Abstract: The disclosure relates to an electric vehicle for the transportation of persons and/or loads, having a frame structure and axle modules which are coupled to the frame structure, a front axle module and a rear axle module, to which in each case the wheels are coupled kinematically, at least one of the axle modules having a drive and an energy source. One of the axle modules has four suspension points for the attachment by means of elastic bearings to the frame structure, in each case, two suspension points forming a pair, and the pairs lying at different heights in the motor vehicle vertical direction.

Abstract: A single-wheel drive component for a motor vehicle, having a drive assembly and a wheel carrier, on which a wheel hub, which can be driven by the drive assembly, is rotatably mounted by a wheel bearing. At least one assembly support for mounting the drive assembly on a body of the motor vehicle originates from the drive assembly. It is provided in this case that an assembly bearing for elastic mounting of the drive assembly on the body is arranged on the assembly support. At least one control arm is articulated on the wheel bearing on one side and on the assembly support on the other side, in order to mount the wheel carrier.

Abstract: A gear casing for a wheel-hub assembly comprises a gear housing comprising a drive-gear volume for accommodating therewithin a gearing assembly that is positioned to mediate between a drivetrain member and a wheel-hub member, the drive-gear volume being in fluid communication with opposing first and second openings formed in the gear housing for respective gearing-assembly connections therethrough with the drivetrain member and the wheel hub member; and a lubricant compartment radially displaced from the drive-gear volume and in fluid communication therewith exclusively via an array of one or more lubricant passages disposed circumferentially around a portion of the gear housing, the lubricant-passage array arranged for flow therethrough of a gearing-assembly lubricant between the lubricant compartment and the gear housing.

Abstract: The vehicle power device includes: a wheel bearing including a stationary ring and a rotary ring; and a motor including a stator and a rotor. The stator and the rotor of the motor generator have a smaller diameter than that of an outer peripheral part of the brake rotor, and an entirety of the motor, excluding a mounting part to the hub flange, is located within an axial range between the hub flange and an outboard-side surface of a chassis frame component. An insulating layer is interposed between the stationary ring and the stator.

Abstract: A drive and deceleration unit has a mechanical brake and an electric drive. The mechanical brake and the electric drive are provided as a unit for acting on a single wheel connection. A method provides for the open-loop and/or closed-loop control of such a drive and deceleration unit.

Abstract: The present disclosure relates to autonomous driving vehicles and methods for improving stability and occupant comfort of the same. The vehicle includes: a frame member; a cabin, movable with respect to and independent from the frame member; wheels; at least one suspension between the wheels and frame member; actuation device configured to control at least the orientation of the cabin with respect to the frame member; a perception module comprising perception sensors and algorithm configured to at least identify road boundaries and obstacles in the vicinity of the vehicle; and a planning module configured to plan the motions of the steering means using information from at least the perception module.

Abstract: A rotating machine and a pinion shaft are separately arranged on opposite sides to each other in the vehicle front-rear direction across a third axis that is an axis of a differential device in plan view as seen from above the vehicle. This configuration enables the rotating machine, a parallel shaft transmission, the pinion shaft, the differential device, and others to be integrally assembled to a case, to thereby configure an electric drive unit to be compact, which is advantageous in space.

Abstract: The linear motion mechanism and the electric motor are arranged in the axial direction with a rotary input-output shaft of the linear motion mechanism interposed therebetween. In the electric motor, orientation of a magnetic pole generating interlinkage flux is parallel with a rotation shaft of the motor. The linear motion mechanism has a thrust bearing for retaining a reaction force against a load in the axial direction in association with linear motion of the linear motion part. The control unit has a thrust force applying section for applying a thrust force such that a force acting in the axial direction of the rotary input-output shaft due to interlinkage flux between the stator and the rotor causes generation of a force, in the axial direction, acting on the thrust bearing.

Abstract: A speed reducer which decelerates rotation input from a motor and outputs decelerated rotation to a wheel includes: a case fixed to a carriage body; an input portion for receiving the rotation input from the motor; an output portion for outputting the rotation to the wheel; and a speed reducing mechanism at least partially housed in the case and configured to decelerate rotation of the input portion and transmit the decelerated rotation to the output portion. The maximum outer radius of the case from the rotation axis of the output portion is larger than the radius of the wheel, and the minimum outer radius of the case from the rotation axis of the output portion is smaller than the radius of the wheel.

Abstract: The present invention is a self-propelled transporter with motorized drive wheels which is particularly designed to transport patients from one location to another. The transporter includes an undercarriage having a first set of wheels pivotally connected at a bottom and proximal to a front of the undercarriage, and a second set of wheels non-pivotally connected at a bottom and proximal to a rear of the undercarriage. The transporter further includes one or more electric motors coupled to the second set of wheels. The transporter includes a base supported on the undercarriage. The transporter further includes two or more seats installed on the base to allow for patients to sit thereon.

Abstract: A bicycle gearing system includes input and output shafts, two planetary gear systems, and a clutch mechanism. The clutch mechanism includes three clutch presser plates for frictional engagement with two clutch disks and a clutch base. A motor rotates a camshaft formed with cams selectively engageable with cam followers for driving the clutch presser plates to rotate. Steels balls are provided within cavities formed between the clutch presser plates and a clutch housing to convert rotation of clutch presser plates to linear force for frictional engagement with the two clutch disks and the clutch base. Different angles of rotation of the camshaft produce different clutch and gear combinations and different gear ratios.

Abstract: The present disclosure relates to a wheel unit, which comprise: a motor; a pinion gear which is fixed to a rotating portion of the motor; a wheel which includes an annular ground surface and rotates about a final gear support shaft; a final gear made of a resin, which is fixed to the wheel directly or via another member and is disposed on one side in an axial direction with respect to the wheel; a speed reduction mechanism which decelerates rotation of the pinion gear and transmits the rotation to the final gear; and a gear case which accommodates the pinion gear, the speed reduction mechanism, and the final gear; wherein a rotation support portion which rotates along with the final gear and the wheel while being supported by the gear case directly or via another member is provided between the final gear and the wheel; and when viewed from one side in the axial direction, the final gear support shaft and a motor shaft are disposed in different positions, and the motor includes a rotor magnet on an outside of

Abstract: A vehicle body structure for a two-track vehicle, includes a first bearing component formed on a housing of a traction battery of the two-track vehicle, said traction battery being arranged in longitudinal direction of the two-track vehicle anterior of an auxiliary frame of a rear axle of the two-track vehicle; a second bearing component engaging in or about the first bearing component, said second bearing component extending at least one lateral longitudinal member of the auxiliary frame frontward in the longitudinal direction; and a vibration damping unit arranged between the first bearing component and the second bearing component, with the first bearing component, the second bearing component and the vibration damping unit together forming a front bearing of the auxiliary frame which connects the auxiliary frame to a body of the two-track vehicle.

Abstract: Disclosed is an in-wheel drive system including a motor inside a wheel, in which the motor is disposed inside the wheel, with the center of the rotary shaft ahead of and above the center of the wheel, so it provides an effect of more freely designing the inside of the wheel.

Abstract: A torque transmission system is provided for an aircraft drive wheel drive system mounted on nose or main landing gear wheels to move the aircraft autonomously on the ground that effectively transmits torque through drive system components. The drive system includes a drive means capable of generating sufficient torque to move the aircraft, a drive system capable of generating a high torque capacity that activates the drive means, a clutch assembly that can be selectively engaged to control torque transmission to the drive system and activate the drive means, and a landing gear torque takeout element. The clutch assembly is configured to be inactivated and prevented from transmitting torque to other drive wheel drive system components when an overtorque event occurs. Aircraft drive wheel drive system components in the present torque transmission system are designed to withstand torque in excess of a determined maximum for the system.

Abstract: A bearing arrangement for an aircraft landing gear wheel is provided that effectively supports the wheel on an axle while maximizing internal wheel volume available for mounting a non-engine drive motor used to power the wheel and/or brakes or other structures within the maximized wheel volume. The bearing arrangement is preferably employed with a two-part aircraft wheel mounted on a landing gear axle and includes bearing structures located only on wheel sections adjacent to the axle. A specifically configured cantilevered joint portion of inboard and outboard wheel sections supports weight and loads bearing structures, eliminating the need for and space required by a high speed bearing. Stiffness necessary for strength and structural integrity is provided by the materials selected to form the wheel sections.

Abstract: A pneumatic driving module is for mounting on and driving a vehicle. The vehicle includes at least one wheel that includes a rim. The pneumatic driving module includes a storage tank, an air delivery unit and an air-driving mechanism. The storage tank is for storing compressed air therein. The air delivery unit includes a tube fluidly communicating with the storage tank for discharging the compressed air stored in the storage tank. The air-driving mechanism fluidly communicates with the tube, and is configured to be mounted directly to the wheel for providing dynamic energy associated with the compressed air to the rim to drive rotation of the wheel.

Abstract: Disclosed is an in-wheel system for a hybrid electric vehicle. The in-wheel system includes an engine that provides a rotational driving power to front wheels or rear wheels, at least one in-wheel motor that is driven by a battery, and is provided at each of the front wheels or each of the rear wheels so as to correspond to the wheels to which the driving power of the engine is transmitted to provide a rotational driving power to the same wheels as wheels driven by the engine, and a controller that controls the engine and the in-wheel motor to be driven.

Abstract: A steering device basically includes an in-wheel motor drive wheel, a dedicated in-wheel motor drive unit, an upper side fixing seat, a lower side fixing seat and a steering mechanism. The dedicated in-wheel motor drive unit includes an electric motor as a power source. The dedicated in-wheel motor drive unit is integrated with the in-wheel motor drive wheel. The upper side fixing seat is disposed at an upper part of the dedicated in-wheel motor drive unit. The lower side fixing seat is disposed at a lower part of the dedicated in-wheel motor drive unit. The steering mechanism converts a steering force to a steering torque around a king pin axis and applies a torque to the in-wheel motor drive wheel. The steering mechanism is disposed in a location that is on the king pin axis and that is above the in-wheel motor drive wheel.

Abstract: A device for propelling a vehicle includes at least two electric motors, whereas each of the electric motors is equipped with a cooling device. The cooling device includes at least one cooling fluid line, whereas the cooling fluid lines are connected to the two cooling devices through a common cooling fluid connection line.

Abstract: A lightweight suspension system for vehicles comprised of resilient polycarbonate plastic is disclosed. The system includes front and rear suspension components for four wheeled electric vehicles.

Abstract: A motor and brake assembly includes a mounting member. A stator winding assembly, a brake assembly, a hub, and a rotor magnet assembly. The stator winding assembly is mounted to the mounting member. The brake assembly is operably connected to the mounting member. The hub is rotatably coupled to the mounting member. The rotor magnet assembly is mounted to an inside of a radially outer wall of the hub. The brake assembly is operable to move a component of the brake assembly between an engaged position where the component engages the inside of the radially outer hub wall and a disengaged position where the component is spaced apart from the inside of the radially outer hub wall.

Abstract: A vehicle with a hydraulic transformer including a forward propulsion valve and a reverse propulsion valve connecting a common low-pressure rail respectively to a first motor line and a second motor line, which propulsion valves have a spring to hold the valve in a first position wherein it acts as a check valve blocking the flow to the common low-pressure rail and an actuator that can switch the propulsion valve to a second position connecting the common low-pressure rail to one of the motor lines.

Abstract: A drive device located closely adjacent to the wheel for a single wheel of a motor vehicle. The drive device has an electric drive that has at least one driveshaft for the wheel. A gearing interacts with the at least one drive shaft for transmitting torque to drive the wheel and is connectable to the individual wheel. A locking mechanism is disposed to lock the wheel and is designed to block the gearing and/or the drive shaft.

Abstract: A vehicle axle, in particular a torsion beam axle for an electric vehicle, with at least one trailing arm on which is arranged a drive unit located close to a wheel, and the drive unit comprises an electric machine and a transmission unit. The drive unit, close to the wheel, has at least one supply line and at least one damper such that the drive unit, close to the wheel, is formed at least partially as a trailing arm and the damper is connected, on at least one side, to the drive unit at least in a single-shear manner and can be connected, on at least the other side, to a body of the electric vehicle. The at least one vehicle axle is utilized on a motor vehicle.

Abstract: An axle tube comprising a dry section interposing a first wet section and a second wet section, the first and second wet sections housing a liquid lubricant, the dry section having an interior isolated from the liquid lubricant, at least one of the first and second wet sections includes a power train, and at least one of the first and second wet sections includes an electric motor, wherein the electric motor is at least partially received within the dry section, wherein a fluidic seal interposes the electric motor and the dry section, and wherein the electric motor is not rigidly mounted to the dry section.

Abstract: A pneumatic vehicle is provided with a chassis, wheels, a compressed air tank, a heat exchanger to heat the compressed air, and an air motor driven by the heated air and connected to at least one wheel. A pneumatic vehicle is provided with a chassis, wheels, a compressed air tank, and an air motor driven by the compressed air and connected to a wheel. The vehicle also has a ventilation system for the passenger compartment, a heat exchanger, and a restrictive solenoid valve for directing ventilation system air to the heat exchanger. A pneumatic vehicle is provided with a chassis, wheels, an aluminum compressed air tank, a carbon filament reinforced plastic layer over the tank, a fiberglass and aramid-fiber layer over the carbon filament reinforced plastic layer, and an air motor driven by the compressed air and connected to at least one wheel.

Abstract: Disclosed herein is a mounting structure for an in-wheel motor system. The mounting structure includes the in-wheel motor system installed in a wheel of the vehicle, and a torsion beam axle (TBA) assembly to fix the in-wheel motor system to a vehicle body, wherein a rear portion of a motor housing includes a step portion formed in a stepped manner to have a decreased diameter, and a ring-shaped fastening face vertically arranged from the step portion, and the TBA assembly includes a trailing arm provided with a through hole to surround the step portion of the motor housing, a mount integrated with the trailing arm to fix the trailing arm to a vehicle body, and a plurality of fastening bolts to fix the motor housing to the trailing arm, wherein, when the step portion is fitted and coupled into the through hole, the fastening face closely contacts the trailing arm.

Abstract: A drive device (11) for driving a wheel (7) of an electrically powered vehicle having an electric machine (12) and a transmission unit. The transmission unit has a spur gear transmission (14) and a planetary transmission (13) which, when viewed in the direction of the flow of force during a traction operation, is positioned on the output side of the electric machine (12) in the sequence of the planetary transmission (13) and then the spur gear transmission (14).

Abstract: A drive unit is provided. The drive unit forms a power transmitting path that includes a driving shaft between a wheel/tire assembly and a driving power source provided separately for each wheel/tire assembly, and transmits power via the driving shaft. The drive unit has a weak portion, which is less durable than any other portion in the power transmitting path with respect to external force applied to the wheel/tire assembly, formed on the driving shaft.

Abstract: An electric vehicle can include a power unit including a speed reduction device coupled to a motor output shaft. Two systems can be provided which are a drive-power transmission path to transmit rotation of a motor to a wheel hub, and a regenerative-power transmission path to transmit rotation of the hub to the motor. A drive-side one-way clutch is provided between the hub and a second internal gear being the final-stage gear in the drive-power transmission path and is configured to transmit rotation of the drive-side final-stage gear to the hub. A regeneration-side one-way clutch is provided between the hub and a regeneration-side first-stage gear and is configured to transmit rotation of the hub to the regeneration-side first-stage gear.

Abstract: A drive unit and a rear cushion overlap each other in a vehicle front view. Since the rear cushion is disposed to overlap the drive unit, the dimension in a vehicle width direction can be made smaller than that in the case where the cushion is disposed on the vehicle width center side of the drive unit.

Abstract: An electrically driven axle of a two-track vehicle is provided having drive shafts which are assigned to the wheels and an axle carrier with a plurality of wheel-guiding steering arms which are attached thereto. At least one electric motor is attached to the axle carrier, and furthermore a housing containing elements for making available electrical energy for the electric motor is attached to the axle carrier or forms a component of the axle carrier in the form of a base body. At least one of the wheel-guiding steering arms is connected to the base body or housing, and arms extend from the base body of the axle carrier, on the end regions of which arms the vehicle body is supported via rubber bearings. The underfloor of the base body or housing facing the roadway is preferably essentially planar.

Abstract: The present invention pertains to a lightweight, portable, electric vehicle having a novel steering mechanism, a low profile suspension and drive mechanism, and which also provides a superior ride quality, handling, and drivability. The vehicle generally comprises a frame and at least one suspension and motor assembly. Each suspension and motor assembly includes at least one leaf spring mounted to the frame, a motor connected to the leaf spring, the motor having a drive shaft, and a wheel rotatably connected to the drive shaft. The vehicle also includes means for powering the motor and means for controlling to enable a user to drive the vehicle.

Abstract: A wall-crawling robot or other electroadhesive device can include a battery or other low voltage power source driving a motor that provides a primary device function, a voltage convertor adapted to convert the low voltage to a high voltage using the motor output, and electrodes configured to apply the high voltage to produce an electrostatic force between the electroadhesive device and a foreign substrate. The electrostatic force maintains a current position of the electroadhesive device relative to the foreign substrate, and the voltage convertor is separate from the primary function of the electroadhesive device. The primary function can be a mechanism for locomotion, and the voltage convertor can be a Van de Graff generator, a piezoelectric generator, or an inductive switch generator, any of which are driven in a secondary manner as a result of the motor output.

Abstract: A personal mobility vehicle is described. Generally, the vehicle includes a vehicle frame with multiple wheels rotatably connected thereto. The vehicle further includes one or more components that allow the vehicle to be leanable, yet stable. In this regard, such components may include: a fifth link suspension mechanism that couples at least one of the wheels to the vehicle frame, an offset hub motor system that is connected to at least one of the wheels, a lean adjustment system connected to at least one of the wheels, a return to neutral lean position mechanism connected to at least one of the wheels, and a differential system for a leanable vehicle. While the vehicle can seat any suitable number of occupants, in some cases, the vehicle seats one or two occupants. Other implementations are also described.

Abstract: A drive and steering unit for driving and steering a load support comprises, in one embodiment, a steering assembly including a steering gear attached to a wheel housing and engaged with the steering power system, the steering gear being rotatable about an axis in response to actuation of the steering assembly, a drive assembly connected to the steering gear, and a drive power system coupled to the drive assembly and movable with the steering gear. In an alternate embodiment, the steering assembly is connected to the wheel through a steering gear attached to a slewing ring that supports the drive assembly and is rotatable with the drive assembly.

Abstract: The present disclosure provides an in-wheel drive apparatus. The apparatus includes a motor housing open at one side thereof, a motor unit mounted within the motor housing, and a rear cover coupled at one side thereof to the motor housing to close the open side of the motor housing and coupled at the other side thereof to a trailing arm. The rear cover includes a planar section constituting an outer peripheral surface of the rear cover; and a cover recess connected to an inner peripheral surface of the planar section to be integrally formed with the planar section and depressed from the planar section towards the rotor to form a recess to which the trailing arm is coupled.

Abstract: A vehicle has a chassis (11) with front and rear axles (12, 13) suspended from the chassis for vertical and roll movement relative to the chassis. The axles are each mounted on the chassis via an upper pivotal mounting means in the form of an upper pair of arms (12a, 13a) which is pivoted on the chassis for vertical pivoting movement relative thereto and which carry an axle support (15, 16) on which the axle (12, 13) is free to pivot in the roll mode. A second lower pair of pivoting arms (12b, 13b) also connect each axle (12, 13) to the chassis to control fore and aft movement of the axle relative to the chassis. The line of action of the forces (F1-F4) applied to the chassis (11) by the upper arms (12a, 13a) at one end of the chassis are be substantially aligned with the line of action of the forces applied to the chassis by the lower arms (12b, 13b) at the other end of the chassis to reduce and tendency for the chassis to be twisted by these forces.

Abstract: An all-wheel steering system and vehicle, e.g., riding lawn mower, incorporating the same. The system may include a linkage system that operatively connects the vehicle wheels for simultaneous turning. The system, in one embodiment, includes a power steering unit having fixed or variable output for a given steering input. The system may further include a mechanism for reducing speed based upon mower steering angle.

Abstract: A casing has an inner end, an outer end, and an internal drive mechanism. The internal drive mechanism has an outer wheel mounting hub at the outer end of the casing and an inner wheel mounting hub at the inner end of the casing, both supported for rotation about an axis. A motor operates the internal drive mechanism to impart rotation to the wheel mounting hubs with equal force whilst allowing the wheel mounting hubs to rotate at different speeds. The internal drive mechanism further has a carrier that is disposed between the inner wheel mounting hub and the outer wheel mounting hub and that is rotated about the axis by the motor. The carrier contains a differential gear mechanism having an outer output shaft for imparting rotation to the outer wheel mounting hub and an inner output shaft for imparting rotation to the inner wheel mounting hub.

Abstract: A power transmission device that drives a wheel of a working vehicle includes a motor having a rotor for extracting rotation output, and a stator around which a coil for forming a magnetic field is wound; and a brake mechanism that brakes the rotation of a shaft that rotates integrally with the rotor. The brake mechanism includes a multiplate type braking part composed of a plurality of friction plates, and some of the friction plates may be stored radially inside a coil end of the coil.

Abstract: The disclosure relates to a golf cart comprising a frame and a support for supporting a person on the cart. An undercarriage includes at least two wheels. An energy source and a driving arrangement are provided for propelling the cart. The frame includes a plurality of elongated golf club holders integrated in the cart. The golf club holders form at least a part of the frame of the golf cart and extend parallel to each other substantially in the longitudinal center of the cart and in a forward and upwardly inclined position with the openings of the golf club holders at a front of the cart. The cart is made up of a plurality of easily disconnect-able parts or units in order to disassemble and assemble the cart for transport or for conversion into a trolley.

Abstract: A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

Abstract: The present invention relates to a method and an apparatus for controlling the drive system for mobile equipment, when the operator's drive commander is kept constant, electric traction motors are controlled by a torque controller to provide uniform torque, deviations in speeds of the electric traction motors are determined and electric motor power of at least one is varied relatively to the electric motor power of the other in response to a determined deviation in speed to keep the torques uniform. The power control balancing compensates for the torque differences previously encountered when the speeds of the traction motors differ at equal power supplied to the traction motors.

Abstract: A motor wheel assembly for a motor vehicle comprises a radial flux brushless electric motor having a plurality of stator magnets arranged along a circumferential path; a wheel; first connecting means to connect motor to wheel in a torque transfer manner and second connecting means suitable for connecting motor to the motor vehicle. The motor wheel assembly defines a seat interrupting the sequence of stator magnets along the circumferential path and is suitable for housing a caliper of a braking system of the motor vehicle.

Abstract: A motor and brake assembly includes a mounting member. A stator winding assembly, a brake assembly, a hub, and a rotor magnet assembly. The stator winding assembly is mounted to the mounting member. The brake assembly is operably connected to the mounting member. The hub is rotatably coupled to the mounting member. The rotor magnet assembly is mounted to an inside of a radially outer wall of the hub. The brake assembly is operable to move a component of the brake assembly between an engaged position where the component engages the inside of the radially outer hub wall and a disengaged position where the component is spaced apart from the inside of the radially outer hub wall.

Abstract: A drive unit for a vehicle is provided for use as a robot in pipe systems, cavities or the like. The drive unit includes at least one ring-like outer wheel and at least one driven magnetic wheel. The outer and the magnetic wheels have axes parallel to each other and are arranged eccentrically to one another, and engage one another such that when rotating relative to the outer wheel, the magnetic wheel delineates with its wheel axis a concentric circle lying within the outer wheel. In such a drive unit, stronger magnetic adhesion is enabled by the outer and magnetic wheels being arranged one behind the other in an axial direction. The engagement between the outer and magnetic wheels is effected by a circular, concentric disk connected securely against rotation to the magnetic wheel and rolls with its outer peripheral surface on the inner peripheral surface of the outer wheel.

Abstract: There is described a power-driven wheel for a military vehicle, having an axial-flow electric motor, and a hub connected functionally to the motor and rotating about an axis; the motor has an output member housed inside the hub; and the wheel has an epicyclic reducer interposed functionally between the hub and the output member.

Abstract: A hub unit includes an electric machine adapted for driving a wheel. The hub unit includes at least two planetary gears coupled in series between the electric machine and a wheel hub, and a gear shifting device for connecting and disconnecting, respectively, one of the planetary gears from being drivingly connected to the electric machine.