Browsing Waterloo Research by Author "Hashemi, Ehsan"
Now showing items 1-10 of 10
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A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models
Pirani, Mohammad; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Hashemi, Ehsan (Taylor & Francis, 2016-09-28)In this paper, a vehicle's lateral dynamic model is developed based on the pure and the combined-slip LuGre tyre models. Conventional vehicle's lateral dynamic methods derive handling models utilising linear tyres and ... -
Corner-based estimation of tire forces and vehicle velocities robust to road conditions
Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Elsevier, 2017-04)Recent developments in vehicle stability control and active safety systems have led to an interest in reliable vehicle state estimation on various road conditions. This paper presents a novel method for tire force and ... -
Distributed Robust Vehicle State Estimation
Hashemi, Ehsan; Pirani, Mohammad; Fidan, Baris; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-06)A distributed estimation approach based on opinion dynamics is proposed to enhance the reliability of vehicle corners’ velocity estimates, which are obtained by an unscented Kalman filter. The corners’ estimates from a ... -
Estimation of longitudinal speed robust to road conditions for ground vehicles
Kasaiezadeh Mahabadi, Seyed Alireza; Khosravani, Saeid; Khajepour, Amir; Moshchuk, Nikolai; Chen, Shih-Ken; Hashemi, Ehsan (Taylor & Francis, 2016-06-14)This article seeks to develop a longitudinal vehicle velocity estimator robust to road conditions by employing a tyre model at each corner. Combining the lumped LuGre tyre model and the vehicle kinematics, the tyres internal ... -
Integrated estimation structure for the tire friction forces in ground vehicles
Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2016-07)This paper presents a novel corner-based force estimation method to monitor tire capacities required for the traction and stability control systems. This is entailed for more advanced vehicle stability systems in harsh ... -
Kinematic and three-dimensional dynamic modeling of a biped robot
Khajepour, Amir; Hashemi, Ehsan (Sage, 2017-03-01)This article focuses on inverse kinematic formulation and dynamic modeling of the Nao biped robot's lower body, accompanied by verification with the joints' angles as experimental data. Dynamic modeling in two different ... -
Longitudinal vehicle state estimation using nonlinear and parameter-varying observers
Hashemi, Ehsan; Khosravani, Saeid; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Elsevier, 2017-05)A corner-based velocity estimation approach is proposed which is used for vehicle’s traction and stability control systems. This approach incorporates internal tire states within the vehicle kinematics and enables the ... -
Real-time estimation of the road bank and grade angles with unknown input observers
Hashemi, Ehsan; Zarringhalam, Reza; Khajepour, Amir; Melek, William; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken (Taylor & Francis, 2017-01-24)This paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation ... -
Resilient Corner-Based Vehicle Velocity Estimation
Pirani, Mohammad; Hashemi, Ehsan; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-02-23)This paper presents longitudinal and lateral velocity estimators by considering the effect of the suspension compliance (SC) at each corner (tire) for ground vehicles. The estimators are developed to be resilient to sensor ... -
Towards self-powered sensing using nanogenerators for automotive systems
Askari, Hassan; Hashemi, Ehsan; Khajepour, Amir; Khamesee, Mir Behrad; Wang, Zhong Lin (Elsevier, 2018-11-01)Harvesting energy from the working environment of vehicles is important for wirelessly monitoring their operation conditions and safety. This review aims at reporting different sensory and energy harvesting technologies ...