Personal Electrical Vehicle
  • Currently, we are working on Personal Electrical Vehicle project thatís a collaboration with Waterloo University in Canada and Darmstadt University in Germany. This Lightweight Agile-Maneuverable and Reconfigurable Mechatronic Personal Electric Vehicle (PEV) needs skills in Mechatronics, Multibody-dynamics, hybrid electrical vehicles (HEV), and Automotive engineering to design a vehicle for urban travel. This project emphasize on:
    • Production smaller, high performance cars with improved materials efficiency, safety and fuel efficiency.
    • Modularization through mechatronic redesign.
    • Production with minimizing material usage.
    • Maximization mobility while maintaining the highest standard of active safety mechanism.
    • Enabling alternate propulsion system (ICE, CNG, Fuel cell, EV).
    • Producing components re-used and re-cycled (low lifecycle cost).

    Our vision in this project included:

    • High-confidence and reconfigurable operational capabilities in the presence of uncertainties.
    • Using smart controller that learn about different drivers, and react accordingly.
    • Intelligent controller could easily be integrated into a larger vehicle-to-vehicle network (ITS technology) and derive benefits of information at various scales (GPS/Traffic at the metro-scale to immediate-neighbor, increase of active safety) for planning its operations.

    In our approach toward designing this reconfigurable road vehicle is divided to these parts:

    • We use an example of a tricycle drive PEV to illustrate some of the challenges facing the systematic development and deployment of this paradigm.
    • Chassis design architecture (vehicle dynamics) and propulsion system.
    • Exploiting technologies of mechatronics, CAD/CAE to assist with the implementation.
    • Systematic and quantitative evaluation using Maplesim, simulation based optimization and design refinement.
    • Having numerous control opportunities to improve performance.
    • Having active safety systems with integrated path stabilization would build upon the fly-by-wire capabilities.


New: visit ARMLAB YouTube Channel - , and research progress on

 Students Involved:
- Aliakbar Alamdari, PhD Candidate, University at Buffalo
- Yin Chi Chen, MS, University at Buffalo
- Robin Herin, BS Student, University at Buffalo [Completed Internship]


 Related Projects:
Reconfigurable Omnidirectional Articulated wheeled Mobile Robot 
Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated leg-wheel systems facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, analysis and control of a novel planar reconfigurable omnidirectional wheeled mobile platform.

There are many scenarios where planar AWRs could benefit from reconfigurability (which in the past has often only been explored in the context of uneven terrain locomotion). For instance, the robot base may need to be compact when passing a narrow doorway and be extended to enhance stability when manipulating heavy objects. Hence we examine a wheeled platform design (with active articulations and actively driven disk wheels) for the purpose of achieving omnidirectional mobility together with the ability to reconfigure for different tasks...

  Cooperative Payload Transport by Robot Collectives

Cooperation has been the key to success of most human endeavor and the similar incorporation of cooperation in robotic systems is critical to realize the next generation of systems and applications. Interest in cooperating systems arises when the tasks may be inherently too complex for a single system to accomplish; or when building and using several simple systems can be more flexible, fault-tolerant or cheaper than using a single large system. The recent explosion of communications capabilities has fostered an increased pace towards systems that can take advantage of spatially and temporally distributed physical and informational resources. The ongoing revolution in computing effectiveness and miniaturization of processors/sensors/actuators has accelerated the pace of implementing cooperation in distributed embedded systems, with numerous emergent applications in plant-automation, consumer electronics, automotive and defense arenas...


 Related Publications - Conference Proceedings and Book Chapters:


Aliakbar Alamdari, Xiaobo Zhou, Venkat Krovi, "Kinematic Modeling, Analysis and Control of highly reconfigurable articulated wheeled vehicles", DETC ASME 2013, Oregon, USA, Jan 2013 (submitted for review).



Aliakbar Alamdari, Robin Herin, Venkat Krovi, "Quantitative Kinematic Performance Comparison of Reconfigurable Leg-Wheeled Vehicles", CLAWAR, Sydney, Australia, Feb 2013 (submitted for review).



Robin Herin, Aliakbar Alamdari, Venkat Krovi, "Enhancing Personal Electric Vehicles Using Reconfigurable Design",CLAWAR, Sydney, Australia, Feb 2013 (submitted for review).



Xiaobo Zhou, Aliakbar.Alamdari,Venkat Krovi, Book Chapter- "Articulated Wheeled Vehicle: Back to the Future? ", Jan 2013 (submitted for review).



 Related Publications - Theses and Reports:

[01] Herin, R., Technical Report- "Virtual Simulation of Mobile Vehicles using Multi-body Dynamic Analysis Systems", Research Internship Program, Feb 14, 2013 [PDF]

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Last Updated: February 18, 2014