The tire-road friction coefficient is critical to vehicle longitudinal, lateral and roll dynamics and control because tire is the only contact part between the vehicle body and the road. However, direct measurement of tire-road friction coefficient is impossible in practice. This paper presents a novel cost effective method for vehicle tire-road friction coefficient estimation. This method only needs the measurements of the wheel angular velocity, the traction/brake torque and the longitudinal acceleration, which are all available from the commonly installed sensors in ordinary passenger vehicles, and can be used to estimate the individual tireroad friction coefficient. There are three steps in the proposed method. Firstly, the longitudinal slip ratio is estimated by using a nonlinear filter with the measured wheel angular velocity. Then the tire longitudinal force is estimated by using a Kalman filter with the measured traction/brake torque and longitudinal acceleration. At last, the friction coefficient is estimated by using the recursive least squares (RLS) method and the results obtained from the first two steps. Numerical simulations are provided to validate the effectiveness of the proposed method. It is shown by the simulation results that the proposed method is effective in estimating the tire-road friction coefficient. Abstract-The tire-road friction coefficient is critical to vehicle longitudinal, lateral and roll dynamics and control because tire is the only contact part between the vehicle body and the road. However, direct measurement of tire-road friction coefficient is impossible in practice. This paper presents a novel cost effective method for vehicle tire-road friction coefficient estimation. This method only needs the measurements of the wheel angular velocity, the traction/brake torque and the longitudinal acceleration, which are all available from the commonly installed sensors in ordinary passenger vehicles, and can be used to estimate the individual tire-road friction coefficient. There are three steps in the proposed method. Firstly, the longitudinal slip ratio is estimated by using a nonlinear filter with the measured wheel angular velocity. Then the tire longitudinal force is estimated by using a Kalman filter with the measured traction/brake torque and longitudinal acceleration. At last, the friction coefficient is estimated by using the recursive least squares (RLS) method and the results obtained from the first two steps. Numerical simulations are provided to validate the effectiveness of the proposed method. It is shown by the simulation results that the proposed method is effective in estimating the tire-road friction coefficient.
we developed a simple, low-cost and novel method for constructing three dimensional (3D) microelectrodes in biomedical devices by utilizing low melting point metal alloy. Three dimensional electrodes have unique properties in biomedical applications such as cell lysis, electroporation, dielectrophoresis, and detection. Compared to other fabrication methods for 3D electrodes, the presented one has many advantages, such as normal experiment conditions, simple processes and low-cost equipments. Numerical analysis on electric potential distribution with different electrode configurations was presented to verify the unique field distribution of arc-shape electrodes fabricated by our method. The application of 3D electrode made by high-conductivity metal alloy microspheres was confirmed by continuous particle sorting based on dielectrophoresis (DEP). The proposed technique offers alternatives to construct 3D electrodes from 2D planer electrodes in microfluidic devices.
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