Estimation of tire-ground interaction forces under all-terrain conditions

• Grant number: 14/27240-4
• Support Opportunities: Scholarships abroad - Research Internship - Doctorate
• Start date: March 15, 2015
• End date: September 14, 2015
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Paulo Augusto Valente Ferreira
• Grantee: Rafael de Angelis Cordeiro
• Supervisor: Alessandro Correa Victorino
• Host Institution: Faculdade de Engenharia Elétrica e de Computação (FEEC). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
• Institution abroad: Université de Technologie de Compiègne (UTC), France
• Associated to the scholarship: 14/06610-8 - Path tracking control of a four-wheel robotic vehicle under adverse terrain conditions, BP.DR

Abstract

This document presents a six-month proposal for an international internship to Mr. Rafael Cordeiro, student of FEEC/UNICAMP, as foreseen in his Ph.D program (FAPESP Process 2014/06610-8). The main goal of this internship is developing tire-ground interaction force estimators for an all-terrain four-wheeled robotic vehicle. This internship will be developed at the Laboratoire Heuristique et Diagnostic des Systèmes Complexes (HEUDIASYC), in France. The HEUDIASYC lab focuses on the safety and mobility of transportation systems, exhibiting several works in the autonomous vehicle subject and possessing varied experimental platforms. Prof. Alessandro Victorino, member of the HEUDIASYC and tutor in this internship, has been working intensively on tire-ground interaction forces observers: two Ph.D. these orientations, a book published and several papers in journals and conferences. The internship will be directly coordinated by the student's advisors: Profs. Paulo A. V. Ferreira and Ely C. de Paiva from UNICAMP and prof. José Raul Azinheira from Instituto Superior Técnico (IST), Portugal. The advisors and tutor have a long-time cooperation history and would substantially contribute to the research. With this proposal, we request a six-month internship at the HEUDIASYC lab (France) under Prof. Victorino's supervision concerning the development of tire-grouind forces estimators under all-terrain conditions. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; AZINHEIRA, JOSE R.; FERREIRA, V, PAULO A.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 24, n. 2, p. 561-571, APR 2019. (18/04905-1, 14/27240-4, 14/50851-0, 14/02672-9, 14/06610-8, 16/00693-4)

CORDEIRO, R. A.; RIBEIRO, A. M.; AZINHEIRA, J. R.; VICTORINO, A. C.; FERREIRA, P. A. V.; DE PAIVA, E. C.; BUENO, S. S.; IEEE. Road Grades and Tire Forces Estimation Using Two-Stage Extended Kalman Filter in a Delayed Interconnected Cascade Structure. 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), v. N/A, p. 6-pg., 2017-01-01. (16/00693-4, 14/06610-8, 14/50851-0, 14/27240-4, 14/02672-9)

CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; FERREIRA, PAULO A. V.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Tire-Ground Forces Estimation in a 4-Wheel Vehicle Using a Delayed Interconnected Cascade-Observer Structure. IFAC PAPERSONLINE, v. 49, n. 15, p. 6-pg., 2016-01-01. (14/27240-4, 14/06610-8, 14/02672-9)