMULATOR
(2011)
Wu, Ping-Lin
;
Liao, Chung-Shu
;
Chieng, Wei-Hua
;
機械工程學系
;
Department of Mechanical Engineering
Driving all-terrain vehicles (ATVs) is a popular recreational activity. However, driving on an unpaved road poses risks even to an experienced ATV driver. In this work, a six-degree of-freedom ATV motion simulator is designed. A motion platform, which provides a safe and comfortable environment for drivers to develop their skill over an extended period, is used to simulate the dynamics of a passive ATV suspension. The proposed simulator provides a virtual ATV driving environment that includes rough terrains that drivers may feel uncomfortable with even in the simulated environment. Importantly, the simulator optimizes the dynamic parameters of the suspension system, enabling ATV drivers to experience the driving activity more comfortably yet realistically. A comparison between simulation results and experimental results indicates that the simulator has high adaptability.