WorldWideScience

Sample records for automated vehicle control

  1. Control and path prediction of an Automate Guided Vehicle

    Directory of Open Access Journals (Sweden)

    S. Butdee

    2008-12-01

    Full Text Available Purpose: In this paper a new architecture and control strategy of an AGV is proposed. It is organized as follows.The system architecture is explained in section 2. Section 3 deals with the kinematics model of the AGV path,prediction and control. Section 4 describes the experiments. The conclusion and recommendation are given insection 5.Design/methodology/approach: It is a three wheels vehicle. The front wheel is used for driving and steering theAGV and the two rear wheels are free. The steering and driving are DC motor. Two encoders are individuallyattached on the two rear wheels in order to measure the vehicle displacement and then calculate its real timeposition and orientation. The choice of positioning the encoders on the free wheels provides to the vehicle anaccurate measurement of its progression. A programmable logic control (PLC is used for motion control.Findings: In this paper, An Automate Guided Vehicle (AGV is presented. The developed algorithm is basedon memorised path and kinematics determination of the movement. The vehicle position and deviation arecalculated from rear wheels rotation measurement. The steering and driving command are determined fromthis deviation. Localization of AGV by Kaman filtering algorithm is presented. Control of AGV motion isimplemented by using PID control scheme. Displacement axis and steering axis are separated to implementthe motion control. We proposed the localization system for estimation of AGV. Position and orientation areestimated by Kalman filtering in state-space model. Position and orientation of AGV are measured and used forsimulation for localization system. We conclude that the vehicle can reach from the initial position moved alongwith generated path with accurate location. A Schneider PLC is used to implement this control. The tests reveala smooth movement and convenient deviation.Practical implications: The first prototype working, the next research steps will be development of a

  2. The modeling of transfer of steering between automated vehicle and human driver using hybrid control framework

    NARCIS (Netherlands)

    Kaustubh, M.; Willemsen, D.M.C.; Mazo, M.

    2016-01-01

    Proponents of autonomous driving pursue driverless technologies, whereas others foresee a gradual transition where there will be automated driving systems that share the control of the vehicle with the driver. With such advances it becomes pertinent that the developed automated systems need to be sa

  3. Automation of Sensor Control in Uninhabited Aerial Vehicles

    Science.gov (United States)

    2015-07-01

    status. Custom input handling with the script allowed for status acknowledgements from participants. 2.2.4.4 Sensor control Three sensor control...adaptable system for invoking automation. Human Factors: The Journal of the Human Factors and Ergonomics Society, 48(4), 693-709. doi: 10.1518...Proceedings of the Human Factors and Ergonomics Society Annual Meeting. doi: 10.1177/1071181312561093 Cummings, M. L., Bruni, S., Mercier, S., & Mitchell, P

  4. Cooperative Control and Active Interfaces for Vehicle Assitsance and Automation

    OpenAIRE

    Flemisch, Frank; Kelsch, Johann; Löper, Christan; Schieben, Anna; Schindler, Julian; Heesen, Matthias

    2008-01-01

    Enabled by scientific, technological and societal progress, and pulled by human demands, more and more aspects of our life can be assisted or automated by technical artefacts. One example is the transportation domain, where in the sky commercial aircraft are flying highly automated most of the times and where on the roads a gradual revolution takes place towards assisted, highly automated or even fully automated cars and trucks. Automobiles and mobility are changing gradually t...

  5. Monitoring and Control of the Automated Transfer Vehicle

    Science.gov (United States)

    Hugonnet, C.; D'Hoine, S.

    The objective of this paper is to present succinctly the architecture of the heart of the ATV Control Centre: the Monitoring and Control developed by CS for the French Space Agency (CNES) and the European Space Agency (ESA). At the moment, the Monitoring and Control is in the development phase, a first real time version will be delivered to CNES in July 2003, then a second version will be delivered in October including off line capabilities. The following paper introduces the high level specifications and the main driving performance criteria of the monitoring and control system in order to successfully operate these complex ATV space vehicles from the first flight planned in 2004. It presents the approach taken by CS and CNES in order to meet this challenge in a very short time. ATV-CC Monitoring and Control system is based on the reuse of flight proven components that are integrated in a software bus based architecture. The paper particularly shows the advantages of using new computer technologies in operational system: use of Object Oriented technologies from specification, design (UML) to development (C++, Java, PLSQL), use of a CORBA Object Request Broker for the exchange of messages and some centralised services, use of Java for the development of an ergonomic and standardised (for all functions of the M&C) Graphical User Interface and the extensive use of XML for data exchanges.

  6. Real Time Fuzzy Based Speed and Direction Angle Control of an Automated Guided Vehicle

    Directory of Open Access Journals (Sweden)

    Abdullah Başçı

    2015-04-01

    Full Text Available In this paper a fuzzy controller is applied to velocity and direction angle control of a certain type of wheeled mobile robots called Automated Guided Vehicles (AGVs. The velocity and direction angle of the AGV are controlled to keep the vehicle on desired path. A PI controller is also applied to AGV in order to show the robustness of the fuzzy controller. Experimental results prove that the fuzzy controller shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics. Results are also given for sudden disturbance and extra load conditions and satisfied results are obtained.

  7. An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation

    Science.gov (United States)

    Guo, Jinghua; Li, Linhui; Li, Keqiang; Wang, Rongben

    2013-10-01

    Lateral control is considered to be one of the toughest challenges in the development of automated vehicles due to their features of nonlinearities, parametric uncertainties and external disturbances. In order to overcome these difficulties, an adaptive fuzzy-sliding mode control strategy used for lateral control of vision-based automated vehicles is proposed in this paper. First, a vision algorithm is designed to provide accurate location information of vehicle relative to reference path. Then, an adaptive fuzzy-sliding mode lateral controller is proposed to counteract parametric uncertainties and strong nonlinearities, and the asymptotic stability of the closed-loop lateral control system is proven by the Lyapunov theory. Finally, experimental results indicate that the proposed algorithm can achieve favourable tracking performance, and it has strong robustness.

  8. Automated Vehicles Symposium 2015

    CERN Document Server

    Beiker, Sven

    2016-01-01

    This edited book comprises papers about the impacts, benefits and challenges of connected and automated cars. It is the third volume of the LNMOB series dealing with Road Vehicle Automation. The book comprises contributions from researchers, industry practitioners and policy makers, covering perspectives from the U.S., Europe and Japan. It is based on the Automated Vehicles Symposium 2015 which was jointly organized by the Association of Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Ann Arbor, Michigan, in July 2015. The topical spectrum includes, but is not limited to, public sector activities, human factors, ethical and business aspects, energy and technological perspectives, vehicle systems and transportation infrastructure. This book is an indispensable source of information for academic researchers, industrial engineers and policy makers interested in the topic of road vehicle automation.

  9. Automated Vehicles Symposium 2014

    CERN Document Server

    Beiker, Sven; Road Vehicle Automation 2

    2015-01-01

    This paper collection is the second volume of the LNMOB series on Road Vehicle Automation. The book contains a comprehensive review of current technical, socio-economic, and legal perspectives written by experts coming from public authorities, companies and universities in the U.S., Europe and Japan. It originates from the Automated Vehicle Symposium 2014, which was jointly organized by the Association for Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Burlingame, CA, in July 2014. The contributions discuss the challenges arising from the integration of highly automated and self-driving vehicles into the transportation system, with a focus on human factors and different deployment scenarios. This book is an indispensable source of information for academic researchers, industrial engineers, and policy makers interested in the topic of road vehicle automation.

  10. 几种车辆纵向控制器的性能比较%Performance Comparison of Automated Vehicle Controllers

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The design of intelligent vehicle control system is an important part of AHS (Automated highway systems).This paper addresses the problem of longitudinal control of a vehicles platoon and pressents the comparison of several control algorthms of vehicle longitudinal control system,Simlation of the appopriate platoon performance if presented.

  11. Towards cooperative guidance and control of highly automated vehicles: H-Mode and Conduct-by-Wire.

    Science.gov (United States)

    Flemisch, Frank Ole; Bengler, Klaus; Bubb, Heiner; Winner, Hermann; Bruder, Ralph

    2014-01-01

    This article provides a general ergonomic framework of cooperative guidance and control for vehicles with an emphasis on the cooperation between a human and a highly automated vehicle. In the twenty-first century, mobility and automation technologies are increasingly fused. In the sky, highly automated aircraft are flying with a high safety record. On the ground, a variety of driver assistance systems are being developed, and highly automated vehicles with increasingly autonomous capabilities are becoming possible. Human-centred automation has paved the way for a better cooperation between automation and humans. How can these highly automated systems be structured so that they can be easily understood, how will they cooperate with the human? The presented research was conducted using the methods of iterative build-up and refinement of framework by triangulation, i.e. by instantiating and testing the framework with at least two derived concepts and prototypes. This article sketches a general, conceptual ergonomic framework of cooperative guidance and control of highly automated vehicles, two concepts derived from the framework, prototypes and pilot data. Cooperation is exemplified in a list of aspects and related to levels of the driving task. With the concept 'Conduct-by-Wire', cooperation happens mainly on the guidance level, where the driver can delegate manoeuvres to the automation with a specialised manoeuvre interface. With H-Mode, a haptic-multimodal interaction with highly automated vehicles based on the H(orse)-Metaphor, cooperation is mainly done on guidance and control with a haptically active interface. Cooperativeness should be a key aspect for future human-automation systems. Especially for highly automated vehicles, cooperative guidance and control is a research direction with already promising concepts and prototypes that should be further explored. The application of the presented approach is every human-machine system that moves and includes high

  12. Transition of control in highly automated vehicles : a literature review.

    NARCIS (Netherlands)

    Vlakveld, W.P.

    2016-01-01

    The Directorate-General of Highways, Waterways, and Water Systems (Rijkswaterstaat in Dutch) of the Ministry of Infrastructure and the Environment (Ministerie van Infrastructuur en Milieu (IenM) in Dutch) has commissioned SWOV to conduct a literature review about transition of control in highly and

  13. Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Yue J. [Boston University; Malikopoulos, Andreas [ORNL; Cassandras, Christos G. [Boston University

    2016-01-01

    We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for each vehicle the optimal acceleration/deceleration at any time in the sense of minimizing fuel consumption. The solu- tion, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. The effectiveness of the proposed solution is validated through simulation considering two intersections located in downtown Boston, and it is shown that coordination of CAVs can reduce significantly both fuel consumption and travel time.

  14. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

    Science.gov (United States)

    Eom, Hwisoo; Lee, Sang Hun

    2015-01-01

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model. PMID:26076406

  15. Multi-objective Genetic Algorithm for System Identification and Controller Optimization of Automated Guided Vehicle

    Directory of Open Access Journals (Sweden)

    Xing Wu

    2011-07-01

    Full Text Available This paper presents a multi-objective genetic algorithm (MOGA with Pareto optimality and elitist tactics for the control system design of automated guided vehicle (AGV. The MOGA is used to identify AGV driving system model and optimize its servo control system sequentially. In system identification, the model identified by least square method is adopted as an evolution tutor who selects the individuals having balanced performances in all objectives as elitists. In controller optimization, the velocity regulating capability required by AGV path tracking is employed as decision-making preferences which select Pareto optimal solutions as elitists. According to different objectives and elitist tactics, several sub-populations are constructed and they evolve concurrently by using independent reproduction, neighborhood mutation and heuristic crossover. The lossless finite precision method and the multi-objective normalized increment distance are proposed to keep the population diversity with a low computational complexity. Experiment results show that the cascaded MOGA have the capability to make the system model consistent with AGV driving system both in amplitude and phase, and to make its servo control system satisfy the requirements on dynamic performance and steady-state accuracy in AGV path tracking.

  16. Dynamic Coordinated Shifting Control of Automated Mechanical Transmissions without a Clutch in a Plug-In Hybrid Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Xinlei Liu

    2012-08-01

    Full Text Available On the basis of the shifting process of automated mechanical transmissions (AMTs for traditional hybrid electric vehicles (HEVs, and by combining the features of electric machines with fast response speed, the dynamic model of the hybrid electric AMT vehicle powertrain is built up, the dynamic characteristics of each phase of shifting process are analyzed, and a control strategy in which torque and speed of the engine and electric machine are coordinatively controlled to achieve AMT shifting control for a plug-in hybrid electric vehicle (PHEV without clutch is proposed. In the shifting process, the engine and electric machine are well controlled, and the shift jerk and power interruption and restoration time are reduced. Simulation and real car test results show that the proposed control strategy can more efficiently improve the shift quality for PHEVs equipped with AMTs.

  17. Vehicle Dynamics and Control

    CERN Document Server

    Rajamani, Rajesh

    2012-01-01

    Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicle. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability co...

  18. Localization and recognition of traffic signs for automated vehicle control systems

    Science.gov (United States)

    Zadeh, Mahmoud M.; Kasvand, T.; Suen, Ching Y.

    1998-01-01

    We present a computer vision system for detection and recognition of traffic signs. Such systems are required to assist drivers and for guidance and control of autonomous vehicles on roads and city streets. For experiments we use sequences of digitized photographs and off-line analysis. The system contains four stages. First, region segmentation based on color pixel classification called SRSM. SRSM limits the search to regions of interest in the scene. Second, we use edge tracing to find parts of outer edges of signs which are circular or straight, corresponding to the geometrical shapes of traffic signs. The third step is geometrical analysis of the outer edge and preliminary recognition of each candidate region, which may be a potential traffic sign. The final step in recognition uses color combinations within each region and model matching. This system maybe used for recognition of other types of objects, provided that the geometrical shape and color content remain reasonably constant. The method is reliable, easy to implement, and fast, This differs form the road signs recognition method in the PROMETEUS. The overall structure of the approach is sketched.

  19. Agent-oriented Embedded Control System Design and Development of a Vision-based Automated Guided Vehicle

    Directory of Open Access Journals (Sweden)

    Wu Xing

    2012-07-01

    Full Text Available This paper presents a control system design and development approach for a vision‐based automated guided vehicle (AGV based on the multi‐agent system (MAS methodology and embedded system resources. A three‐phase agent‐oriented design methodology Prometheus is used to analyse system functions, construct operation scenarios, define agent types and design the MAS coordination mechanism. The control system is then developed in an embedded implementation containing a digital signal processor (DSP and an advanced RISC machine (ARM by using the multitasking processing capacity of multiple microprocessors and system services of a real‐time operating system (RTOS. As a paradigm, an onboard embedded controller is designed and developed for the AGV with a camera detecting guiding landmarks, and the entire procedure has a high efficiency and a clear hierarchy. A vision guidance experiment for our AGV is carried out in a space‐limited laboratory environment to verify the perception capacity and the onboard intelligence of the agent‐oriented embedded control system.

  20. The Development of LOHAS Automated Guiding Vehicle

    Directory of Open Access Journals (Sweden)

    Cheng-I Hou

    2013-11-01

    Full Text Available Automated Guiding Vehicle (AGV is widely used in factories, hospitals, warehouses, and offices. It can also be controlled remotely to operate under hazardous environments that are unsuitable for human presence. On the other hand, medical advancement and the decrease of birth rate are pushing the world into population aging. For elderly or the physically/mentally-challenged patient, some of the common foot problem includes diabetic foot, myotenositis, having calluses in the soles of the foot, foot deformities, etc. This research is aimed at the design and the implementation of an automated guiding vehicle, which is controlled by PC. Once the input is received from optical sensors, it will pass the information to chip, which will process the information and output the decision to stepping motor to finish the process. The research includes understanding the mechanical design, optical sensor input, defining the control units, and initiating stepping motor. Using BASIC programming, the program is burned onto a chip, which works as the central of the AGV. The result can be applied in barrier-free facilities. This research analyzes the pros and cons of AGV based on its behavior under different scenarios.  

  1. User choices regarding vehicle-driving automation

    NARCIS (Netherlands)

    Marchau, V.A.W.J.; Molin, E.J.E.; Heijden, R.E.C.M. van der

    2004-01-01

    The introduction of Advanced Driver Assistance Systems (ADAS) in motor vehicles is expected to improve traffic efficiency and safety significantly. These systems support the driver in controlling his vehicle applying advanced sensing, computing and controlling devices. Successful implementation of t

  2. Automated Vehicle Regulation: An Energy and Emissions Perspective

    Energy Technology Data Exchange (ETDEWEB)

    Levine, Aaron

    2016-05-18

    This presentation provides a summary of the current automated vehicles polices in the United States and how they related to reducing greenhouse gas (GHG) emissions. The presentation then looks at future automated vehicle trends that will increase and reduce GHG emissions and what current policies utilized in other areas of law could be adapted for automated vehicle GHG emissions.

  3. 2nd Road Vehicle Automation Workshop

    CERN Document Server

    Beiker, Sven; Road Vehicle Automation

    2014-01-01

    This contributed volume covers all relevant aspects of road vehicle automation including societal impacts, legal matters, and technology innovation from the perspectives of a multitude of public and private actors. It is based on an expert workshop organized by the Transportation Research Board at Stanford University in July 2013. The target audience primarily comprises academic researchers, but the book may also be of interest to practitioners and professionals. Higher levels of road vehicle automation are considered beneficial for road safety, energy efficiency, productivity, convenience, and social inclusion. The necessary key technologies in the fields of object-recognition systems, data processing, and infrastructure communication have been consistently developed over the recent years and are mostly available on the market today. However, there is still a need for substantial research and development, e.g. with interactive maps, data processing, functional safety, and the fusion of different data sources...

  4. Drivers anticipate lead-vehicle conflicts during automated longitudinal control: Sensory cues capture driver attention and promote appropriate and timely responses.

    Science.gov (United States)

    Morando, Alberto; Victor, Trent; Dozza, Marco

    2016-12-01

    Adaptive Cruise Control (ACC) has been shown to reduce the exposure to critical situations by maintaining a safe speed and headway. It has also been shown that drivers adapt their visual behavior in response to the driving task demand with ACC, anticipating an impending lead vehicle conflict by directing their eyes to the forward path before a situation becomes critical. The purpose of this paper is to identify the causes related to this anticipatory mechanism, by investigating drivers' visual behavior while driving with ACC when a potential critical situation is encountered, identified as a forward collision warning (FCW) onset (including false positive warnings). This paper discusses how sensory cues capture attention to the forward path in anticipation of the FCW onset. The analysis used the naturalistic database EuroFOT to examine visual behavior with respect to two manually-coded metrics, glance location and glance eccentricity, and then related the findings to vehicle data (such as speed, acceleration, and radar information). Three sensory cues (longitudinal deceleration, looming, and brake lights) were found to be relevant for capturing driver attention and increase glances to the forward path in anticipation of the threat; the deceleration cue seems to be dominant. The results also show that the FCW acts as an effective attention-orienting mechanism when no threat anticipation is present. These findings, relevant to the study of automation, provide additional information about drivers' response to potential lead-vehicle conflicts when longitudinal control is automated. Moreover, these results suggest that sensory cues are important for alerting drivers to an impending critical situation, allowing for a prompt reaction.

  5. Automated driving and autonomous functions on road vehicles

    Science.gov (United States)

    Gordon, T. J.; Lidberg, M.

    2015-07-01

    In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments have received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest - and subsequent hiatus - of Automated Highway Systems in the 1990s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of 'self-driving cars' - robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in 'computerisation' of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper, we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators.

  6. Performance of an Automated-Mixed-Traffic-Vehicle /AMTV/ System. [urban people mover

    Science.gov (United States)

    Peng, T. K. C.; Chon, K.

    1978-01-01

    This study analyzes the operation and evaluates the expected performance of a proposed automatic guideway transit system which uses low-speed Automated Mixed Traffic Vehicles (AMTV's). Vehicle scheduling and headway control policies are evaluated with a transit system simulation model. The effect of mixed-traffic interference on the average vehicle speed is examined with a vehicle-pedestrian interface model. Control parameters regulating vehicle speed are evaluated for safe stopping and passenger comfort.

  7. Orbit Control Scheme of Automated Transfer Vehicle%自动转移飞行器的轨控总体方案

    Institute of Scientific and Technical Information of China (English)

    靳永强; 毕雨雯

    2011-01-01

    The orbit control scheme and technology of the automated transfer vehicle (ATV) of ESA were discussed in this paper. The flying scheme, the configuration of the sensor system and actuators, and the different orbit control strategies during the phasing, homing, approaching and final approaching were analyzed.%介绍了欧空局的自动转移飞行器(ATV)的轨道控制方案和技术。给出了ATV的飞行方案、测量敏感器和执行机构的配置,以及在空间站调相段、寻的段、接近段和最终逼近段的轨控策略。

  8. Age differences in the takeover of vehicle control and engagement in non-driving-related activities in simulated driving with conditional automation.

    Science.gov (United States)

    Clark, Hallie; Feng, Jing

    2016-09-26

    High-level vehicle automation has been proposed as a valuable means to enhance the mobility of older drivers, as older drivers experience age-related declines in many cognitive functions that are vital for safe driving. Recent research attempted to examine age differences in how engagement in non-driving-related activities impact driving performance, by instructing drivers to engage in mandatory pre-designed activities. While the mandatory engagement method allows a precise control of the timing and mental workload of the non-driving-related activities, it is different from how a driver would naturally engage in these activities. This study allowed younger (age 18-35, mean age=19.9years) and older drivers (age 62-81, mean age=70.4years) to freely decide when and how to engage in voluntarily chosen non-driving-related activities during simulated driving with conditional automation. We coded video recordings of participants' engagement in non-driving-related activities. We examined the effect of age, level of activity-engagement and takeover notification interval on vehicle control performance during the takeover, by comparing between the high and low engagement groups in younger and older drivers, across two takeover notification interval conditions. We found that both younger and older drivers engaged in various non-driving-related activities during the automated driving portion, with distinct preferences on the type of activity for each age group (i.e., while younger drivers mostly used an electronic device, older drivers tended to converse). There were also significant differences between the two age groups and between the two notification intervals on various driving performance measures. Older drivers benefited more than younger drivers from the longer interval in terms of response time to notifications. Voluntary engagement in non-driving-related activities did not impair takeover performance in general, although there was a trend of older drivers who were

  9. Scheduling vehicles in automated transportation systems : algorithms and case study

    NARCIS (Netherlands)

    Heijden, van der Matthieu; Ebben, Mark; Gademann, Noud; Harten, van Aart

    2000-01-01

    One of the major planning issues in large scale automated transportation systems is so-called empty vehicle management, the timely supply of vehicles to terminals in order to reduce cargo waiting times. Motivated by a Dutch pilot project on an underground cargo transportation system using Automated

  10. Automating quantum experiment control

    Science.gov (United States)

    Stevens, Kelly E.; Amini, Jason M.; Doret, S. Charles; Mohler, Greg; Volin, Curtis; Harter, Alexa W.

    2017-03-01

    The field of quantum information processing is rapidly advancing. As the control of quantum systems approaches the level needed for useful computation, the physical hardware underlying the quantum systems is becoming increasingly complex. It is already becoming impractical to manually code control for the larger hardware implementations. In this chapter, we will employ an approach to the problem of system control that parallels compiler design for a classical computer. We will start with a candidate quantum computing technology, the surface electrode ion trap, and build a system instruction language which can be generated from a simple machine-independent programming language via compilation. We incorporate compile time generation of ion routing that separates the algorithm description from the physical geometry of the hardware. Extending this approach to automatic routing at run time allows for automated initialization of qubit number and placement and additionally allows for automated recovery after catastrophic events such as qubit loss. To show that these systems can handle real hardware, we present a simple demonstration system that routes two ions around a multi-zone ion trap and handles ion loss and ion placement. While we will mainly use examples from transport-based ion trap quantum computing, many of the issues and solutions are applicable to other architectures.

  11. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  12. Shuttle Repair Tools Automate Vehicle Maintenance

    Science.gov (United States)

    2013-01-01

    Successfully building, flying, and maintaining the space shuttles was an immensely complex job that required a high level of detailed, precise engineering. After each shuttle landed, it entered a maintenance, repair, and overhaul (MRO) phase. Each system was thoroughly checked and tested, and worn or damaged parts replaced, before the shuttle was rolled out for its next mission. During the MRO period, workers needed to record exactly what needed replacing and why, as well as follow precise guidelines and procedures in making their repairs. That meant traceability, and with it lots of paperwork. In 2007, the number of reports generated during electrical system repairs was getting out of hand-placing among the top three systems in terms of paperwork volume. Repair specialists at Kennedy Space Center were unhappy spending so much time at a desk and so little time actually working on the shuttle. "Engineers weren't spending their time doing technical work," says Joseph Schuh, an electrical engineer at Kennedy. "Instead, they were busy with repetitive, time-consuming processes that, while important in their own right, provided a low return on time invested." The strain of such inefficiency was bad enough that slow electrical repairs jeopardized rollout on several occasions. Knowing there had to be a way to streamline operations, Kennedy asked Martin Belson, a project manager with 30 years experience as an aerospace contractor, to co-lead a team in developing software that would reduce the effort required to document shuttle repairs. The result was System Maintenance Automated Repair Tasks (SMART) software. SMART is a tool for aggregating and applying information on every aspect of repairs, from procedures and instructions to a vehicle s troubleshooting history. Drawing on that data, SMART largely automates the processes of generating repair instructions and post-repair paperwork. In the case of the space shuttle, this meant that SMART had 30 years worth of operations

  13. Dynamic one-way traffic control in automated transportation systems

    NARCIS (Netherlands)

    Ebben, M; van der Zee, DJ

    2004-01-01

    In a project on underground freight transportation using Automated Guided Vehicles, single lanes for traffic in two directions are constructed to reduce infrastructure investment. Intelligent control rules are required to manage vehicle flows such, that collision is avoided and waiting times are min

  14. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

  15. Automation for Vehicle and Crew Operations Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Modern space systems such as the International Space Station (ISS) and the proposed Constellation vehicles and habitats are complex entities with hundreds of...

  16. Impact of Automation on Drivers' Performance in Agricultural Semi-Autonomous Vehicles.

    Science.gov (United States)

    Bashiri, B; Mann, D D

    2015-04-01

    Drivers' inadequate mental workload has been reported as one of the negative effects of driving assistant systems and in-vehicle automation. The increasing trend of automation in agricultural vehicles raises some concerns about drivers' mental workload in such vehicles. Thus, a human factors perspective is needed to identify the consequences of such automated systems. In this simulator study, the effects of vehicle steering task automation (VSTA) and implement control and monitoring task automation (ICMTA) were investigated using a tractor-air seeder system as a case study. Two performance parameters (reaction time and accuracy of actions) were measured to assess drivers' perceived mental workload. Experiments were conducted using the tractor driving simulator (TDS) located in the Agricultural Ergonomics Laboratory at the University of Manitoba. Study participants were university students with tractor driving experience. According to the results, reaction time and number of errors made by drivers both decreased as the automation level increased. Correlations were found among performance parameters and subjective mental workload reported by the drivers.

  17. Automation for On-road Vehicles

    DEFF Research Database (Denmark)

    Gerardino, Guillermo Andrés Pocovi; Lauridsen, Mads; Alvarez, Beatriz Soret

    2015-01-01

    The support of mission-critical communication (MCC) opens the possibility to implement a broad range of novel applications. V2X communication for traffic safety and automation is, among others, one of these innovative applications expected to bring big benefits to society: accidents are prevented...

  18. The H-Metaphor as a Guideline for Vehicle Automation and Interaction

    Science.gov (United States)

    Flemisch, Frank O.; Adams, Catherine A.; Conway, Sheila R.; Goodrich, Ken H.; Palmer, Michael T.; Schutte, Paul C.

    2003-01-01

    Good design is not free of form. It does not necessarily happen through a mere sampling of technologies packaged together, through pure analysis, or just by following procedures. Good design begins with inspiration and a vision, a mental image of the end product, which can sometimes be described with a design metaphor. A successful example from the 20th century is the desktop metaphor, which took a real desktop as an orientation for the manipulation of electronic documents on a computer. Initially defined by Xerox, then refined by Apple and others, it could be found on almost every computer by the turn of the 20th century. This paper sketches a specific metaphor for the emerging field of highly automated vehicles, their interactions with human users and with other vehicles. In the introduction, general questions on vehicle automation are raised and related to the physical control of conventional vehicles and to the automation of some late 20th century vehicles. After some words on design metaphors, the H-Metaphor is introduced. More details of the metaphor's source are described and their application to human-machine interaction, automation and management of intelligent vehicles sketched. Finally, risks and opportunities to apply the metaphor to technical applications are discussed.

  19. Electric vehicle battery charging controller

    DEFF Research Database (Denmark)

    2016-01-01

    The present invention provides an electric vehicle charging controller. The charging controller comprises a first interface connectable to an electric vehicle charge source for receiving a charging current, a second interface connectable to an electric vehicle for providing the charging current...... to a battery management system in the electric vehicle to charge a battery therein, a first communication unit for receiving a charging message via a communication network, and a control unit for controlling a charging current provided from the charge source to the electric vehicle, the controlling at least...

  20. Energy Impact of Different Penetrations of Connected and Automated Vehicles: A Preliminary Assessment

    Energy Technology Data Exchange (ETDEWEB)

    Rios-Torres, Jackeline [ORNL; Malikopoulos, Andreas [ORNL

    2016-01-01

    Previous research reported in the literature has shown the benefits of traffic coordination to alleviate congestion, and reduce fuel consumption and emissions. However, there are still many remaining challenges that need to be addressed before a massive deployment of fully automated vehicles. This paper aims to investigate the energy impacts of different penetration rates of connected and automated vehicles (CAVs) and their interaction with human-driven vehicles. We develop a simulation framework for mixed traffic (CAVs interacting with human-driven vehicles) in merging roadways and analyze the energy impact of different penetration rates of CAVs on the energy consumption. The Gipps car following model is used along with heuristic controls to represent the driver decisions in a merging roadways traffic scenario. Using different penetration rates of CAVs, the simulation results indicated that for low penetration rates, the fuel consumption benefits are significant but the total travel time increases. The benefits in travel time are noticeable for higher penetration rates of CAVs.

  1. Self-Contained Automated Vehicle Washing System

    Science.gov (United States)

    2014-09-26

    military personnel from harmful contaminants are the impetus for designing a closed loop vehicle washing system. Systems Specification Development This...I I I " I I EACH CONTAINMENT PAD HAS SELf -CONTAINED STORAGE TO MINIMIZ[ THE FOOTPRINT DURI NG TRANSPORT . I ~ ,’"j PIVOTING ELBOWS LOCK ...shipped to Dugway, UT in August 2013 and travel plans were confirmed only to encounter the government shutdown which would delay travel until 2014

  2. Automated power management and control

    Science.gov (United States)

    Dolce, James L.

    1991-01-01

    A comprehensive automation design is being developed for Space Station Freedom's electric power system. A joint effort between NASA's Office of Aeronautics and Exploration Technology and NASA's Office of Space Station Freedom, it strives to increase station productivity by applying expert systems and conventional algorithms to automate power system operation. The initial station operation will use ground-based dispatches to perform the necessary command and control tasks. These tasks constitute planning and decision-making activities that strive to eliminate unplanned outages. We perceive an opportunity to help these dispatchers make fast and consistent on-line decisions by automating three key tasks: failure detection and diagnosis, resource scheduling, and security analysis. Expert systems will be used for the diagnostics and for the security analysis; conventional algorithms will be used for the resource scheduling.

  3. An automated miniature robotic vehicle inspection system

    Science.gov (United States)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-02-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  4. Automated Guide Vehicles Dynamic Scheduling Based on Annealing Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Zou Gan

    2013-05-01

    Full Text Available Dispatching automated guided vehicles (AGVs is the common approach for AGVs scheduling in practice, the information about load arrivals in advance was not used to optimize the performance of the automated guided vehicles system (AGVsS. According to the characteristics of the AGVsS, the mathematical model of AGVs scheduling was established. A heuristic algorithm called Annealing Genetic Algorithm (AGA was presented to deal with the AGVs scheduling problem,and applied the algorithm dynamically by using it repeatedly under a combined rolling optimization strategy. the performance of the proposed approach for AGVs scheduling was compared with the dispatching rules by simulation. Results showed that the approach performs significantly better than the dispatching rules and proved that it is really effective for AGVsS.

  5. Autonomous underwater vehicles group control in the maritime search operations implementation

    OpenAIRE

    Блінцов, Сергій Володимирович; Тхи, Доан Фук

    2013-01-01

    The applied scientific problem of automated control of group motion of autonomous unmanned underwater vehicles during maritime search operations was considered in the paper. General principles of building the systems of automation control of a group of self-propelled autonomous underwater vehicles under the uncertainty of environment characteristics and non-stationarity of underwater vehicles parameters were given. The features of organization of autonomous underwater vehicles group operation...

  6. Who is driving my car? Development and analysis of a control transition strategy for collaborative automated congestion driving

    NARCIS (Netherlands)

    Urhahne, Joseph Andreas

    2016-01-01

    The role of the driver is changing now that vehicles with driving automation technologies appear on the road. It evolves from being an active controller of the vehicle to being a supervisor of the automated ride. The driver has to collaborate with the driving automation and remains responsible for t

  7. Hybrid vehicle control

    Energy Technology Data Exchange (ETDEWEB)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  8. Labview Application For A Vehicle Control

    Directory of Open Access Journals (Sweden)

    Douglas Paladine Vieira

    2002-01-01

    Full Text Available This article deals with the construction of a vehicle driven by electric motors and that is automated, that is, that can move anywhere without human intervention. The control was done using the software Labview, with data acquisition and generation of control signs. The vehicle has an infrared sensors system that indicates the existence of an obstacle ahead the vehicle, informing it that it should stop and bypass the obstacle. The program is the responsible for the engine control, making it possible for the prototype to run and bypass the objects that block its way. The possibility of remote-controlling a vehicle is very important is risky situations for human beings, for example in radioactive places. The main advantage of this system is the total flexibility for making alterations in the control software, without being necessary to touch the physical part of the prototype. The conclusion of this work is that the system is efficient and able to move in a room with objects without touching them.

  9. Pneumatic brake control for precision stopping of heavy-duty vehicles

    OpenAIRE

    Bu, Fanping; Tan, Han-Shue

    2007-01-01

    Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fueling, as well as automatic intersection, or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inhe...

  10. Loft: An Automated Mesh Generator for Stiffened Shell Aerospace Vehicles

    Science.gov (United States)

    Eldred, Lloyd B.

    2011-01-01

    Loft is an automated mesh generation code that is designed for aerospace vehicle structures. From user input, Loft generates meshes for wings, noses, tanks, fuselage sections, thrust structures, and so on. As a mesh is generated, each element is assigned properties to mark the part of the vehicle with which it is associated. This property assignment is an extremely powerful feature that enables detailed analysis tasks, such as load application and structural sizing. This report is presented in two parts. The first part is an overview of the code and its applications. The modeling approach that was used to create the finite element meshes is described. Several applications of the code are demonstrated, including a Next Generation Launch Technology (NGLT) wing-sizing study, a lunar lander stage study, a launch vehicle shroud shape study, and a two-stage-to-orbit (TSTO) orbiter. Part two of the report is the program user manual. The manual includes in-depth tutorials and a complete command reference.

  11. A Toolchain for Home Automation Controller Development

    DEFF Research Database (Denmark)

    Dalsgaard, Peter H.; Le Guilly, Thibaut; Middelhede, Daniel

    2013-01-01

    Home Automation systems provide a large number of devices to control diverse appliances. Taking advantage of this diversity to create efficient and intelligent environments requires well designed, validated, and implemented controllers. However, designing and deploying such controllers is a complex...

  12. Scheduling vehicles in automated transportation systems Algorithms and case study: Algorithms and case study

    NARCIS (Netherlands)

    Heijden, van der Matthieu; Ebben, Mark; Gademann, Noud; Harten, van Aart

    2002-01-01

    One of the major planning issues in large scale automated transportation systems is so-called empty vehicle management, the timely supply of vehicles to terminals in order to reduce cargo waiting times. Motivated by a Dutch pilot project on an underground cargo transportation system using Automated

  13. Arm7 Based Evolution in Vehicle Mobility and Automation

    Directory of Open Access Journals (Sweden)

    Mr. N. S. Vaidya

    2013-09-01

    Full Text Available The “Arm7 Based Evolution In Vehicle Mobility And Automation”, various sensor is used to detect various parameters of the vehicle system like Temperature sensor is used to detect engine temperature, Light sensor is used to switch on head light at night automatically, proximity sensor are used for driver as well as driver side seat belt wearing information, figure print sensor are used to open the vehicle as well as start the car. Micro serial data card reader is used here to work as a black box of the vehicle, whenever accident happen it can give all the last information which is stored in to memory card to the investigator, which is easy to detect the cause of accident. The smartness of this vehicle is to tell all the information or sensor output data audibly to the vehicle owner or driver and driver side seat passenger. All the things can be controlled by one system which is ARM7 and information is also displayed on LCD monitor

  14. Operator versus computer control of adaptive automation

    Science.gov (United States)

    Hilburn, Brian; Molloy, Robert; Wong, Dick; Parasuraman, Raja

    1993-01-01

    Adaptive automation refers to real-time allocation of functions between the human operator and automated subsystems. The article reports the results of a series of experiments whose aim is to examine the effects of adaptive automation on operator performance during multi-task flight simulation, and to provide an empirical basis for evaluations of different forms of adaptive logic. The combined results of these studies suggest several things. First, it appears that either excessively long, or excessively short, adaptation cycles can limit the effectiveness of adaptive automation in enhancing operator performance of both primary flight and monitoring tasks. Second, occasional brief reversions to manual control can counter some of the monitoring inefficiency typically associated with long cycle automation, and further, that benefits of such reversions can be sustained for some time after return to automated control. Third, no evidence was found that the benefits of such reversions depend on the adaptive logic by which long-cycle adaptive switches are triggered.

  15. Keep the driver in control: Automating automobiles of the future.

    Science.gov (United States)

    Banks, Victoria A; Stanton, Neville A

    2016-03-01

    Automated automobiles will be on our roads within the next decade but the role of the driver has not yet been formerly recognised or designed. Rather, the driver is often left in a passive monitoring role until they are required to reclaim control from the vehicle. This research aimed to test the idea of driver-initiated automation, in which the automation offers decision support that can be either accepted or ignored. The test case examined a combination of lateral and longitudinal control in addition to an auto-overtake system. Despite putting the driver in control of the automated systems by enabling them to accept or ignore behavioural suggestions (e.g. overtake), there were still issues associated with increased workload and decreased trust. These issues are likely to have arisen due to the way in which the automated system has been designed. Recommendations for improvements in systems design have been made which are likely to improve trust and make the role of the driver more transparent concerning their authority over the automated system.

  16. Gain Scheduling for the Orion Launch Abort Vehicle Controller

    Science.gov (United States)

    McNamara, Sara J.; Restrepo, Carolina I.; Madsen, Jennifer M.; Medina, Edgar A.; Proud, Ryan W.; Whitley, Ryan J.

    2011-01-01

    One of NASAs challenges for the Orion vehicle is the control system design for the Launch Abort Vehicle (LAV), which is required to abort safely at any time during the atmospheric ascent portion of ight. The focus of this paper is the gain design and scheduling process for a controller that covers the wide range of vehicle configurations and flight conditions experienced during the full envelope of potential abort trajectories from the pad to exo-atmospheric flight. Several factors are taken into account in the automation process for tuning the gains including the abort effectors, the environmental changes and the autopilot modes. Gain scheduling is accomplished using a linear quadratic regulator (LQR) approach for the decoupled, simplified linear model throughout the operational envelope in time, altitude and Mach number. The derived gains are then implemented into the full linear model for controller requirement validation. Finally, the gains are tested and evaluated in a non-linear simulation using the vehicles ight software to ensure performance requirements are met. An overview of the LAV controller design and a description of the linear plant models are presented. Examples of the most significant challenges with the automation of the gain tuning process are then discussed. In conclusion, the paper will consider the lessons learned through out the process, especially in regards to automation, and examine the usefulness of the gain scheduling tool and process developed as applicable to non-Orion vehicles.

  17. Real Time Conflict Resolution in Automated Guided Vehicle Scheduling

    Science.gov (United States)

    1988-05-01

    use an optimal n-I vehicle routing as the basis for obtaining an optimal n vehicle routing. When only one vehicle is present, the one vehicle routing problem is...scheduling algorithms in general, pointing out that most fall in the class of NP- Hard problems. Lenstra and Rinnoy Kan [581 showed the vehicle routing problem is...Dial-a-ride problems. Vehicle Routing Problems The vehicle routing problem is a very important problem in distribution management. Vehicles are routed

  18. Future Computer, Communication, Control and Automation

    CERN Document Server

    2011 International Conference on Computer, Communication, Control and Automation

    2012-01-01

    The volume includes a set of selected papers extended and revised from the 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011). 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011) has been held in Zhuhai, China, November 19-20, 2011. This volume topics covered include wireless communications, advances in wireless video, wireless sensors networking, security in wireless networks, network measurement and management, hybrid and discrete-event systems, internet analytics and automation, robotic system and applications, reconfigurable automation systems, machine vision in automation. We hope that researchers, graduate students and other interested readers benefit scientifically from the proceedings and also find it stimulating in the process.

  19. 减速制动时机械式自动变速器车辆换档控制策略%Shifting Control Strategy of Deceleration Braking for Automated Mechanical Transmission Vehicle

    Institute of Scientific and Technical Information of China (English)

    朱敏; 刘海鸥; 王尔烈; 陈慧岩

    2015-01-01

    将制动工况分为普通制动、紧急制动和惯性制动三种,研究不同制动工况下手动变速器(Manual transmission, MT)车辆优秀驾驶员的操控特点。将普通制动工况和紧急制动工况归为减速制动这一类情况对机械式自动变速器(Automated mechanical transmission, AMT)车辆进行研究。结合某重型越野车辆的车辆参数和试验数据,分析位置式电控柴油机的特性,提出油门关闭时其发动机转速存在一个固有转速下降率的概念,指出由于外界的原因来延缓或加快这一变化率时,发动机都将产生阻碍这一运动趋势的转矩。在对制动过程中传动系统动力学模型进行详细分析的基础上,讨论不同制动工况下发动机的作用。根据发动机转速及其下降率、变速器输出轴转速及其下降率,结合当前档位、离合器状态以及制动信号来识别普通制动和紧急制动,制定减速制动时AMT车辆换档控制策略,通过实车道路试验进行验证。%Braking conditions are divided into three categories: ordinary braking, emergency braking and inertia braking, then a research about the characteristics of manual transmission(MT) vehicle excellent drivers’ manipulation in different braking conditions is made. The conditions of ordinary braking and emergency braking are classified as deceleration braking, and then begin the study of the automated mechanical transmission(AMT) vehicle. Combined with a heavy off-road vehicle’s parameters and test data, a detailed analysis of the characteristics of Position-type electronically controlled diesel engine is carried out. Then the concept of the natural descending rate of engine speed when throttle is closed is put forward, to slow down or speed up the rate due to external reasons, the engine will produce torque to hinder this movement trends. On the basis of a detailed analysis of the drive system dynamics model of the braking process, the role

  20. Estimated Bounds and Important Factors for Fuel Use and Consumer Costs of Connected and Automated Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Stephens, T. S. [Argonne National Lab. (ANL), Argonne, IL (United States); Gonder, Jeff [National Renewable Energy Lab. (NREL), Golden, CO (United States); Chen, Yuche [National Renewable Energy Lab. (NREL), Golden, CO (United States); Lin, Z. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Liu, C. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Gohlke, D. [US Dept. of Energy, Washington, DC (United States)

    2016-11-01

    This report details a study of the potential effects of connected and automated vehicle (CAV) technologies on vehicle miles traveled (VMT), vehicle fuel efficiency, and consumer costs. Related analyses focused on a range of light-duty CAV technologies in conventional powertrain vehicles -- from partial automation to full automation, with and without ridesharing -- compared to today's base-case scenario. Analysis results revealed widely disparate upper- and lower-bound estimates for fuel use and VMT, ranging from a tripling of fuel use to decreasing light-duty fuel use to below 40% of today's level. This wide range reflects uncertainties in the ways that CAV technologies can influence vehicle efficiency and use through changes in vehicle designs, driving habits, and travel behavior. The report further identifies the most significant potential impacting factors, the largest areas of uncertainty, and where further research is particularly needed.

  1. State estimation for integrated vehicle dynamics control

    NARCIS (Netherlands)

    Zuurbier, J.; Bremmer, P.

    2002-01-01

    This paper discusses a vehicle controller and a state estimator that was implemented and tested in a vehicle equipped with a combined braking and chassis control system to improve handling. The vehicle dynamics controller consists of a feed forward body roll compensation and a feedback stability con

  2. Working together on automated vehicle guidance AVG : preliminary business plan, abridged version.

    NARCIS (Netherlands)

    Awareness (ed.)

    1998-01-01

    This plan describes the questions which will have to be answered in the short term, and the action which need to be taken in a phased and structured manner to gain insight into the potential of automated vehicle guidance (AVG).

  3. Utilising scripting language for unmanned and automated guided vehicles operating within row crops

    DEFF Research Database (Denmark)

    Jørgensen, R. N.; Nørremark, M.; Sørensen, C.G.;

    2008-01-01

    A flexible high-level control language is an important element in the ongoing task of introducing automated guided vehicles (AGV) to new application domains. A new application domain is row crops, where small AGV's will perform weed control around individual crop plants. This paper defines...... the requirements and scope of a process- and behaviour-based scripting language needed to control the weeding AGV in an agricultural row crop. The goal is to traverse and cover the whole field with no human auxiliary input during the field operation. The basis is the transparent and tactical real-time control...... language (CL) for small mobile robots (SMR). This SMR-CL has been modified to include some necessary motion commands and a supplemental supervisory function to monitor and record the progressive coverage of the field. The control language was then tested by applying it to a scenario representing typical...

  4. An Ontology-based Model to Determine the Automation Level of an Automated Vehicle for Co-Driving

    OpenAIRE

    POLLARD, Evangeline; Morignot, Philippe; Fawzi NASHASHIBI

    2013-01-01

    International audience; Full autonomy of ground vehicles is a major goal of the ITS (Intelligent Transportation Systems) community. However, reaching such highest autonomy level in all situations (weather, traffic, . . . ) may seem difficult in practice, despite recent results regarding driverless cars (e.g., Google Cars). In addition, an automated vehicle should also self-assess its own perception abilities, and not only perceive its environment. In this paper, we propose an intermediate app...

  5. Electric power distribution, automation, protection, and control

    CERN Document Server

    Momoh, James A

    2007-01-01

    * Each Chapter Provides an Introduction, Illustrative Examples, and a SummaryIntroduction to Distribution Automation Systems Historical Background Distribution System Topology and Structure Distribution Automation (DA) and Control Computational Techniques for Distribution Systems Complex Power Concepts Balanced Voltage to Neutral-Connected System Power Relationship for f Y-?-Connected System Per-Unit System Calculation of Power Losses Voltage Regulation Techniques Voltage-Sag Analysis and Calculation Equipment Modeling Components Modeling Distribution System Line Model Distribution Power Flo

  6. Traffic Flow Control In Automated Highway Systems

    OpenAIRE

    Alvarez, Luis; Horowitz, Roberto

    1997-01-01

    This report studies the problem of traffic control in the Automated Highway System (AHS) hierarchical architecture of the California PATH program. A link layer controller for the PATH AHS architecture is presented. It is shown that the proposed control laws stabilize the vehicular density and flow around predetermined profiles.

  7. Adaptive Fuzzy Control for CVT Vehicle

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    On the simple continuously variable transmission (CVT) driveline model, the design of adaptive fuzzy control system for CVT vehicle is presented. The adaptive fuzzy control system consists of a scaling factor self-tuning fuzzy-PI throttle controller, and a hybrid fuzzy-PID CVT ratio and brake controller. The presented adaptive fuzzy control strategy is vehicle model independent, which depends only on the instantaneous vehicle states, but does not depend on vehicle parameters. So it has good robustness against uncertain vehicle parameters and exogenous load disturbance. Simulation results show that the proposed adaptive fuzzy strategy has good adaptability and practicality value.

  8. Future Control and Automation : Proceedings of the 2nd International Conference on Future Control and Automation

    CERN Document Server

    2012-01-01

    This volume Future Control and Automation- Volume 1 includes best papers selected from 2012 2nd International Conference on Future Control and Automation (ICFCA 2012) held on July 1-2, 2012, Changsha, China. Future control and automation is the use of control systems and information technologies to reduce the need for human work in the production of goods and services. This volume can be divided into five sessions on the basis of the classification of manuscripts considered, which is listed as follows: Identification and Control, Navigation, Guidance and Sensor, Simulation Technology, Future Telecommunications and Control

  9. Navigation and Control of an Autonomous Vehicle

    OpenAIRE

    Schworer, Ian Josef

    2005-01-01

    The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle. This thesis will address this problem and propose a uni...

  10. Safely towards self-driving vehicles : new opportunities new risks and new challenges during the automation of the traffic system.

    NARCIS (Netherlands)

    Nes, C.N. van & Duivenvoorden, C.W.A.E.

    2017-01-01

    There are more and more systems on the market to support the driver in his vehicle. Step by step the automation of our vehicles increases, the traffic system is in a transition towards self-driving vehicles. The automation offers opportunities to make our traffic safer, cleaner and more efficient. H

  11. Automated processing of data on the use of motor vehicles in the Serbian Armed Forces

    Directory of Open Access Journals (Sweden)

    Nikola S. Osmokrović

    2012-10-01

    Full Text Available The main aim of introducing information technology into the armed forces is the automation of the management process. The management in movement and transport (M&T in our armed forces has been included in the process of automation from the beginning. For that reason, today we can speak about the automated processing of data on road traffic safety and on the use of motor vehicles. With regard to the overall development of the information system of the movement and transport service, the paper presents an information system of the M&T service for the processing of data on the use of motor vehicles. The main features, components and functions of the 'Vozila' application, which was specially developed for the automated processing of data on motor vehicle use, are explained in particular.

  12. Vehicle path tracking by integrated chassis control

    Institute of Scientific and Technical Information of China (English)

    Saman Salehpour; Yaghoub Pourasad; Seyyed Hadi Taheri

    2015-01-01

    The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator (LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization (PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10%and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.

  13. A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver

    DEFF Research Database (Denmark)

    Jouffroy, Jerome

    2009-01-01

    Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplied dynamic model of a so-called landyacht allowing to capture the main...

  14. Automated postoperative blood pressure control

    Institute of Scientific and Technical Information of China (English)

    Hang ZHENG; Kuanyi ZHU

    2005-01-01

    It is very important to maintain the level of mean arterial pressure (MAP).The MAP control is applied in many clinical situations,including limiting bleeding during cardiac surgery and promoting healing for patient's post-surgery.This paper presents a fuzzy controller-based multiple-model adaptive control system for postoperative blood pressure management.Multiple-model adaptive control (MMAC) algorithm is used to identify the patient model,and it is a feasible system identification method even in the presence of large noise.Fuzzy control (FC) method is used to design controller bank.Each fuzzy controller in the controller bank is in fact a nonlinear proportional-integral (PI) controller,whose proportional gain and integral gain are adjusted continuously according to error and rate of change of error of the plant output,resulting in better dynamic and stable control performance than the regular PI controller,especially when a nonlinear process is involved.For demonstration,a nonlinear,pulsatile-flow patient model is used for simulation,and the results show that the adaptive control system can effectively handle the changes in patient's dynamics and provide satisfactory performance in regulation of blood pressure of hypertension patients.

  15. Control of Energy Regeneration for Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yi; MAO Xiao-jian; LI Li-ming; ZHUO Bn

    2008-01-01

    To extend electric vehicle (EV) running distance, the vehicle energy regeneration (ER) method and vehicle control strategy were designed based on the original vehicle braking system. The ER principle of direct current (DC) brushless motor was studied, the motor mathematical model and PI control method with torque close-loop were built. This control method was applied to pure EV and the real road tests were evaluated.The ER control does not make any significant uncomfortable influence brake feeling and can save about 10% battery energy based on 3 times economic commission for Europe (ECE) driving cycles.

  16. Automation and control of off-planet oxygen production processes

    Science.gov (United States)

    Marner, W. J.; Suitor, J. W.; Schooley, L. S.; Cellier, F. E.

    1990-01-01

    This paper addresses several aspects of the automation and control of off-planet production processes. First, a general approach to process automation and control is discussed from the viewpoint of translating human process control procedures into automated procedures. Second, the control issues for the automation and control of off-planet oxygen processes are discussed. Sensors, instruments, and components are defined and discussed in the context of off-planet applications, and the need for 'smart' components is clearly established.

  17. Control and automation, and energy system engineering

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Tai-hoon [Hannam Univ., Daejeon (Korea, Republic of); Adeli, Hojjat [Ohio State Univ., Columbus, OH (United States); Stoica, Adrian [Jet Propulsion Laboratory, Pasadena, CA (United States); Kang, Byeong-Ho (eds.) [Tasmania Univ., Hobart, TAS (Australia)

    2011-07-01

    This book comprises selected papers of the International Conferences, CA and CES3 2011, held as Part of the Future Generation Information Technology Conference, FGIT 2011, in Conjunction with GDC 2011, Jeju Island, Korea, in December 2011. The papers presented were carefully reviewed and selected from numerous submissions and focused on the various aspects of control and automation, and circuits, control, communication, electricity, electronics, energy, system, signal and simulation. (orig.)

  18. Navigation and control of an autonomous vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Simon, A.; Soehnitz, I.; Becker, J.C.; Schumacher, W. [Technical Univ. Braunschweig (Germany). Inst. of Control Engineering

    2000-07-01

    This paper describes the fusion of sensor data for the navigation of an autonomous vehicle as well as two lateral control concepts to track the vehicle along a desired path. The fusion of navigation data is based on information provided by multiple object-detecting sensors. The object data is fused to increase the accuracy and to obtain the vehicle's state from the relative movement w.r.t. the objects. The presented lateral control methods are an LQG/H{sub 2}-design and an input-output linearizing algorithm. These control schemes were both implemented on a test vehicle. (orig.)

  19. Harnessing Vehicle Automation for Public Mobility -- An Overview of Ongoing Efforts

    Energy Technology Data Exchange (ETDEWEB)

    Young, Stanley E.

    2015-11-05

    This presentation takes a look at the efforts to harness automated vehicle technology for public transport. The European CityMobil2 is the leading demonstration project in which automated shuttles were, or are planned to be, demonstrated in several cities and regions. The presentation provides a brief overview of the demonstrations at Oristano, Italy (July 2014), LaRochelle, France (Dec 2014), Lausanne, Switzerland (Apr 2015), Vantaa, Finland (July 2015), and Trikala, Greece (Sept 2015). In addition to technology exposition, the objectives included generating a legal framework for operation in each location and gaging the reaction of the public to unmanned shuttles, both of which were successfully achieved. Several such demonstrations are planned throughout the world, including efforts in North America in conjunction with the GoMentum Station in California. These early demonstration with low-speed automated shuttles provide a glimpse of the possible with a fully automated fleet of driverless vehicle providing a public transit service.

  20. Human Systems Integration and Automation Issues in Small Unmanned Aerial Vehicles

    Science.gov (United States)

    McCauley, Michael E.; Matsangas, Panagiotis

    2004-01-01

    The goal of this report is to identify Human System Integration (HSI) and automation issues that contribute to improved effectiveness and efficiency in the operation of U.S. military Small Unmanned Aerial Vehicles (SUAVs). HSI issues relevant to SUAV operations are reviewed and observations from field trials are summarized. Short-term improvements are suggested research issues are identified and an overview is provided of automation technologies applicable to future SUAV design.

  1. Automated Voltage Control in LHCb

    CERN Document Server

    Granado Cardoso, L; Jacobsson, R

    2011-01-01

    LHCb is one of the 4 LHC experiments. In order to ensure the safety of the detector and to maximize efficiency, LHCb needs to coordinate its own operations, in particular the voltage configuration of the different subdetectors, according to the accelerator status. A control software has been developed for this purpose, based on the Finite State Machine toolkit and the SCADA system used for control throughout LHCb (and the other LHC experiments). This software permits to efficiently drive both the Low Voltage (LV) and High Voltage (HV) systems of the 10 different sub-detectors that constitute LHCb, setting each sub-system to the required voltage (easily configurable at run-time) based on the accelerator state. The control software is also responsible for monitoring the state of the Sub-detector voltages and adding it to the event data in the form of status-bits. Safe and yet flexible operation of the LHCb detector has been obtained and automatic actions, triggered by the state changes of the ...

  2. Real time control engineering systems and automation

    CERN Document Server

    Ng, Tian Seng

    2016-01-01

    This book covers the two broad areas of the electronics and electrical aspects of control applications, highlighting the many different types of control systems of relevance to real-life control system design. The control techniques presented are state-of-the-art. In the electronics section, readers will find essential information on microprocessor, microcontroller, mechatronics and electronics control. The low-level assembly programming language performs basic input/output control techniques as well as controlling the stepper motor and PWM dc motor. In the electrical section, the book addresses the complete elevator PLC system design, neural network plant control, load flow analysis, and process control, as well as machine vision topics. Illustrative diagrams, circuits and programming examples and algorithms help to explain the details of the system function design. Readers will find a wealth of computer control and industrial automation practices and applications for modern industries, as well as the educat...

  3. HVAC control system for building automation

    Energy Technology Data Exchange (ETDEWEB)

    Park, J. S.; Song, I. T.; Cho, S. W.; Cho, J. H. [Korea Atomic Energy Research Institute, Taejon (Korea)

    1999-11-01

    The purpose of the project is to design and construction of the HVAC control system for building automation. The HVAC control system can accomplish the function which are the optimum operation condition and operation time, and the operation pattern analysis. Also, this control system can effectively manage energy saving, building environment control, facilities safety monitoring etc. The HVAC control system consisted of the central control and monitoring system (CCMS) and the direct digital controller (DDC). 1) CCMS: -Main Compute -Graphic Board -Printer -Console Desk -Intercom. 2) DDC : -IMC-M (System Control Unit Main Module) -IMC-1,2,3,4(System Control Unit Module). Following this report will be used important data for the design, construction, operation and maintenance of the HVAC control system. 12 refs., 6 figs., 9 tabs. (Author)

  4. Longitudinal Control Strategy for Vehicle Adaptive Cruise Control Systems

    Institute of Scientific and Technical Information of China (English)

    WU Li-jun; LIU Zhao-du; MA Yue-feng

    2007-01-01

    A new longitudinal control strategy for vehicle adaptive cruise control (ACC) systems is presented.The running relationship between the ACC vehicle and the detected target vehicle is described by the relative velocity and the deviation between the actual headway distance and the prescribed safety distance.Based on this,two state space models are built and the linear quadratic optimal control theory is used to yield desired velocity for the ACC-equipped vehicle when with the target vehicle detected.By switching among four control modes,the desired velocity profile is designed to deal with different running situations.A velocity controller,which includes a PID controller for throttle openness and a neural network controller for brake application,is developed to achieve the desired velocity profile.The proposed control strategy is applied to a non-linear vehicle model in a simulation environment and is shown to provide the ACC vehicle comfortable ride and satisfying safety.

  5. Advances in Computer, Communication, Control and Automation

    CERN Document Server

    011 International Conference on Computer, Communication, Control and Automation

    2012-01-01

    The volume includes a set of selected papers extended and revised from the 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011). 2011 International Conference on Computer, Communication, Control and Automation (3CA 2011) has been held in Zhuhai, China, November 19-20, 2011. This volume  topics covered include signal and Image processing, speech and audio Processing, video processing and analysis, artificial intelligence, computing and intelligent systems, machine learning, sensor and neural networks, knowledge discovery and data mining, fuzzy mathematics and Applications, knowledge-based systems, hybrid systems modeling and design, risk analysis and management, system modeling and simulation. We hope that researchers, graduate students and other interested readers benefit scientifically from the proceedings and also find it stimulating in the process.

  6. Robust PID Steering Control in Parameter Space for Highly Automated Driving

    Directory of Open Access Journals (Sweden)

    Mümin Tolga Emirler

    2014-01-01

    Full Text Available This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies D-stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan.

  7. Automatic Control of Personal Rapid Transit Vehicles

    Science.gov (United States)

    Smith, P. D.

    1972-01-01

    The requirements for automatic longitudinal control of a string of closely packed personal vehicles are outlined. Optimal control theory is used to design feedback controllers for strings of vehicles. An important modification of the usual optimal control scheme is the inclusion of jerk in the cost functional. While the inclusion of the jerk term was considered, the effect of its inclusion was not sufficiently studied. Adding the jerk term will increase passenger comfort.

  8. Intelligent Transportation Systems: Automated Guided Vehicle Systems in Changing Logistics Environments

    Science.gov (United States)

    Schulze, L.; Behling, S.; Buhrs, S.

    2008-06-01

    The usage of Automated Guided Vehicle Systems (AGVS) is growing. This has not always been the case in the past. A new record of the sells numbers is the result of inventive developments, new applications and modern thinking. One market that AGVS were not able to thoroughly conquer yet were rapidly changing logistics environments. The advantages in recurrent transportation with AGVS used to be hindered by the needs of flexibility. When nowadays managers talk about Flexible Manufacturing Systems (FMS) there is no reason not to consider AGVS. Fixed guidelines, permanent transfer stations and static routes are no necessity for most AGVS producers. Flexible Manufacturing Systems can raise profitability with AGVS. When robots start saving billions in production costs, the next step at same plants are automated materials handling systems. Today, there are hundreds of instances of computer-controlled systems designed to handle and transport materials, many of which have replaced conventional human-driven platform trucks. Reduced costs due to damages and failures, tracking and tracing as well as improved production scheduling on top of fewer personnel needs are only some of the advantages.

  9. Automated Vehicle Policy and Regulation: A State Perspective Workshop: Summary

    Energy Technology Data Exchange (ETDEWEB)

    Young, Stanley E. [National Renewable Energy Lab. (NREL), Golden, CO (United States); Levine, Aaron [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2016-06-01

    A workshop held on May 18, 2016, at the University of Maryland focused on key principles that should govern state policy decisions intended to ensure the safe operation of autonomous vehicles (AVs). The patchwork approach taken by early state adopters had primarily addressed only testing of these vehicles. As uncertainties in technology and business models play out, and in the absence of more suitable policies and regulations, states are relying on laws created for conventional vehicles to govern AV operations. The workshop addressed these challenges with three panel discussions that examined the underpinnings of policy development, factors affecting policy decisions, and the ultimate impact of AVs in a number of areas, including economic competitiveness; quality of mobility, particularly for disabled community; and energy use and emissions.

  10. OPTIMAL CONTROL FOR ELECTRIC VEHICLE STABILIZATION

    Directory of Open Access Journals (Sweden)

    MARIAN GAICEANU

    2016-01-01

    Full Text Available This main objective of the paper is to stabilize an electric vehicle in optimal manner to a step lane change maneuver. To define the mathematical model of the vehicle, the rigid body moving on a plane is taken into account. An optimal lane keeping controller delivers the adequate angles in order to stabilize the vehicle’s trajectory in an optimal way. Two degree of freedom linear bicycle model is adopted as vehicle model, consisting of lateral and yaw motion equations. The proposed control maintains the lateral stability by taking the feedback information from the vehicle transducers. In this way only the lateral vehicle’s dynamics are enough to considerate. Based on the obtained linear mathematical model the quadratic optimal control is designed in order to maintain the lateral stability of the electric vehicle. The numerical simulation results demonstrate the feasibility of the proposed solution.

  11. NREL Research and Thoughts on Connected and Automated Vehicle Energy Impacts; NREL (National Renewable Energy Laboratory)

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, Jeff; Wood, Eric; Lammert, Michael

    2014-12-09

    Jeff was invited to brief the EPA Mobile Sources Technical Review Subcommittee on considerations regarding potential energy and environmental considerations for connected and automated vehicles. For more information about the MSTRS see http://www2.epa.gov/caaac/mobile-sources-technical-review-subcommittee-mstrs-caaac.

  12. AUTOMATED GUIDED VEHICLE (AGV SYSTEMS AND ROUTING PROBLEM IN DEPOT MAINTENANCE

    Directory of Open Access Journals (Sweden)

    Fatih YİĞİT

    2003-02-01

    Full Text Available When full automation is realized in factory automation, material handing systems (MHS have a fairly important role. The most technological development among MHS's has been concentrated on Automated Guided Vehicle (AGV systems. An AGV is an unmanned vehicle capable of following an external guidance signal to deliver a unit load from destination to destination. Nowadays, there are a lot of applications lie along service sector to industrial sector because of flexibilities of AGVs. In this study, these subjects have been applied on the Army Aviation Depot Maintenance where aircraft's and aircraft parts can be maintained and overhauled is an application fields of AGV, requiring AGV numbers and AGV routing. The AGV routing problem and traveling sales person (TSP problems are identical problems; where the AGV routing problem is formulated as a zero one integer programming. Examples are presented to demonstrate the approach and LINGO has been used to solve the example.

  13. Driving the Phileas, a new automated public transport vehicle

    NARCIS (Netherlands)

    de Waard, Dick; Brookhuis, Karel; Fabriek, Eva; Van Wolffelaar, Peter C.

    2004-01-01

    Phileas is a high quality public transport vehicle combining characteristics of bus, tram, and the underground. Phileas is equipped with pneumatic tyres and complies with the statutory regulations for buses. Accordingly Phileas may drive everywhere on public roads where buses are allowed to drive. O

  14. Structuring automated vehicle guidance knowledge in The Netherlands

    NARCIS (Netherlands)

    Hoedemaeker, M.; Bastiaensen, E.G.H.J.; Zwaneveld, P.J.

    2000-01-01

    This paper describes the set-up of a AVG knowledge database from the AVV Transport Research Centre from the Dutch Ministry of Transport, Public Works and Water Management. The database provides a categorised overview of all research performed in The Netherlands in the area of Automatic Vehicle Guida

  15. Distributed Control in Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Paul A. Avery

    2013-12-01

    Full Text Available The Southwest Research Institute (SwRI Mobile Autonomous Robotics Technology Initiative (MARTI program has enabled the development of fully-autonomous passenger-sized commercial vehicles and military tactical vehicles, as well as the development of cooperative vehicle behaviors, such as cooperative sensor sharing and cooperative convoy operations. The program has also developed behaviors to interface intelligent vehicles with intelligent road-side devices. The development of intelligent vehicle behaviors cannot be approached as stand-alone phenomena; rather, they must be understood within a context of the broader traffic system dynamics. The study of other complex systems has shown that system-level behaviors emerge as a result of the spatio-temporal dynamics within a system's constituent parts. The design of such systems must therefore account for both the system-level emergent behavior, as well as behaviors of individuals within the system. It has also become clear over the past several years, for both of these domains, that human trust in the behavior of individual vehicles is paramount to broader technology adoption. This paper examines the interplay between individual vehicle capabilities, vehicle connectivity, and emergent system behaviors, and presents some considerations for a distributed control paradigm in a multi-vehicle system.

  16. A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver

    OpenAIRE

    2009-01-01

    Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplied dynamic model of a so-called landyacht allowing to capture the main elements of the behavior of surface sailing vessels. We then propose a path generation scheme and a controller design for a well-known and fundamental maneuver in sailing referred to as tacking. Simulatio...

  17. Decentralized fuzzy control of multiple nonholonomic vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kwok, K.S.

    1997-09-01

    This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple 8-bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the (noisy) direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: Forward, Behind, Left, and Right, and the distance into three values: Near, Far, Gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and the change of variables that reduces the motion control problem of each nonholonomic vehicle to a nonsingular one with two degrees of freedom, instead of three. A fuzzy inference system is used to obtain control values for inputs between the small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.

  18. HUMAN-SIMULATING VEHICLE STEERING CONTROL ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    XU Youchun; LI Keqiang; CHANG Ming; CHEN Jun

    2006-01-01

    A new vehicle steering control algorithm is presented. Unlike the traditional methods do,the algorithm uses a sigmoid function to describe the principle of the human driver's steering strategy.Based on this function, a human simulating vehicle steering model, human-simulating steering control(HS) algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.

  19. Automated guided vehicle systems a primer with practical applications

    CERN Document Server

    Ullrich, Günter

    2015-01-01

    This primer is directed at experts and practitioners in intralogistics who are concerned with optimizing material flows. The presentation is comprehensive covering both, practical and theoretical aspects with a moderate degree of specialization, using clear and concise language. Areas of operation as well as technical standards of all relevant components and functions are described. Recent developments in technology and in the markets are taken into account. The goal of this book is to further stronger use of automated guided transport systems and the enhancement of their future performance.

  20. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

  1. Precision robotic control of agricultural vehicles on realistic farm trajectories

    Science.gov (United States)

    Bell, Thomas

    curvature, linear finite-preview control using discrete linear quadratic tracking, nonlinear local error control based on feedback linearization, and nonlinear finite-preview control using nonlinear optimization techniques. The first three algorithms experimentally demonstrated mean tracking errors between zero and four centimeters and standard deviations of roughly four to ten centimeters. The fourth algorithm was computationally too expensive to implement with current technology. In experiment, the feedback linearization algorithm outperformed the other two control algorithms and also used the most control effort. For control on sloped terrain, a variation on bias estimation (termed slope-adjusted bias estimation) was created, based on the terrain slope information calculated from vehicle attitude measurements. Slope-adjusted bias estimation demonstrated a 25% improvement in the standard deviation of the tractor's row-tracking error over "normal" bias estimation on terrain sloped at grades up to 28%. The CPDGPS attitude information was also used to develop a contour-tracking controller that tracked a contour to within a mean height error of 0.5 cm and a standard deviation of 4.3 cm without any prior knowledge of the terrain. These real-time vehicle control results, applicable to any front-wheel-steered vehicle, demonstrate that accurate real-time control is possible over a variety of trajectories needed in a commercial autofarming system. This research is a significant step towards completely automating tractor control because farmers can now build global trajectories composed of the different types of trajectory "building blocks" developed here. Experimental results demonstrate that farmers can expect precision tracking down to the limit of the GPS position and attitude sensors.

  2. GPS based Advanced Vehicle Tracking and Vehicle Control System

    Directory of Open Access Journals (Sweden)

    Mashood Mukhtar

    2015-02-01

    Full Text Available Security systems and navigators have always been a necessity of human‟s life. The developments of advanced electronics have brought revolutionary changes in these fields. In this paper, we will present a vehicle tracking system that employs a GPS module and a GSM modem to find the location of a vehicle and offers a range of control features. To complete the design successfully, a GPS unit, two relays, a GSM Modem and two MCU units are used. There are five features introduced in the project. The aim of this project is to remotely track a vehicle‟s location, remotely switch ON and OFF the vehicle‟s ignition system and remotely lock and unlock the doors of the vehicle. An SMS message is sent to the tracking system and the system responds to the users request by performing appropriate actions. Short text messages are assigned to each of these features. A webpage is specifically designed to view the vehicle‟s location on Google maps. By using relay based control concept introduced in this paper, number of control features such as turning heater on/off, radio on/off etc. can be implemented in the same fashion.

  3. The 18th Annual Intelligent Ground Vehicle Competition: trends and influences for intelligent ground vehicle control

    Science.gov (United States)

    Theisen, Bernard L.; Frederick, Philip; Smuda, William

    2011-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 18 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 75 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  4. Carrier-phase differential GPS for automatic control of land vehicles

    Science.gov (United States)

    O'Connor, Michael Lee

    Real-time centimeter-level navigation has countless potential applications in land vehicles, including precise topographic field mapping, runway snowplowing in bad weather, and land mine detection and avoidance. Perhaps the most obvious and immediate need for accurate, robust land vehicle sensing is in the guidance and control of agricultural vehicles. Accurate guidance and automatic control of farm vehicles offers many potential advantages; however, previous attempts to automate these vehicles have been unsuccessful due to sensor limitations. With the recent development of real-time carrier-phase differential GPS (CDGPS), a single inexpensive GPS receiver can measure a vehicle's position to within a few centimeters and orientation to fractions of a degree. This ability to provide accurate real-time measurements of multiple vehicle states makes CDGPS ideal for automatic control of vehicles. This work describes the theoretical and experimental work behind the first successfully demonstrated automatic control system for land vehicles based on CDGPS. An extension of pseudolite-based CDGPS initialization methods was explored for land vehicles and demonstrated experimentally. Original land vehicle dynamic models were developed and identified using this innovative sensor. After initial automatic control testing using a Yamaha Fleetmaster golf cart, a centimeter-level, fully autonomous row guidance capability was demonstrated on a John Deere 7800 farm tractor.

  5. Longitudinal Control of a Platoon of Road Vehicles Equipped with Adaptive Cruise Control System

    Directory of Open Access Journals (Sweden)

    Zeeshan Ali Memon

    2012-07-01

    Full Text Available Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm for the longitudinal control of a platoon are discussed based on different spacing policies, communication link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence of disturbance (noise and parametric uncertainties. This paper presented the PID (Proportional Integral Derivative feedback control algorithm for the longitudinal control of a platoon in the presence of noise signal and investigates the performance of platoon under the influence of sudden acceleration and braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of PID control algorithm have been discussed and the alternate methods have been suggested. Model simulations, in comparison with the literature, are also presented.

  6. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  7. Active steering control strategy for articulated vehicles

    Institute of Scientific and Technical Information of China (English)

    Kyong-il KIM; Hsin GUAN; Bo WANG; Rui GUO; Fan LIANG

    2016-01-01

    To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator (LQR) theory. First, a three-degree-of-freedom (3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization (SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key pa-rameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpola-tion. Simulation results show that vehicle parameter outputs of the simplified model and TruckSim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity (CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the TruckSim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.

  8. Automated Formal Verification for PLC Control Systems

    CERN Multimedia

    Fernández Adiego, Borja

    2014-01-01

    Programmable Logic Controllers (PLCs) are widely used devices used in industrial control systems. Ensuring that the PLC software is compliant with its specification is a challenging task. Formal verification has become a recommended practice to ensure the correctness of the safety-critical software. However, these techniques are still not widely applied in industry due to the complexity of building formal models, which represent the system and the formalization of requirement specifications. We propose a general methodology to perform automated model checking of complex properties expressed in temporal logics (e.g. CTL, LTL) on PLC programs. This methodology is based on an Intermediate Model (IM), meant to transform PLC programs written in any of the languages described in the IEC 61131-3 standard (ST, IL, etc.) to different modeling languages of verification tools. This approach has been applied to CERN PLC programs validating the methodology.

  9. Using Automated Planning for Traffic Signals Control

    Directory of Open Access Journals (Sweden)

    Matija Gulić

    2016-08-01

    Full Text Available Solving traffic congestions represents a high priority issue in many big cities. Traditional traffic control systems are mainly based on pre-programmed, reactive and local techniques. This paper presents an autonomic system that uses automated planning techniques instead. These techniques are easily configurable and modified, and can reason about the future implications of actions that change the default traffic lights behaviour. The proposed implemented system includes some autonomic properties, since it monitors the current traffic state, detects if the system is degrading its performance, sets up new sets of goals to be achieved by the planner, triggers the planner that generates plans with control actions, and executes the selected courses of actions. The obtained results in several artificial and real world data-based simulation scenarios show that the proposed system can efficiently solve traffic congestion.

  10. InPRO: Automated Indoor Construction Progress Monitoring Using Unmanned Aerial Vehicles

    Science.gov (United States)

    Hamledari, Hesam

    In this research, an envisioned automated intelligent robotic solution for automated indoor data collection and inspection that employs a series of unmanned aerial vehicles (UAV), entitled "InPRO", is presented. InPRO consists of four stages, namely: 1) automated path planning; 2) autonomous UAV-based indoor inspection; 3) automated computer vision-based assessment of progress; and, 4) automated updating of 4D building information models (BIM). The works presented in this thesis address the third stage of InPRO. A series of computer vision-based methods that automate the assessment of construction progress using images captured at indoor sites are introduced. The proposed methods employ computer vision and machine learning techniques to detect the components of under-construction indoor partitions. In particular, framing (studs), insulation, electrical outlets, and different states of drywall sheets (installing, plastering, and painting) are automatically detected using digital images. High accuracy rates, real-time performance, and operation without a priori information are indicators of the methods' promising performance.

  11. Robotic Automation in Computer Controlled Polishing

    Science.gov (United States)

    Walker, D. D.; Yu, G.; Bibby, M.; Dunn, C.; Li, H.; Wu, Y.; Zheng, X.; Zhang, P.

    2016-02-01

    We first present a Case Study - the manufacture of 1.4 m prototype mirror-segments for the European Extremely Large Telescope, undertaken by the National Facility for Ultra Precision Surfaces, at the OpTIC facility operated by Glyndwr University. Scale-up to serial-manufacture demands delivery of a 1.4 m off-axis aspheric hexagonal segment with surface precision robots and computer numerically controlled ('CNC') polishing machines for optical fabrication. The objective was not to assess which is superior. Rather, it was to understand for the first time their complementary properties, leading us to operate them together as a unit, integrated in hardware and software. Three key areas are reported. First is the novel use of robots to automate currently-manual operations on CNC polishing machines, to improve work-throughput, mitigate risk of damage to parts, and reduce dependence on highly-skilled staff. Second is the use of robots to pre-process surfaces prior to CNC polishing, to reduce total process time. The third draws the threads together, describing our vision of the automated manufacturing cell, where the operator interacts at cell rather than machine level. This promises to deliver a step-change in end-to-end manufacturing times and costs, compared with either platform used on its own or, indeed, the state-of-the-art used elsewhere.

  12. Multi-Vehicle Cooperative Control Research at the NASA Armstrong Flight Research Center, 2000-2014

    Science.gov (United States)

    Hanson, Curt

    2014-01-01

    A brief introductory overview of multi-vehicle cooperative control research conducted at the NASA Armstrong Flight Research Center from 2000 - 2014. Both flight research projects and paper studies are included. Since 2000, AFRC has been almost continuously pursuing research in the areas of formation flight for drag reduction and automated cooperative trajectories. An overview of results is given, including flight experiments done on the FA-18 and with the C-17. Other multi-vehicle cooperative research is discussed, including small UAV swarming projects and automated aerial refueling.

  13. Guidance and control for unmanned ground vehicles

    Science.gov (United States)

    Bateman, Peter J.

    1994-06-01

    Techniques for the guidance, control, and navigation of unmanned ground vehicles are described in terms of the communication bandwidth requirements for driving and control of a vehicle remote from the human operator. Modes of operation are conveniently classified as conventional teleoperation, supervisory control, and fully autonomous control. The fundamental problem of maintaining a robust non-line-of-sight communications link between the human controller and the remote vehicle is discussed, as this provides the impetus for greater autonomy in the control system and the greatest scope for innovation. While supervisory control still requires the man to be providing the primary navigational intelligence, fully autonomous operation requires that mission navigation is provided solely by on-board machine intelligence. Methods directed at achieving this performance are described using various active and passive sensing of the terrain for route navigation and obstacle detection. Emphasis is given to TV imagery and signal processing techniques for image understanding. Reference is made to the limitations of current microprocessor technology and suitable computer architectures. Some of the more recent control techniques involve the use of neural networks, fuzzy logic, and data fusion and these are discussed in the context of road following and cross country navigation. Examples of autonomous vehicle testbeds operated at various laboratories around the world are given.

  14. Congestion control in charging of electric vehicles

    CERN Document Server

    Carvalho, Rui; Gibbens, Richard; Kelly, Frank

    2015-01-01

    The increasing penetration of electric vehicles over the coming decades, taken together with the high cost to upgrade local distribution networks, and consumer demand for home charging, suggest that managing congestion on low voltage networks will be a crucial component of the electric vehicle revolution and the move away from fossil fuels in transportation. Here, we model the max-flow and proportional fairness protocols for the control of congestion caused by a fleet of vehicles charging on distribution networks. We analyse the inequality in the charging times as the vehicle arrival rate increases, and show that charging times are considerably more uneven in max-flow than in proportional fairness. We also analyse the onset of instability, and find that the critical arrival rate is indistinguishable between the two protocols.

  15. Moving mass trim control for aerospace vehicles

    Science.gov (United States)

    Robinett, R. D.; Rainwater, B. A.; Kerr, S. A.

    A moving mass trim controller increases the accuracy of axisymmetric, ballistic vehicles. The MMTC is different than other moving mass schemes because it generates an angle-of-attack (AOA) directly from the mass motion. The nonlinear equations of motion for a ballistic vehicle with one moving point mass are derived and provide the basis for a detailed simulation model. The full nonlinear equations are linearized to produce a set of linear, time-varying autopilot equations. These autopilot equations are analyzed and used to develop theoretical design tools for the creation of MMTC's for both fast and slow spinning vehicles. A fast spinning MMTC is designed for a generic artillery rocket that uses principal axis misalignment to generate trim AOA. A slow spinning is designed for a generic reentry vehicle that generates a trim AOA with a center of mass offset and aerodynamic drag. The performance of both MMTC's are evaluated with the detailed simulation.

  16. Automated Power Control for Virtualized Infrastructures

    Institute of Scientific and Technical Information of China (English)

    文雨; 王伟平; 郭莉; 孟丹

    2014-01-01

    Power control for virtualized environments has gained much attention recently. One of the ma jor challenges is keeping underlying infrastructure in reasonably low power states and achieving service-level objectives (SLOs) of upper applications as well. Existing solutions, however, cannot effectively tackle this problem for virtualized environments. In this paper, we propose an automated power control solution for such scenarios in hope of making some progress. The major advantage of our solution is being able to precisely control the CPU frequency levels of a physical environment and the CPU power allocations among virtual machines with respect to the SLOs of multiple applications. Based on control theory and online model estimation, our solution can adapt to the variations of application power demands. Additionally, our solution can simultaneously manage the CPU power control for all virtual machines according to their dependencies at either the application-level or the infrastructure-level. The experimental evaluation demonstrates that our solution outperforms three state-of-the-art methods in terms of achieving the application SLOs with low infrastructure power consumption.

  17. Compound control methodology for flight vehicles

    CERN Document Server

    Xia, Yuanqing

    2013-01-01

    “Compound Control Methodology for Flight Vehicles” focuses on new control methods for flight vehicles. In this monograph the concept of compound control is introduced. It is demonstrated that both Sliding Mode Control (SMC) and Active Disturbance Rejection Control (ADRC) have their own advantages and limitations, i.e., chattering of SMC and the observability of extended state observer (ESO), respectively. It is shown that compound control combines their advantages and improves the performance of the closed-loop systems. The book is self-contained, providing sufficient mathematical foundations for understanding the contents of each chapter. It will be of significant interest to scientists and engineers engaged in the field of flight vehicle control.

  18. Fully Mechanically Controlled Automated Electron Microscopic Tomography

    Science.gov (United States)

    Liu, Jinxin; Li, Hongchang; Zhang, Lei; Rames, Matthew; Zhang, Meng; Yu, Yadong; Peng, Bo; Celis, César Díaz; Xu, April; Zou, Qin; Yang, Xu; Chen, Xuefeng; Ren, Gang

    2016-07-01

    Knowledge of three-dimensional (3D) structures of each individual particles of asymmetric and flexible proteins is essential in understanding those proteins’ functions; but their structures are difficult to determine. Electron tomography (ET) provides a tool for imaging a single and unique biological object from a series of tilted angles, but it is challenging to image a single protein for three-dimensional (3D) reconstruction due to the imperfect mechanical control capability of the specimen goniometer under both a medium to high magnification (approximately 50,000–160,000×) and an optimized beam coherence condition. Here, we report a fully mechanical control method for automating ET data acquisition without using beam tilt/shift processes. This method could reduce the accumulation of beam tilt/shift that used to compensate the error from the mechanical control, but downgraded the beam coherence. Our method was developed by minimizing the error of the target object center during the tilting process through a closed-loop proportional-integral (PI) control algorithm. The validations by both negative staining (NS) and cryo-electron microscopy (cryo-EM) suggest that this method has a comparable capability to other ET methods in tracking target proteins while maintaining optimized beam coherence conditions for imaging.

  19. Multilayer Controller for Outdoor Vehicle

    DEFF Research Database (Denmark)

    Reske-Nielsen, Anders; Mejnertsen, Asbjørn; Andersen, Nils Axel

    2006-01-01

    A full software and hardware solution has been designed, implemented and tested for control of a small agricultural automatic tractor. The objective was to realise a user-friendly, multi-layer controller architecture for an outdoor platform. The collaborative research work was done as a part...

  20. Navigation, behaviors, and control modes in an autonomous vehicle

    Science.gov (United States)

    Byler, Eric A.

    1995-01-01

    An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

  1. OPTIMAL CONTROL APPLIED IN AUTOMATIC CLUTCH ENGAGEMENTS OF VEHICLES

    Institute of Scientific and Technical Information of China (English)

    Sun Chengshun; Zhang Jianwu

    2004-01-01

    Start-up working condition is the key to the research of optimal engagement of automatic clutch for AMT.In order to guarantee an ideal dynamic performance of the clutch engagement,an optimal controller is designed by considering throttle angle,engine speed,gear ratio,vehicle acceleration and road condition.The minimum value principle is also introduced to achieve an optimal dynamic performance of the nonlinear system compromised in friction plate wear and vehicle drive quality.The optimal trajectory of the clutch engagement can be described in the form of explicit and analytical expressions and characterized by the deterministic and accurate control strategy in stead of indeterministic and soft control techniques which need thousands of experiments.For validation of the controller,test work is carried out for the automated clutch engagements in a commercial car with an traditional mechanical transmission,a hydraulic actuator,a group of sensors and a portable computer system.It is shown through experiments that dynamic behaviors of the clutch engagement operated by the optimal control are more effective and efficient than those by fuzzy control.

  2. SIG: Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

    Science.gov (United States)

    Feary, Michael; Palanque, Philippe; Martinie, Célia; Tscheligi, Manfred

    2016-01-01

    This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects/systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

  3. Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

    Science.gov (United States)

    Feary, Michael S.; Palanque, Philippe Andre Rolan; Martinie, De Almeida; Tscheligi, Manfred

    2016-01-01

    This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault-tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

  4. Control design and implementation for a line tracker vehicle

    OpenAIRE

    Prats Martinho, Ivan Odair

    2016-01-01

    The aim of this project is to implement control algorithms in a line tracker vehicle. The vehicle should be built and controlled to track a path and the evaluation of the different control performances should be reported. The main goal of this work is to build a two-wheeled robot emulating a vehicle in a road. The aim of the overall project is to apply control techniques to different scenarios of communicated vehicles, such as: platooning, autonomous vehicles, overtaking maneuvers, automat...

  5. Anticipating behaviour in supervisory vehicle control

    NARCIS (Netherlands)

    Breda, L. van

    1999-01-01

    Vehicle control may be considered as a hierarchically structured set of functions. Plan conception and plan selection activities are performed in the navigation function, verification and adjustment of the short-term voyage progress are performed in the guidance function, and typical closed-loop con

  6. Automated sampling and control of gaseous simulations

    KAUST Repository

    Huang, Ruoguan

    2013-05-04

    In this work, we describe a method that automates the sampling and control of gaseous fluid simulations. Several recent approaches have provided techniques for artists to generate high-resolution simulations based on a low-resolution simulation. However, often in applications the overall flow in the low-resolution simulation that an animator observes and intends to preserve is composed of even lower frequencies than the low resolution itself. In such cases, attempting to match the low-resolution simulation precisely is unnecessarily restrictive. We propose a new sampling technique to efficiently capture the overall flow of a fluid simulation, at the scale of user\\'s choice, in such a way that the sampled information is sufficient to represent what is virtually perceived and no more. Thus, by applying control based on the sampled data, we ensure that in the resulting high-resolution simulation, the overall flow is matched to the low-resolution simulation and the fine details on the high resolution are preserved. The samples we obtain have both spatial and temporal continuity that allows smooth keyframe matching and direct manipulation of visible elements such as smoke density through temporal blending of samples. We demonstrate that a user can easily configure a simulation with our system to achieve desired results. © 2013 Springer-Verlag Berlin Heidelberg.

  7. Automated electric power management and control for Space Station Freedom

    Science.gov (United States)

    Dolce, James L.; Mellor, Pamela A.; Kish, James A.

    1990-01-01

    A comprehensive automation design is being developed for Space Station Freedom's electric power system. It strives to increase station productivity by applying expert systems and conventional algorithms to automate power system operation. An integrated approach to the power system command and control problem is defined and used to direct technology development in: diagnosis, security monitoring and analysis, battery management, and cooperative problem-solving for resource allocation. The prototype automated power system is developed using simulations and test-beds.

  8. 49 CFR 176.89 - Control of transport vehicles.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 2 2010-10-01 2010-10-01 false Control of transport vehicles. 176.89 Section 176... Special Requirements for Transport Vehicles Loaded With Hazardous Materials and Transported on Board Ferry Vessels § 176.89 Control of transport vehicles. (a) A transport vehicle containing hazardous materials...

  9. Retrofitting automated process control systems at Ukrainian power stations

    Energy Technology Data Exchange (ETDEWEB)

    B.E. Simkin; V.S. Naumchik; B.D. Kozitskii (and others) [OAO L' vovORGRES, Lviv (Ukraine)

    2008-04-15

    Approaches and principles for retrofitting automated process control systems at Ukrainian power stations are considered. The results obtained from retrofitting the monitoring and control system of Unit 9 at the Burshtyn thermal power station are described.

  10. Automated Model Generation for Hybrid Vehicles Optimization and Control Création automatique de modèles de composants pour l’optimisation et le contrôle de véhicules hybrides

    Directory of Open Access Journals (Sweden)

    Verdonck N.

    2010-01-01

    Full Text Available Systematic optimization of modern powertrains, and hybrids in particular, requires the representation of the system by means of Backward Quasistatic Models (BQM. In contrast, the models used in realistic powertrain simulators are often of the Forward Dynamic Model (FDM type. The paper presents a methodology to derive BQM’s of modern powertrain components, as parametric, steady-state limits of their FDM counterparts. The parametric nature of this procedure implies that changing the system modeled does not imply relaunching a simulation campaign, but only adjusting the corresponding parameters in the BQM. The approach is illustrated with examples concerning turbocharged engines, electric motors, and electrochemical batteries, and the influence of a change in parameters on the supervisory control of an hybrid vehicle is then studied offline, in co-simulation and on an HiL test bench adapted to hybrid vehicles (HyHiL. L’optimisation de l’utilisation des groupes moto-propulseurs (GMP modernes nécessite de modéliser le système de manière quasi-statique avec une logique inverse (“Backward Quasistatic Model” – BQM, en particulier dans le cas des GMP hybrides. Cependant, les modèles utilisés pour la simulation réaliste de ces GMP sont souvent dynamiques à logique directe (“Forward Dynamic Model” – FDM. Cet article présente une méthodologie pour obtenir les BQM des composants de GMP actuels directement issus de la limite quasi-statique des FDM correspondants de manière analytique. Grâce à l’aspect paramétrique de cette procédure, il n’est pas nécessaire de relancer une campagne de simulations après chaque changement du système modélisé: il suffit de modifier les paramètres correspondants dans le BQM. Cette approche est illustrée par trois cas d’étude (moteur turbo, moteur électrique et batterie, et l’effet d’un changement de paramètre sur le contrôle de supervision d’un véhicule hybride est

  11. 77 FR 30765 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for Heavy Vehicles

    Science.gov (United States)

    2012-05-23

    ... CFR Part 571 Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for Heavy... 571 RIN 2127-AK97 Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for... a new Federal Motor Vehicle Safety Standard No. 136 to require electronic stability control...

  12. 75 FR 77664 - Honeywell International, Inc., Automation and Control Solutions Division, Including On-Site...

    Science.gov (United States)

    2010-12-13

    ... Employment and Training Administration Honeywell International, Inc., Automation and Control Solutions... of Honeywell International, Inc., Automation and Control Solutions Division, Rock Island, Illinois... International, Inc., Automation and Control Solutions Division. The Department has determined that these...

  13. 76 FR 81986 - Honeywell International, Inc., Automation and Control Solutions Division, Including On-Site...

    Science.gov (United States)

    2011-12-29

    ... Employment and Training Administration Honeywell International, Inc., Automation and Control Solutions... Assistance on July 30, 2010, applicable to workers of Honeywell International, Inc., Automation and Control... location of Honeywell International, Inc., Automation and Control Solutions Division. The Department...

  14. Simulation of a Production Line with Automated Guided Vehicle: A Case Study

    Directory of Open Access Journals (Sweden)

    Luiz Felipe Verpa Leite

    2015-06-01

    Full Text Available Currently, companies have increasingly needed to improve and develop their processes to flexible the production in order to reduce waiting times and increase productivity through smaller time intervals. To achieve these objectives, efficient and automated transport and handling material systems are required. Therefore, the AGV systems (Automated Guided Vehicle are often used to optimize the flow of materials within the production systems. In this paper, the author evaluates the usage of an AGV system in an industrial environment and analyzes the advantages, disadvantages of the project. Furthermore, the author uses the systems simulation software Promodel® 7.0 to develop a model, based on data collected from real production system, in order to analyze and optimize the use of AGVs. Throughout this paper, problems are identified as well as solution adopted by the author and the results obtained from the simulations.

  15. Development of an automated Red Light Violation Detection System (RLVDS) for Indian vehicles

    CERN Document Server

    Saha, Satadal; Nasipuri, Mita; Basu, Dipak Kumar

    2010-01-01

    Integrated Traffic Management Systems (ITMS) are now implemented in different cities in India to primarily address the concerns of road-safety and security. An automated Red Light Violation Detection System (RLVDS) is an integral part of the ITMS. In our present work we have designed and developed a complete system for generating the list of all stop-line violating vehicle images automatically from video snapshots of road-side surveillance cameras. The system first generates adaptive background images for each camera view, subtracts captured images from the corresponding background images and analyses potential occlusions over the stop-line in a traffic signal. Considering round-the-clock operations in a real-life test environment, the developed system could successfully track 92% images of vehicles with violations on the stop-line in a "Red" traffic signal.

  16. Selection of Filtration Methods in the Analysis of Motion of Automated Guided Vehicle

    Directory of Open Access Journals (Sweden)

    Dobrzańska Magdalena

    2016-08-01

    Full Text Available In this article the issues related to mapping the route and error correction in automated guided vehicle (AGV movement have been discussed. The nature and size of disruption have been determined using the registered runs in experimental studies. On the basis of the analysis a number of numerical runs have been generated, which mapped possible to obtain runs in a real movement of the vehicle. The obtained data set has been used for further research. The aim of this paper was to test the selected methods of digital filtering on the same data set and determine their effectiveness. The results of simulation studies have been presented in the article. The effectiveness of various methods has been determined and on this basis the conclusions have been drawn.

  17. Functional safety for road vehicles new challenges and solutions for e-mobility and automated driving

    CERN Document Server

    Ross, Hans-Leo

    2016-01-01

    This book highlights the current challenges for engineers involved in product development and the associated changes in procedure they make necessary. Methods for systematically analyzing the requirements for safety and security mechanisms are described using examples of how they are implemented in software and hardware, and how their effectiveness can be demonstrated in terms of functional and design safety are discussed. Given today’s new E-mobility and automated driving approaches, new challenges are arising and further issues concerning “Road Vehicle Safety” and “Road Traffic Safety” have to be resolved. To address the growing complexity of vehicle functions, as well as the increasing need to accommodate interdisciplinary project teams, previous development approaches now have to be reconsidered, and system engineering approaches and proven management systems need to be supplemented or wholly redefined. The book presents a continuous system development process, starting with the basic requiremen...

  18. Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

    Directory of Open Access Journals (Sweden)

    Muzaffer Metin

    2014-01-01

    Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.

  19. COMPOSITIVE EMISSION CONTROL SYSTEM OF GASOLINE VEHICLE

    Institute of Scientific and Technical Information of China (English)

    CAI Ruibin; CHEN Zijian

    2006-01-01

    The working principle of a kind of compositive emission control system is inquired into,which includes exhaust heater, secondary air supplement, exhaust gas recirculation (EGR), thermal reactor and catalytic converter, etc. The purification effect of CO, HC and NOx emission of the gasoline spark ignite (S.I.) engine is studied. The entire vehicle driving cycle tests based on the national emission standard and a series of the gasoline engine-testing bench tests including full load characteristic experiment, load characteristic experiment and idle speed experiment are done. The results show that the system has a very good emission control effect to CO, HC and NOx of gasoline engine. The construction of the system is very simple and can be mounted on the exhaust pipe conveniently without any alteration of the vehicle-use gasoline engine.

  20. Orbital maneuvering vehicle guidance, navigation and control

    Science.gov (United States)

    Huber, W. G.; Finnell, W., III

    1985-01-01

    This paper describes the Orbital Maneuvering Vehicle (OMV) concept and its intended role. It recaps the past activities leading up to the current concept and summarizes the present status and plans. The various types of missions and operating modes required by the OMV are described as the basis of the guidance, navigation and control (GN&C) requirements. The general GN&C problem is outlined with potential hardware solutions.

  1. Fuzzylot: a novel self-organising fuzzy-neural rule-based pilot system for automated vehicles.

    Science.gov (United States)

    Pasquier, M; Quek, C; Toh, M

    2001-10-01

    This paper presents part of our research work concerned with the realisation of an Intelligent Vehicle and the technologies required for its routing, navigation, and control. An automated driver prototype has been developed using a self-organising fuzzy rule-based system (POPFNN-CRI(S)) to model and subsequently emulate human driving expertise. The ability of fuzzy logic to represent vague information using linguistic variables makes it a powerful tool to develop rule-based control systems when an exact working model is not available, as is the case of any vehicle-driving task. Designing a fuzzy system, however, is a complex endeavour, due to the need to define the variables and their associated fuzzy sets, and determine a suitable rule base. Many efforts have thus been devoted to automating this process, yielding the development of learning and optimisation techniques. One of them is the family of POP-FNNs, or Pseudo-Outer Product Fuzzy Neural Networks (TVR, AARS(S), AARS(NS), CRI, Yager). These generic self-organising neural networks developed at the Intelligent Systems Laboratory (ISL/NTU) are based on formal fuzzy mathematical theory and are able to objectively extract a fuzzy rule base from training data. In this application, a driving simulator has been developed, that integrates a detailed model of the car dynamics, complete with engine characteristics and environmental parameters, and an OpenGL-based 3D-simulation interface coupled with driving wheel and accelerator/ brake pedals. The simulator has been used on various road scenarios to record from a human pilot driving data consisting of steering and speed control actions associated to road features. Specifically, the POPFNN-CRI(S) system is used to cluster the data and extract a fuzzy rule base modelling the human driving behaviour. Finally, the effectiveness of the generated rule base has been validated using the simulator in autopilot mode.

  2. Adaptive control of an unmanned aerial vehicle

    Science.gov (United States)

    Nguen, V. F.; Putov, A. V.; Nguen, T. T.

    2017-01-01

    The paper deals with design and comparison of adaptive control systems based on plant state vector and output for unmanned aerial vehicle (UAV) with nonlinearity and uncertainty of parameters of the aircraft incomplete measurability of its state and presence of wind disturbances. The results of computer simulations of flight stabilization processes on the example of the experimental model UAV-70V (Aerospace Academy, Hanoi) with presence of periodic and non-periodic vertical wind disturbances with designed adaptive control systems based on plant state vector with state observer and plant output.

  3. Automated Quality Control for Ortholmages and DEMs

    DEFF Research Database (Denmark)

    Höhle, Joachim; Potucková, Marketa

    2005-01-01

    The checking of geometric accurancy of orthoimages and digital elevation models (DEMs) is discussed. As a reference, an existing orthoimage and a second orthoimage derived from an overlapping aerial image, are used. The proposed automated procedures for checking the orthoimages and DEMs are based...

  4. CityMobil : Human factor issues regarding highly automated vehicles on eLane

    NARCIS (Netherlands)

    Toffetti, A.; Wilschut, E.S.; Martens, M.H.; Schieben, A.; Rambaldini, A.; Merat, N.; Flemisch, F.

    2009-01-01

    There are several human factor concerns with highly autonomous or semiautonomous driving, such as transition of control, loss of skill, and dealing with automated system errors. Four CityMobil experiments studied the eLane concept for dual-mode cars, and the results of one are described. The open eL

  5. Different control applications on a vehicle using fuzzy logic control

    Indian Academy of Sciences (India)

    Nurkan Yagiz; L Emir Sakman; Rahmi Guclu

    2008-02-01

    In this paper, the active suspension control of a vehicle model that has five degrees of freedom with a passenger seat using a fuzzy logic controller is studied. Three cases are taken into account as different control applications. In the first case, the vehicle model having passive suspensions with an active passenger seat is controlled. In the second case, active suspensions with passive passenger seat combination are controlled. In the third case, both the passenger seat and suspensions have active controllers. Vibrations of the passenger seat in the three cases due to road bump input are simulated. At the end of the study, the results are compared in order to select the combination that supplies the best ride comfort.

  6. Traffic control and intelligent vehicle highway systems: a survey

    NARCIS (Netherlands)

    Baskar, L.D.; Schutter, B. de; Hellendoorn, J.; Papp, Z.

    2011-01-01

    Traffic congestion in highway networks is one of the main issues to be addressed by today's traffic management schemes. Automation combined with the increasing market penetration of on-line communication, navigation and advanced driver assistance systems will ultimately result in intelligent vehicle

  7. Route selection for vehicle navigation and control

    OpenAIRE

    G. Pang; Chu, MH

    2007-01-01

    This paper presents an application of neural-fuzzy methodology for the problem of route selection in a typical vehicle navigation and control system. The idea of the primary attributes of a route is discussed, and a neural-fuzzy system is developed to help a user to select a route out of the many possible routes from an origin to the destination. The user may not adopt the recommendation provided by the system and choose an alternate route. One novel feature of the system is that the neural-f...

  8. Automotive Control Systems: For Engine, Driveline, and Vehicle

    Science.gov (United States)

    Kiencke, Uwe; Nielsen, Lars

    Advances in automotive control systems continue to enhance safety and comfort and to reduce fuel consumption and emissions. Reflecting the trend to optimization through integrative approaches for engine, driveline, and vehicle control, this valuable book enables control engineers to understand engine and vehicle models necessary for controller design, and also introduces mechanical engineers to vehicle-specific signal processing and automatic control. The emphasis on measurement, comparisons between performance and modeling, and realistic examples derive from the authors' unique industrial experience

  9. Internal Control, Auditing, and the Automated Acquisitions System.

    Science.gov (United States)

    Hawks, Carol Pitts

    1990-01-01

    Discusses issues and procedures involved in auditing the automated acquisitions system at Ohio State University Libraries. The audit process is explained, internal controls within the system are identified, general control mechanisms such as limited electronic access are discussed, and application control mechanisms that relate to specific…

  10. Resonant mode controllers for launch vehicle applications

    Science.gov (United States)

    Schreiner, Ken E.; Roth, Mary Ellen

    Electro-mechanical actuator (EMA) systems are currently being investigated for the National Launch System (NLS) as a replacement for hydraulic actuators due to the large amount of manpower and support hardware required to maintain the hydraulic systems. EMA systems in weight sensitive applications, such as launch vehicles, have been limited to around 5 hp due to system size, controller efficiency, thermal management, and battery size. Presented here are design and test data for an EMA system that competes favorably in weight and is superior in maintainability to the hydraulic system. An EMA system uses dc power provided by a high energy density bipolar lithium thionyl chloride battery, with power conversion performed by low loss resonant topologies, and a high efficiency induction motor controlled with a high performance field oriented controller to drive a linear actuator.

  11. Automation and control of the MMT thermal system

    Science.gov (United States)

    Gibson, J. D.; Porter, Dallan; Goble, William

    2016-07-01

    This study investigates the software automation and control framework for the MMT thermal system. Thermal-related effects on observing and telescope behavior have been considered during the entire software development process. Regression analysis of telescope and observatory subsystem data is used to characterize and model these thermal-related effects. The regression models help predict expected changes in focus and overall astronomical seeing that result from temperature variations within the telescope structure, within the primary mirror glass, and between the primary mirror glass and adjacent air (i.e., mirror seeing). This discussion is followed by a description of ongoing upgrades to the heating, ventilation and air conditioning (HVAC) system and the associated software controls. The improvements of the MMT thermal system have two objectives: 1) to provide air conditioning capabilities for the MMT facilities, and 2) to modernize and enhance the primary mirror (M1) ventilation system. The HVAC upgrade necessitates changes to the automation and control of the M1 ventilation system. The revised control system must factor in the additional requirements of the HVAC system, while still optimizing performance of the M1 ventilation system and the M1's optical behavior. An industry-standard HVAC communication and networking protocol, BACnet (Building Automation and Control network), has been adopted. Integration of the BACnet protocol into the existing software framework at the MMT is discussed. Performance of the existing automated system is evaluated and a preliminary upgraded automated control system is presented. Finally, user interfaces to the new HVAC system are discussed.

  12. Performance evaluation and design of flight vehicle control systems

    CERN Document Server

    Falangas, Eric T

    2015-01-01

    This book will help students, control engineers and flight dynamics analysts to model and conduct sophisticated and systemic analyses of early flight vehicle designs controlled with multiple types of effectors and to design and evaluate new vehicle concepts in terms of satisfying mission and performance goals. Performance Evaluation and Design of Flight Vehicle Control Systems begins by creating a dynamic model of a generic flight vehicle that includes a range of elements from airplanes and launch vehicles to re-entry vehicles and spacecraft. The models may include dynamic effects dealing with structural flexibility, as well as dynamic coupling between structures and actuators, propellant sloshing, and aeroelasticity, and they are typically used for control analysis and design. The book shows how to efficiently combine different types of effectors together, such as aero-surfaces, TVC, throttling engines and RCS, to operate as a system by developing a mixing logic atrix. Methods of trimming a vehicle controll...

  13. Evolutionary approaches for scheduling a flexible manufacturing system with automated guided vehicles and robots

    Directory of Open Access Journals (Sweden)

    Ramaraj Natarajan

    2012-08-01

    Full Text Available This paper addresses the scheduling of machines, an Automated Guided Vehicle (AGV and two robots in a Flexible Manufacturing System (FMS formed in three loop layouts, with objectives to minimize the makespan, mean flow time and mean tardiness. The scheduling optimization is carried out using Sheep Flock Heredity Algorithm (SFHA and Artificial Immune System (AIS algorithm. AGV is used for carrying jobs between the Load/Unload station and the machines. The robots are used for loading and unloading the jobs in the machines, and also used for transferring jobs between the machines. The algorithms are applied for test problems taken from the literature and the results obtained using the two algorithms are compared. The results indicate that SFHA performs better than AIS for this problem.

  14. Simulation of the PEM fuel cell hybrid power train of an automated guided vehicle and comparison with experimental results

    NARCIS (Netherlands)

    Veenhuizen, Bram; Bosma, J.C.N.

    2009-01-01

    At HAN University research has been started into the development of a PEM fuel cell hybrid power train to be used in an automated guided vehicle. For this purpose a test facility is used with the possibility to test all important functional aspects of a PEM fuel cell hybrid power train. In this pape

  15. Samen werken aan Automatische VoertuigGeleiding: aanzet tot een businessplan [Working together on Automated Vehicle Guidance; Preliminary business plan

    NARCIS (Netherlands)

    Coemet, M.J.; Vos, A.P. de; Arem, B. van; Brookhuis, K.A.; Heijer, T.; Marchau, V.A.W.J.

    1998-01-01

    Automated Vehicle Guidance (AVG) systems are expected to have a major impact on traffic and transport. In order to reap the benefits and offset or avoid the disadvantages of AVG, correct and timely choices will have to be made. The Ministry of Transport, Public Works and Water Manage-ment, the Unive

  16. Controlling Unmanned Vehicles : the Human Factors Solution

    NARCIS (Netherlands)

    Erp, J.B.F. van

    2000-01-01

    Recent developments and experiences have proven the usefulness and potential of Unmanned Vehicles (UVs). Emerging technologies enable new missions, broadening the applicability of UVs from simple remote spies towards unmanned combat vehicles carrying lethal weapons. However, despite the emerging tec

  17. Transition of Control: automation giving back control to the driver

    NARCIS (Netherlands)

    Willemsen, D.M.C.; Stuiver, A.; Hogema, J.

    2014-01-01

    The automotive domain is currently moving towards automated driver assistance applications, like automatic evasive maneuvers to avoid accidents, and even beyond assistance towards automated driving. However, in the near future these systems will only be active under certain conditions, thus still re

  18. Transition of Control : Automation Giving Back Control to the Driver

    NARCIS (Netherlands)

    Ahram, T; Karwowski, W; Marek, T; Willemsen, D; Stuiver, A; Hogema, J

    2014-01-01

    The automotive domain is currently moving towards automated driver assistance applications, like automatic evasive maneuvers to avoid accidents, and even beyond assistance towards automated driving. However, in the near future these systems will only be active under certain conditions, thus still re

  19. Electronic Control of Unguided Airborne Vehicle (UAV

    Directory of Open Access Journals (Sweden)

    Mohammed Ahmed Mohammed

    2015-02-01

    Full Text Available The paper deals with building an electronic remote control circuit for Unguided Airborne Vehicle (UAV based on implementing Dual Tone Multiple Frequency decoder ( DTMF .A microcontroller is used in the design to analyze and execute the commands arriving to the UAV . A Liquid Crystal Display (LCD is implemented to show the results during the circuit development and test phase. The control of the UAV is done from the ground using a mobile or a personnel computer (PC supplied with a modem. The DTMF decoder output is connected to the microcontroller which analyzes the commands and accordingly execute them on the control parts in the UAV . The microcontroller issues orders and display the operations on the LCD . The circuit design assumes the presence of an operating GSM network for the transmission of the control commands .The airborne platform model is a small aircraft carrying the electronic circuit on board. Three stepper motors are used as a means of control to the wings, elevators and rudders in the UAV. .The electronic circuit on board the UAV is well protected to ensue safety of the hardware and perfect performance.

  20. Levels of automation and user control - evaluation of a turbine automation interface

    Energy Technology Data Exchange (ETDEWEB)

    Andersson, Jonas (Chalmers Univ. of Technology (Sweden))

    2008-10-15

    The study was performed during the annual operator training at the Studsvik nuclear power plant simulator facility in Nykoeping, Sweden. The participating operators came from the Oskarshamn 3 nuclear power plant. In the study, seven nuclear power plant turbine operators were interviewed concerning their use of the automatic turbine system. A field study approach together with a heuristic usability evaluation was made to assess how the operators are affected by use of automation in the control room setting. The purpose of the study was to examine how operator performance is affected by varying levels of automation in nuclear power plant turbine operation. The Automatic Turbine System (ATS) was evaluated to clarify how the ATS interface design supports the operators work. The results show that during manual control the operators experience loss of speed and accuracy in performing actions together with difficulty of dividing attention between performing a task and overall monitoring, as the major problems. The positive aspects of manual operations lie in increased feeling of being in control when performing actions by hand. With higher levels of automation the problems shift to issues concerning difficulty of following the automatic sequences and loosing track in procedures. As the level of automation gets higher, the need of feedback increases which means that information presentation also becomes more important. The use of the semiautomatic, step-mode is often preferred by the operators since it combines the speed and accuracy of the automation with the ability of maintaining the feeling of being in control. Further, a number of usability related concerns was found in the ATS interface. The operators especially experience the presentation of the conditions that manage the automatic sequences as difficult to perceive. (author)

  1. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  2. Topics in Guided Motion Control of Marine Vehicles

    OpenAIRE

    Breivik, Morten

    2010-01-01

    A mix between a monograph and an article collection, this PhD thesis considers the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles. The motion control scheme is defined to involve the combination of a guidance system which issues meaningful velocity commands with a velocity control system which has been specifically designed to take vehicle maneuverability and agility constraints into account when fulfilling these commands ...

  3. Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

    Science.gov (United States)

    Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

    1998-08-01

    A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

  4. Hierarchical Model Predictive Control for Sustainable Building Automation

    Directory of Open Access Journals (Sweden)

    Barbara Mayer

    2017-02-01

    Full Text Available A hierarchicalmodel predictive controller (HMPC is proposed for flexible and sustainable building automation. The implications of a building automation system for sustainability are defined, and model predictive control is introduced as an ideal tool to cover all requirements. The HMPC is presented as a development suitable for the optimization of modern buildings, as well as retrofitting. The performance and flexibility of the HMPC is demonstrated by simulation studies of a modern office building, and the perfect interaction with future smart grids is shown.

  5. Using the lead vehicle as preview sensor in convoy vehicle active suspension control

    Science.gov (United States)

    Rahman, Mustafizur; Rideout, Geoff

    2012-12-01

    Both ride quality and roadholding of actively suspended vehicles can be improved by sensing the road ahead of the vehicle and using this information in a preview controller. Previous applications have used look-ahead sensors mounted on the front bumper to measure terrain beneath. Such sensors are vulnerable, potentially confused by water, snow, or other soft obstacles and offer a fixed preview time. For convoy vehicle applications, this paper proposes using the overall response of the preceding vehicle(s) to generate preview controller information for follower vehicles. A robust observer is used to estimate the states of a quarter-car vehicle model, from which road profile is estimated and passed on to the follower vehicle(s) to generate a preview function. The preview-active suspension, implemented in discrete time using a shift register approach to improve simulation time, reduces sprung mass acceleration and dynamic tyre deflection peaks by more than 50% and 40%, respectively. Terrain can change from one vehicle to the next if a loose obstacle is dislodged, or if the vehicle paths are sufficiently different so that one vehicle misses a discrete road event. The resulting spurious preview information can give suspension performance worse than that of a passive or conventional active system. In this paper, each vehicle can effectively estimate the road profile based on its own state trajectory. By comparing its own road estimate with the preview information, preview errors can be detected and suspension control quickly switched from preview to conventional active control to preserve performance improvements compared to passive suspensions.

  6. Computational Modeling of Flow Control Systems for Aerospace Vehicles Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Clear Science Corp. proposes to develop computational methods for designing active flow control systems on aerospace vehicles with the primary objective of...

  7. Automation and remote control at Mining 85 in Birmingham

    Energy Technology Data Exchange (ETDEWEB)

    Czauderna, N.

    1985-09-12

    Looking round the exhibition showed that more and more manufacturers and users take advantage of the new measuring, control and regulatory techniques with economic profit. Process computers and micro-computers make a general use of these techniques possible. The backbone of all automation systems is data transmission between widely distributed stations on individual machines. Here, too, it was clear that in mining multiple data transmission on the basis of highly integrated components and own microprocessors is occupying an ever more prominent place in communication techniques. BUS systems are more and more in evidence and already installed in some plants. For the purpose of this report and ease of reference to the large field automation and remote control at Minig 85 the products have been grouped under sensor, transmission and automation technologies. (orig./MOS).

  8. A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

    Institute of Scientific and Technical Information of China (English)

    Jiang-Tao Cao; Hong-Hai Liu; Ping Li; David J.Brown; Georgi Dimirovski

    2007-01-01

    An improved half-vehicle model has been proposed for active suspension control systems, in contrast to existing models, it allows to explore the nature of the effect of vehicle speed changes by introducing a state vector of vehicle pitch angle. Three control strategies of linear quadratic control (LQ), improved LQ (ILQ) and wheelbase preview LQ (WLQ) have been implemented into the proposed model. ILQ has integrated an additional control parameter into LQ by concerning the correlation between acceleration values and their corresponding pitch angles. Simulation results have showed the effectiveness of the proposed model in terms of LQ, ILQ and WLQ control strategies.

  9. Multiple-Vehicle Longitudinal Collision Mitigation by Coordinated Brake Control

    Directory of Open Access Journals (Sweden)

    Xiao-Yun Lu

    2014-01-01

    Full Text Available Rear-end collision often leads to serious casualties and traffic congestion. The consequences are even worse for multiple-vehicle collision. Many previous works focused on collision warning and avoidance strategies of two consecutive vehicles based on onboard sensor detection only. This paper proposes a centralized control strategy for multiple vehicles to minimize the impact of multiple-vehicle collision based on vehicle-to-vehicle communication technique. The system is defined as a coupled group of vehicles with wireless communication capability and short following distances. The safety relationship can be represented as lower bound limit on deceleration of the first vehicle and upper bound on maximum deceleration of the last vehicle. The objective is to determine the desired deceleration for each vehicle such that the total impact energy is minimized at each time step. The impact energy is defined as the relative kinetic energy between a consecutive pair of vehicles (approaching only. Model predictive control (MPC framework is used to formulate the problem to be constrained quadratic programming. Simulations show its effectiveness on collision mitigation. The developed algorithm has the potential to be used for progressive market penetration of connected vehicles in practice.

  10. Control of AWD System for Vehicle Performance and Safety

    Directory of Open Access Journals (Sweden)

    Jung Hojin

    2016-01-01

    Full Text Available AWD (All-Wheel Drive system transfers drive force to all wheels so that it can help vehicle escape low mu surface or climb hill more conveniently. Recently, AWD system for on road vehicle has become popular to improve vehicle driving performance. However, there has not been enough research of applying AWD system for vehicle stability especially for lateral movement. Compared with ESC (Electronic Stability Control, AWD system does not cause any inconveniences to the driver because it controls vehicle only by distributing front and rear drive torque, without using brake. By allowing slipping/locking of wet clutch inside the transfer case, AWD system can distribute different amount of torque between front and rear axle. This paper introduces modelling of AWD system and suggests the control of AWD system based on peak slip ratio and slip angle at which tyre saturates. Carsim based vehicle simulation results of AWD controller is presented.

  11. Design of a digital adaptive control system for reentry vehicles.

    Science.gov (United States)

    Picon-Jimenez, J. L.; Montgomery, R. C.; Grigsby, L. L.

    1972-01-01

    The flying qualities of atmospheric reentry vehicles experience considerable variations due to the wide changes in flight conditions characteristic of reentry trajectories. A digital adaptive control system has been designed to modify the vehicle's dynamic characteristics and to provide desired flying qualities for all flight conditions. This adaptive control system consists of a finite-memory identifier which determines the vehicle's unknown parameters, and a gain computer which calculates feedback gains to satisfy flying quality requirements.

  12. Automated Model Fit Method for Diesel Engine Control Development

    NARCIS (Netherlands)

    Seykens, X.; Willems, F.P.T.; Kuijpers, B.; Rietjens, C.

    2014-01-01

    This paper presents an automated fit for a control-oriented physics-based diesel engine combustion model. This method is based on the combination of a dedicated measurement procedure and structured approach to fit the required combustion model parameters. Only a data set is required that is consider

  13. ANDROID BASED REMOTE CONTROLLER FOR HOME AND OFFICE AUTOMATION

    OpenAIRE

    Navaneethakrishnan .V.M*; Navaneeda Krishnan .K; Michel .P; Velmurugan R

    2016-01-01

    In this paper, as the world gets more and more technologically advanced, we find new technology coming in deeper and deeper into our personal lives even at home. Home automation is becoming more popular around the world and is becoming a common practice. This Paper presents the overall design of Home Automation System (HAS) with low cost and wireless remote control. This system is designed to assist and provide support in order to fulfill the needs of elderly and disabled in home. Also, the s...

  14. Structure and Control Strategies of Fuel Cell Vehicle

    Institute of Scientific and Technical Information of China (English)

    宋建国; 张承宁; 孙逢春; 钟秋海

    2004-01-01

    The structure and kinds of the fuel cell vehicle (FCV) and the mathematical model of the fuel cell processor are discussed in detail. FCV includes many parts: the fuel cell thermal and water management, fuel supply, air supply and distribution, AC motor drive, main and auxiliary power management, and overall vehicle control system. So it requires different kinds of control strategies, such as the PID method, zero-pole method, optimal control method, fuzzy control and neural network control. Along with the progress of control method, the fuel cell vehicle's stability and reliability is up-and-up. Experiment results show FCV has high energy efficiency.

  15. Mission analysis and guidance, navigation, and control design for rendezvous and docking phase of advanced reentry vehicle mission

    Science.gov (United States)

    Strippoli, L.; Colmenarejo, P.; Strauch, H.

    2013-12-01

    Advanced Reentry Vehicle (ARV) belongs to the family of vehicles designed to perform rendezvous and docking (RvD) with the International space station (ISS) [1]. Differently from its predecessor ATV (Automated Transfer Vehicle), the ARV will transport a reentry capsule, equipped with a heatshield and able to bring back cargo, experiments, or, as a possible future development, even crew, being this latter scenario very attracting in view of the Space Shuttle retirement. GMV, as subcontractor of EADS-Astrium Germany, is in charge of the RvD and departure mission analysis and GNC (Guidance, Navigation, and Control) design of ARV mission. This paper will present the main outcomes of the study.

  16. Predictive cruise control in hybrid electric vehicles

    NARCIS (Netherlands)

    Keulen, T. van; Naus, M.J.G.; Jager, B. de; Molengraft, G.J.L. van de; Steinbuch, M.; Aneke, N.P.I.

    2009-01-01

    Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To suppor

  17. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.

    2008-01-01

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  18. Intelligent control and automation technology for nuclear application

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae Hee; Eom, Heung Sub; Kim, Ko Ryu; Lee, Jae Cheol; Choi, You Rak; Lee, Soo Cheol [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1996-06-01

    Using recent technologies on a mobile robot and computer science, we developed an automatic inspection system for weld lines of the reactor pressure vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new inspection automation system using a small mobile robot crawling on the vertical wall. According to the conceptual design studied in the first year, we developed the inspection automation system including an underwater inspection robot, a laser position control subsystem and a main control subsystem. And we carried out underwater experiments on the reactor vessel mockup. After finishing this project successfully, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 5 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants. 4 tabs., 37 figs., 6 refs. (Author).

  19. Preview control of vehicle suspension system featuring MR shock absorber

    Science.gov (United States)

    Seong, M. S.; Choi, S. B.; Cho, M. W.; Lee, H. G.

    2009-02-01

    This paper presents control performance evaluation of optimal preview control algorithm for vehicle suspension featuring MR shock absorber. The optimal preview control algorithm has several advantages such as high control performance over that which is best for a non-preview system. In order to achieve this goal, a commercial MR shock absorber, Delphi MganerideTM, which is applicable to high class passenger vehicle, is adopted and its field-dependent damping force and dynamic responses are experimentally evaluated. Then the governing equation of motion for the full-vehicle model is established and integrated with the MR shock absorber. Subsequently, optimal controller with preview control algorithm is formulated and implemented for vibration suppression of the car body. Control performance of the preview controller is evaluated for the full-vehicle model under random road condition. In addition, the control performances depending on preview distances are evaluated.

  20. Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

    Science.gov (United States)

    Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

    2005-06-01

    For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

  1. Improved LTVMPC design for steering control of autonomous vehicle

    Science.gov (United States)

    Velhal, Shridhar; Thomas, Susy

    2017-01-01

    An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.

  2. Air Traffic Control automation: for humans or people?

    OpenAIRE

    Brooker, Peter

    2005-01-01

    Are air traffic controllers humans or people? At first sight, this seems a very odd question, given that ‘humans’ and ‘people’ are near-synonyms in the dictionary and everyday usage. However, in research on air traffic control (ATC) automation the phrase ‘human-centred’ is used to mean particular aspects of people: for example, it does not usually address their motivations for embracing change or cover organisational behaviour issues. The objective here is to try to understa...

  3. 78 FR 20881 - Control of Air Pollution From Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards...

    Science.gov (United States)

    2013-04-08

    ... AGENCY 40 CFR Part 80 RIN 2060-AQ86 Control of Air Pollution From Motor Vehicles: Tier 3 Motor Vehicle... hearings to be held for the proposed rule ``Control of Air Pollution from Motor Vehicles: Tier 3 Motor... 2017, as part of a systems approach to addressing the impacts of motor vehicles and fuels on...

  4. Design of Launch Vehicle Flight Control Systems Using Ascent Vehicle Stability Analysis Tool

    Science.gov (United States)

    Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedossian, Nazareth; Hall, Charles; Jackson, Mark

    2011-01-01

    A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. "Tower Clearance" and "Load Relief" designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

  5. Automated safety control by video cameras

    NARCIS (Netherlands)

    Lefter, I.; Rothkrantz, L.; Somhorst, M.

    2012-01-01

    At this moment many surveillance systems are installed in public domains to control the safety of people and properties. They are constantly watched by human operators who are easily overloaded. To support the human operators, a surveillance system model is designed that detects suspicious behaviour

  6. Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization

    Directory of Open Access Journals (Sweden)

    Sang Won Yoon

    2015-01-01

    Full Text Available The Mecanum automated guided vehicle (AGV, which can move in any direction by using a special wheel structure with a LIM-wheel and a diagonally positioned roller, holds considerable promise for the field of industrial electronics. A conventional method for Mecanum AGV localization has certain limitations, such as slip phenomena, because there are variations in the surface of the road and ground friction. Therefore, precise localization is a very important issue for the inevitable slip phenomenon situation. So a sensor fusion technique is developed to cope with this drawback by using the Kalman filter. ENCODER and StarGazer were used for sensor fusion. StarGazer is a position sensor for an image recognition device and always generates some errors due to the limitations of the image recognition device. ENCODER has also errors accumulating over time. On the other hand, there are no moving errors. In this study, we developed a Mecanum AGV prototype system and showed by simulation that we can eliminate the disadvantages of each sensor. We obtained the precise localization of the Mecanum AGV in a slip phenomenon situation via sensor fusion using a Kalman filter.

  7. Low-complexity UWB-based collision avoidance system for automated guided vehicles

    Directory of Open Access Journals (Sweden)

    Stefania Monica

    2016-06-01

    Full Text Available This paper describes a low-complexity collision avoidance system for automated guided vehicles (AGVs based on active ultra-wide band (UWB modules. In particular, we consider an industrial warehouse where all the AGVs and target nodes (TNs (e.g., people are equipped with active UWB modules. A communication session between a pair of UWB modules permits the exchange of information and the estimation of the distance between them. The UWB module positioned on an AGV is connected to an on-board computer; whenever the UWB module on an AGV receives a message from a TN, it communicates all the received data to the on-board computer that can decide to stop the AGV if the range estimate is below a given threshold. This prevents undesired collisions between the AGV and the TN. In this paper, we present the experimental results of the proposed collision avoidance system obtained using the UWB modules, PulsON 410 ranging and communication modules (P410 RCMs, produced by Time Domain.

  8. A New Approach to an Automated Air Traffic Control

    Institute of Scientific and Technical Information of China (English)

    Patchev Dragoljub

    2014-01-01

    This paper identifies areas of improvements of the air traffic control system and proposes modification of the concept of automation by using available technologies. With the proposed modification, the current Europe wide en route network structure can be modified in order to make routes more optimal. For this new route network structure, a new concept of automation will be used to manage with the air traffic. The first identified area of improvement is implementation of automation process that will enable decentralization of the air traffic control functionality to each individual aircraft and this will be achieved through automated routing of the aircrafts and CD&R (conflict detection and resolution). The FMS (flight management system) at the aircraft will make decisions for the optimal flight route based on the sensor inputs, information on selection of the routes, next hope points and flight levels, all received by ADS-B (automatic dependant surveillance-broadcast). The second area is processing the information about the deviation from the optimal route as in flight plan due to a traffic management (vectoring, level change) and taking it into consideration when further actions are undertaken. For each action, a cost factor will be calculated from the fuel burned for that action. This factor will be used to select conflict resolution protocol. The proposed concept shall increase the capacity of the network, and enable the air traff~c more efficient and more environmentally friendly while maintaining safe separation.

  9. Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles.

    Science.gov (United States)

    Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

    2016-03-11

    Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.

  10. Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

    Directory of Open Access Journals (Sweden)

    Miguel Angel Olivares-Mendez

    2016-03-01

    Full Text Available Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.

  11. Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

    Science.gov (United States)

    Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

    2016-01-01

    Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption. PMID:26978365

  12. Map-based control method for vehicle stability enhancement

    Institute of Scientific and Technical Information of China (English)

    Moon-Young Yoon; Seung-Hwan Baek; Kwang-Suk Boo; Heung-Seob Kim

    2015-01-01

    This work proposes a map-based control method to improve a vehicle’s lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment;in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka’s tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region, so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.

  13. Autonomous underwater vehicles modeling, control design and simulation

    CERN Document Server

    Wadoo, Sabiha

    2010-01-01

    Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simula

  14. Probabilistically Safe Vehicle Control in a Hostile Environment

    OpenAIRE

    Cizelj, Igor; Ding, Xu Chu; Lahijanian, Morteza; Pinto, Alessandro; Belta, Calin

    2011-01-01

    In this paper we present an approach to control a vehicle in a hostile environment with static obstacles and moving adversaries. The vehicle is required to satisfy a mission objective expressed as a temporal logic specification over a set of properties satisfied at regions of a partitioned environment. We model the movements of adversaries in between regions of the environment as Poisson processes. Furthermore, we assume that the time it takes for the vehicle to traverse in between two facets...

  15. Military Hybrid Vehicle Optimization and Control

    Science.gov (United States)

    2012-08-14

    and energy security, as well as reduce overall energy u ’C the concept of a microgrid has been introduced [7 ]. A microgricl is defined as an...vehicle-to-grid (V2G) technology has been show to have the ability to upport the microgrid ru a source, but also a storage device for excess energy [9...understood. The scope of this proposal includes introducing the concept of regarding a military hybrid vehicle as a microgrid and utilizing battery state

  16. Study on modeling of vehicle dynamic stability and control technique

    Institute of Scientific and Technical Information of China (English)

    GAO Yun-ting; LI Pan-feng

    2012-01-01

    In order to solve the problem of enhancing the vehicle driving stability and safety,which has been the hot question researched by scientific and engineering in the vehicle industry,the new control method was investigated.After the analysis of tire moving characteristics and the vehicle stress analysis,the tire model based on the extension pacejka magic formula which combined longitudinal motion and lateral motion was developed and a nonlinear vehicle dynamical stability model with seven freedoms was made.A new model reference adaptive control project which made the slip angle and yaw rate of vehicle body as the output and feedback variable in adjusting the torque of vehicle body to control the vehicle stability was designed.A simulation model was also built in Matlab/Simulink to evaluate this control project.It was made up of many mathematical subsystem models mainly including the tire model module,the yaw moment calculation module,the center of mass parameter calculation module,tire parameter calculation module of multiple and so forth.The severe lane change simulation result shows that this vehicle model and the model reference adaptive control method have an excellent performance.

  17. Driver-centred vehicle automation: using network analysis for agent-based modelling of the driver in highly automated driving systems.

    Science.gov (United States)

    Banks, Victoria A; Stanton, Neville A

    2016-11-01

    To the average driver, the concept of automation in driving infers that they can become completely 'hands and feet free'. This is a common misconception, however, one that has been shown through the application of Network Analysis to new Cruise Assist technologies that may feature on our roads by 2020. Through the adoption of a Systems Theoretic approach, this paper introduces the concept of driver-initiated automation which reflects the role of the driver in highly automated driving systems. Using a combination of traditional task analysis and the application of quantitative network metrics, this agent-based modelling paper shows how the role of the driver remains an integral part of the driving system implicating the need for designers to ensure they are provided with the tools necessary to remain actively in-the-loop despite giving increasing opportunities to delegate their control to the automated subsystems. Practitioner Summary: This paper describes and analyses a driver-initiated command and control system of automation using representations afforded by task and social networks to understand how drivers remain actively involved in the task. A network analysis of different driver commands suggests that such a strategy does maintain the driver in the control loop.

  18. Development of a trajectory following vehicle control model

    Directory of Open Access Journals (Sweden)

    Erdem Uzunsoy

    2016-05-01

    Full Text Available Determination of the handling properties of a vehicle may be restrictive in some situations. A vehicle model coupled with a driver model may be necessary and even unavoidable to analyse the real road behaviour in the most basic form. Therefore, a fuzzy logic–based controller has been investigated for potential application in modelling driver. Using some particular and limited number of information from characteristics of human driving operation, the model aims to provide any flexible vehicle path reliably. It generates the vehicle’s trajectory through a number of specified points through which the vehicle must pass. The controller was modified to account for peripheral vision characteristic of human eye, as an input. The simulation is carried out in the MATLAB© programming environment using a Simulink© vehicle model. Both longitudinal and lateral controls were applied in the study. This article adds novel approaches to the limited existing published work on driver steering model using fuzzy logic.

  19. Vehicle health management for guidance, navigation and control systems

    Science.gov (United States)

    Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

    1993-01-01

    The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

  20. Unattended vehicle detection for automatic traffic light control

    Science.gov (United States)

    Abdel Hady, Aya Salama; Moustafa, Mohamed

    2013-12-01

    Machine vision based traffic light control depends mainly on measuring traffic statistics at cross roads. Most of the previous studies have not taken unattended vehicles into consideration when calculating either the traffic density or the traffic flow. In this paper, we propose incorporating unattended vehicles into a new metric for measuring the traffic congestion. In addition to the vehicle motion analysis, opening the driver's side door is an important indicator that this vehicle is going to be unattended. Therefore, we focus in this paper on presenting how to detect this event for stationary vehicles from a live camera or a video feed. Through a set of experiments, we have found out that a Scale Invariant Feature Transform (SIFT) feature-descriptor with a Support Vector Machines (SVM) classifier was able to successfully classify open-door vehicles from closed-door ones in 96.7% of our test dataset.

  1. Communication Dependent Control of Multi-Vehicle Formations

    Science.gov (United States)

    2016-05-11

    A TRIDENT SCHOLAR PROJECT REPORT NO. 450 Communication Dependent Control of Multi-Vehicle Formations by Midshipman 1/C Aaron M... COMMUNICATION DEPENDENT CONTROL OF MULTI-VEHICLE FORMATIONS by Midshipman 1/C Aaron M. Sims United States Naval Academy Annapolis, Maryland...REPORT DATE (DD-MM-YYYY) 05-11-2016 2. REPORT TYPE 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Communication Dependent Control of

  2. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

    Full Text Available This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  3. Sistemas de control automático en pavimentadoras acabadoras

    Directory of Open Access Journals (Sweden)

    Chinchilla, M.

    1962-10-01

    Full Text Available Los sistemas de control automático tienden a lograr la fijación de la posición de la placa acabadora, de forma que, independientemente de las irregularidades del suelo y alteraciones producidas por las ruedas y orugas durante el movimiento de máquina, se consiga una superficie plana uniforme y del espesor y pendiente deseados.

  4. Robotic control architecture development for automated nuclear material handling systems

    Energy Technology Data Exchange (ETDEWEB)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies.

  5. Survey of Controllable Suspension System for Off-road Vehicles

    Institute of Scientific and Technical Information of China (English)

    WU Zhi-cheng; ZHU Quan-min; CHEN Si-zhong; Alan Winfield; YANG Lin; ZHANG Bin

    2007-01-01

    The controllable suspension system can improve the performances of off-road vehicles both on road and cross-country. So far, four controllable suspensions, that is, body height control, active, semi-active and slow-active suspensions, have been developed. For off-road vehicles, the slow-active suspension and the semi-active suspension which have controllable stiffness, damping and body height are more appropriate to use. For many years, some control methodologies for controllable suspension systems have been developed along with the development of modern control theory, and two or more original control methods are integrated as a new control method. Today, for military or civilian off-road vehicles, the R&D of controllable suspension systems is ongoing.

  6. On fractional control method for four-wheel-steering vehicle

    Institute of Scientific and Technical Information of China (English)

    CHEN Ning; CHEN Nan; CHEN YanDong

    2009-01-01

    Four-wheel-steering (4WS) system can enhance vehicle cornering ability by steering the rear wheels in accordance with the front wheels steering and vehicle status. With such steering control system, it becomes possible to improve the lateral stability and handling performance, in this paper, a new control method for 4WS vehicle is proposed, its rear wheels steering angle is in accordance with the angle of front wheels steering and vehicle yaw rate, and the effects of front wheels steering angle velocity are considered by adopting the fractional derivative theory. Some design specifications for control law are also given. The effects of the control method are verified by a kind of numerical scheme presented in this paper. The dynamic characteristics such as the side-slip angle and the yaw angle velocity of the vehicle gravity center are compared among three kinds of vehicles with different control methods. And the kinematics characteristics such as turning radius between 4WS and 2WS are also discussed. Nu-merical simulation shows that the control method presented can improve the transient response and reduce the turning radius of 4WS vehicle.

  7. On fractional control method for four-wheel-steering vehicle

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Four-wheel-steering (4WS) system can enhance vehicle cornering ability by steering the rear wheels in accordance with the front wheels steering and vehicle status. With such steering control system, it becomes possible to improve the lateral stability and handling performance. In this paper, a new control method for 4WS vehicle is proposed, its rear wheels steering angle is in accordance with the angle of front wheels steering and vehicle yaw rate, and the effects of front wheels steering angle velocity are considered by adopting the fractional derivative theory. Some design specifications for control law are also given. The effects of the control method are verified by a kind of numerical scheme presented in this paper. The dynamic characteristics such as the side-slip angle and the yaw angle velocity of the vehicle gravity center are compared among three kinds of vehicles with different control methods. And the kinematics characteristics such as turning radius between 4WS and 2WS are also discussed. Nu- merical simulation shows that the control method presented can improve the transient response and reduce the turning radius of 4WS vehicle.

  8. Automated quality control in a file-based broadcasting workflow

    Science.gov (United States)

    Zhang, Lina

    2014-04-01

    Benefit from the development of information and internet technologies, television broadcasting is transforming from inefficient tape-based production and distribution to integrated file-based workflows. However, no matter how many changes have took place, successful broadcasting still depends on the ability to deliver a consistent high quality signal to the audiences. After the transition from tape to file, traditional methods of manual quality control (QC) become inadequate, subjective, and inefficient. Based on China Central Television's full file-based workflow in the new site, this paper introduces an automated quality control test system for accurate detection of hidden troubles in media contents. It discusses the system framework and workflow control when the automated QC is added. It puts forward a QC criterion and brings forth a QC software followed this criterion. It also does some experiments on QC speed by adopting parallel processing and distributed computing. The performance of the test system shows that the adoption of automated QC can make the production effective and efficient, and help the station to achieve a competitive advantage in the media market.

  9. Security-Control Systems and Automation in Contemporary Buildings

    Directory of Open Access Journals (Sweden)

    Saadet Aytıs

    1999-05-01

    Full Text Available As a result of the developing technology, major renovations related to the security control systems and to building automation applications on contemporary buildings have appeared. The main item of the control systems is the entry system with cards and passwords and this is applied almost in all the large contemporary buildings. The entry and exit to/from the carparking is getting to be as important as the entry and exit to/from the building. Thus, specific measures to stop the security system being already perforated in the parking are needed. Warning systems with a great range of different detectors against various dangers that run connected to the mainframe computers and that turn on the system in case of danger are taken into consideration. The fact of obtaining all comfort conditions desired in the contemporary high space buildings and functioning of the first-aid systems are fully realized by computers with the help of systems that are called “Building Automation System” (BAS. All inspection, energy saving and security controls are achieved through these systems. In the buildings where building automation systems are applied, trained personel is needed to keep the system running; and the training of the residents about the system gains more and more importance.

  10. ROBUST ELECTRONIC DIFFERENTIAL CONTROLLER FOR AN ELECTRIC VEHICLE

    Directory of Open Access Journals (Sweden)

    A. Ravi

    2013-01-01

    Full Text Available This study presents an efficient and robust control scheme of electronic differential system for an electric vehicle. The proposed system consists of two Brushless DC motors (BLDC that ensure the drive of the two back driving wheels of an electric vehicle. Electronic Differential Controller (EDC ensures the maximum torque and it can control both the driving wheel independently to turn at different speeds in any curve and also distribute the power to each motor according to the steering angle. EDC is designed to facilitate experimentation with an electric vehicle using the PIC 16F877A. The BLDC motor has been controlled by the method of back EMF zero crossing detection. The effectiveness and substantiation of the proposed methods are ascertained in the MATLAB/Simulink environment and also experimentally validated. The experimental results give satisfactory performance with the proposed electronic control scheme which also ensures the stability of the vehicle in all road conditions.

  11. Gear ratio optimization and shift control of 2-speed I-AMT in electric vehicle

    Science.gov (United States)

    Gao, Bingzhao; Liang, Qiong; Xiang, Yu; Guo, Lulu; Chen, Hong

    2015-01-01

    Connecting a 2-speed transmission with the drive motor improves the dynamic and economic performance of electric passenger vehicles. A novel 2-speed I-AMT (Inverse Automated Manual Transmission) is studied, and the dry clutch is located at the rear of the transmission so that the traction interruption of traditional AMT can be cancelled. After the gear ratios are optimized using Dynamic Programming, gear shift control is addressed, and smooth shift process without torque hole is achieved through feed-forward and feed-back control of the clutch and the motor. Finally the proposed electric vehicle (EV) is compared with an EV with fixed-ratio gear box, and it is shown that the 2-speed AMT with a rear-mounted dry clutch has much better performance in terms of acceleration time, maximum speed and energy economy. The effect of clutch friction loss during shifting on the energy efficiency of the whole driving range is analyzed as well.

  12. Network Constrained Transactive Control for Electric Vehicles Integration

    DEFF Research Database (Denmark)

    Hu, Junjie; Yang, Guangya; Bindner, Henrik W.

    2015-01-01

    Electric vehicles (EVs) are commonly recognized as smart grid assets in addition to their environmental benefits. However, uncoordinated charging or sole cost minimization based charging of electric vehicles may bring undesirable peak demands and voltage violations in the distribution system....... This paper applies the transactive control concept to integrate electric vehicles into the power distribution system with the purpose of minimizing the charging cost of electric vehicles as well as preventing grid congestions and voltage violations. A hierarchical EV management system is proposed where three...... actors are considered: distribution system operator (DSO), fleet operators and EV owners. In the lower level of the hierarchy, the fleet operator centrally manages the charging schedule of electric vehicles; in the upper level of the hierarchy, the DSO uses transactive control technique to coordinate...

  13. Stability Control of Vehicle Emergency Braking with Tire Blowout

    Directory of Open Access Journals (Sweden)

    Qingzhang Chen

    2014-01-01

    Full Text Available For the stability control and slowing down the vehicle to a safe speed after tire failure, an emergency automatic braking system with independent intellectual property is developed. After the system has received a signal of tire blowout, the automatic braking mode of the vehicle is determined according to the position of the failure tire and the motion state of vehicle, and a control strategy for resisting tire blowout additional yaw torque and deceleration is designed to slow down vehicle to a safe speed in an expected trajectory. The simulating test system is also designed, and the testing results show that the vehicle can be quickly stabilized and kept in the original track after tire blowout with the emergency braking system described in the paper.

  14. The use of visual cues for vehicle control and navigation

    Science.gov (United States)

    Hart, Sandra G.; Battiste, Vernol

    1991-01-01

    At least three levels of control are required to operate most vehicles: (1) inner-loop control to counteract the momentary effects of disturbances on vehicle position; (2) intermittent maneuvers to avoid obstacles, and (3) outer-loop control to maintain a planned route. Operators monitor dynamic optical relationships in their immediate surroundings to estimate momentary changes in forward, lateral, and vertical position, rates of change in speed and direction of motion, and distance from obstacles. The process of searching the external scene to find landmarks (for navigation) is intermittent and deliberate, while monitoring and responding to subtle changes in the visual scene (for vehicle control) is relatively continuous and 'automatic'. However, since operators may perform both tasks simultaneously, the dynamic optical cues available for a vehicle control task may be determined by the operator's direction of gaze for wayfinding. An attempt to relate the visual processes involved in vehicle control and wayfinding is presented. The frames of reference and information used by different operators (e.g., automobile drivers, airline pilots, and helicopter pilots) are reviewed with particular emphasis on the special problems encountered by helicopter pilots flying nap of the earth (NOE). The goal of this overview is to describe the context within which different vehicle control tasks are performed and to suggest ways in which the use of visual cues for geographical orientation might influence visually guided control activities.

  15. Advances in automation and control research in China

    Institute of Scientific and Technical Information of China (English)

    CHENG DaiZhan

    2009-01-01

    Automation is the utilization of control techniques together with other Information technology to control industrial processes,reducing the need for human intervention.It plays a highly important role in social and economy as well as In daily life.Control theory is the theory of automation,and is an interdisciplinary branch of engineering and mathematics,examining the behavior of dynamical systems.China has a long history of manufacturing automatic devices.In recent years,some rapid progresses in control theory have been made in China.Many new theories and new methodologies have been developed to meet the increasing demands in industry,agriculture,defense,and other social sectors.Contemporary sciences such as complexity,systems biology,quantum technologies,have also found their close links to control theories and technologies.On the other hand,control theory itself has many unsolved fundamental problems requiring further studies and investigation.This paper is to review the development and progress that have been made in all these aspects in China.Some remarks on the future development of control theory are also presented.

  16. Attitude and Translation Control of a Solar Sail Vehicle

    Science.gov (United States)

    Singh, Gurkirpal

    2008-01-01

    A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

  17. Modeling and Control of Active Suspensions for MDOF Vehicle

    Institute of Scientific and Technical Information of China (English)

    李克强; 郑四发; 杨殿阁; 连小珉; 永井正夫

    2003-01-01

    The conventional method for analyzing active suspension control for a vehicle is only to analyze aquarter or half car with a lower order degree-of freedom (DOF) model, but such models do not actually modelpractical applications. Accurate models of a suspension control system require a multi-degree-of-freedom(MDOF) vehicle model with a detailed model of the controller. An MDOF model was developed including theinfluence of factors such as the engine, the seats, and the passengers to describe vehicle motion using areduced order model of the controller designed by using the H∞ control method. The control systemperformance has been investigated by comparing the H∞ controller with a linear quadratic (LQ) controller.

  18. Entry Vehicle Control System Design for the Mars Smart Lander

    Science.gov (United States)

    Calhoun, Philip C.; Queen, Eric M.

    2002-01-01

    The NASA Langley Research Center, in cooperation with the Jet Propulsion Laboratory, participated in a preliminary design study of the Entry, Descent and Landing phase for the Mars Smart Lander Project. This concept utilizes advances in Guidance, Navigation and Control technology to significantly reduce uncertainty in the vehicle landed location on the Mars surface. A candidate entry vehicle controller based on the Reaction Control System controller for the Apollo Lunar Excursion Module digital autopilot is proposed for use in the entry vehicle attitude control. A slight modification to the phase plane controller is used to reduce jet-firing chattering while maintaining good control response for the Martian entry probe application. The controller performance is demonstrated in a six-degree-of-freedom simulation with representative aerodynamics.

  19. Advanced Control System Design for Hypersonic Vehicles Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Guidance and control system design for hypersonic vehicles is more challenging than their subsonic and supersonic counterparts. Some of these challenges are (i)...

  20. Seamless Mode Switching for Shared Control of Semiautonomous Vehicles Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Whether it be a crew station, the Shuttle Remote Manipulator System (SRMS), an unmanned ground rover (UGV) or air vehicle (UAV), or teams thereof, the controllers...

  1. Tools for the automation of large control systems

    CERN Document Server

    Gaspar, Clara

    2005-01-01

    The new LHC experiments at CERN will have very large numbers of channels to operate. In order to be able to configure and monitor such large systems, a high degree of parallelism is necessary. The control system is built as a hierarchy of sub-systems distributed over several computers. A toolkit – SMI++, combining two approaches: finite state machines and rule-based programming, allows for the description of the various sub-systems as decentralized deciding entities, reacting in real-time to changes in the system, thus providing for the automation of standard procedures and the for the automatic recovery from error conditions in a hierarchical fashion. In this paper we will describe the principles and features of SMI++ as well as its integration with an industrial SCADA tool for use by the LHC experiments and we will try to show that such tools, can provide a very convenient mechanism for the automation of large scale, high complexity, applications.

  2. Tools for the Automation of Large Distributed Control Systems

    CERN Document Server

    Gaspar, Clara

    2005-01-01

    The new LHC experiments at CERN will have very large numbers of channels to operate. In order to be able to configure and monitor such large systems, a high degree of parallelism is necessary. The control system is built as a hierarchy of sub-systems distributed over several computers. A toolkit - SMI++, combining two approaches: finite state machines and rule-based programming, allows for the description of the various sub-systems as decentralized deciding entities, reacting is real-time to changes in the system, thus providing for the automation of standard procedures and for the automatic recovery from error conditions in a hierarchical fashion. In this paper we will describe the principles and features of SMI++ as well as its integration with an industrial SCADA tool for use by the LHC experiments and we will try to show that such tools, can provide a very convenient mechanism for the automation of large scale, high complexity, applications.

  3. Improving the Lane Reference Detection for Autonomous Road Vehicle Control

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

    Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

  4. Adaptive Attitude Control of the Crew Launch Vehicle

    Science.gov (United States)

    Muse, Jonathan

    2010-01-01

    An H(sub infinity)-NMA architecture for the Crew Launch Vehicle was developed in a state feedback setting. The minimal complexity adaptive law was shown to improve base line performance relative to a performance metric based on Crew Launch Vehicle design requirements for all most all of the Worst-on-Worst dispersion cases. The adaptive law was able to maintain stability for some dispersions that are unstable with the nominal control law. Due to the nature of the H(sub infinity)-NMA architecture, the augmented adaptive control signal has low bandwidth which is a great benefit for a manned launch vehicle.

  5. New-type of flying control for spinning TVC vehicle

    Institute of Scientific and Technical Information of China (English)

    LIU Xin-jian; YUAN Tian-bao

    2008-01-01

    A new kind of problem for TVC vehicle spinning in the boost stage had been researched.The study of non-linear flying dynamics modeling and dynamic properties of TVC vehicles reveal dominant coupled factors that affect the attitude stability and attitude precision of the pitch channel and yaw channel.The paper emphasizes the inertial delay coupled effects between vehicle's pitch servo svstem and yaw servo system,which have always been neglected.An uncoupled plan and control algorithm are put forward from the standpoint of engineering implementation to provide theoretical guidance and reference for further research on this complicated flying control.

  6. 77 FR 9916 - California State Motor Vehicle and Nonroad Engine Pollution Control Standards; Mobile Cargo...

    Science.gov (United States)

    2012-02-21

    ... AGENCY California State Motor Vehicle and Nonroad Engine Pollution Control Standards; Mobile Cargo... to the control of emissions from new motor vehicles or new motor vehicle engines ] EPA is, pursuant... standards relating to the control of emissions for new motor vehicles and new motor vehicle...

  7. Adaptive powertrain control for plugin hybrid electric vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  8. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  9. Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

    Institute of Scientific and Technical Information of China (English)

    Sam-Sang YOU; Hyeung-Sik CHOI; Hwan-Seong KIM; Han-Il PARK

    2011-01-01

    This paper is concerned with the robust control synthesis of autonomous underwater vehicle (AUV) for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking.By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.

  10. Steering Control of Wheeled Armored Vehicle with Brushless DC Motor

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Considering the steering characters of one type of wheeled armored vehicle, a brushless direct current (DC) motor is adapted as the actuator for steering control. After investigating the known algorithms, one kind of algorithm, which combines the fuzzy logic control with the self-adapting PID control and the startup and pre-brake control, is put forward. Then a test-bed is constructed, and an experiment is conducted. The result of experiment confirms the validity of this algorithm in steering control of wheeled armored vehicle with brushless DC motor.

  11. Fuzzy Logic Control for Suspension Systems of Tracked Vehicles

    Institute of Scientific and Technical Information of China (English)

    YU Yang; WEI Xue-xia; ZHANG Yong-fa

    2009-01-01

    A scheme of fuzzy logic control for the suspension system of a tracked vehicle is presented.A mechanical model for the whole body of a tracked vehicle,which is totally a fifteen-degree-of-freedom system,is established.The model includes the vertical motion,the pitch motion as well as the roll motion of the tracked vehicle.In contrast to most previous studies,the coupling effect among the vertical,the pitch and the roll motions of the suspension system of a tracked vehicle is considered simultaneously.The simulation of fuzzy logic control under road surface with random excitation shows that the acceleration,pitch angle and roll angle of suspension system can be efficiently controlled.

  12. The Numerical Control Design for a Pair of Dubins Vehicles

    CERN Document Server

    Tjahjana, Heru; Muhammad, Hari; Naiborhu, J; Miswanto,

    2008-01-01

    In this paper, a model of a pair of Dubins vehicles is considered. The vehicles move from an initial position and orientation to final position and orientation. A long the motion, the two vehicles are not allowed to collide however the two vehicles cant to far each other. The optimal control of the vehicle is found using the Pontryagins Maximum Principle (PMP). This PMP leads to a Hamiltonian system consisting of a system of differential equation and its adjoint. The originally differential equation has initial and final condition but the adjoint system doesn't have one. The classical difficulty is solved numerically by the greatest gradient descent method. Some simulation results are presented in this paper.

  13. Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

    Directory of Open Access Journals (Sweden)

    C. Huang

    2014-01-01

    Full Text Available With increasing and more stringent requirements for advanced vehicle integration, including vehicle dynamics and control, traditional control and optimization strategies may not qualify for many applications. This is because, among other factors, they do not consider the nonlinear characteristics of practical systems. Moreover, the vehicle wheel model has some inadequacies regarding the sideslip angle, road adhesion coefficient, vertical load, and velocity. In this paper, an adaptive neural wheel network is introduced, and the interaction between the lateral and vertical dynamics of the vehicle is analyzed. By means of nonlinear analyses such as the use of a bifurcation diagram and the Lyapunov exponent, the vehicle is shown to exhibit complicated motions with increasing forward speed. Furthermore, electric power steering (EPS and active suspension system (ASS, which are based on intelligent control, are used to reduce the nonlinear effect, and a negotiation algorithm is designed to manage the interdependences and conflicts among handling stability, driving smoothness, and safety. Further, a rapid control prototype was built using the hardware-in-the-loop simulation platform dSPACE and used to conduct a real vehicle test. The results of the test were consistent with those of the simulation, thereby validating the proposed control.

  14. Robust Vehicle Suspension System by Converting Active & Passive Control of a Vehicle to Semi-Active Control System Analytically

    Directory of Open Access Journals (Sweden)

    Hassan Elahi

    2014-12-01

    Full Text Available In this research work a simplified translational model of an automotive suspension system is constructed by only considering the translation motion of one wheel of a car. Passive Vehicle Suspension System is converted into Semi Active Vehicle System. Major advantage achieved by this system is that it adjusts the damping of the suspension system without the application of any actuator by using MATLAB® simulations. The semi-active control is found to control the vibration of suspension system very well.

  15. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  16. Mathematical models of magnetite desliming for automated quality control systems

    Science.gov (United States)

    Olevska, Yu.; Mishchenko, V.; Olevskyi, V.

    2016-10-01

    The aim of the study is to provide multifactor mathematical models suitable for use in automatic control systems of desliming process. For this purpose we described the motion of a two-phase environment regard to the shape the desliming machine and technological parameters of the enrichment process. We created the method for preparation of dependences of the enrichment process quality from the technological and design parameters. To automate the process we constructed mathematical models to justify intensive technological modes and optimal parameters for design of desliming machine.

  17. A new controller for battery-powered electric vehicles

    Science.gov (United States)

    Belsterling, C. A.; Stone, J.

    1980-01-01

    This paper describes the development, under a NASA/DOE contract, of a new concept for efficient and reliable control of battery-powered vehicles. It avoids the detrimental effects of pulsed-power controllers like the SCR 'chopper' by using rotating machines to meter continuous currents to the traction motor. The concept is validated in a proof-of-principle demonstration system and a complete vehicle is simulated on an analog computer. Test results show exceptional promise for a full-scale system. Optimum control strategies to minimize controller weight are developed by means of the simulated vehicle. The design for an Engineering Model is then prepared in the form of a practical, compact two-bearing package with forced air cooling. Predicted performance is outstanding, with controller efficiency of over 90% at high speed.

  18. Depth-Trim Mapping Control of Underwater Vehicle with Fins

    Institute of Scientific and Technical Information of China (English)

    LI Ye; PANG Yong-jie; HUANG Shu-ling; WAN Lei

    2011-01-01

    Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments.

  19. The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using Lidar Sensors

    Science.gov (United States)

    2013-03-08

    other factors that can change the maximum steering angle, for example, the slope of the terrain. However, in this study, the vehicle is assumed to move...34 VPH : A New Laser Radar Based Obstacle Avoidance Method for Intelligent Mobile Robots", Proceedings of World Congress on Intelligent Control and...Automation, Hangzhou, China, 5, pp. 4681- 4685. [9] Gong, J., Duan, Y., Man, Y., and Xiong, G., 2007, " VPH +: An Enhanced Vector Polar Histogram Method

  20. Cascade Control Solution for Traction Motor for Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zsuzsa Preitl

    2007-10-01

    Full Text Available In this paper a hybrid electric vehicle is considered, which contains both aninternal combustion engine and an electric motor (EM. Without focusing on the othercomponents of the vehicle, the EM is treated in detail, both regarding modelling aspectsand control solutions.After a brief modelling of the plant, two cascade speed control solutions are presented: firsta classical PI+PI cascade control solution is presented. The control systems related totraction electric motors (used in vehicle traction must be able to cope with differentrequests, such as variation of the reference signal, load disturbances which depend on thetransport conditions and parametric disturbances regarding changes in the total mass ofthe vehicle. For this purpose, in the design of the speed controller (external loop a specificmethodology based on extension of the symmetrical optimum method is presented. Thecontrollers are developed using the Modulus–Optimum method for the inner loop, and theExtended Symmetrical Optimum Method, corrected based on the 2p-SO-method, for theouter loop (for a more efficient disturbance rejection.In order to force the behaviour of the system regarding the reference input, a correctionterm is introduced as a non-homogenous structured PI controller solution.Simulations were performed using numerical values taken from a real applicationconsisting in a hybrid vehicle prototype, showing satisfactory behaviour.

  1. Rockwell Automation PLC-5 Lands Stennis Space Center with a Reliable, Flexible Control System

    Science.gov (United States)

    Epperson, Dave

    2003-01-01

    Ever since the first rocket was launched, people have been infatuated with the vast and unchartered frontier of space. Whether it's visiting a space center or watching a shuttle launch, people are waiting to see what will be discovered next. And even though orbiting the Earth or taking soil samples form the Moon now seems effortless, decades worth of behind-the-scenes work have helped the U.S. space program get to this point. Even today, NASA must take every precaution to ensure equipment is up to the endeavor of setting foot on the moon. As part of the initial push to put the first man on the moon, NASA established the John C. Stennis Space Center, Hancock County, Mississippi in 1961 for space engine propulsion system development. Today, Stennis has three major test complexes where engine and component testing is carried out and integrated into full motion systems for space shuttles and vehicles as well as secondary testing facilities. With different products being tested throughout the facilities, Stennis was in need of an automation system that could link the operations. By integrating a control system based on a Rockwell Automation's flexible and reliable PLC-5 controller, Stennis was able to implement projects more efficiently and focus its efforts on getting the next generation of products ready for space.

  2. Instrumentation, control, and automation for submerged anaerobic membrane bioreactors.

    Science.gov (United States)

    Robles, Ángel; Durán, Freddy; Ruano, María Victoria; Ribes, Josep; Rosado, Alfredo; Seco, Aurora; Ferrer, José

    2015-01-01

    A submerged anaerobic membrane bioreactor (AnMBR) demonstration plant with two commercial hollow-fibre ultrafiltration systems (PURON®, Koch Membrane Systems, PUR-PSH31) was designed and operated for urban wastewater treatment. An instrumentation, control, and automation (ICA) system was designed and implemented for proper process performance. Several single-input-single-output (SISO) feedback control loops based on conventional on-off and PID algorithms were implemented to control the following operating variables: flow-rates (influent, permeate, sludge recycling and wasting, and recycled biogas through both reactor and membrane tanks), sludge wasting volume, temperature, transmembrane pressure, and gas sparging. The proposed ICA for AnMBRs for urban wastewater treatment enables the optimization of this new technology to be achieved with a high level of process robustness towards disturbances.

  3. Linear Quadratic Integral Control for the Active Suspension of Vehicle

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    The quarter model of an active suspension is established in the form of controllable autoregressive moving average (CARMA) model. An accelerometer can be mounted on the wheel hub for measuring road disturbance; this signal is used to identify the CARMA model parameters by recursive forgetting factors least square method. The linear quadratic integral (LQI) control method for the active suspension is presented. The LQI control algorithm is fit for vehicle suspension control, for the control performance index can comprise multi controlled variables. The simulation results show that the vertical acceleration and suspension travel both are decreased with the LQI control in the low frequency band, and the suspension travel is increased with the LQI control in the middle or high frequency band. The suspension travel is very small in the middle or high frequency band, the suspension bottoming stop will not happen, so the vehicle ride quality can be improved apparently by the LQI control.

  4. Dynamic tensegrity based cooperative control of uninhabited vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Lau, Sook Yen; Naeem, Wasif [Queen' s Univ., Belfast (United Kingdom). School of Electronics, Electrical Engineering and Computer Science

    2013-07-01

    A new formation control methodology is presented in this paper. The proposed technique is modelled by using the concept of cross-tensegrity structures. The main task is to regulate the desired formation of a group of vehicles and to perform point-to-point manoeuvring in the plane. The position of the controlled vehicles in the formation changes with respect to the admissible tendon forces by varying the lengths of bars in the dynamic tensegrity structure modelling. This change of bars' dimensions for geometric transformation is not possible in the application of tensegrity concept in the physical structural engineering. It has been demonstrated that this control method allows more flexibility over a wide range of different shape switching tasks using the predictable tendon control forces under the limited communication's range. The proposed approach is also scalable to any number of pairs of autonomous vehicles in the formation.

  5. Active Noise Control for Vehicle Exhaust Noise Reduction

    Institute of Scientific and Technical Information of China (English)

    李克强; 杨殿阁; 郑四发; 连小珉; 田中丈晴

    2003-01-01

    An active noise control (ANC) method was developed for exhaust noise reduction for medium-duty diesel trucks. A modified variable step size least mean squares (LMS) algorithm was used for the controller in a variable environment that considered the vehicle's acceleration characteristics. The variable step size time-based synchronized filtered-x LMS method (SFX-TB) used an adaptive algorithm that was more efficient than the conventional filtered-x LMS algorithm. The simulation and the experimental tests show that the control trackability and stability provided by the algorithm during acceleration enable the ANC system to effectively reduce the vehicle exhaust noise.

  6. Vibration Control of Vehicle Suspension System by Electrorheological Damper

    Institute of Scientific and Technical Information of China (English)

    ZHAO Xia; ZHANG Yong-fa

    2006-01-01

    An overview of electrorheological (ER) fluid characteristics is given. Based on the Bingham plasticity model and a simple parallel-plate model, the operation principle of ER damper is presented and a four-DOF dynamic model of a vehicle suspension is constructed. Then a semi-active control of vehicle suspension system by ER damper is obtained. According to the semi-active control theory, the acceleration frequency characteristic is achieved with Matlab toolbox. Simulation results show that the vibration of the suspension system is well controlled.

  7. The research of controller area network on hybrid electrical vehicle

    Institute of Scientific and Technical Information of China (English)

    Wu Hongxing; Song Liwei; Kou Baoquan; Cheng Shukang

    2006-01-01

    It is of increasing importance to design and implement vehicle networks for transferring information between electrical control units on Hybrid Electrical Vehicle (HEV). This paper presents a scheme of using Controller Area Network (CAN) technology to realize communication and datasharing between the electrical units on the HEV. The principle and communication protocol of Electrical Control Units (ECU) CAN node are introduced. By considering different sensitivity of the devices to the latency of data transportation, a new design procedure is proposed for the purpose of simplifying network codes and wiring harness, reducing assembly space and weight, improving assembly efficiency, and enhancing fault-diagnose in auto networks.

  8. Automated alignment method for coherence-controlled holographic microscope

    Science.gov (United States)

    Dostal, Zbynek; Slaby, Tomas; Kvasnica, Lukas; Lostak, Martin; Krizova, Aneta; Chmelik, Radim

    2015-11-01

    A coherence-controlled holographic microscope (CCHM) was developed particularly for quantitative phase imaging and measurement of live cell dynamics, which is the proper subject of digital holographic microscopy (DHM). CCHM in low-coherence mode extends DHM in the study of living cells. However, this advantage is compensated by sensitivity of the system to easily become misaligned, which is a serious hindrance to wanted performance. Therefore, it became clear that introduction of a self-correcting system is inevitable. Accordingly, we had to devise a theory of a suitable control and design an automated alignment system for CCHM. The modulus of the reconstructed holographic signal was identified as a significant variable for guiding the alignment procedures. From this, we derived the original basic realignment three-dimensional algorithm, which encompasses a unique set of procedures for automated alignment that contains processes for initial and advanced alignment as well as long-term maintenance of microscope tuning. All of these procedures were applied to a functioning microscope and the tested processes were successfully validated. Finally, in such a way, CCHM is enabled to substantially contribute to study of biology, particularly of cancer cells in vitro.

  9. Automated System Checkout to Support Predictive Maintenance for the Reusable Launch Vehicle

    Science.gov (United States)

    Patterson-Hine, Ann; Deb, Somnath; Kulkarni, Deepak; Wang, Yao; Lau, Sonie (Technical Monitor)

    1998-01-01

    The Propulsion Checkout and Control System (PCCS) is a predictive maintenance software system. The real-time checkout procedures and diagnostics are designed to detect components that need maintenance based on their condition, rather than using more conventional approaches such as scheduled or reliability centered maintenance. Predictive maintenance can reduce turn-around time and cost and increase safety as compared to conventional maintenance approaches. Real-time sensor validation, limit checking, statistical anomaly detection, and failure prediction based on simulation models are employed. Multi-signal models, useful for testability analysis during system design, are used during the operational phase to detect and isolate degraded or failed components. The TEAMS-RT real-time diagnostic engine was developed to utilize the multi-signal models by Qualtech Systems, Inc. Capability of predicting the maintenance condition was successfully demonstrated with a variety of data, from simulation to actual operation on the Integrated Propulsion Technology Demonstrator (IPTD) at Marshall Space Flight Center (MSFC). Playback of IPTD valve actuations for feature recognition updates identified an otherwise undetectable Main Propulsion System 12 inch prevalve degradation. The algorithms were loaded into the Propulsion Checkout and Control System for further development and are the first known application of predictive Integrated Vehicle Health Management to an operational cryogenic testbed. The software performed successfully in real-time, meeting the required performance goal of 1 second cycle time.

  10. Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Muhamad Fadli Ghani

    2013-01-01

    Full Text Available This research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller.

  11. Vehicle Chassis Integrated Control Based on Multimodel and Multilevel Hierarchical Control

    Directory of Open Access Journals (Sweden)

    Shu-en Zhao

    2014-01-01

    Full Text Available Aiming at the differences of vehicle chassis key subsystems influence on vehicle handling stability and effective acting regions, comprehensive considering of the nonlinear characteristic of the tires and the dynamic coupling among suspension, steering, and braking subsystems in vehicle chassis, the 14-DOF full vehicle model is built. Based on the control characteristic local optimum of each subsystem, multilevel hierarchical control theory is adopted and the vehicle stability coordinated control system including organization, coordination, and execution level is established. Using sliding mode control theory and the inverse tire model, the generalized target forces and moments from organization level are translated into the tire sideslip angle and slip ratio. And then, based on the principle of functional allocation, the control functions of each subsystem are coordinated and the function decoupling of vehicle chassis complex system is realized. The Matlab/Simulink platform is used and the full vehicle stability coordinated control system is simulated. The results show that the full vehicle coordinated control system based on multilevel hierarchical control theory can improve the vehicle stability preferably than the subsystem combined control and uncontrolled system.

  12. Route-Based Control of Hybrid Electric Vehicles: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, J. D.

    2008-01-01

    Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

  13. Automated Deployment of Advanced Controls and Analytics in Buildings

    Science.gov (United States)

    Pritoni, Marco

    Buildings use 40% of primary energy in the US. Recent studies show that developing energy analytics and enhancing control strategies can significantly improve their energy performance. However, the deployment of advanced control software applications has been mostly limited to academic studies. Larger-scale implementations are prevented by the significant engineering time and customization required, due to significant differences among buildings. This study demonstrates how physics-inspired data-driven models can be used to develop portable analytics and control applications for buildings. Specifically, I demonstrate application of these models in all phases of the deployment of advanced controls and analytics in buildings: in the first phase, "Site Preparation and Interface with Legacy Systems" I used models to discover or map relationships among building components, automatically gathering metadata (information about data points) necessary to run the applications. During the second phase: "Application Deployment and Commissioning", models automatically learn system parameters, used for advanced controls and analytics. In the third phase: "Continuous Monitoring and Verification" I utilized models to automatically measure the energy performance of a building that has implemented advanced control strategies. In the conclusions, I discuss future challenges and suggest potential strategies for these innovative control systems to be widely deployed in the market. This dissertation provides useful new tools in terms of procedures, algorithms, and models to facilitate the automation of deployment of advanced controls and analytics and accelerate their wide adoption in buildings.

  14. Analysis and control of high-speed wheeled vehicles

    Science.gov (United States)

    Velenis, Efstathios

    In this work we reproduce driving techniques to mimic expert race drivers and obtain the open-loop control signals that may be used by auto-pilot agents driving autonomous ground wheeled vehicles. Race drivers operate their vehicles at the limits of the acceleration envelope. An accurate characterization of the acceleration capacity of the vehicle is required. Understanding and reproduction of such complex maneuvers also require a physics-based mathematical description of the vehicle dynamics. While most of the modeling issues of ground-vehicles/automobiles are already well established in the literature, lack of understanding of the physics associated with friction generation results in ad-hoc approaches to tire friction modeling. In this work we revisit this aspect of the overall vehicle modeling and develop a tire friction model that provides physical interpretation of the tire forces. The new model is free of those singularities at low vehicle speed and wheel angular rate that are inherent in the widely used empirical static models. In addition, the dynamic nature of the tire model proposed herein allows the study of dynamic effects such as transients and hysteresis. The trajectory-planning problem for an autonomous ground wheeled vehicle is formulated in an optimal control framework aiming to minimize the time of travel and maximize the use of the available acceleration capacity. The first approach to solve the optimal control problem is using numerical techniques. Numerical optimization allows incorporation of a vehicle model of high fidelity and generates realistic solutions. Such an optimization scheme provides an ideal platform to study the limit operation of the vehicle, which would not be possible via straightforward simulation. In this work we emphasize the importance of online applicability of the proposed methodologies. This underlines the need for optimal solutions that require little computational cost and are able to incorporate real, unpredictable

  15. The Model and Control Methods of Access to Information and Technology Resources of Automated Control Systems in Water Supply Industry

    Science.gov (United States)

    Rytov, M. Yu; Spichyack, S. A.; Fedorov, V. P.; Petreshin, D. I.

    2017-01-01

    The paper describes a formalized control model of access to information and technological resources of automated control systems at water supply enterprises. The given model considers the availability of various communication links with information systems and technological equipment. There are also studied control methods of access to information and technological resources of automated control systems at water supply enterprises. On the basis of the formalized control model and appropriate methods there was developed a software-hardware complex for rapid access to information and technological resources of automated control systems, which contains an administrator’s automated workplace and ultimate users.

  16. OPTIMAL EMERGENCY VEHICLE BRAKING CONTROL BASED ON DYNAMIC FRICTION MODEL

    Directory of Open Access Journals (Sweden)

    L. Olmos

    2005-04-01

    Full Text Available A dynamic friction model for the tire-road interface is used in an optimal control scheme for emergency braking ofvehicles. The controller sets a target relative velocity curve that the vehicle must track in order to achieve braking inminimum time. It is shown that this curve corresponds to the solution of a minimum time optimal control problem.The final goal of the control is to improve the safety levels in highway transportation.

  17. Optimal Stack Layout in a Sea Container Terminal with Automated Lifting Vehicles

    NARCIS (Netherlands)

    D. Roy (Debjit); A. Gupta (Akash); S. Parhi (Sampanna); M.B.M. de Koster (René)

    2014-01-01

    textabstractContainer terminal performance is largely determined by its design decisions, which include the number and type of quay cranes (QCs), stack cranes (SCs), transport vehicles, vehicle travel path, and stack layout. The terminal design process is complex because it is affected by factors su

  18. Decoupling Control of Lateral Dynamics for 4WS Vehicle

    Institute of Scientific and Technical Information of China (English)

    刘奋; 张建武; 屈求真

    2003-01-01

    An four wheel steering (4WS)feedback contrlol system that simultanelusly achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics.Quantitative feedback theory (QFT)is offered as the main tool for designing the control law.Inverted decoupling is also employed to make multivariable quantitative feedback design easier.Varilus nonlinear analyses are carried ut and show that the proposed comtrol system is a robust decoupling controller which not only makesd body sideslip angle and yaw rate of the vehicle track the desired reference input sigmals respectively,byt also satisfies the rrequirement of robustness for the control system.The results also indicate that the contral system can make it available to realize ideal lateral steering dynamics tracking for vehicles.

  19. Multiplatform automated system for monitoring and sprinkler irrigation control

    Directory of Open Access Journals (Sweden)

    PINTO, M. L.

    2016-06-01

    Full Text Available The automation systems together with web and mobile control is a facilitator of the various processes in several areas, among them the agricultural sector. Specically in the irrigation management, the lowest cost technology is not able to satisfy the farmer's needs, which are the correct water supply to plants and remote monitoring of the irrigation. The objective of this paper is to present a system for controlling and monitoring irrigation with a multiplatform support for both desktop and web/mobile. The system is designed to realize automatic irrigation management in order to provide the exact amount of water needed for culture, avoiding water stress both the culture and the waste of resources such as water and electricity. Additionally, the system allows remote monitoring from anywhere by means of a computer and/or mobile device by internet. This work was developed during the undergraduate mentorship of the authors.

  20. Dynamic formation control for autonomous underwater vehicles

    Institute of Scientific and Technical Information of China (English)

    燕雪峰; 古锋; 宋琛; 胡晓琳; 潘毅

    2014-01-01

    Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles (AUVs) to collaborate with each other. In this work, a dynamic formation model was proposed, in which several algorithms were developed for the complex underwater environment. Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes. Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles. Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation. The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated. Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness, even with a concave obstacle. It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.

  1. Analysis and Design of Launch Vehicle Flight Control Systems

    Science.gov (United States)

    Wie, Bong; Du, Wei; Whorton, Mark

    2008-01-01

    This paper describes the fundamental principles of launch vehicle flight control analysis and design. In particular, the classical concept of "drift-minimum" and "load-minimum" control principles is re-examined and its performance and stability robustness with respect to modeling uncertainties and a gimbal angle constraint is discussed. It is shown that an additional feedback of angle-of-attack or lateral acceleration can significantly improve the overall performance and robustness, especially in the presence of unexpected large wind disturbance. Non-minimum-phase structural filtering of "unstably interacting" bending modes of large flexible launch vehicles is also shown to be effective and robust.

  2. Gaze-Based Controlling a Vehicle

    DEFF Research Database (Denmark)

    Mardanbeigi, Diako; Witzner Hansen, Dan

    Research and applications of gaze interaction has mainly been conducted on a 2 dimensional surface (usually screens) for controlling a computer or controlling the movements of a robot. Emerging wearable and mobile technologies, such as google glasses may shift how gaze is used as an interactive...

  3. 75 FR 11878 - California State Motor Vehicle Pollution Control Standards; Amendments to the California Zero...

    Science.gov (United States)

    2010-03-12

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Amendments to the California Zero... certification, inspection or any other approval relating to the control of emissions from any new motor vehicle... standards) for the control of emissions from new motor vehicles or new motor vehicle engines prior to...

  4. Transfigured Loop Shaping Controller and its Application to Underwater Vehicle

    Institute of Scientific and Technical Information of China (English)

    Xian-Ku Zhang; Yi-Cheng Jin

    2005-01-01

    A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference signal line. It is shown through frequency domain analysis and simulation that a transfigured controller can improve the dynamic behavior of a system. The transfigured loop shaping controller method is simple and effective and corresponds to the mixed sensitivity method of robust control theory, which improves the behavior of a system by iterative tuning of weighting functions. Satisfactory control results are obtained when it is applied to the design of an underwater vehicle.

  5. Effects of Automation Types on Air Traffic Controller Situation Awareness and Performance

    Science.gov (United States)

    Sethumadhavan, A.

    2009-01-01

    The Joint Planning and Development Office has proposed the introduction of automated systems to help air traffic controllers handle the increasing volume of air traffic in the next two decades (JPDO, 2007). Because fully automated systems leave operators out of the decision-making loop (e.g., Billings, 1991), it is important to determine the right level and type of automation that will keep air traffic controllers in the loop. This study examined the differences in the situation awareness (SA) and collision detection performance of individuals when they worked with information acquisition, information analysis, decision and action selection and action implementation automation to control air traffic (Parasuraman, Sheridan, & Wickens, 2000). When the automation was unreliable, the time taken to detect an upcoming collision was significantly longer for all the automation types compared with the information acquisition automation. This poor performance following automation failure was mediated by SA, with lower SA yielding poor performance. Thus, the costs associated with automation failure are greater when automation is applied to higher order stages of information processing. Results have practical implications for automation design and development of SA training programs.

  6. Automated Controlled-Potential Coulometer for the IAEA

    Energy Technology Data Exchange (ETDEWEB)

    Cordaro, J.V. [Westinghouse Savannah River Company, AIKEN, SC (United States); Holland, M.K.; Fields, T.

    1998-01-29

    An automated controlled-potential coulometer has been developed at the Savannah River Site (SRS) for the determination of plutonium for use at the International Atomic Energy Agency`s (IAEA) Safeguards Analytical Laboratory in Siebersdorf, Austria. The system is functionally the same as earlier systems built for use at the Savannah River Site`s Analytical Laboratory. All electronic circuits and printed circuits boards have been upgraded with state-of-the-art components. A higher amperage potentiostat with improved control stability has been developed. The system achieves electronic calibration accuracy and linearity of better than 0.01 percent, with a precision and accuracy better than 0.1 percent has been demonstrated. This coulometer features electrical calibration of the integration system, electrolysis current background corrections, and control-potential adjustment capabilities. These capabilities allow application of the system to plutonium measurements without chemical standards, achieving traceability to the international measurement system through electrical standards and Faraday`s constant. the chemist is provided with the capability to perform measurements without depending upon chemical standards, which is a significant advantage for applications such as characterization of primary and secondary standards. Additional benefits include reducing operating cost to procure, prepare and measure calibration standards and the corresponding decrease in radioactive waste generation. The design and documentation of the automated instrument are provided herein. Each individual module`s operation, wiring, layout, and alignment are described. Interconnection of the modules and system calibration are discussed. A complete set of prints and a list of associated parts are included.

  7. RESEARCH ON GEAR SHIFTING PROCESS IN COMMAND MODE OF VEHICLE POWERTRAIN CONTROL

    Directory of Open Access Journals (Sweden)

    V. A. Kusyak

    2014-01-01

    Full Text Available The paper presents a schematic diagram of the powertrain automated control system based on dry friction clutch and manual gearbox. Mechatronic system has a modular configuration and allows to make the vehicle starting-up, low speed maneuvering and command or automatic gearshifting. Diesel engine, clutch and 10-step gearbox control is carried out at all movement modes by electronic modules when affected on mode selector, accelerator pedal and, if necessary, on brake pedal. Data exchange between electronic units is carried by SAE-J1939 protocol with a transmission rate of 250 kbit/s. Change in diesel fuel supply, clutch engagement and gearshifting take place automatically as a result of pneumatic power actuator operation by a signal from the controller to the corresponding solenoid valve or a combination thereof.Presents the results of semi-natural experiment on research of gear shifting process in the command mode of powertrain control. Transient gearshift oscillograms with various control algorithm structure have been given in the paper. The paper contains a ^iT^rative analysis of the oscillograma and a conclusion on expediency of gear shifting automation. A graphic representation of the semi-natural experiment results has been performed with the help of CoDeSys V2.3-visualization facilities.

  8. Vehicle-manipulator systems modeling for simulation, analysis, and control

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  9. Mechatronic Design Automation

    DEFF Research Database (Denmark)

    Fan, Zhun

    successfully design analogue filters, vibration absorbers, micro-electro-mechanical systems, and vehicle suspension systems, all in an automatic or semi-automatic way. It also investigates the very important issue of co-designing plant-structures and dynamic controllers in automated design of Mechatronic...

  10. Safe Control for Spiral Recovery of Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Chang-Jian Ru

    2014-01-01

    Full Text Available With unmanned aerial vehicles (UAVs widely used in both military and civilian fields, many events affecting their safe flying have emerged. That UAV’s entering into the spiral is such a typical safety issue. To solve this safety problem, a novel recovery control approach is proposed. First, the factors of spiral are analyzed. Then, based on control scheduling of state variables and nonlinear dynamic inversion control laws, the spiral recovery controller is designed to accomplish guidance and control of spiral recovery. Finally, the simulation results have illustrated that the proposed control method can ensure the UAV autonomous recovery from spiral effectively.

  11. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  12. Automated washing of FTA Card punches and PCR setup for reference samples using a LIMS-controlled Sias Xantus automated liquid handler

    DEFF Research Database (Denmark)

    Stangegaard, Michael; Olsen, Addie Nina; Frøslev, Tobias G.;

    2009-01-01

    We have implemented and validated automated methods for washing FTA Card punches containing buccal samples and subsequent PCR setup using a Sias Xantus automated liquid handler. The automated methods were controlled by worklists generated by our LabWare Laboratory Information Management System (L...

  13. Nonlinear Cascade Strategy for Longitudinal Control of Electric Vehicle.

    Science.gov (United States)

    El Majdoub, K; Giri, F; Ouadi, H; Chaoui, F Z

    2014-01-01

    The problem of controlling the longitudinal motion of front-wheels electric vehicle (EV) is considered making the focus on the case where a single dc motor is used for both front wheels. Chassis dynamics are modelled applying relevant fundamental laws taking into account the aerodynamic effects and the road slope variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke's model. Despite its highly nonlinear nature the complete model proves to be utilizable in longitudinal control design. The control objective is to achieve a satisfactory vehicle speed regulation in acceleration/deceleration stages, despite wind speed and other parameters uncertainty. An adaptive controller is developed using the backstepping design technique. The obtained adaptive controller is shown to meet its objectives in presence of the changing aerodynamics efforts and road slope.

  14. FLIGHT PATH CONTROL FOR UNMANNED AERIAL VEHICLE

    Directory of Open Access Journals (Sweden)

    M. A. Al-Mashhadani

    2014-01-01

    Full Text Available Studying the optimized control law specified criteria on UAV while hovering over a path defined by the reference points in the inertial frame. An illustrative example is the  theoretical efficiency of the proposed provisions. 

  15. A new robust fuzzy method for unmanned flying vehicle control

    Institute of Scientific and Technical Information of China (English)

    Mojtaba Mirzaei; Mohammad Eghtesad; Mohammad Mahdi Alishahi

    2015-01-01

    A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles (UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control (IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.

  16. Dynamic analysis and control of novel moving mass flight vehicle

    Science.gov (United States)

    Li, Jianqing; Gao, Changsheng; Jing, Wuxing; Wei, Pengxin

    2017-02-01

    In terms of the moving mass control technology, the configuration of internal moving masses is a key challenge. In order to reduce the complexity of configuring these moving masses in a flight vehicle, a combination bank-to-turn control mode with the single moving mass and reaction jet is proposed in this paper. To investigate the dynamics and the potential of the control mechanism, an attitude dynamic model with single moving mass is generated. The dynamic analysis indicates that the control stability, control authority and dynamic behavior of the pitch channel are determined by the mass ratio of the moving mass to the system and the difference between the mass center of the moving mass and the mass center of the vehicle body. Interestingly, control authority increases proportionally with increasing mass ratio and also with decreasing the magnitude of the static margin. To deal with the coupling caused by the additional inertia moment which is generated by the motion of the moving mass, an adaptive control law by using dynamic inversion theory and the extended state observer is designed. Also, a compensator is designed for eliminating the influence of the servo actuator's dynamics on attitude of the flight vehicle. Finally, the simulation results validate the quality of the proposed adaptive controller which ensures a good performance in the novel configuration with internal moving mass.

  17. WHEELBASE PREVIEW OPTIMAL CONTROL FOR ACTIVE VEHICLE SUSPENSIONS

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    An algorithm in which the optimal control law takes the advantage of the correlation between front and rear inputs, i.e., wheelbase preview information, for an active vehicle suspension design is described. Based on simulations, the potential improvements from wheelbase preview and the effects of preview time are investigated.

  18. Cooperative Control of Swarms of Unmanned Aerial Vehicles

    NARCIS (Netherlands)

    De Vries, E.; Subbarao, K.

    2011-01-01

    Potential function based swarm control is a technique using artificial potential functions to generate steering commands resulting in swarming behavior. This means that the vehicles in the swarm autonomously take care of flying in formation, resulting in steering the swarm, instead of all the indivi

  19. Tactile displays for vehicle control : perceptual and behavioral findings

    NARCIS (Netherlands)

    Erp, J.B.F. van

    2007-01-01

    In many vehicle control situations, the operator's eyes and ears may become overloaded. For instance, while talking to our passengers and tuning-in to our favorite radio station, we may not be paying enough attention to the traffic. Many studies have shown that sensory overload may have serious effe

  20. Integrated vehicle dynamics control using State Dependent Riccati Equations

    NARCIS (Netherlands)

    Bonsen, B.; Mansvelders, R.; Vermeer, E.

    2010-01-01

    In this paper we discuss a State Dependent Riccati Equations (SDRE) solution for Integrated Vehicle Dynamics Control (IVDC). The SDRE approach is a nonlinear variant of the well known Linear Quadratic Regulator (LQR) and implements a quadratic cost function optimization. A modified version of this m

  1. Detecting Approaching Vehicles at Streets with No Traffic Control

    Science.gov (United States)

    Emerson, Robert Wall; Sauerburger, Dona

    2008-01-01

    This study assessed the ability of people with visual impairments to reliably detect oncoming traffic at crossing situations with no traffic control. In at least one condition, the participants could not hear vehicles to afford a safe crossing time when sound levels were as quiet as possible. Significant predictors of detection accounted for a…

  2. Combined Optimal Sizing and Control for a Hybrid Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

    Full Text Available The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coupled optimizations, one for the plant parameters, forming the outer optimization loop and one for the control strategy, forming the inner optimization loop, are used to achieve minimum fuel consumption under the selected driving schedule. The dynamic programming technique is applied to find the optimal controller in the inner loop while the component parameters are optimized iteratively in the outer loop. The results are analyzed, and the relationship between the key parameters is observed to keep the optimal sizing and control simultaneously.

  3. Cascaded adaptive control of ocean vehicles with significant actuator dynamics

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1994-04-01

    Full Text Available This paper presents a cascade adaptive control scheme for marine vehicles where the non-linear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants to be known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbalat's lemma. Global asymptotic stability is proven for the velocity scheme while the position/attitude controller is only proven to be convergent. Furthermore, all parameter estimates are shown to be bounded. Computer simulations of an ROV speed control system and an autopilot for automatic ship steering are used to illustrate the design methodology.

  4. Flight Dynamics and Control of Elastic Hypersonic Vehicles Uncertainty Modeling

    Science.gov (United States)

    Chavez, Frank R.; Schmidt, David K.

    1994-01-01

    It has been shown previously that hypersonic air-breathing aircraft exhibit strong aeroelastic/aeropropulsive dynamic interactions. To investigate these, especially from the perspective of the vehicle dynamics and control, analytical expressions for key stability derivatives were derived, and an analysis of the dynamics was performed. In this paper, the important issue of model uncertainty, and the appropriate forms for representing this uncertainty, is addressed. It is shown that the methods suggested in the literature for analyzing the robustness of multivariable feedback systems, which as a prerequisite to their application assume particular forms of model uncertainty, can be difficult to apply on real atmospheric flight vehicles. Also, the extent to which available methods are conservative is demonstrated for this class of vehicle dynamics.

  5. An Improved Car-Following Model in Vehicle Networking Based on Network Control

    Directory of Open Access Journals (Sweden)

    D. Y. Kong

    2014-01-01

    Full Text Available Vehicle networking is a system to realize information interoperability between vehicles and people, vehicles and roads, vehicles and vehicles, and cars and transport facilities, through the network information exchange, in order to achieve the effective monitoring of the vehicle and traffic flow. Realizing information interoperability between vehicles and vehicles, which can affect the traffic flow, is an important application of network control system (NCS. In this paper, a car-following model using vehicle networking theory is established, based on network control principle. The car-following model, which is an improvement of the traditional traffic model, describes the traffic in vehicle networking condition. The impact that vehicle networking has on the traffic flow is quantitatively assessed in a particular scene of one-way, no lane changing highway. The examples show that the capacity of the road is effectively enhanced by using vehicle networking.

  6. Intelligent Control in Automation Based on Wireless Traffic Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2007-08-01

    Wireless technology is a central component of many factory automation infrastructures in both the commercial and government sectors, providing connectivity among various components in industrial realms (distributed sensors, machines, mobile process controllers). However wireless technologies provide more threats to computer security than wired environments. The advantageous features of Bluetooth technology resulted in Bluetooth units shipments climbing to five million per week at the end of 2005 [1, 2]. This is why the real-time interpretation and understanding of Bluetooth traffic behavior is critical in both maintaining the integrity of computer systems and increasing the efficient use of this technology in control type applications. Although neuro-fuzzy approaches have been applied to wireless 802.11 behavior analysis in the past, a significantly different Bluetooth protocol framework has not been extensively explored using this technology. This paper presents a new neurofuzzy traffic analysis algorithm of this still new territory of Bluetooth traffic. Further enhancements of this algorithm are presented along with the comparison against the traditional, numerical approach. Through test examples, interesting Bluetooth traffic behavior characteristics were captured, and the comparative elegance of this computationally inexpensive approach was demonstrated. This analysis can be used to provide directions for future development and use of this prevailing technology in various control type applications, as well as making the use of it more secure.

  7. Intelligent Control in Automation Based on Wireless Traffic Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2007-09-01

    Wireless technology is a central component of many factory automation infrastructures in both the commercial and government sectors, providing connectivity among various components in industrial realms (distributed sensors, machines, mobile process controllers). However wireless technologies provide more threats to computer security than wired environments. The advantageous features of Bluetooth technology resulted in Bluetooth units shipments climbing to five million per week at the end of 2005 [1, 2]. This is why the real-time interpretation and understanding of Bluetooth traffic behavior is critical in both maintaining the integrity of computer systems and increasing the efficient use of this technology in control type applications. Although neuro-fuzzy approaches have been applied to wireless 802.11 behavior analysis in the past, a significantly different Bluetooth protocol framework has not been extensively explored using this technology. This paper presents a new neurofuzzy traffic analysis algorithm of this still new territory of Bluetooth traffic. Further enhancements of this algorithm are presented along with the comparison against the traditional, numerical approach. Through test examples, interesting Bluetooth traffic behavior characteristics were captured, and the comparative elegance of this computationally inexpensive approach was demonstrated. This analysis can be used to provide directions for future development and use of this prevailing technology in various control type applications, as well as making the use of it more secure.

  8. Simultaneous Planning and Control for Autonomous Ground Vehicles

    Science.gov (United States)

    2009-02-01

    obstacle avoidance were not part of the problem. Pioneering work was done by Dubins during the late 1950’s. He proved that optimal paths connecting a car...motion. Reeds and Shepp extended the work of Dubins to include motion for a vehicle traveling both forwards and backwards [REE91]. There are several...use of receding horizon control for electro -mechanical systems. This limitation is primarily due to the time critical nature of the required control

  9. Vision-based control in driving assistance of agricultural vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Khadraoui, D.; Martinet, P.; Bonton, P.; Gallice, J. [Univ. Blaise Pascal, Aubiere (France). Lab. des Sciences et Materiaux pour l`Electronique et d`Automatique; Debain, C. [Inst. de Recherche pour l`Ingenierie de l`Agriculture et de l`Environment, Montoldre (France). Div. Techniques du Machinisme Agricole; Rouveure, R. [Inst. de Recherche pour l`Ingenierie de l`Agriculture et de l`Environment, Antony (France). Div. Electronique et Intelligence Artificielle

    1998-10-01

    This article presents a real-time control system for an agricultural mobile machine (vehicle) based on an on-board vision system using a single camera. This system has been designed to help humans in repetitive and difficult tasks in the agricultural domain. The aim of the robotics application concerns the control of the vehicle with regard to the reap limit detected in image space. The perception aspect in relation to the application has been described in previous work, and here the authors deal with the control aspect. They integrate image features issues from the modeling of the scene in the control loop to perform an image-based servoing technique. The vehicle behavior described here concerns bicycle and neural models, and three control laws are then synthesized. The first and the second are modeling approaches and use an interaction between the scene and the image space. They are based on the regulation of a task function. The third is a black-box modeling technique, and is based on a neural network. Finally, experimental results obtained with these different control laws in different conditions are presented and discussed.

  10. Neuro-fuzzy controller to navigate an unmanned vehicle.

    Science.gov (United States)

    Selma, Boumediene; Chouraqui, Samira

    2013-12-01

    A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

  11. Dynamic Sliding Mode Control Based on Multi-model Switching Laws for the Depth Control of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Huanyin Zhou

    2015-07-01

    Full Text Available This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL, for the control of the depth of the studied Autonomous Underwater Vehicle (AUV system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMCMMSL algorithm control.

  12. AUTOMATION OF PLC PROGRAMMING WHEN IMPLEMENTING ALGORITHMS OF GUARANTEEING CONTROL

    Directory of Open Access Journals (Sweden)

    M. V. Levinskyi

    2015-05-01

    Full Text Available During developing programs for programmable logic controllers (PLCs the concept of model-oriented design is increasingly used. In particular, usage of Simulink PLC Coder is giving the opportunity to get SCL program codefrom Simulink model which contains certain dynamic elements. Then, for example, this SCL code can be transformed to functional blocks of the Simatic S7-300 (VIPA 300 PLC. This significantly reduces the timerequired to develop code in the language of SCL and reduces requirements for specialists’ qualification when developing control systems. In this article we provide an example of PLC programming automation whenimplementing algorithms of guaranteeing control (AGC. For certain types of technological processes it is typical to contain monotonically increasing function of the effectiveness with fixed one-way restriction in regulations. Forexample, in the grinders, presses, extruders the load current of the drive is stabilized using the change of feed. Energy efficiency of these plants will increase with increasing of the set point (SP to the controller of the drive loadcurrent stabilization loop. However, an increase in SP increases the probability of triggering appropriate protection, for example, as a result of random changes in the properties of raw materials. Therefore, to avoid this accident, thepower of driving motors is often unreasonably overrated. And in this case they are used with currents equal to the half of rated.Systems of guaranteeing control (SGC are used to solve the contradiction between the need to improvethe efficiency and increasing probability of an accident.

  13. Model-Based Control for Postal Automation and Baggage Handling

    NARCIS (Netherlands)

    Tarau, A.N.

    2010-01-01

    In this thesis we focus on two specific transportation systems, namely postal automation and baggage handling. Postal automation: During the last decades the volume of magazines, catalogs, and other plastic wrapped mail items that have to be processed by post sorting centers has increased consider

  14. Electric Vehicle IM Controller Based on Voltage-Fed Inverter

    Institute of Scientific and Technical Information of China (English)

    宋建国; 张承宁; 袁学; 谭建

    2004-01-01

    A novel electric vehicle (EV) induction motor (IM) controller based on voltage-fed inverter is presented. It is shown that the proposed adaptive control algorithm effectively both simplifies the structure and expands the capacity of controller. The relationship between stator's voltage and that of current under rotor's flux-oriented-coordinates is first introduced, and then the structure of vector control is analyzed, in which voltage compensation is inducted as the core feedback procedure. Experiments prove that, together with a facility for realization, a smooth transition, a prompt torque response and small concussion are gained. Extensive research conducted by varying parameters that result in practical ripple is proposed in conclusion.

  15. Optimal charging control of electric vehicles in smart grids

    CERN Document Server

    Tang, Wanrong

    2017-01-01

    This book introduces the optimal online charging control of electric vehicles (EVs) and battery energy storage systems (BESSs) in smart grids. The ultimate goal is to minimize the total energy cost as well as reduce the fluctuation of the total power flow caused by the integration of the EVs and renewable energy generators. Using both theoretic analysis and data-driven numerical results, the authors reveal the effectiveness and efficiency of the proposed control techniques. A major benefit of these control techniques is their practicality, since they do not rely on any non-causal knowledge of future information. Researchers, operators of power grids, and EV users will find this to be an exceptional resource. It is also suitable for advanced-level students of computer science interested in networks, electric vehicles, and energy systems.

  16. Human factors implications of vehicle automation: Current understanding and future directions

    NARCIS (Netherlands)

    Merat, N.; de Waard, Dick

    2014-01-01

    Advances in vehicle-based technology are currently progressing at an ever- increasing rate and innovations in this area are no longer restricted to Original Equipment Manufacturers or the automotive industry, with service providers such as Google and a number of research institutes in Europe and Nor

  17. Reference Model of Desired Yaw Angle for Automated Lane Changing Behavior of Vehicle

    Institute of Scientific and Technical Information of China (English)

    Dianbo Ren; Guanzhe Zhang; Hangzhe Wu

    2016-01-01

    In this paper, it studies the problem of trajectory planning and tracking for lane changing behavior of vehicle in automatic highway systems. Based on the model of yaw angle acceleration with positive and negative trapezoid constraint, by analyzing the variation laws of yaw motion of vehicle during a lane changing maneuver, the reference model of desired yaw angle and yaw rate for lane changing is generated. According to the yaw angle model, the vertical and horizontal coordinates of trajectory for vehicle lane change are calculated. Assuming that the road curvature is a constant, the difference and associations between two scenarios are analyzed, the lane changing maneuvers occurred on curve road and straight road, respectively. On this basis, it deduces the calculation method of desired yaw angle for lane changing on circular road. Simulation result shows that, it is different from traditional lateral acceleration planning method with the trapezoid constraint, by applying the trapezoidal yaw acceleration reference model proposed in this paper, the resulting expected yaw angular acceleration is continuous, and the step tracking for steering angle is not needed to implement. Due to the desired yaw model is direct designed based on the variation laws of raw movement of vehicle during a lane changing maneuver, rather than indirectly calculated from the trajectory model for lane changing, the calculation steps are simplified.

  18. Seasonal surface velocities of a Himalayan glacier derived by automated correlation of unmanned aerial vehicle imagery

    NARCIS (Netherlands)

    Kraaijenbrink, Philip; Meijer, Sander W.; Shea, Joseph M.; Pellicciotti, Francesca; De Jong, Steven M.; Immerzeel, Walter W.

    2016-01-01

    Debris-covered glaciers play an important role in the high-altitude water cycle in the Himalaya, yet their dynamics are poorly understood, partly because of the difficult fieldwork conditions. In this study we therefore deploy an unmanned aerial vehicle (UAV) three times (May 2013, October 2013 and

  19. Natural Environment Modeling and Fault-Diagnosis for Automated Agricultural Vehicle

    DEFF Research Database (Denmark)

    Blas, Morten Rufus; Blanke, Mogens

    2008-01-01

    This paper presents results for an automatic navigation system for agricultural vehicles. The system uses stereo-vision, inertial sensors and GPS. Special emphasis has been placed on modeling the natural environment in conjunction with a fault-tolerant navigation system. The results are exemplified...

  20. Trajectory Specification for Automation of Terminal Air Traffic Control

    Science.gov (United States)

    Paielli, Russell A.

    2016-01-01

    "Trajectory specification" is the explicit bounding and control of aircraft tra- jectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft nav- igation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) sys- tem or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on arrival spacing in the terminal area and presents ATC algorithms and software for achieving a specified delay of runway arrival time.

  1. Control of maglev vehicles with aerodynamic and guideway disturbances

    Science.gov (United States)

    Flueckiger, Karl; Mark, Steve; Caswell, Ruth; McCallum, Duncan

    1994-05-01

    A modeling, analysis, and control design methodology is presented for maglev vehicle ride quality performance improvement as measured by the Pepler Index. Ride quality enhancement is considered through active control of secondary suspension elements and active aerodynamic surfaces mounted on the train. To analyze and quantify the benefits of active control, the authors have developed a five degree-of-freedom lumped parameter model suitable for describing a large class of maglev vehicles, including both channel and box-beam guideway configurations. Elements of this modeling capability have been recently employed in studies sponsored by the U.S. Department of Transportation (DOT). A perturbation analysis about an operating point, defined by vehicle and average crosswind velocities, yields a suitable linearized state space model for multivariable control system analysis and synthesis. Neglecting passenger compartment noise, the ride quality as quantified by the Pepler Index is readily computed from the system states. A statistical analysis is performed by modeling the crosswind disturbances and guideway variations as filtered white noise, whereby the Pepler Index is established in closed form through the solution to a matrix Lyapunov equation. Data is presented which indicates the anticipated ride quality achieved through various closed-loop control arrangements.

  2. Command and control displays for space vehicle operations

    Science.gov (United States)

    Desjardins, Daniel D.; Zetocha, Paul; Aleva, Denise

    2010-04-01

    This paper shall examine several command and control facility display architectures supporting space vehicle operations, to include TacSat 2, TacSat 3, STPSat 2, and Communications Navigation Outage Forecasting System (CNOFS), located within the Research Development Test & Evaluation Support Complex (RSC) Satellite Operations Center 97 (SOC-97) at Kirtland Air Force Base. A principal focus is to provide an understanding for the general design class of displays currently supporting space vehicle command and control, e.g., custom, commercial-off-the-shelf, or ruggedized commercial-off-the-shelf, and more specifically, what manner of display performance capabilities, e.g., active area, resolution, luminance, contrast ratio, frame/refresh rate, temperature range, shock/vibration, etc., are needed for particular aspects of space vehicle command and control. Another focus shall be to address the types of command and control functions performed for each of these systems, to include how operators interact with the displays, e.g., joystick, trackball, keyboard/mouse, as well as the kinds of information needed or displayed for each function. [Comparison with other known command and control facilities, such as Cheyenne Mountain and NORAD Operations Center, shall be made.] Future, anticipated display systems shall be discussed.

  3. Autonomy for sensor-rich vehicles: Interaction between sensing and control actions

    Science.gov (United States)

    Hoffmann, Gabriel M.

    While autonomous vehicles have the potential to enable many revolutionary technologies, assisting people through unprecedented automation, they introduce many challenges in control system design. One step toward increasing their autonomy is to formulate an optimization problem that exploits models connecting the effects of the sensing and control systems to optimize the performance of the overall system. Using these models, the robots are able to intelligently experiment with their environment to work toward achieving their goals. This thesis presents techniques to directly exploit the connection between sensing and control, focusing on algorithms for mobile sensors and mobile sensor networks. Algorithms are developed to compute information theoretic quantities using a particle filter representation of the probability distributions over the states being estimated. To make the approach scalable to increasing network size, single-node and pairwise-node approximations to the mutual information are derived for general probability density models, with analytical bounds on the error incurred, and computation time that is polynomial in the number of sensors. The pairwise-node approximation is proven to be a more accurate objective function than the single-node approximation. A decentralized optimization algorithm is presented to implement these techniques, using a novel collision avoidance method incorporating hybrid control. The characteristics of these algorithms are explored in simulation of autonomous search using three sensing modalities: range, bearing, and magnetic rescue beacon. For each sensing modality, the behavior of these non-parametric methods are compared and contrasted with the results of linearized methods. The proposed methods produce similar results in some scenarios, yet they capture effects in more general scenarios not possible with linearized methods. Monte Carlo results demonstrate that the pairwise-node approximation provides superior performance

  4. Nonlinear analysis of vehicle control actuations based on controlled invariant sets

    Directory of Open Access Journals (Sweden)

    Németh Balázs

    2016-03-01

    Full Text Available In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant sets of the steering and braking control systems at various velocities and road conditions. Illustration examples show that, depending on the environments, different vehicle dynamic regions can be reached and stabilized by these controllers. The results can be applied to the theoretical basis of their interventions into the vehicle control system.

  5. Direct versus Facility Centric Load Control for Automated Demand Response

    Energy Technology Data Exchange (ETDEWEB)

    Koch, Ed; Piette, Mary Ann

    2009-11-06

    Direct load control (DLC) refers to the scenario where third party entities outside the home or facility are responsible for deciding how and when specific customer loads will be controlled in response to Demand Response (DR) events on the electric grid. Examples of third parties responsible for performing DLC may be Utilities, Independent System Operators (ISO), Aggregators, or third party control companies. DLC can be contrasted with facility centric load control (FCLC) where the decisions for how loads are controlled are made entirely within the facility or enterprise control systems. In FCLC the facility owner has more freedom of choice in how to respond to DR events on the grid. Both approaches are in use today in automation of DR and both will continue to be used in future market segments including industrial, commercial and residential facilities. This paper will present a framework which can be used to differentiate between DLC and FCLC based upon where decisions are made on how specific loads are controlled in response to DR events. This differentiation is then used to compare and contrast the differences between DLC and FCLC to identify the impact each has on:(1)Utility/ISO and third party systems for managing demand response, (2)Facility systems for implementing load control, (3)Communications networks for interacting with the facility and (4)Facility operators and managers. Finally a survey of some of the existing DR related specifications and communications standards is given and their applicability to DLC or FCLC. In general FCLC adds more cost and responsibilities to the facilities whereas DLC represents higher costs and complexity for the Utility/ISO. This difference is primarily due to where the DR Logic is implemented and the consequences that creates. DLC may be more certain than FCLC because it is more predictable - however as more loads have the capability to respond to DR signals, people may prefer to have their own control of end-use loads

  6. Development of potential methods for testing congestion control algorithm implemented in vehicle to vehicle communications.

    Science.gov (United States)

    Hsu, Chung-Jen; Fikentscher, Joshua; Kreeb, Robert

    2017-03-21

    Objective A channel congestion problem might occur when the traffic density increases since the number of basic safety messages carried on the communication channel also increases in vehicle-to-vehicle communications. A remedy algorithm proposed in SAE J2945/1 is designed to address the channel congestion issue by decreasing transmission frequency and radiated power. This study is to develop potential test procedures for evaluating or validating the congestion control algorithm. Methods Simulations of a reference unit transmitting at a higher frequency are implemented to emulate a number of Onboard Equipment (OBE) transmitting at the normal interval of 100 milliseconds (10 Hz). When the transmitting interval is reduced to 1.25 milliseconds (800 Hz), the reference unit emulates 80 vehicles transmitting at 10 Hz. By increasing the number of reference units transmitting at 800 Hz in the simulations, the corresponding channel busy percentages are obtained. An algorithm for GPS data generation of virtual vehicles is developed for facilitating the validation of transmission intervals in the congestion control algorithm. Results Channel busy percentage is the channel busy time over a specified period of time. Three or four reference units are needed to generate channel busy percentages between 50% and 80%, and five reference units can generate channel busy percentages above 80%. The proposed test procedures can verify the operation of congestion control algorithm when channel busy percentages are between 50% and 80%, and above 80%. By using GPS data generation algorithm, the test procedures can also verify the transmission intervals when traffic densities are 80 and 200 vehicles in the radius of 100 m. A suite of test tools with functional requirements is also proposed for facilitating the implementation of test procedures. Conclusions The potential test procedures for congestion control algorithm are developed based on the simulation results of channel busy

  7. Expert S-surface control for autonomous underwater vehicles

    Institute of Scientific and Technical Information of China (English)

    ZHANG Lei; PANG Yong-jie; SU Yu-min; ZHAO Fu-long; QIN Zai-bai

    2008-01-01

    S-surface control has proven to be an effective means for motion control of underwater autonomous vehicles (AUV). However there are still problems maintaining steady precision of course due to the constant need to adjust parameters,especially where there are disturbing currents. Thus an intelligent integral was introduced to improve precision. An expert S-surface control was developed to tune the parameters on-line,based on the expert system,it provides S-surface control according to practical experience and control knowledge. To prevent control output over-compensation,a fuzzy neural network was included to adjust the production rules to the knowledge base. Experiments were conducted on an AUV simulation platform,and the results show that the expert S-surface controller performs better than an S-surface controller in environments with currents,producing good steady precision of course in a robust way.

  8. Method and system for control of upstream flowfields of vehicle in supersonic or hypersonic atmospheric flight

    Science.gov (United States)

    Daso, Endwell O. (Inventor); Pritchett, II, Victor E. (Inventor); Wang, Ten-See (Inventor); Farr, Rebecca Ann (Inventor)

    2012-01-01

    The upstream flowfield of a vehicle traveling in supersonic or hypersonic atmospheric flight is actively controlled using attribute(s) experienced by the vehicle. Sensed attribute(s) include pressure along the vehicle's outer mold line, temperature along the vehicle's outer mold line, heat flux along the vehicle's outer mold line, and/or local acceleration response of the vehicle. A non-heated, non-plasma-producing gas is injected into an upstream flowfield of the vehicle from at least one surface location along the vehicle's outer mold line. The pressure of the gas so-injected is adjusted based on the attribute(s) so-sensed.

  9. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  10. Optimal Control of Engine Warmup in Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    van Reeven Vital

    2016-01-01

    Full Text Available An Internal Combustion Engine (ICE under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing the warmup behavior, is developed and validated on measured vehicle data. Secondly, the two-state, non-autonomous fuel optimization, for a parallel hybrid electric vehicle with stop-start functionality, is solved using optimal control theory. The principal behavior of the Lagrange multipliers is explicitly derived, including the discontinuities (jumps that are caused by the constraints on the lubricant temperature and the energy in the battery system. The minimization of the Hamiltonian for this two-state problem is also explicitly solved, resulting in a computationally efficient algorithm. The optimal controller shows the fuel benefit, as a function of the initial temperature, for a long-haul truck simulated on the FTP-75.

  11. Impact of Solar Control PVB Glass on Vehicle Interior Temperatures, Air-Conditioning Capacity, Fuel Consumption, and Vehicle Range

    Energy Technology Data Exchange (ETDEWEB)

    Rugh, J.; Chaney, L.; Venson, T.; Ramroth, L.; Rose, M.

    2013-04-01

    The objective of the study was to assess the impact of Saflex1 S-series Solar Control PVB (polyvinyl butyral) configurations on conventional vehicle fuel economy and electric vehicle (EV) range. The approach included outdoor vehicle thermal soak testing, RadTherm cool-down analysis, and vehicle simulations. Thermal soak tests were conducted at the National Renewable Energy Laboratory's Vehicle Testing and Integration Facility in Golden, Colorado. The test results quantified interior temperature reductions and were used to generate initial conditions for the RadTherm cool-down analysis. The RadTherm model determined the potential reduction in air-conditioning (A/C) capacity, which was used to calculate the A/C load for the vehicle simulations. The vehicle simulation tool identified the potential reduction in fuel consumption or improvement in EV range between a baseline and modified configurations for the city and highway drive cycles. The thermal analysis determined a potential 4.0% reduction in A/C power for the Saflex Solar PVB solar control configuration. The reduction in A/C power improved the vehicle range of EVs and fuel economy of conventional vehicles and plug-in hybrid electric vehicles.

  12. Deadlock handling for real-time control of AGVs at automated container terminals

    DEFF Research Database (Denmark)

    Lehmann, M.; Grunow, M.; Günther, H.O.

    2006-01-01

    In automated container terminals, situations occur where quay cranes, stacking cranes, and automated guided vehicles (AGVs), directly or indirectly request each other to start a specific process. Hence, all of the affected resources are blocked, possibly leading to the complete deadlock of indivi......In automated container terminals, situations occur where quay cranes, stacking cranes, and automated guided vehicles (AGVs), directly or indirectly request each other to start a specific process. Hence, all of the affected resources are blocked, possibly leading to the complete deadlock...... of individual cranes or AGVs. Particularly, AGVs are liable to deadlocks because they always need a secondary resource, either a quay crane or a stacking crane, to perform the pick-up and drop-off operations. Because usually no buffering of containers takes place at the interfaces between AGVs and cranes......, the consequences of deadlocks are rather severe. Two different methods for the detection of deadlocks are presented. One is based on a matrix representation of the terminal system. The other directly traces the requests for the individual resources. To resolve deadlock situations arising in an automated container...

  13. Deadlock handling for real-time control of AGV's at automated container terminals

    DEFF Research Database (Denmark)

    Lehmann, M.; Grunow, Martin; Günther, H.O.

    2007-01-01

    In automated container terminals, situations occur where quay cranes, stacking cranes, and automated guided vehicles (AGVs), directly or indirectly request each other to start a specific process. Hence, all of the affected resources are blocked, possibly leading to the complete deadlock of indivi......In automated container terminals, situations occur where quay cranes, stacking cranes, and automated guided vehicles (AGVs), directly or indirectly request each other to start a specific process. Hence, all of the affected resources are blocked, possibly leading to the complete deadlock...... of individual cranes or AGVs. Particularly, AGVs are liable to deadlocks because they always need a secondary resource, either a quay crane or a stacking crane, to perform the pick-up and drop-off operations. Because usually no buffering of containers takes place at the interfaces between AGVs and cranes......, the consequences of deadlocks are rather severe. Two different methods for the detection of deadlocks are presented. One is based on a matrix representation of the terminal system. The other directly traces the requests for the individual resources. To resolve deadlock situations arising in an automated container...

  14. Robotics, automation, and the new role of process control.

    Science.gov (United States)

    McPherson, R A

    1998-01-01

    The natural progression of automation in the clinical laboratory next will lead to robotic devices to perform many of the manual tasks still remaining. To date, most efforts of laboratory automation have been directed at the analytic phase. New targets for automation will be at the preanalytic and postanalytic phases where many of the bottlenecks in specimen flow now occur in highly repetitive manual tasks. Laboratory professionals will have a unique opportunity to incorporate new concepts of robotics in their facilities to improve error rates and to use massive laboratory databases to improve medical and public health services.

  15. Robust Broadcast-Communication Control of Electric Vehicle Charging

    CERN Document Server

    Turitsyn, Konstantin; Backhaus, Scott; Chertkov, Misha

    2010-01-01

    The anticipated increase in the number of plug-in electric vehicles (EV) will put additional strain on electrical distribution circuits. Many control schemes have been proposed to control EV charging. Here, we develop control algorithms based on randomized EV charging start times and simple one-way broadcast communication allowing for a time delay between communication events. Using arguments from queuing theory and statistical analysis, we seek to maximize the utilization of excess distribution circuit capacity while keeping the probability of a circuit overload negligible.

  16. Robust broadcast-communication control of electric vehicle charging

    Energy Technology Data Exchange (ETDEWEB)

    Chertkov, Michael [Los Alamos National Laboratory; Turitsyn, Konstantin [Los Alamos National Laboratory; Sulc, Petr [Los Alamos National Laboratory; Backhaus, Scott [Los Alamos National Laboratory

    2010-01-01

    The anticipated increase in the number of plug-in electric vehicles (EV) will put additional strain on electrical distribution circuits. Many control schemes have been proposed to control EV charging. Here, we develop control algorithms based on randomized EV charging start times and simple one-way broadcast communication allowing for a time delay between communication events. Using arguments from queuing theory and statistical analysis, we seek to maximize the utilization of excess distribution circuit capacity while keeping the probability of a circuit overload negligible.

  17. Research on Fuzzy Control for Automatic Transmission of Tracked Vehicles

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A principle of fuzzy control for tracked vehicles is proposed to make its automatic transmission system be able to adapt complex running conditions, and a model of its power train is established to be used in simulation. Based on the fuzzy control method, a fuzzy shift control system composed of a basic shift strategy and a fuzzy modification module is developed to improve the dynamic characteristics and cross-country maneuverability. Simulation results show that the fuzzy shift strategy can improve the shift quality under manifold driving conditions and avoid cycled shift effectively. Therefore,the proposed fuzzy shift strategies are proved to be feasible and practicable.

  18. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Science.gov (United States)

    Tomczyk, Andrzej

    2014-12-01

    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the "ideal" remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

  19. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Energy Technology Data Exchange (ETDEWEB)

    Tomczyk, Andrzej, E-mail: A.Tomczyk@prz.edu.pl [Department of Avionics and Control Systems, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, Al. Powstañców Warszawy 12, 35-959 Rzeszów (Poland)

    2014-12-10

    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the 'ideal' remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

  20. Incremental learning in trust-based vehicle control

    Science.gov (United States)

    Karlsen, Robert E.; Mikulski, Dariusz G.

    2016-05-01

    In many multi-agent teams, entities fully trust their teammates and the information that they provide. But we know that this can be a false assumption in many cases, which can lead to sub-optimal performance of the team. In this paper, we build off of prior work in developing a simple model of estimating and responding to different levels of trust between team members. We have chosen to use a vehicle convoy application to generate data and test the operation of the trust estimation algorithm and its evolution. We build on prior work, where a cruise control algorithm to maintain following distance was implemented, as were algorithms to adjust follow distance based on trust in the leader and the capability for a lead vehicle to "look back" and adjust its speed based on the follow distance of the vehicle behind. In this paper we introduce a mechanism, based on trust, which negotiates between two follow behaviors, either follow the vehicle ahead or drive towards a set of fixed waypoints. We also add a nonlinear relationship between trust and follow distance to provide a knob to adjust convoy performance and the paper shows that it does adjust performance, somewhat as expected.

  1. Automated X-ray quality control of catalytic converters

    Science.gov (United States)

    Shashishekhar, N.; Veselitza, D.

    2017-02-01

    Catalytic converters are devices attached to the exhaust system of automobile or other engines to eliminate or substantially reduce polluting emissions. They consist of coated substrates enclosed in a stainless steel housing. The substrate is typically made of ceramic honeycombs; however stainless steel foil honeycombs are also used. The coating is usually a slurry of alumina, silica, rare earth oxides and platinum group metals. The slurry also known as the wash coat is applied to the substrate in two doses, one on each end of the substrate; in some cases multiple layers of coating are applied. X-ray imaging is used to inspect the applied coating depth on a substrate to confirm compliance with quality requirements. Automated image analysis techniques are employed to measure the coating depth from the X-ray image. Coating depth is assessed by analysis of attenuation line profiles in the image. Edge detection algorithms with noise reduction and outlier rejection are used to calculate the coating depth at a specified point along an attenuation line profile. Quality control of the product is accomplished using several attenuation line profile regions for coating depth measurements, with individual pass or fail criteria specified for each region.

  2. Evolutional development of controlling software for agricultural vehicles and robots

    DEFF Research Database (Denmark)

    Nakanishi, Tsuneo; Jæger-Hansen, Claes Lund; Griepentrog, Hans-Werner

    Agricultural vehicles and robots expand their controlling software in size and complexity for their increasing functions. Due to repeated, ad hoc addition and modification, software gets structurally corrupted and becomes low performing, resource consuming and unreliable. This paper presents...... of the autonomous tractor, that applies XDDP initially for addition and modification of functions, accumulates core assets and cultivates a global view of the system through iterated development with XDDP, and finally shifts to SPL development....

  3. Orion Launch Abort Vehicle Attitude Control Motor Testing

    Science.gov (United States)

    Murphy, Kelly J.; Brauckmann, Gregory J.; Paschal, Keith B.; Chan, David T.; Walker, Eric L.; Foley, Robert; Mayfield, David; Cross, Jared

    2011-01-01

    Current Orion Launch Abort Vehicle (LAV) configurations use an eight-jet, solid-fueled Attitude Control Motor (ACM) to provide required vehicle control for all proposed abort trajectories. Due to the forward position of the ACM on the LAV, it is necessary to assess the effects of jet-interactions (JI) between the various ACM nozzle plumes and the external flow along the outside surfaces of the vehicle. These JI-induced changes in flight control characteristics must be accounted for in developing ACM operations and LAV flight characteristics. A test program to generate jet interaction aerodynamic increment data for multiple LAV configurations was conducted in the NASA Ames and NASA Langley Unitary Plan Wind Tunnels from August 2007 through December 2009. Using cold air as the simulant gas, powered subscale models were used to generate interaction data at subsonic, transonic, and supersonic test conditions. This paper presents an overview of the complete ACM JI experimental test program for Orion LAV configurations, highlighting ACM system modeling, nozzle scaling assumptions, experimental test techniques, and data reduction methodologies. Lessons learned are discussed, and sample jet interaction data are shown. These data, in conjunction with computational predictions, were used to create the ACM JI increments for all relevant flight databases.

  4. Construction of cryptographic information protection in automated control systems for rapid reaction military forces

    Directory of Open Access Journals (Sweden)

    Sergey Petrovich Evseev

    2012-04-01

    Full Text Available New approaches to realizations of military operations are analyzed. The main factors that directly affect the construction and operation of information security subsystems in prospective automated command and control military systems are described. Possible ways of the construction of cryptographic subsystems of information protection in automated operation management systems for united military force groups are investigated.

  5. Control Performance Management in Industrial Automation Assessment, Diagnosis and Improvement of Control Loop Performance

    CERN Document Server

    Jelali, Mohieddine

    2013-01-01

    Control Performance Management in Industrial Automation provides a coherent and self-contained treatment of a group of methods and applications of burgeoning importance to the detection and solution of problems with control loops that are vital in maintaining product quality, operational safety, and efficiency of material and energy consumption in the process industries. The monograph deals with all aspects of control performance management (CPM), from controller assessment (minimum-variance-control-based and advanced methods), to detection and diagnosis of control loop problems (process non-linearities, oscillations, actuator faults), to the improvement of control performance (maintenance, re-design of loop components, automatic controller re-tuning). It provides a contribution towards the development and application of completely self-contained and automatic methodologies in the field. Moreover, within this work, many CPM tools have been developed that goes far beyond available CPM packages. Control Perform...

  6. Remote robot manipulator coupled with remote-controlled guide vehicle for soil sampling in hazardous waste sites

    Science.gov (United States)

    Kim, Kiho

    The important initial step for remediation of hazardous waste is contaminant analysis since the cleanup operation can not begin until the contaminants in hazardous waste sites have been clearly identified. Ames Laboratory, one of the U.S. Department of Energy sites, has developed a robotic sampling system for automation of real-time contaminant analysis in situ which will provide the advantage of lowering the cost per sample, eliminating personnel exposure to hazardous environments, and allowing quicker results. Successful accomplishment of real-time contaminant analysis will require a remote manipulator to perform the sampling tasks in remote and unstructured surroundings, and a remote-controlled guide vehicle to move a remote manipulator into the desired sampling location. This thesis focuses on the design and construction of a remote-controlled guide vehicle to move the robotic sampling system into the contaminated field to obtain soil samples at the desired locations, the development of an integrated dynamic model of a remote manipulator, the identification of dynamic parameters in the integrated dynamic model, and the design of a mobile robotic sampling system. A four-wheeled vehicle prototype has been constructed and its performance tested manually in the field to verify the design requirements. To remotely control the vehicle, mechanical requirements to activate the brake, throttle, transmission, and steering linkages were determined based on experimental results. A teleoperated control utilizing hundred feet long umbilical cords was first employed to remotely control the vehicle. Next, the vehicle was modified to remotely operate in the field by radio control without the aid of long umbilical cords, satisfying all the design specifications. To reduce modeling error in the robotic system, the integrated dynamic system comprised of a remote manipulator (located on a trailer pulled by the remote-controlled guide vehicle) and its drive system has been modeled

  7. Road vehicle-induced vibration control of microelectronics facilities

    Institute of Scientific and Technical Information of China (English)

    Guo Anxin; Xu Youlin; Li Hui

    2005-01-01

    A hybrid control platform is investigated in this paper to mitigate microvibrations to a group of vibrationsensitive equipment installed in a microelectronics facility subject to nearby road vehicle-induced horizontal and vertical ground motions. The hybrid control platform, on which microelectronics equipment is installed, is mounted on a building floor through a series of passive mounts and controlled by hydraulic actuators in both horizontal and vertical directions. The control platform is an elastic body with significant bending modes of vibration, and a sub-optimal control algorithm is used to manipulate the hydraulic actuators with actuator dynamics included. The finite element model and the equations of motion of the coupled platform-building system are then established in the absolute coordinate to facilitate the feedback control and performance evaluation of the platform. The horizontal and vertical ground vibrations at the base of the building induced by nearby moving road vehicles are assumed to be stationary random processes. A typical three-story microelectronics building is selected as a case study. The case study shows that the vertical vibration of the microelectronics building is higher than the horizontal. The use of a hybrid control platform can effectively reduce both horizontal and vertical microvibrations of the microelectronics equipment to the level which satisfies the stringent microscale velocity requirement specified in the Bolt Beranek & Newman (BBN) criteria.

  8. Traction Control of Electric Vehicles Using Sliding-Mode Controller with Tractive Force Observer

    Directory of Open Access Journals (Sweden)

    Suwat Kuntanapreeda

    2014-01-01

    Full Text Available Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced by friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used to design a robust traction controller. The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A nonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental results have illustrated the success of the proposed observer-based controller.

  9. Vehicle active steering control research based on two-DOF robust internal model control

    Science.gov (United States)

    Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

    2016-07-01

    Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

  10. 40 CFR 80.24 - Controls applicable to motor vehicle manufacturers.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 16 2010-07-01 2010-07-01 false Controls applicable to motor vehicle... PROGRAMS (CONTINUED) REGULATION OF FUELS AND FUEL ADDITIVES Controls and Prohibitions § 80.24 Controls applicable to motor vehicle manufacturers. (a) (b) The manufacturer of any motor vehicle equipped with...

  11. 76 FR 61095 - California State Motor Vehicle Pollution Control Standards; Within the Scope Determination and...

    Science.gov (United States)

    2011-10-03

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Within the Scope Determination and... certification, inspection or any other approval relating to the control of emissions from any new motor vehicle...) for the control of emissions from new motor vehicles or new motor engines prior to March 30,...

  12. 76 FR 34693 - California State Motor Vehicle Pollution Control Standards; Within-the-Scope Determination for...

    Science.gov (United States)

    2011-06-14

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Within-the-Scope Determination for... or attempt to enforce any standard relating to the control of emissions from new motor vehicles or... any other approval relating to the control of emissions from any new motor vehicle or new...

  13. GSM-GPS Based Intelligent Security and Control System for Vehicle

    Directory of Open Access Journals (Sweden)

    Mr. Kiran Gaikwad

    2013-05-01

    Full Text Available The revolution of Mobile and Technology has made ‘GSM based vehicle security system’. The vehicle security system is prominent worldwide. But it is not so much secure system. Every vehicle owner wants maximum protection of his vehicle; otherwise thief can easily trap the vehicle. So, by combing the idea of mobile and vehicle security system GSM based vehicle security system can be designed. So this GSM-GPS based vehicle security system works when someone tries to steal your vehicle. This paper deals with the design {&} development of an embedded system, which is being used to prevent/control the theft of a vehicle. The instrument is an embedded system based on GSM and GPS technology. The instrument is installed in the engine of the vehicle. The main objective of this instrument is to protect the vehicle from any unauthorized access, through entering a protected password and intimate the status and location of the same vehicle to the authorize person (owner using Global System for Mobile Communication (GSM and Global Positioning System (GPS technology. Here owner of vehicle can control system through Cell phone or a personal computer (PC. In this system new concept is inclusion of RTC (Real Time Clock by which vehicle can be permanently off depending upon date and time set. This system is intelligent because it performs many tasks automatically and also control vehicle on/off from a distance

  14. Control and automation of the Pegasus multi-point Thomson scattering system.

    Science.gov (United States)

    Bodner, G M; Bongard, M W; Fonck, R J; Reusch, J A; Rodriguez Sanchez, C; Schlossberg, D J

    2016-11-01

    A new control system for the Pegasus Thomson scattering diagnostic has recently been deployed to automate the laser operation, data collection process, and interface with the system-wide Pegasus control code. Automation has been extended to areas outside of data collection, such as manipulation of beamline cameras and remotely controlled turning mirror actuators to enable intra-shot beam alignment. Additionally, the system has been upgraded with a set of fast (∼1 ms) mechanical shutters to mitigate contamination from background light. Modification and automation of the Thomson system have improved both data quality and diagnostic reliability.

  15. An artificial pancreas for automated blood glucose control in patients with Type 1 diabetes

    DEFF Research Database (Denmark)

    Schmidt, Signe; Boiroux, Dimitri; Ranjan, Ajenthen;

    2015-01-01

    Automated glucose control in patients with Type 1 diabetes is much-coveted by patients, relatives and healthcare professionals. It is the expectation that a system for automated control, also know as an artificial pancreas, will improve glucose control, reduce the risk of diabetes complications a....... This review gives an introduction to recent progress, challenges and future prospects within the field of artificial pancreas research....

  16. Knowledge based support for real time application of multiagent control and automation in electric power systems

    DEFF Research Database (Denmark)

    Saleem, Arshad; Nordstrom, Lars; Lind, Morten

    2011-01-01

    This paper presents a mechanism for developing knowledge based support for real time application of multiagent systems (MAS) in control, automation and diagnosis of electric power systems. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model...... and choose an appropriate control action. The paper also elaborates on real time interfacing between multi-agent systems and industry standard distribution automation and control system....

  17. Electric vehicle charge planning using Economic Model Predictive Control

    DEFF Research Database (Denmark)

    Halvgaard, Rasmus; Poulsen, Niels K.; Madsen, Henrik

    2012-01-01

    Economic Model Predictive Control (MPC) is very well suited for controlling smart energy systems since electricity price and demand forecasts are easily integrated in the controller. Electric vehicles (EVs) are expected to play a large role in the future Smart Grid. They are expected to provide g...... should be consumed as soon as it is produced to avoid the need for energy storage as this is expensive, limited and introduces efficiency losses. The Economic MPC for EVs described in this paper may contribute to facilitating transition to a fossil free energy system.......Economic Model Predictive Control (MPC) is very well suited for controlling smart energy systems since electricity price and demand forecasts are easily integrated in the controller. Electric vehicles (EVs) are expected to play a large role in the future Smart Grid. They are expected to provide...... grid services, both for peak reduction and for ancillary services, by absorbing short term variations in the electricity production. In this paper the Economic MPC minimizes the cost of electricity consumption for a single EV. Simulations show savings of 50–60% of the electricity costs compared...

  18. Explicit control of adaptive automation under different levels of environmental stress.

    Science.gov (United States)

    Sauer, Jürgen; Kao, Chung-Shan; Wastell, David; Nickel, Peter

    2011-08-01

    This article examines the effectiveness of three different forms of explicit control of adaptive automation under low- and high-stress conditions, operationalised by different levels of noise. In total, 60 participants were assigned to one of three types of automation design (free, prompted and forced choice). They were trained for 4 h on a highly automated simulation of a process control environment, called AutoCAMS. This was followed by a 4-h testing session under noise exposure and quiet conditions. Measures of performance, psychophysiology and subjective reactions were taken. The results showed that all three modes of explicit control of adaptive automation modes were able to attenuate the negative effects of noise. This was partly due to the fact that operators opted for higher levels of automation under noise. It also emerged that forced choice showed marginal advantages over the two other automation modes. Statement of Relevance: This work is relevant to the design of adaptive automation since it emphasises the need to consider the impact of work-related stressors during task completion. During the presence of stressors, different forms of operator support through automation may be required than under more favourable working conditions.

  19. A Dynamic Visualization Environment For The Design And Evaluation Of Automatic Vehicle Control Systems

    OpenAIRE

    Xu, Z.

    1995-01-01

    This document presents Dynamic Visualization, a project associated with the California PATH Program. The objective of the project is to develop a software which can animate automated highways, visualize the dynamics of automatic vehicles, and help the design and evaluation of automatic vehicle systems. This report summarizes the accomplishments of the project, describes the functions of the developed software, and provides an explanation of how to use the software.

  20. Fuzzy logic control of vehicle suspensions with dry friction nonlinearity

    Indian Academy of Sciences (India)

    L Emir Sakman; Rahmi Guclu; Nurkan Yagiz

    2005-10-01

    We design and investigate the performance of fuzzy logic-controlled (FLC) active suspensions on a nonlinear vehicle model with four degrees of freedom, without causing any degeneration in suspension working limits. Force actuators were mounted parallel to the suspensions. In this new approach, linear combinations of the vertical velocities of the suspension ends and accelerations of the points of connection of the suspension to the body have been used as input variables. The study clearly demonstrates the effectiveness of the fuzzy logic controller for active suspension systems. Suspension working space degeneration is the most important problem in various applications. Decreasing the amplitudes of vehicle body vibrations improves ride comfort. Body bounce and pitch motion of the vehicle are presented both in time domain when travelling over a ramp-step road profile and in frequency domain. The results are compared with those of uncontrolled systems. At the end of this study, the performance and the advantage of the suggested approach and the improvement in ride comfort are discussed.

  1. Optimization and Control of Cyber-Physical Vehicle Systems

    Science.gov (United States)

    Bradley, Justin M.; Atkins, Ella M.

    2015-01-01

    A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined. PMID:26378541

  2. Optimization and Control of Cyber-Physical Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Justin M. Bradley

    2015-09-01

    Full Text Available A cyber-physical system (CPS is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

  3. Optimization and Control of Cyber-Physical Vehicle Systems.

    Science.gov (United States)

    Bradley, Justin M; Atkins, Ella M

    2015-09-11

    A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

  4. Research on Underwater Vehicle Based on Multiphase Flow Control

    Directory of Open Access Journals (Sweden)

    Zhang Xiaoshi

    2015-01-01

    Full Text Available The commercial software ANSYS CFX is used for modeling the hydrodynamic characteristics of submarine-launched vehicle. In the numerical simulations, the SST (Shear Stress Transport turbulence model is employed to describe the turbulence phenomenon occurring in the continuous fluid. The Rayleigh-Plesset equations are applied to analyze the cavitation phenomenon. Three-dimensional numerical simulation was carried out to study the cavity shape, the surface pressure distribution and the drag force with different flow control. The result shows that the gas and the number of ventilation holes control to show any significant impact on the cavity shape and the surface pressure are effective measures to decrease resistance.

  5. Remote control of a small unmanned ground vehicle (SUGV)

    Science.gov (United States)

    Irimie, Nicolae; Zorila, Alexandru; Nan, Alexandru; Schiopu, Paul

    2010-11-01

    Developing robot technology has gained an increasing dynamics. Small unmanned ground vehicle - SUGV has gained a place in the robotics field. This paper describes the possibility of remote control of the SUGV using a fuzzy algorithm. This designed algorithm specifically for controlling of a semi-autonomous mobile robot for research, observation, and surveillance. The device can provide 360-degree panoramic images using an image system which includes a hyperboloid mirror and a CCD camera, designed for this specific purpose. Both components, fuzzy algorithm and image system were implemented, tested in the laboratory condition and outdoor on a mobile robot for research, observation, and surveillance.

  6. Electric and hybrid vehicles environmental control subsystem study

    Science.gov (United States)

    1981-01-01

    An environmental control subsystem (ECS) in the passenger compartment of electric and hybrid vehicles is studied. Various methods of obtaining the desired temperature control for the battery pack is also studied. The functional requirements of ECS equipment is defined. Following categorization by methodology, technology availability and risk, all viable ECS concepts are evaluated. Each is assessed independently for benefits versus risk, as well as for its feasibility to short, intermediate and long term product development. Selection of the preferred concept is made against these requirements, as well as the study's major goal of providing safe, highly efficient and thermally confortable ECS equipment.

  7. Intelligent systems approach for automated identification of individual control behavior of a human operator

    Science.gov (United States)

    Zaychik, Kirill B.

    Acceptable results have been obtained using conventional techniques to model the generic human operator's control behavior. However, little research has been done in an attempt to identify an individual based on his/her control behavior. The main hypothesis investigated in this dissertation is that different operators exhibit different control behavior when performing a given control task. Furthermore, inter-person differences are manifested in the amplitude and frequency content of the non-linear component of the control behavior. Two enhancements to the existing models of the human operator, which allow personalization of the modeled control behavior, are presented in this dissertation. One of the proposed enhancements accounts for the "testing" control signals, which are introduced by an operator for more accurate control of the system and/or to adjust his/her control strategy. Such enhancement uses the Artificial Neural Network (ANN), which can be fine-tuned to model the "testing" control behavior of a given individual. The other model enhancement took the form of an equiripple filter (EF), which conditions the power spectrum of the control signal before it is passed through the plant dynamics block. The filter design technique uses Parks-McClellan algorithm, which allows parameterization of the desired levels of power at certain frequencies. A novel automated parameter identification technique (APID) was developed to facilitate the identification process of the parameters of the selected models of the human operator. APID utilizes a Genetic Algorithm (GA) based optimization engine called the Bit-climbing Algorithm (BCA). Proposed model enhancements were validated using the experimental data obtained at three different sources: the Manual Control Laboratory software experiments, Unmanned Aerial Vehicle simulation, and NASA Langley Research Center Visual Motion Simulator studies. Validation analysis involves comparison of the actual and simulated control

  8. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Gusikhin, Oleg; Madani, Kurosh; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), held in Vienna, Austria, from 1 to 3 September 2014. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2014 received 301 submissions, from 49 countries, in all continents. After a double blind paper review performed by the Program Committee, 20% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, ba...

  9. 12th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Madani, Kurosh; Gusikhin, Oleg; Sasiadek, Jurek

    2016-01-01

    The present book includes a set of selected extended papers from the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, based ...

  10. Modeling and control for hydraulic transmission of unmanned ground vehicle

    Institute of Scientific and Technical Information of China (English)

    王岩; 张泽; 秦绪情

    2014-01-01

    Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.

  11. A new robust control for minirotorcraft unmanned aerial vehicles.

    Science.gov (United States)

    Mokhtari, M Rida; Cherki, Brahim

    2015-05-01

    This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method.

  12. Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

    Institute of Scientific and Technical Information of China (English)

    LI Ye; PANG Yong-jie; WAN Lei; WANG Fang; LIAO Yu-lei

    2009-01-01

    The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.

  13. Acoustic Wake-Up Receivers for Home Automation Control Applications

    Directory of Open Access Journals (Sweden)

    Amir Bannoura

    2016-01-01

    Full Text Available Automated home applications are to ease the use of technology and devices around the house. Most of the electronic devices, like shutters or entertainment products (Hifi, TV and even WiFi, are constantly in a standby mode, where they consume a considerable amount of energy. The standby mode is necessary to react to commands triggered by the user, but the time the device spends in a standby mode is considered long. In our work, we present a receiver that is attached to home appliances that allows the devices to be activated while they are completely turned off in order to reduce the energy consumed in the standby mode. The receiver contains a low power wake-up module that reacts to an addressable acoustic 20-kHz sound signal that controls home devices that are connected to it. The acoustic wake-up signal can be sent by any kind of speaker that is available in commercial smartphones. The smartphones will operate as transmitters to the signals. Our wake-up receiver consists of two parts: a low power passive circuit connected to a wake-up chip microcontroller and an active micro-electromechanical system (MEMS microphone that receives the acoustic signal. A duty cycle is required to reduce the power consumption of the receiver, because the signal reception occurs when the microphone is active. The current consumption was measured to be 15 μA in sleep mode and 140 μA in active mode. An average wake-up range of 10 m using a smartphone as a sender was achieved.

  14. Control performance evaluation of railway vehicle MR suspension using fuzzy sky-ground hook control algorithm

    Science.gov (United States)

    Ha, S. H.; Choi, S. B.; Lee, G. S.; Yoo, W. H.

    2013-02-01

    This paper presents control performance evaluation of railway vehicle featured by semi-active suspension system using magnetorheological (MR) fluid damper. In order to achieve this goal, a nine degree of freedom of railway vehicle model, which includes car body and bogie, is established. The wheel-set data is loaded from measured value of railway vehicle. The MR damper system is incorporated with the governing equation of motion of the railway vehicle model which includes secondary suspension. To illustrate the effectiveness of the controlled MR dampers on suspension system of railway vehicle, the control law using the sky-ground hook controller is adopted. This controller takes into account for both vibration control of car body and increasing stability of bogie by adopting a weighting parameter between two performance requirements. The parameters appropriately determined by employing a fuzzy algorithm associated with two fuzzy variables: the lateral speed of the car body and the lateral performance of the bogie. Computer simulation results of control performances such as vibration control and stability analysis are presented in time and frequency domains.

  15. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  16. Q-learning approach to automated unmanned air vehicle (UAV) demining

    Science.gov (United States)

    Ferrari, Silvia; Daugherty, Greyson

    2010-04-01

    This paper develops a Q-learning approach to Unmanned Air Vehicle (UAV) navigation, or path planning, for sensing applications in which an infrared (IR) sensor or camera is installed onboard the UAV for the purpose of detecting and classifying multiple, stationary ground targets. The problem can be considered as a geometric sensor-path planning problem, because the geometry and position of the sensor's field of view (FOV) determines what targets can be detected and classified at any given time. The advantage of this approach over existing path planning techniques is that the optimal guidance policy is learned via the Q-function, without explicit knowledge of the system models and environmental conditions. The approach is demonstrated through a demining application in which a UAV-based IR sensor is capable of determining the optimal altitude for properly detecting and classifying targets buried in a complex region of interest.

  17. Intelligent, Semi-Automated Procedure Aid (ISAPA) for ISS Flight Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop the Intelligent, Semi-Automated Procedure Aid (ISAPA) intended for use by International Space Station (ISS) ground controllers to increase the...

  18. INTEGRATION OF INFORMATIONAL COMPUTER TECHNOLOGIES SMK: AUTOMATION OF THE MAIN FUNCTIONS OF THE TECHNICAL CONTROL DEPARTMENT

    Directory of Open Access Journals (Sweden)

    S. A. Pavlenko

    2010-01-01

    Full Text Available It is shown that automation of some functions of control department allows to record defects, reclamations and failures of technology, to make the necessary reporting forms and quality certificates for production.

  19. Fuzzy Adaptive PI Controller for DTFC in Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Medjdoub khessam

    2014-12-01

    Full Text Available This paper presents a technique to control the electric vehicle (EV speed and torque at any curve. Our propulsion model consist of two permanent magnet synchronous (PMSM motors. The fuzzy adaptive PI controller is used to adjust the different static error constants, as per the speed error. The suggested based on the direct torque fuzzy control (DTFC. A Mamdani type fuzzy direct torque controller is first developed and then rules are modified using stator current membership functions. The computations are ensured by the electronic differential, this driving process permit to steer each driving wheels at any curve separately.Modeling and simulation are carried out using the Matlab/Simulink tool to investigate the performance of the proposed system.

  20. Energy control strategy for parallel hydrostatic transmission hybrid vehicles

    Institute of Scientific and Technical Information of China (English)

    SUN Hui; JIANG Ji-hai; WANG Xin

    2009-01-01

    Aimed at the relatively lower energy density and complicated coordinating operation between two power sources, a special energy control strategy is required to maximize the fuel saving potential. Then a new type of configuration for hydrostatic transmission hybrid vehicles (PHHV) and the selection criterion for impor-tant components are proposed. Based on the optimization of planet gear transmission ratio and the analysis of op-timal energy distribution for the proposed PHHV on a representative urban driving cycle, a fuzzy torque control strategy and a braking energy regeneration strategy are designed and developed to realize the real-time control of energy for the proposed PHHV. Simulation results demonstrate that the energy control strategy effectively im-proves the fuel economy of PHHV.

  1. 76 FR 78 - Federal Motor Vehicle Safety Standard; Engine Control Module Speed Limiter Device

    Science.gov (United States)

    2011-01-03

    ... posted speed limit of 55 mph that was in effect in 1991. \\2\\ Comercial Motor Vehicle Speed Control... improved truck designs. \\3\\ Comercial Motor Vehicle Speed Control Devices (1991), DOT HS 807 725. TCA... National Highway Traffic Safety Administration 49 CFR Part 571 Federal Motor Vehicle Safety...

  2. Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    İkbal Eski

    2014-01-01

    Full Text Available A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is proved that this kind of neural predictor could be used in real-time AUV applications.

  3. Robust adaptive control of underwater vehicles: A comparative study

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1996-01-01

    Full Text Available Robust adaptive control of underwater vehicles in 6 DOF is analysed in the context of measurement noise. The performance of the adaptive control laws of Sadegh and Harowitz (1990 and Slotine and Benedetto (1990 are compared. Both these schemes require that all states are measured, that is the velocities and positions in surge, sway, heave, roll, pitch and yaw. However, for underwater vehicles it is difficult to measure the linear velocities whereas angular velocity measurements can be obtained by using a 3 axes angular rate sensor. This problem is addressed by designing a nonlinear observer for linear velocity state estimation. The proposed observer requires that the position and the attitude are measured, e.g. by using a hydroacoustic positioning system for linear positions, two gyros for roll and pitch and a compass for yaw. In addition angular rate measurements will be assumed available from a 3-axes rate sensor or a state estimator. It is also assumed that the measurement rate is limited to 2 Hz for all the sensors. Simulation studies with a 3 DOF AUV model are used to demonstrate the convergence and robustness of the adaptive control laws and the velocity state observer.

  4. The implementation of the situational control concept of information security in automated training systems

    Directory of Open Access Journals (Sweden)

    A. M. Chernih

    2016-01-01

    Full Text Available The main approaches to ensuring security of information in the automated training systems are considered, need of application of situational management of security of information for the automated training systems is proved, the mathematical model and a problem definition of situational control is offered, the technique of situational control of security of information is developed.The purpose of the study. The aim of the study is to base the application of situational control of information security by subsystem of the control and protection of information in automated learning systems and to develop implementation methods of the situational control concept.Materials and methods. It is assumed that the automated learning system is a fragment of a larger information system that contains several information paths, each of them treats different information in the protection degree from information, containing constituting state secrets, to open access information.It is considered that the technical methods, measures and means of information protection in automated learning systems implement less than half (30% functions of subsystems of control and protection information. The main part of the functions of this subsystem are organizational measures to protect information. It is obvious that the task of ensuring the security of information in automated learning systems associated with the adoption of decisions on rational selection and proper combination of technical methods and institutional arrangements. Conditions of practical application of automated learning systems change over time and transform the situation of such a decision, and this leads to the use of situational control methods.When situational control is implementing, task of the protection of information in automated learning system is solved by the subsystem control and protection of information by distributing the processes ensuring the security of information and resources of

  5. Electronic Brake-Force Distribution Control Methods of ABS-Equipped Vehicles During Cornering Braking

    Institute of Scientific and Technical Information of China (English)

    WANG Guo-ye; LIU Zhao-du; MA Yue-feng; QI Zhi-quan

    2007-01-01

    Based on the dynamics of ABS-equipped vehicles during cornering braking,the electronic brakeforce distribution (EBD) control methods of ABS-equipped vehicles during cornering braking are proposed.According to the dynamics and the tire model under tire adhesion limit,the stability acceptance criteria of vehicles during cornering braking are proposed.According to the stability acceptance criteria and the ABS control,the EBD control methods of ABS-equipped vehicles during cornering braking are implemented by adjusting the threshold values of tires slip independently.The vehicle states during cornering braking at two typical initial velocities of the vehicle are analyzed by the EBD control methods,whose results indicate the EBD control methods can improve the braking performances of the vehicle during cornering braking comparing with the ABS control.

  6. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  7. CRDIAC: Coupled Reactor Depletion Instrument with Automated Control

    Energy Technology Data Exchange (ETDEWEB)

    Steven K. Logan

    2012-08-01

    When modeling the behavior of a nuclear reactor over time, it is important to understand how the isotopes in the reactor will change, or transmute, over that time. This is especially important in the reactor fuel itself. Many nuclear physics modeling codes model how particles interact in the system, but do not model this over time. Thus, another code is used in conjunction with the nuclear physics code to accomplish this. In our code, Monte Carlo N-Particle (MCNP) codes and the Multi Reactor Transmutation Analysis Utility (MRTAU) were chosen as the codes to use. In this way, MCNP would produce the reaction rates in the different isotopes present and MRTAU would use cross sections generated from these reaction rates to determine how the mass of each isotope is lost or gained. Between these two codes, the information must be altered and edited for use. For this, a Python 2.7 script was developed to aid the user in getting the information in the correct forms. This newly developed methodology was called the Coupled Reactor Depletion Instrument with Automated Controls (CRDIAC). As is the case in any newly developed methodology for modeling of physical phenomena, CRDIAC needed to be verified against similar methodology and validated against data taken from an experiment, in our case AFIP-3. AFIP-3 was a reduced enrichment plate type fuel tested in the ATR. We verified our methodology against the MCNP Coupled with ORIGEN2 (MCWO) method and validated our work against the Post Irradiation Examination (PIE) data. When compared to MCWO, the difference in concentration of U-235 throughout Cycle 144A was about 1%. When compared to the PIE data, the average bias for end of life U-235 concentration was about 2%. These results from CRDIAC therefore agree with the MCWO and PIE data, validating and verifying CRDIAC. CRDIAC provides an alternative to using ORIGEN-based methodology, which is useful because CRDIAC's depletion code, MRTAU, uses every available isotope in its

  8. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  9. An Automated Technique for Generating Georectified Mosaics from Ultra-High Resolution Unmanned Aerial Vehicle (UAV Imagery, Based on Structure from Motion (SfM Point Clouds

    Directory of Open Access Journals (Sweden)

    Christopher Watson

    2012-05-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are an exciting new remote sensing tool capable of acquiring high resolution spatial data. Remote sensing with UAVs has the potential to provide imagery at an unprecedented spatial and temporal resolution. The small footprint of UAV imagery, however, makes it necessary to develop automated techniques to geometrically rectify and mosaic the imagery such that larger areas can be monitored. In this paper, we present a technique for geometric correction and mosaicking of UAV photography using feature matching and Structure from Motion (SfM photogrammetric techniques. Images are processed to create three dimensional point clouds, initially in an arbitrary model space. The point clouds are transformed into a real-world coordinate system using either a direct georeferencing technique that uses estimated camera positions or via a Ground Control Point (GCP technique that uses automatically identified GCPs within the point cloud. The point cloud is then used to generate a Digital Terrain Model (DTM required for rectification of the images. Subsequent georeferenced images are then joined together to form a mosaic of the study area. The absolute spatial accuracy of the direct technique was found to be 65–120 cm whilst the GCP technique achieves an accuracy of approximately 10–15 cm.

  10. Automated container transportation using self-guided vehicles: Fernald site requirements

    Energy Technology Data Exchange (ETDEWEB)

    Hazen, F.B.

    1993-09-01

    A new opportunity to improve the safety and efficiency of environmental restoration operations, using robotics has emerged from advances in industry, academia, and government labs. Self-Guided Vehicles (SGV`s) have recently been developed in industry and early systems have already demonstrated much, though not all, of the functionality necessary to support driverless transportation of waste within and between processing facilities. Improved materials databases are being developed by at least two DOE remediation sites, the Fernald Environmental Management Project (FEME) in the State of Ohio and the Hanford Complex in the State of Washington. SGV`s can be developed that take advantage of the information in these databases and yield improved dispatch, waste tracking, report and shipment documentation. In addition, they will reduce the radiation hazard to workers and the risk of damaging containers through accidental collision. In this document, features of remediation sites that dictate the design of both the individual SGV`s and the collective system of SGV`s are presented, through the example of the site requirements at Fernald. Some concepts borrowed from the world of manufacturing are explained and then used to develop an integrated, holistic view of the remediation site as a pseudo-factory. Transportation methods at Fernald and anticipated growth in transport demand are analyzed. The new site-wide database under development at Fernald is presented so that advantageous and synergistic links between SGV`s and information systems can be analyzed. Details of the SGV development proposed are submitted, and some results of a recently completed state of the art survey for SGV use in this application are also presented.

  11. Velocity and Motion Control of a Self-balancing Vehicle based on a Cascade Control Strategy

    Directory of Open Access Journals (Sweden)

    Miguel Velazquez

    2016-06-01

    Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

  12. Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering

    Directory of Open Access Journals (Sweden)

    Raja Amer Azim

    2015-01-01

    Full Text Available Three-wheeled vehicles are agile, less complex, but relatively more prone to rollover. The current study focuses on the rollover mitigation control design using active front steering for such vehicles. A lateral load transfer ratio (LLTR adapted for a three-wheeled platform is presented. Sliding mode control design strategy has been devised which results in pseudo-direct control for roll dynamics of the vehicle. The lag in vehicle roll angle response has been managed using adaptive sliding surface. This concept can be extended for other vehicle configurations. The proposed control scheme is investigated for efficacy using a full vehicle simulation model of CarSim software and National Highway Traffic Safety Administration’s proposed Fishhook maneuver. The controller is able to limit the rollover propensity even with vehicle parameter uncertainties.

  13. Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation

    Directory of Open Access Journals (Sweden)

    Tristan Perez

    2009-04-01

    Full Text Available In this paper, we address the control design problem of positioning of over-actuated marine vehicles with control allocation. The proposed design is based on a combined position and velocity loops in a multi-variable anti-windup implementation together with a control allocation mapping. The vehicle modelling is considered with appropriate simplifications related to low-speed manoeuvring hydrodynamics and vehicle symmetry. The control design is considered together with a control allocation mapping. We derive analytical tuning rules based on requirements of closed-loop stability and performance. The anti- windup implementation of the controller is obtained by mapping the actuator-force constraint set into a constraint set for the generalized forces. This approach ensures that actuation capacity is not violated by constraining the generalized control forces; thus, the control allocation is simplified since it can be formulated as an unconstrained problem. The mapping can also be modified on-line based on actuator availability to provide actuator-failure accommodation. We provide a proof of the closed-loop stability and illustrate the performance using simulation scenarios for an open-frame underwater vehicle.

  14. Control strategy of maglev vehicles based on particle swarm algorithm

    Institute of Scientific and Technical Information of China (English)

    Hui Wang; Gang Shen; Jinsong Zhou

    2014-01-01

    Taking a single magnet levitation system as the object, a nonlinear numerical model of the vehicle-guide-way coupling system was established to study the levitation control strategies. According to the similarity in dynamics, the single magnet-guideway coupling system was simpli-fied into a magnet-suspended track system, and the corre-sponding hardware-in-loop test rig was set up using dSPACE. A full-state-feedback controller was developed using the levitation gap signal and the current signal, and controller parameters were optimized by particle swarm algorithm. The results from the simulation and the test rig show that, the proposed control method can keep the sys-tem stable by calculating the controller output with the full-state information of the coupling system, Step responses from the test rig show that the controller can stabilize the system within 0.15 s with a 2% overshot, and performs well even in the condition of violent external disturbances. Unlike the linear quadratic optimal method, the particle swarm algorithm carries out the optimization with the nonlinear controlled object included, and its optimized results make the system responses much better.

  15. Instrumentation, control and automation in wastewater - from London 1973 to Narbonne 2013

    DEFF Research Database (Denmark)

    Olsson, G.; Carlsson, B.; Comas, J.

    2014-01-01

    Key developments of instrumentation, control and automation (ICA) applications in wastewater systems during the past 40 years are highlighted in this paper. From the first ICA conference in 1973 through to today there has been a tremendous increase in the understanding of the processes, instrumen......Key developments of instrumentation, control and automation (ICA) applications in wastewater systems during the past 40 years are highlighted in this paper. From the first ICA conference in 1973 through to today there has been a tremendous increase in the understanding of the processes......, instrumentation, computer systems and control theory. However, many developments have not been addressed here, such as sewer control, drinking water treatment and water distribution control. It is hoped that this review can stimulate new attempts to more effectively apply control and automation in water systems...

  16. Using Visual Specifications in Verification of Industrial Automation Controllers

    Directory of Open Access Journals (Sweden)

    Valeriy Vyatkin

    2008-03-01

    Full Text Available This paper deals with further development of a graphical specification language resembling timing-diagrams and allowing specification of partially ordered events in input and output signals. The language specifically aims at application in modular modelling of industrial automation systems and their formal verification via model-checking. The graphical specifications are translated into a model which is connected with the original model under study.

  17. Using Visual Specifications in Verification of Industrial Automation Controllers

    Directory of Open Access Journals (Sweden)

    Bouzon Gustavo

    2008-01-01

    Full Text Available Abstract This paper deals with further development of a graphical specification language resembling timing-diagrams and allowing specification of partially ordered events in input and output signals. The language specifically aims at application in modular modelling of industrial automation systems and their formal verification via model-checking. The graphical specifications are translated into a model which is connected with the original model under study.

  18. Design and Development of a Simple Low-cost Touchscreen to Control Home Automation System

    Directory of Open Access Journals (Sweden)

    M. Muntasir Rahman

    2012-10-01

    Full Text Available Human and computer interaction has been developed into a wide and sophisticated field. Earlier automating electrical devices were absolutely mechanical. But with the invention of computer system, many computer researchers have tried to create computer based intelligent systems to accomplish many of their functionalities. Touchscreen controlled home automation system is one of them. These fascinating efforts to create intelligent systems are to provide human being a more convenient life. Moreover, it would accelerate the working speed of users. This paper concentrates primarily on experimental experiences on home automation system with a low-cost touchscreen technology. The proposed system provide an environment in which user can give commands by touching desired position on the touchscreen to automate the control of electrical devices. The interfacing circuit is designed using electronic components available in local market to keep the cost at low level.

  19. The design of the automated control system for warehouse equipment under radio-electronic manufacturing

    Science.gov (United States)

    Kapulin, D. V.; Chemidov, I. V.; Kazantsev, M. A.

    2017-01-01

    In the paper, the aspects of design, development and implementation of the automated control system for warehousing under the manufacturing process of the radio-electronic enterprise JSC «Radiosvyaz» are discussed. The architecture of the automated control system for warehousing proposed in the paper consists of a server which is connected to the physically separated information networks: the network with a database server, which stores information about the orders for picking, and the network with the automated storage and retrieval system. This principle allows implementing the requirements for differentiation of access, ensuring the information safety and security requirements. Also, the efficiency of the developed automated solutions in terms of optimizing the warehouse’s logistic characteristics is researched.

  20. A Multiple Agent Model of Human Performance in Automated Air Traffic Control and Flight Management Operations

    Science.gov (United States)

    Corker, Kevin; Pisanich, Gregory; Condon, Gregory W. (Technical Monitor)

    1995-01-01

    A predictive model of human operator performance (flight crew and air traffic control (ATC)) has been developed and applied in order to evaluate the impact of automation developments in flight management and air traffic control. The model is used to predict the performance of a two person flight crew and the ATC operators generating and responding to clearances aided by the Center TRACON Automation System (CTAS). The purpose of the modeling is to support evaluation and design of automated aids for flight management and airspace management and to predict required changes in procedure both air and ground in response to advancing automation in both domains. Additional information is contained in the original extended abstract.

  1. Controls for Reusable Launch Vehicles During Terminal Area Energy Management

    Science.gov (United States)

    Driessen, Brian J.

    2005-01-01

    During the terminal energy management phase of flight (last of three phases) for a reusable launch vehicle, it is common for the controller to receive guidance commands specifying desired values for (i) the roll angle roll q(sub roll), (ii) the acceleration a(sub n) in the body negative z direction, -k(sub A)-bar, and (iii) omega(sub 3), the projection of onto the body-fixed axis k(sub A)-bar, is always indicated by guidance to be zero. The objective of the controller is to regulate the actual values of these three quantities, i.e make them close to the commanded values, while maintaining system stability.

  2. Fuel optimal control of parallel hybrid electric vehicles

    Institute of Scientific and Technical Information of China (English)

    Jinhuan PU; Chenliang YIN; Jianwu ZHANG

    2008-01-01

    A mathematical model for fuel optimal control and its corresponding dynamic programming (DP) recurs-ive equation were established for an existing parallel hybrid electric vehicle (HEV). Two augmented cost func-tions for gear shifting and engine stop-starting were designed to limit their frequency. To overcome the prob-lem of numerical DP dimensionality, an algorithm to restrict the exploring region was proposed. The algorithm significantly reduced the computational complexity. The system model was converted into real-time simulation code by using MATLAB/RTW to improve computation efficiency. Comparison between the results of a chassis dynamometer test, simulation, and DP proves that the proposed method can compute the performance limita-tion of the HEV within an acceptable time period and can be used to evaluate and optimize the control strategy.

  3. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

    Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

  4. Predictive control strategies for energy saving of hybrid electric vehicles based on traffic light information

    Directory of Open Access Journals (Sweden)

    Kaijiang YU

    2015-10-01

    Full Text Available As the conventional control method for hybrid electric vehicle doesn’t consider the effect of known traffic light information on the vehicle energy management, this paper proposes a model predictive control intelligent optimization strategies based on traffic light information for hybrid electric vehicles. By building the simplified model of the hybrid electric vehicle and adopting the continuation/generalized minimum residual method, the model prediction problem is solved. The simulation is conducted by using MATLAB/Simulink platform. The simulation results show the effectiveness of the proposed model of the traffic light information, and that the proposed model predictive control method can improve fuel economy and the real-time control performance significantly. The research conclusions show that the proposed control strategy can achieve optimal control of the vehicle trajectory, significantly improving fuel economy of the vehicle, and meet the system requirements for the real-time optimal control.

  5. Smart materials and active noise and vibration control in vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Doppenberg, E.J.J.; Berkhoff, A.P.; Overbeek, M. van [TNO Institute of Applied Physics, Delft (Netherlands)

    2001-07-01

    Results are presented for the reduction of sound radiated from a structure using different control methodologies. Two approaches for active structural acoustic control are mentioned to reduce sound radiated by the structure: the acoustic approach or the vibro-acoustic approach. In both cases integrated actuators in structure materials are necessary to realise feasible products. Furthermore the development of an efficient shaker for Active Isolation techniques is described. The prototype of TNO TPD can produce a force of 400 N up to 250 Hz at a good performance-volume ratio. To enhance the robustness of the active control applications, the use of the subspace identification based control methods are developed. The robustness property of subspace identification methods forms the basis of an accurate model updating mechanism, using small size data batches. The performed simulations reveal excellent robustness performance under very general noise conditions or during operation of the control system. Furthermore the development of the techniques can be exploited to realise sound comfort requirements to enhance audible communications of vehicle related applications. To anticipate to these developments in the automotive industry, TNO has set up a Sound and Vibrations Research Centre with Twente University and a research program on Smart Panels with the Delft University. To investigate the potential markets and applications for sound comfort in the means of transportation, TNO-TPD and the Institute of Sound and Vibration Research in England (ISVR) have agreed on a cooperative venture to develop and realise 'active control of electroacoustics' (ACE). (orig.)

  6. The longitudinal controller design and simulation study of autonomous vehicle platoons%自主车队纵向控制器设计及仿真研究

    Institute of Scientific and Technical Information of China (English)

    王志文; 王沛禄; 高红红

    2014-01-01

    介绍了自动化高速公路系统(Automated Highway Systems ,AHS)和自主车队控制系统出现的背景。并针对理想通信网络,在分析车辆纵向运动学模型的基础上,研究了车队纵向控制器的设计问题。最后,进行了仿真比较研究。仿真结果表明,在车队安全性等方面,采用Lyapunov方法设计的控制器的控制效果更佳。%The emergence background of automated highway systems(AHS) and autonomous vehicle platoons control system is introduced .T he problem of vehicle platoons longitudinal controller is studied on the basis of the analysis of vehicle longitudinal kinematics model un‐der the condition of ideal communication network .Finally ,the simulation comparative study is carried .And the simulation results show that the controller using Lyapunov method is bet‐ter in control effect in aspect of vehicle platoons security .

  7. An artificial pancreas for automated blood glucose control in patients with Type 1 diabetes.

    Science.gov (United States)

    Schmidt, Signe; Boiroux, Dimitri; Ranjan, Ajenthen; Jørgensen, John Bagterp; Madsen, Henrik; Nørgaard, Kirsten

    2015-01-01

    Automated glucose control in patients with Type 1 diabetes is much-coveted by patients, relatives and healthcare professionals. It is the expectation that a system for automated control, also know as an artificial pancreas, will improve glucose control, reduce the risk of diabetes complications and markedly improve patient quality of life. An artificial pancreas consists of portable devices for glucose sensing and insulin delivery which are controlled by an algorithm residing on a computer. The technology is still under development and currently no artificial pancreas is commercially available. This review gives an introduction to recent progress, challenges and future prospects within the field of artificial pancreas research.

  8. Control and state estimation for energy recuperation in fully electric vehicles

    NARCIS (Netherlands)

    Falcone, P.; Lidberg, M.; Ólafsdóttir, J.M.; Jansen, S.T.H.; Iersel, S. van

    2011-01-01

    Energy recuperation in fully electric vehicles is mainly limited by the requirement to preserve vehicle stability but it is also dependent on the brake system design and the ability of the control system. The boundaries of vehicle stability are difficult to assess, and must be approached with care,

  9. 76 FR 55829 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems

    Science.gov (United States)

    2011-09-09

    ... National Highway Traffic Safety Administration 49 CFR Part 571 RIN 2127-AL02 Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems AGENCY: National Highway Traffic Safety Administration... changes to a new Federal motor vehicle safety standard requiring light vehicles to be equipped...

  10. Application of Automated Guided Vehicle (AGV) Based on Inductive Guidance for Newsprint Rolls Transportation System

    Institute of Scientific and Technical Information of China (English)

    陈超; 王冰; 叶庆泰

    2004-01-01

    The paper presents the development and performance of a kinematics control scheme for the AGV based on inductive guidance in transporting newsprint rolls. The required error is pre-computed using a kinematics model of the AGV taking into account the effect of various factors that contribute to improve tracking performance of the AGV. Simulation and experimental results illustrate that the kinematics model performs well and the results of various factors contribute to tracking performance of the AGV.

  11. Pressure tracking control of vehicle ABS using piezo valve modulator

    Science.gov (United States)

    Jeon, Juncheol; Choi, Seung-Bok

    2011-03-01

    This paper presents a wheel slip control for the ABS(anti-lock brake system) of a passenger vehicle using a controllable piezo valve modulator. The ABS is designed to optimize for braking effectiveness and good steerability. As a first step, the principal design parameters of the piezo valve and pressure modulator are appropriately determined by considering the braking pressure variation during the ABS operation. The proposed piezo valve consists of a flapper, pneumatic circuit and a piezostack actuator. In order to get wide control range of the pressure, the pressure modulator is desired. The modulator consists of a dual-type cylinder filled with different substances (fluid and gas) and a piston rod moving vertical axis to transmit the force. Subsequently, a quarter car wheel slip model is formulated and integrated with the governing equation of the piezo valve modulator. A sliding mode controller to achieve the desired slip rate is then designed and implemented. Braking control performances such as brake pressure and slip rate are evaluated via computer simulations.

  12. Intelligent Control Mechanism of Part Picking Operations of Automated Warehouse

    Institute of Scientific and Technical Information of China (English)

    Chwen-Tzeng; Su

    2002-01-01

    This paper studies the part picking operations of a ut omated warehouse. It assumed the demand of picking orders of automated warehouse are dynamic generated. Once the picking orders of certain period of time are kn own, it is necessary to decide an efficient order picking sequence and routing t o minimize the total travel distance to complete those orders. Assumed there are n i items to be picked in order O i. Each item in the picking ord er is located in different locations in the warehouse. Since i...

  13. Policy-based secure communication with automatic key management for industrial control and automation systems

    Science.gov (United States)

    Chernoguzov, Alexander; Markham, Thomas R.; Haridas, Harshal S.

    2016-11-22

    A method includes generating at least one access vector associated with a specified device in an industrial process control and automation system. The specified device has one of multiple device roles. The at least one access vector is generated based on one or more communication policies defining communications between one or more pairs of devices roles in the industrial process control and automation system, where each pair of device roles includes the device role of the specified device. The method also includes providing the at least one access vector to at least one of the specified device and one or more other devices in the industrial process control and automation system in order to control communications to or from the specified device.

  14. PLACE: an open-source python package for laboratory automation, control, and experimentation.

    Science.gov (United States)

    Johnson, Jami L; Tom Wörden, Henrik; van Wijk, Kasper

    2015-02-01

    In modern laboratories, software can drive the full experimental process from data acquisition to storage, processing, and analysis. The automation of laboratory data acquisition is an important consideration for every laboratory. When implementing a laboratory automation scheme, important parameters include its reliability, time to implement, adaptability, and compatibility with software used at other stages of experimentation. In this article, we present an open-source, flexible, and extensible Python package for Laboratory Automation, Control, and Experimentation (PLACE). The package uses modular organization and clear design principles; therefore, it can be easily customized or expanded to meet the needs of diverse laboratories. We discuss the organization of PLACE, data-handling considerations, and then present an example using PLACE for laser-ultrasound experiments. Finally, we demonstrate the seamless transition to post-processing and analysis with Python through the development of an analysis module for data produced by PLACE automation.

  15. Research and Development of Engine-Generator Set Control System for Tracked Vehicle Electric Transmission System

    Institute of Scientific and Technical Information of China (English)

    HUANG Ying; HUANG Qian; SUN Feng-chun; LIU Bo-lan; LIU Jia

    2007-01-01

    As an energy generating equipment, the engine-generator set supplies power to the electric transmission. Therefore, its control is one of the key technologies of electric vehicles. Based on the discussion about the demands to the engine-generator set in tracked vehicles, the detailed function of engine-generator and the control strategy are determined. The hardware and software of the control system are also developed and tested in a prototype vehicle. The experiment results show that the control system has good reliability and can satisfy the power requirements of vehicles under all operating conditions.

  16. The Model Reference Adaptive Fuzzy Control for the Vehicle Semi-Active Suspension

    Institute of Scientific and Technical Information of China (English)

    管继富; 侯朝桢; 顾亮; 武云鹏

    2003-01-01

    The LQG control system is employed as vehicle suspension's optimal target system, which has an adaptive ability to the road conditions and vehicle speed in a limited bandwidth. In order to keep the optimal performances when the suspension parameters change, a model reference adaptive fuzzy control (MRAFC) strategy is presented. The LQG control system serves as the reference model in the MRAFC system. The simulation results indicate that the presented MRAFC system can adapt to the parameters variation of vehicle suspension and track the optimality of the LQG control system, the presented vehicle suspension MRAFC system has the ability to adapt to road conditions and suspension parameters change.

  17. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  18. Experimental evaluation of optimal Vehicle Dynamic Control based on the State Dependent Riccati Equation technique

    NARCIS (Netherlands)

    Alirezaei, M.; Kanarachos, S.A.; Scheepers, B.T.M.; Maurice, J.P.

    2013-01-01

    Development and experimentally evaluation of an optimal Vehicle Dynamic Control (VDC) strategy based on the State Dependent Riccati Equation (SDRE) control technique is presented. The proposed nonlinear controller is based on a nonlinear vehicle model with nonlinear tire characteristics. A novel ext

  19. 78 FR 51724 - California State Motor Vehicle Pollution Control Standards; Tractor-Trailer Greenhouse Gas...

    Science.gov (United States)

    2013-08-21

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Tractor-Trailer Greenhouse Gas... shall adopt or attempt to enforce any standard relating to the control of emissions from new motor..., inspection or any other approval relating to the control of emissions from any new motor vehicle or new...

  20. 76 FR 70128 - California State Motor Vehicle Pollution Control Standards; Amendments to the California Heavy...

    Science.gov (United States)

    2011-11-10

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Amendments to the California Heavy... thereof shall adopt or attempt to enforce any standard relating to the control of emissions from new motor..., inspection or any other approval relating to the control of emissions from any new motor vehicle or new...

  1. 76 FR 5368 - California State Motor Vehicle Pollution Control Standards; Greenhouse Gas Regulations; Within...

    Science.gov (United States)

    2011-01-31

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Greenhouse Gas Regulations; Within-the... thereof shall adopt or attempt to enforce any standard relating to the control of emissions from new motor..., inspection or any other approval relating to the control of emissions from any new motor vehicle or new...

  2. 77 FR 39206 - Public Hearing on Proposed Rule for Heavy Vehicle Electronic Stability Control Systems

    Science.gov (United States)

    2012-07-02

    ... Vehicle Electronic Stability Control Systems AGENCY: National Highway Traffic Safety Administration (NHTSA... No. 136, Electronic Stability Control Systems for Heavy Vehicles (77 FR 30766). The standard would... kilograms (26,000 pounds), to be equipped with an electronic stability control (ESC) system that meets...

  3. Automated License Plate Recognition for Toll Booth Application

    Directory of Open Access Journals (Sweden)

    Ketan S. Shevale

    2014-10-01

    Full Text Available This paper describes the Smart Vehicle Screening System, which can be installed into a tollbooth for automated recognition of vehicle license plate information using a photograph of a vehicle. An automated system could then be implemented to control the payment of fees, parking areas, highways, bridges or tunnels, etc. There are considered an approach to identify vehicle through recognizing of it license plate using image fusion, neural networks and threshold techniques as well as some experimental results to recognize the license plate successfully.

  4. 76 FR 49532 - Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the...

    Science.gov (United States)

    2011-08-10

    ... National Highway Traffic Safety Administration Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the Effectiveness of Electronic Stability Control Systems for Cars and LTVs... Technical Report on its existing Safety Standard 126, Electronic Stability Control Systems. The...

  5. Control of a high beta maneuvering reentry vehicle using dynamic inversion.

    Energy Technology Data Exchange (ETDEWEB)

    Watts, Alfred Chapman

    2005-05-01

    The design of flight control systems for high performance maneuvering reentry vehicles presents a significant challenge to the control systems designer. These vehicles typically have a much higher ballistic coefficient than crewed vehicles like as the Space Shuttle or proposed crew return vehicles such as the X-38. Moreover, the missions of high performance vehicles usually require a steeper reentry flight path angle, followed by a pull-out into level flight. These vehicles then must transit the entire atmosphere and robustly perform the maneuvers required for the mission. The vehicles must also be flown with small static margins in order to perform the required maneuvers, which can result in highly nonlinear aerodynamic characteristics that frequently transition from being aerodynamically stable to unstable as angle of attack increases. The control system design technique of dynamic inversion has been applied successfully to both high performance aircraft and low beta reentry vehicles. The objective of this study was to explore the application of this technique to high performance maneuvering reentry vehicles, including the basic derivation of the dynamic inversion technique, followed by the extension of that technique to the use of tabular trim aerodynamic models in the controller. The dynamic inversion equations are developed for high performance vehicles and augmented to allow the selection of a desired response for the control system. A six degree of freedom simulation is used to evaluate the performance of the dynamic inversion approach, and results for both nominal and off nominal aerodynamic characteristics are presented.

  6. Electronic differential control of 2WD electric vehicle considering steering stability

    Science.gov (United States)

    Hua, Yiding; Jiang, Haobin; Geng, Guoqing

    2017-03-01

    Aiming at the steering wheel differential steering control technology of rear wheel independent driving electric wheel, considering the assisting effect of electronic differential control on vehicle steering, based on the high speed steering characteristic of electric wheel car, the electronic differential speed of auxiliary wheel steering is also studied. A yaw moment control strategy is applied to the vehicle at high speed. Based on the vehicle stability reference value, yaw rate is used to design the fuzzy controller to distribute the driving wheel torque. The simulation results show that the basic electronic differential speed function is realized based on the yaw moment control strategy, while the vehicle stability control is improved and the driving safety is enhanced. On the other hand, the torque control strategy can also assist steering of vehicle.

  7. A Study of Torque Vectoring and Traction Control for an All-Wheel Drive Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Maharun Mui’nuddin

    2014-07-01

    Full Text Available Common vehicle always experience energy loss during cornering manoeuver. Thus, to ensure it did not happened especially at high speed, a study of torque vectoring and traction control need to be made since it can increase the traction control of tyres during cornering at high speed. The study of torque vectoring and traction control for an all-wheel drive electric vehicle was conducted by modelling an all-wheel drive electric vehicle (EV in ADAMS/Car software. In addition, an optimal control algorithm will be developed for best performance to minimize energy losses using MATLAB/Simulink software. Furthermore, to prove the effectiveness of the all-wheel drive electric, the torque and traction control simulation of the all-wheel drive electric vehicle will be compared with uncontrolled electric vehicle model. According to the result, torque vectoring and traction control of in-wheel motor in all wheel drive EV can help to increase the performance of the electric vehicle during cornering manoeuver. In conclusion, this study of torque vectoring and traction control for an all-wheel drive electric vehicle will help researchers to improve the design of the future electric vehicle in term of the vehicle performance during cornering manoeuvre.

  8. Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

    Science.gov (United States)

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

  9. Matlab Based Human & Hardware-in-Loop Simulation for the Study on Vehicle Stability Control

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    This paper described an effective method to implement human & hardware in the loop simulation (HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS' application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.

  10. Risk Assessment on the Transition Program for Air Traffic Control Automation System Upgrade

    Directory of Open Access Journals (Sweden)

    Li Dong Bin

    2016-01-01

    Full Text Available We analyzed the safety risks of the transition program for Air Traffic Control (ATC automation system upgrade by using the event tree analysis method in this paper. We decomposed the occurrence progress of the three transition phase and built the event trees corresponding to the three stages, and then we determined the probability of success of each factor and calculated probability of success of the air traffic control automation system upgrade transition. In the conclusion, we illustrate the transition program safety risk according to the results.

  11. Adaptive Linear Parameter Varying Control for Aeroservoelastic Suppression Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Adaptive control offers an opportunity to fulfill aircraft safety objectives though automated vehicle recovery while maintaining performance and stability...

  12. Adaptive Linear Parameter Varying Control for Aeroservoelastic Suppression Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Adaptive control offers an opportunity to fulfill present and future aircraft safety objectives though automated vehicle recovery while maintaining performance and...

  13. Terrain mapping and control of unmanned aerial vehicles

    Science.gov (United States)

    Kang, Yeonsik

    In this thesis, methods for terrain mapping and control of unmanned aerial vehicles (UAVs) are proposed. First, robust obstacle detection and tracking algorithm are introduced to eliminate the clutter noise uncorrelated with the real obstacle. This is an important problem since most types of sensor measurements are vulnerable to noise. In order to eliminate such noise, a Kalman filter-based interacting multiple model (IMM) algorithm is employed to effectively detect obstacles and estimate their positions precisely. Using the outcome of the IMM-based obstacle detection algorithm, a new method of building a probabilistic occupancy grid map is proposed based on Bayes rule in probability theory. Since the proposed map update law uses the outputs of the IMM-based obstacle detection algorithm, simultaneous tracking of moving targets and mapping of stationary obstacles are possible. This can be helpful especially in a noisy outdoor environment where different types of obstacles exist. Another feature of the algorithm is its capability to eliminate clutter noise as well as measurement noise. The proposed algorithm is simulated in Matlab using realistic sensor models. The results show close agreement with the layout of real obstacles. An efficient method called "quadtree" is used to process massive geographical information in a convenient manner. The algorithm is evaluated in a realistic simulation environment called RIPTIDE, which the NASA Ames Research Center developed to access the performance of complicated software for UAVs. Supposing that a UAV is equipped with abovementioned obstacle detection and mapping algorithm, the control problem of a small fixed-wing UAV is studied. A Nonlinear Model Predictive Control (NMPC is designed as a high level controller for the fixed-wing UAV using a kinematic model of the UAV. The kinematic model is employed because of the assumption that there exist low level controls on the UAV. The UAV dynamics are nonlinear with input

  14. Modelling and control of an electric vehicle; Modelisation et controle d`un vehicule electrique

    Energy Technology Data Exchange (ETDEWEB)

    Kwartnik, J.

    1995-11-28

    The work described in this report provides to engineers or researchers a tool for electric vehicle simulation. The different components included in the system are described with in particular the choppers, the pedal accelerator and the vehicle dynamic represented by the different constraints applied to the vehicle (efforts of drag, of lift, of rolling and slope resistance). This study has been realized by considering nonlinear phenomenons such as the armature magnetic reaction or the resistance change due to temperature increasing. The complexity of the system leads to use several of control. The theory of linear systems made possible the synthesis of PID controllers after few hypothesis. An on line adaptation technique completed this synthesis by considering nonlinear effects. For the cruise control we have used a control based on fuzzy set theory. We showed through two examples, the cruise control and the motor control using a strategy which minimize the Joule effect looses, the interest and the possibilities of the model evolution. (author) 21 refs.

  15. Synchronous Control Method and Realization of Automated Pharmacy Elevator

    Science.gov (United States)

    Liu, Xiang-Quan

    Firstly, the control method of elevator's synchronous motion is provided, the synchronous control structure of double servo motor based on PMAC is accomplished. Secondly, synchronous control program of elevator is implemented by using PMAC linear interpolation motion model and position error compensation method. Finally, the PID parameters of servo motor were adjusted. The experiment proves the control method has high stability and reliability.

  16. Ground control stations for unmanned air vehicles (Review Paper

    Directory of Open Access Journals (Sweden)

    G. Natarajan

    2001-07-01

    Full Text Available "During the last five decades, the world has witnessed tremendous growth in the military aircraft technology and the air defence weapons technology. Use of manned aircraft for routine reconnaissance/surveillance missions has become a less preferred option due to possible high attrition rate. Currently, the high political cost of human life has practically earmarked the roles of reconnaissance and surveillance missions to the unmanned air vehicles (UAVs. Almost every major country has a UAV program of its own and this interest has spawned intensive research in the field of UAVs. Presently, the UAVs come in all shapes and sizes, from palm top micro UAVs to giant strategic UAVs that can loiter over targets for extended periods of time. Though UAVs are capable of operating at different levels of autonomy, these are generally controlled from a ground control station (GCS. The GCS is the nerve centre of activity during UAV missions and provides necessary capability to plan and execute UAV missions. The GCS incorporates facilities, such as communication, displays, mission planning and data exploitation. The GCS architecture is highly processor-oriented and hence the computer hardware and software technologies play a major role in the realisation of this vital system. This paper gives an overview of the GCS, its architecture and the current state-of-the-art in various subsystem technologies.

  17. Dynamic Flow Control Strategies of Vehicle SCR Urea Dosing System

    Institute of Scientific and Technical Information of China (English)

    LIN Wei; ZHANG Youtong; ASIF Malik

    2015-01-01

    Selective Catalyst Reduction(SCR) Urea Dosing System(UDS) directly affects the system accuracy and the dynamic response performance of a vehicle. However, the UDS dynamic response is hard to keep up with the changes of the engine’s operating conditions. That will lead to low NOX conversion efficiency or NH3 slip. In order to optimize the injection accuracy and the response speed of the UDS in dynamic conditions, an advanced control strategy based on an air-assisted volumetric UDS is presented. It covers the methods of flow compensation and switching working conditions. The strategy is authenticated on an UDS and tested in different dynamic conditions. The result shows that the control strategy discussed results in higher dynamic accuracy and faster dynamic response speed of UDS. The inject deviation range is improved from being between–8%and 10%to–4%and 2%and became more stable than before, and the dynamic response time was shortened from 200 ms to 150 ms . The ETC cycle result shows that after using the new strategy the NH3 emission is reduced by 60%, and the NOX emission remains almost unchanged. The trade-off between NOX conversion efficiency and NH3 slip is mitigated. The studied flow compensation and switching working conditions can improve the dynamic performance of the UDS significantly and make the UDS dynamic response keep up with the changes of the engine’s operating conditions quickly.

  18. Modeling and Simulation of integrated steering and braking control for vehicle active safety system

    Directory of Open Access Journals (Sweden)

    Beibei Zhang

    2011-03-01

    Full Text Available Active chassis systems like braking, steering, suspension and propulsion systems are increasingly entering the market. In addition to their basic functions, these systems may be used for functions of integrated vehicle dynamics control. An experimental platform which aims to study the integration control of steering and braking is designed due to the research requirement of vehicle active safety control strategy in this paper. A test vehicle which is equipped with the systems of steer-by-wire and brake-bywire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim, is used to fulfill the RCP (Rapid Control Prototyping and HIL (Hardware-in-loop. The seven-freedom vehicle model is constructed first and the approach of vehicle parameters estimation based on the Extended Kalman Filter (EKF is proposed. Testing the vehicle state through the sensor has its own disadvantage that the cost is high and easily affected by environment outside. To find a actual method of receiving the vehicle state using the ready-made sensors in vehicle, the researchers put forward various estimation method, of which have advantages and disadvantages. Based on the above, this paper applies the EKF to estimate the vehicle state, making the actual estimation come true. The primary control methods and controller designment is carried out to prove the validation of the platform.

  19. Climate Control Load Reduction Strategies for Electric Drive Vehicles in Warm Weather

    Energy Technology Data Exchange (ETDEWEB)

    Jeffers, M. A.; Chaney, L.; Rugh, J. P.

    2015-04-30

    Passenger compartment climate control is one of the largest auxiliary loads on a vehicle. Like conventional vehicles, electric vehicles (EVs) require climate control to maintain occupant comfort and safety, but cabin heating and air conditioning have a negative impact on driving range for all electric vehicles. Range reduction caused by climate control and other factors is a barrier to widespread adoption of EVs. Reducing the thermal loads on the climate control system will extend driving range, thereby reducing consumer range anxiety and increasing the market penetration of EVs. Researchers at the National Renewable Energy Laboratory have investigated strategies for vehicle climate control load reduction, with special attention toward EVs. Outdoor vehicle thermal testing was conducted on two 2012 Ford Focus Electric vehicles to evaluate thermal management strategies for warm weather, including solar load reduction and cabin pre-ventilation. An advanced thermal test manikin was used to assess a zonal approach to climate control. In addition, vehicle thermal analysis was used to support testing by exploring thermal load reduction strategies, evaluating occupant thermal comfort, and calculating EV range impacts. Through stationary cooling tests and vehicle simulations, a zonal cooling configuration demonstrated range improvement of 6%-15%, depending on the drive cycle. A combined cooling configuration that incorporated thermal load reduction and zonal cooling strategies showed up to 33% improvement in EV range.

  20. Fuzzy Control of Model Travel Tracking for Vehicle Semi-Active Suspension

    Institute of Scientific and Technical Information of China (English)

    GUAN Ji-fu; WU Yun-peng; GU Liang; HUANG Hua

    2006-01-01

    The control strategy of the model travel tracking for the vehicle suspension system is presented based on analyzing the responses of the vehicle suspension travel. A fuzzy control system of vehicle suspension is designed, in which the suspension travel output of the adaptive LQG control system is taken as the tracking objective. The simulation results prove that the suspension travel and vertical acceleration can be tracked simultaneously with the simple fuzzy controller,and the tracking effect of fuzzy control is better than that of the PID controller.

  1. H∞ control of railway vehicle suspension with MR damper using scaled roller rig

    Science.gov (United States)

    Shin, Yu-Jeong; You, Won-Hee; Hur, Hyun-Moo; Park, Joon-Hyuk

    2014-09-01

    In this paper, a magneto-rheological (MR) damper was applied to the secondary suspension to reduce the vibration of a car body. The control performance of the MR damper was verified by numerical analysis with a 1/5 scale railway vehicle model in accordance with the similarity law. The analysis results were then validated in tests. In particular, the objective of the study was to understand how the control performance affected the dynamic characteristics of a railway vehicle and to systematically analyze the relationship between control performance and dynamic characteristics depending on various running speeds. To achieve this, experimental results for the dynamic characteristics of the scaled MR damper designed for the 1/5 scale railway vehicle model were applied to the railway vehicle model. The H∞ control method was applied to the controller. The means of designing the railway vehicle body vibration controller and the effectiveness of its results were studied.

  2. Two wheel speed robust sliding mode control for electric vehicle drive

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

    Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.

  3. Research on Adaptive Dual-Mode Switch Control Strategy for Vehicle Maglev Flywheel Battery

    Directory of Open Access Journals (Sweden)

    Hui Gao

    2015-01-01

    Full Text Available Because of the jamming signal is real-time changeable and control algorithm cannot timely tracking control flywheel rotor, this paper takes vehicle maglev flywheel battery as the research object. One kind of dual-model control strategy is developed based on the analysis of the vibration response impact of the flywheel battery control system. In view of the complex foundation vibration problems of electric vehicles, the nonlinear dynamic simulation model of vehicle maglev flywheel battery is solved. Through analyzing the nonlinear vibration response characteristics, one kind of dual-mode adaptive hybrid control strategy based on H∞ control and unbalance displacement feed-forward compensation control is presented and a real-time switch controller is designed. The reliable hybrid control is implemented, and the stability in the process of real-time switch is solved. The results of this project can provide important basic theory support for the research of vehicle maglev flywheel battery control system.

  4. A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

    Directory of Open Access Journals (Sweden)

    M. K. Aripin

    2014-01-01

    Full Text Available Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

  5. Function complex for automated system of coke machinery remote control

    Energy Technology Data Exchange (ETDEWEB)

    Simonov, N.F.; Pankrat' ev, O.N.; Bannikov, L.S.; Slatin, E.I.; Parfenov, G.I.

    1979-05-01

    this paper discusses a functional control system for remote control of coking plants introduced at the KBAiM of the Giprokoks. The control block allows for three modes of operation: fully automatic, by predesignated program according to oven design and technology; semi-automatic, in which individual programs perform automatically, checked and initiated by the operator; and remote, in which the operator controls each operation from the control console. The functions of selecting the location for the coke machinery, signal transmission and control selection have been incorporated as three autonomous but interfacing systems. (In Russian)

  6. Automated explosive pellet manufacturing using a PDP-14 programmable controller

    Energy Technology Data Exchange (ETDEWEB)

    Page, D.O.

    1976-10-29

    A Digital Equipment Corporation PDP-14 Industrial Programmable Controller was employed to provide automatic, closed-loop control for an explosive pellet manufacturing system at Mound Laboratory. Programmable controllers allow the application of sophisticated and flexible control, through programming. Advantages of the PDP-14 controller are ease of installation and maintenance, capability for modular expansion, and immunity to electrical noise. Safety requirements were met by using new techniques for adapting electrical equipment to a hazardous environment and by locating the PDP-14 remotely outside the explosive area. Another advantage of the new explosion proofing (EP) methods/equipment was that they produced a minimum of clutter on the controlled explosive pellet manufacturing system.

  7. Sliding Mode Control of the X-33 Vehicle in Launch Mode

    Science.gov (United States)

    Shtessel, Yuri; Jackson, Mark; Hall, Charles; Krupp, Don; Hendrix, N. Douglas

    1998-01-01

    The "nested" structure of the control system for the X33 vehicle in launch mode is developed. Employing backstopping concepts, the outer loop (guidance) and the Inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance.

  8. Automation inflicted differences on operator performance in nuclear power plant control rooms

    Energy Technology Data Exchange (ETDEWEB)

    Andersson, Jonas; Osvalder, A.L. [Chalmers Univ. of Technology, Dept. of Product and Producton Development (Sweden)

    2007-03-15

    Today it is possible to automate almost any function in a human-machine system. Therefore it is important to find a balance between automation level and the prerequisites for the operator to maintain safe operation. Different human factors evaluation methods can be used to find differences between automatic and manual operations that have an effect on operator performance; e.g. Predictive Human Error Analysis (PHEA), NASA Task Load Index (NASA-TLX), Halden Questionnaire, and Human Error Assessment and Reduction Technique (HEART). Results from an empirical study concerning automation levels, made at Ringhals power plant, showed that factors as time pressure and criticality of the work situation influenced the operator's performance and mental workload more than differences in level of automation. The results indicate that the operator's attention strategies differ between the manual and automatic sequences. Independently of level of automation, it is essential that the operator retains control and situational understanding. When performing a manual task, the operator is 'closer' to the process and in control with sufficient situational understanding. When the level of automation increases, the demands on information presentation increase to ensure safe plant operation. The need for control can be met by introducing 'control gates' where the operator has to accept that the automatic procedures are continuing as expected. Situational understanding can be established by clear information about process status and by continuous feedback. A conclusion of the study was that a collaborative control room environment is important. Rather than allocating functions to either the operator or the system, a complementary strategy should be used. Key parameters to consider when planning the work in the control room are time constraints and task criticality and how they affect the performance of the joint cognitive system.However, the examined working

  9. The Role of Guidance, Navigation, and Control in Hypersonic Vehicle Multidisciplinary Design and Optimization

    Science.gov (United States)

    Ouzts, Peter J.; Soloway, Donald I.; Moerder, Daniel D.; Wolpert, David H.; Benavides, Jose Victor

    2009-01-01

    Airbreathing hypersonic systems offer distinct performance advantages over rocket-based systems for space access vehicles. However, these performance advantages are dependent upon advances in current state-of-the-art technologies in many areas such as ram/scramjet propulsion integration, high temperature materials, aero-elastic structures, thermal protection systems, transition to hypersonics and hypersonic control elements within the framework of complex physics and new design methods. The complex interactions between elements of an airbreathing hypersonic vehicle represent a new paradigm in vehicle design to achieve the optimal performance necessary to meet space access mission objectives. In the past, guidance, navigation, and control (GNC) analysis often follows completion of the vehicle conceptual design process. Individual component groups design subsystems which are then integrated into a vehicle configuration. GNC is presented the task of developing control approaches to meet vehicle performance objectives given that configuration. This approach may be sufficient for vehicles where significant performance margins exist. However, for higher performance vehicles engaging the GNC discipline too late in the design cycle has been costly. For example, the X-29 experimental flight vehicle was built as a technology demonstrator. One of the many technologies to be demonstrated was the use of light-weight material composites for structural components. The use of light-weight materials increased the flexibility of the X- 29 beyond that of conventional metal alloy constructed aircraft. This effect was not considered when the vehicle control system was designed and built. The impact of this is that the control system did not have enough control authority to compensate for the effects of the first fundamental structural mode of the vehicle. As a result, the resulting pitch rate response of the vehicle was below specification and no post-design changes could recover the

  10. Study on the Energy-Regeneration-based Velocity Control of the Hydraulic-Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    SONG Yunpu

    2012-11-01

    Full Text Available This paper simplifies the energy regenerationbased vehicle velocity system of the hydraulichybrid businto a process in which the extension rod of the hydraulic cylinder drives the secondary-element variable delivery pump/motor to change its displacement. This process enables braking of the vehicle and also allows recovery of energy. The stability, energy efficiency and other characteristics of the system are studied based on analysis of mathematical models of the vehicle velocity control. The relevant controller is designed to study effects of the controller on system characteristics. The vehicle velocity control module of the energy regeneration system is stable and able to recovery the inertia energy generated in vehicle braking. After the controller intended to improve response speed is added, system response becomes quicker but energy recovery rate declines.

  11. Analyses and Simulation of Fuzzy Logic Control for Suspension System of a Track Vehicle

    Institute of Scientific and Technical Information of China (English)

    YU Yang; WEI Xue-xia; ZHANG Yong-fa

    2008-01-01

    The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles. The vibration control of suspension systems is a very important factor for modern track vehicles. A fuzzy logic control for suspension system of a track vehicle is presented. A mechanical model and a system of differential equations of motion taking account of the mass of loading wheel are established. Then the fuzzy logic control is applied to control the vibration of suspension system of track vehicles for sine signal and random road surfaces. Numerical simulation shows that the maximum acceleration of suspension system can be reduced to 44% of the original value for sine signal road surface, and the mean square root of acceleration of suspension system can be reduced to 21% for random road surface. Therefore, the proposed fuzzy logic control is an efficient method for the suspension systems of track vehicles.

  12. Evaluation of some significant issues affecting trajectory and control management for air-breathing hypersonic vehicles

    Science.gov (United States)

    Hattis, Philip D.; Malchow, Harvey L.

    1992-01-01

    Horizontal takeoff airbreathing-propulsion launch vehicles require near-optimal guidance and control which takes into account performance sensitivities to atmospheric characteristics while satisfying physically-derived operational constraints. A generic trajectory/control analysis tool that deepens insight into these considerations has been applied to two versions of a winged-cone vehicle model. Information that is critical to the design and trajectory of these vehicles is derived, and several unusual characteristics of the airbreathing propulsion model are shown to have potentially substantial effects on vehicle dynamics.

  13. Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

    Science.gov (United States)

    Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

    1975-01-01

    Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

  14. Vehicle height and posture control of the electronic air suspension system using the hybrid system approach

    Science.gov (United States)

    Sun, Xiaoqiang; Cai, Yingfeng; Chen, Long; Liu, Yanling; Wang, Shaohua

    2016-03-01

    The electronic air suspension (EAS) system can improve ride comfort, fuel economy and handling safety of vehicles by adjusting vehicle height. This paper describes the development of a novel controller using the hybrid system approach to adjust the vehicle height (height control) and to regulate the roll and pitch angles of the vehicle body during the height adjustment process (posture control). The vehicle height adjustment system of EAS poses challenging hybrid control problems, since it features different discrete modes of operation, where each mode has an associated linear continuous-time dynamic. In this paper, we propose a novel approach to the modelling and controller design problem for the vehicle height adjustment system of EAS. The system model is described firstly in the hybrid system description language (HYSDEL) to obtain a mixed logical dynamical (MLD) hybrid model. For the resulting model, a hybrid model predictive controller is tuned to improve the vehicle height and posture tracking accuracy and to achieve the on-off statuses direct control of solenoid valves. The effectiveness and performance of the proposed approach are demonstrated by simulations and actual vehicle tests.

  15. Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 侯恕萍

    2016-01-01

    The problem of diving control for an underactuated unmanned undersea vehicle (UUV) considering the presence of parameters perturbations and wave disturbances was addressesed. The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving. To stabilize the vertical motion system, the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control (IFTSMC). It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface. With a unified control parameters for different motion states, a series of numerical simulation results illustrate the effectiveness of the above designed control scheme, which also shows strong robustness against parameters perturbations and wave disturbances.

  16. Novel anhydrous emulsions: formulation as controlled release vehicles.

    Science.gov (United States)

    Suitthimeathegorn, Orawan; Jaitely, Vikas; Florence, Alexander T

    2005-07-25

    Novel anhydrous emulsions, which may offer some advantages as depot or reservoir vehicles for lipophilic drugs in controlled delivery systems, were formulated using castor oil as the disperse phase and dimethicone or cyclopentasiloxane as the continuous phase. Among the emulsifiers studied only silicone surfactants (cyclomethicone/dimethicone copolyols) which were miscible in silicone oil stabilized the emulsions. Cyclomethicone/PEG/PPG-18/18 Dimethicone and Cyclopentasiloxane/PEG/PPG-18/18 Dimethicone were more effective in lowering the interfacial tension between castor oil and both dimethicone and cyclopentasiloxane. Emulsions formulated using either of these two surfactants were found to be stable against phase separation and exhibited least globule growth over 168 h. The average particle size was found to be 2-6 microm in these systems formed by probe sonication. Slow release patterns of 3H-dehydroepiandrosterone (DHEA) and 3H-dexamethasone solubilized in the disperse castor oil phase into an aqueous dialyzing medium were observed over 48 h.

  17. Method for controlling exhaust gas heat recovery systems in vehicles

    Science.gov (United States)

    Spohn, Brian L.; Claypole, George M.; Starr, Richard D

    2013-06-11

    A method of operating a vehicle including an engine, a transmission, an exhaust gas heat recovery (EGHR) heat exchanger, and an oil-to-water heat exchanger providing selective heat-exchange communication between the engine and transmission. The method includes controlling a two-way valve, which is configured to be set to one of an engine position and a transmission position. The engine position allows heat-exchange communication between the EGHR heat exchanger and the engine, but does not allow heat-exchange communication between the EGHR heat exchanger and the oil-to-water heat exchanger. The transmission position allows heat-exchange communication between the EGHR heat exchanger, the oil-to-water heat exchanger, and the engine. The method also includes monitoring an ambient air temperature and comparing the monitored ambient air temperature to a predetermined cold ambient temperature. If the monitored ambient air temperature is greater than the predetermined cold ambient temperature, the two-way valve is set to the transmission position.

  18. Automated roof window control system to address overheating on renovated houses

    DEFF Research Database (Denmark)

    Psomas, Theofanis Ch.; Heiselberg, Per Kvols; Lyme, Thøger

    2017-01-01

    Highlights •Manually controlled passive cooling system do not assure high quality environment. •Automated window system reduces overheating risk in houses of temperate climates. •Window system offers similar indoor air quality with mechanical ventilation system. •User behavior on window system is...

  19. Value sensitive design of automated workload distribution support for traffic control teams

    NARCIS (Netherlands)

    Harbers, M.; Neerincx, M.A.

    2014-01-01

    This paper studies the effects of automated support for workload distribution in traffic control teams on human values such as security, autonomy and privacy. The paper describes a workshop in which the support system's stakeholders, their values, and the effects of the support system on these value

  20. THE CYBERSECURITY OF AUTOMATED CONTROL SYSTEMS AS A KEY COMPONENT OF NATIONAL SECURITY

    Directory of Open Access Journals (Sweden)

    Galin R. Ivanov

    2016-10-01

    Full Text Available This article focuses on the current problems raised by the necessity to provide and ensure national cybersecurity. Moreover, it suggests measures for adequate counteraction to present-day cyber threats to automated control systems employed in the sector of national security.

  1. Planning and control of automated material handling systems: The merge module

    NARCIS (Netherlands)

    Haneyah, Sameh; Hurink, Johann; Schutten, Marco; Zijm, Henk; Schuur, Peter; Hu, Bo; Morasch, Karl; Pickl, Stefan; Siegle, Markus

    2011-01-01

    We address the field of internal logistics, embodied in Automated Material Handling Systems (AMHSs), which are complex installations employed in sectors such as Baggage Handling, Physical Distribution, and Parcel & Postal. We work on designing an integral planning and real-time control architecture,

  2. Generic Planning and Control of Automated Material Handling Systems: Practical Requirements Versus Existing Theory

    NARCIS (Netherlands)

    Haneyah, Sameh; Zijm, Henk; Schutten, Marco; Schuur, Peter

    2011-01-01

    This paper discusses the problem of generic planning and control of Automated Material Handling Systems (AMHSs). The paper illustrates the relevance of this research direction, and then addresses three different market sectors where AMHSs are used. These market sectors are: baggage handling, distrib

  3. Driver's situation awareness during supervision of automated control - comparison between SART and SAGAT measurement techniques

    NARCIS (Netherlands)

    Beukel, van den A.P.; Voort, van der M.C.; Risser, R.

    2014-01-01

    Systems enabling to drive automatically are being introduced on the market. When using this technology, drivers are in need for interfaces which support them with supervision of the automated control. Assessment of Situation Awareness (SA) which drivers are able to gain while using such interfaces,

  4. 78 FR 56541 - Concept Release on Risk Controls and System Safeguards for Automated Trading Environments

    Science.gov (United States)

    2013-09-12

    ... September 12, 2013 Part IV Commodity Futures Trading Commission 17 CFR Chapter I Concept Release on Risk Controls and System Safeguards for Automated Trading Environments; Proposed Rule #0;#0;Federal Register / Vol. 78 , No. 177 / Thursday, September 12, 2013 / Proposed Rules#0;#0; ] COMMODITY FUTURES...

  5. Effects of adaptive cruise control and highly automated driving on workload and situation awareness : A review of the empirical evidence

    NARCIS (Netherlands)

    Winter, J.C.F. de; Happee, R.; Martens, M.H.; Stanton, N.A.

    2014-01-01

    Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on d

  6. Effects of adaptive cruise control and highly automated driving on workload and situation awareness: A review of the empirical evidence.

    NARCIS (Netherlands)

    Winter, de Joost C.F.; Happee, Riender; Martens, Marieke H.; Stanton, Neville A.

    2014-01-01

    Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on d

  7. Providing security for automated process control systems at hydropower engineering facilities

    Science.gov (United States)

    Vasiliev, Y. S.; Zegzhda, P. D.; Zegzhda, D. P.

    2016-12-01

    This article suggests the concept of a cyberphysical system to manage computer security of automated process control systems at hydropower engineering facilities. According to the authors, this system consists of a set of information processing tools and computer-controlled physical devices. Examples of cyber attacks on power engineering facilities are provided, and a strategy of improving cybersecurity of hydropower engineering systems is suggested. The architecture of the multilevel protection of the automated process control system (APCS) of power engineering facilities is given, including security systems, control systems, access control, encryption, secure virtual private network of subsystems for monitoring and analysis of security events. The distinctive aspect of the approach is consideration of interrelations and cyber threats, arising when SCADA is integrated with the unified enterprise information system.

  8. Research on Stability Control Based on the Wheel Speed Difference for the AT Vehicles

    Directory of Open Access Journals (Sweden)

    Hui Jin

    2015-01-01

    Full Text Available This paper utilizes a linear two-degree-of-freedom vehicle model to calculate the nominal value of the vehicle’s nondrive-wheel speed difference and investigates methods of estimating the yaw acceleration and sideslip angular speed. A vehicular dynamic stability control system utilizing this nondrive-wheel speed difference is then developed, which can effectively improve a vehicle’s dynamic stability at a very low cost. Vehicle cornering processes on roads of different frictions and with different vehicle speeds are explored via simulation, with speed control being applied when vehicle speed is high enough to make the vehicle unstable. Driving simulator tests of vehicle cornering capacity on roads of different friction coefficients are also conducted.

  9. Laboratory vehicle for air-pollution measurements with computer-controlled data acquisition and navigation system

    Energy Technology Data Exchange (ETDEWEB)

    Wevelsiep, K.; Heinze, G.; Ruesch, J. (Battelle-Institut e.V., Frankfurt am Main (Germany, F.R.))

    1979-02-01

    The technical equipment of a vehicle for air-pollution measurements is described. This vehicle allows for continuous measurements of extensive SO/sub 2/ and NO/sub 2/ gas flows in the atmosphere. This is accomplished by a correlation spectrometer, which utilizes the optical absorption that is typical of the gas under observation. The instrument operates with natural sky light. The spectrometer output signals are evaluated by a computerized measuring system. The SO/sub 2/ and NO/sub 2/ data, together with the navigational data obtained from an on-board navigation system, are temporarily stored, displayed and permanently stored on paper tape for off-line evaluation and filling. Thus this highly automated system permits countinuous measurement while the vehicle is moving. The evaluation process yields report format data.

  10. MULTITASK SCHEDULING IN NETWORKED CONTROL SYSTEMS WITH APPLICATION TO LARGE SCALE VEHICLE CONTROL

    Institute of Scientific and Technical Information of China (English)

    YANG Liman; LI Yunhua

    2007-01-01

    Aiming at scheduling problems of networked control system (NCS) used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task scheduling are compared, and the mathematic description of task scheduling is presented. A performance index function of task scheduling of NCS according to task balance and traffic load matching principles is defined. According to this index, a static scheduling method is designed and implemented to controlling task set simulation of the DCY100 transportation vehicle. The simulation results are applied successfully to practical engineering in this case so as to validate the effectiveness of the proposed performance index and scheduling algorithm.

  11. Automated detection and control of volunteer potato plants

    NARCIS (Netherlands)

    Nieuwenhuizen, A.T.

    2009-01-01

    High amounts of manual labor are needed to control volunteer potato plants in arable fields. Due to the high costs, this leads to incomplete control of these weed plants, and they spread diseases like Phytophthora infestans to other fields. This results in higher environmental loads by curative spra

  12. Knowledge based support for multiagent control and automation

    DEFF Research Database (Denmark)

    Saleem, Arshad; Lind, Morten

    2011-01-01

    This paper presents a mechanism for developing knowledge based support in multiagent based control and diagnosis. In particular it presents a way for autonomous agents to utilize a qualitative means-ends based model for reasoning about control situations. The proposed mechanism have been used in ...

  13. IEPLC Framework, Automated Communication in a Heterogeneous Control System Environment

    CERN Document Server

    Locci, F

    2014-01-01

    In CERN accelerators control system several components are essential such as: Programmable Logic Controller (PLC), PCI Extensions for Instrumentation (PXI), and other micro-controller families. Together with their weaknesses and their strength points they typically present custom communication protocols and it is therefore difficult to federate them into the control system using a single communication strategy. Furthermore this dependency to the physical device interfaces and protocols makes most of the code not reusable and the replacement of old technology a difficult problem. The purpose of IEPLC ([1]) is to mitigate the communication issues given by this heterogeneity; it proposes a framework to define communication interfaces in a hardware independent manner. In addition it automatically generates all the resources needed on master side (typically represented by a FEC: Front-End Computer) and slave side (typically represented by the controller) to implement a common and generic Ethernet communication. Th...

  14. Automation and control trends in the upstream sector of the oil industry

    Energy Technology Data Exchange (ETDEWEB)

    Plucenio, Agustinho; Pagano, Daniel J. [Universidade Federal de Santa Catarina (UFSC), Florianopolis, SC (Brazil). Programa de Recursos Humanos da ANP em Automacao, Controle e Instrumentacao para a Industria do Petroleo e Gas, PRH-34

    2004-07-01

    The need to continuously improve the aspects of Health, Safety and Environment to operators, installation's security, optimization of oil reservoir recovery in wells operating with different artificial lift methods, subject to different secondary recovery techniques, has motivated the development of technologies in the automation and control for the upstream sector of the oil industry. While the application of control and automation techniques is well established in the downstream sector of the oil industry that is not the case in the downstream sector. One tendency in this sector is the utilization of control via Field bus Networks. This technology uses equipment that communicate with each other in a two wire digital network and can be programmed to execute function blocks algorithms designed to perform a designed control strategy. The most noticeable benefits are the improvements in the process performance and the equipment reusability and interoperability. Proprietary solutions can be replaced by systems composed of equipment supplied by different manufacturers connected in the same network. These equipment operate according to a strategy designed by automation and control engineers under the supervision of professionals working in computer terminals located in different company departments. Other gains are a better understanding about the industry processes, application of optimization techniques, fault detection, equipment maintenance follow-up, and improved operators working conditions and workers qualification. Other tendencies are: permanent well monitoring. Either with installation of down hole sensors based on fiber grating sensors or surface sensors using embedded electronic processors. Developments of instrumentation technology for low cost multiphase flow measurements. Application of control techniques for flow regime control and optimization of reservoir recovery through better identification, optimization and Model Based Predictive Control

  15. Direct yaw moment control for distributed drive electric vehicle handling performance improvement

    Science.gov (United States)

    Yu, Zhuoping; Leng, Bo; Xiong, Lu; Feng, Yuan; Shi, Fenmiao

    2016-05-01

    For a distributed drive electric vehicle (DDEV) driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently, quickly and precisely. And direct yaw-moment control (DYC) has been widely studied and applied to vehicle stability control. Good vehicle handling performance: quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts: a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error (ITAE) function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method: yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to

  16. 3rd International Asia Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Informatics in Control, Automation and Robotics

    2012-01-01

    Session 2 includes 110 papers selected from 2011 3rd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China.   As we all know, the ever growing technology in robotics and automation will help build a better human society. This session will provide a unique opportunity for the academic and industrial communities to address new challenges, share solutions, and discuss research directions for the future. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments. Automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously. The main focus of this session is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information.

  17. Direct Yaw Control of Vehicle using State Dependent Riccati Equation with Integral Terms

    Directory of Open Access Journals (Sweden)

    SANDHU, F.

    2016-05-01

    Full Text Available Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator (LQR and the sliding mode controller (SMC either considers only certain parameters constant in the nonlinear equations of vehicle model or totally neglect their effects to obtain simplified models, resulting in loss of states for the system. In this paper, a modified state-dependent Ricatti equation method obtained by the simplification of the vehicle model is proposed. This method overcomes the problem of the lost states by including state integrals. The results of the proposed system are compared with the sliding mode slip controller and state-dependent Ricatti equation method using high fidelity vehicle model in the vehicle simulation software package, Carsim. Results show 38% reduction in the lateral velocity, 34% reduction in roll and 16% reduction in excessive yaw by only increasing the fuel consumption by 6.07%.

  18. DoD Comprehensive Military Unmanned Aerial Vehicle Smart Device Ground Control Station Threat Model

    Science.gov (United States)

    2015-04-01

    DoD Comprehensive Military Unmanned AERIAL VEHICLE SMART DEVICE GROUND CONTROL STATION THREAT MODEL  Image designed by Diane Fleischer Report...REPORT TYPE 3. DATES COVERED 00-00-2015 to 00-00-2015 4. TITLE AND SUBTITLE DoD Comprehensive Military Unmanned Aerial Vehicle Smart Ddevice...mission capable unmanned aerial vehicles (UAV), the Department of Defense (DoD) has transitioned smart devices into the battlefield as portable, hand

  19. The Integrated Development System for Vehicle Control based on Seamless Connection between Hard and Software Implementation

    Directory of Open Access Journals (Sweden)

    Xin ZHANG

    2003-08-01

    Full Text Available This paper, establishes a complete vehicle model in MATLAB/Simulink development environment, constructs a vehicle control application using Stateflow, Generates C source code for a microcontroller with Real Time Workshop, builds object code for target CPU, develops an efficient seamless development system used in real-time hardware in the loop system, and validates the system practical performance at the final stage by the implementation of vehicle ABS system.

  20. 78 FR 32223 - Control of Air Pollution From Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards

    Science.gov (United States)

    2013-05-29

    ... Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards AGENCY: Environmental Protection Agency... Pollution from Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards'' (the proposed rule...

  1. Frequency-Control Reserves and Voltage Support from Electric Vehicles

    DEFF Research Database (Denmark)

    Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

    2013-01-01

    the system balance in power systems with high volumes of wind power generation. To analyse the applications and performance of electric vehicles in supplying active power balancing services, the case studies simulated in wind-power-dominated Danish power systems are also presented.......The increasing penetration of variable wind power generation units and electricity consumption in power systems demands additional ancillary services for its reliable operation. The battery storages of electric vehicles are one of the substitute solutions for replacing conventional fossil......-fuelled generators to supply future grid support functions. The quick start and fast response characteristics of battery storages enable the electric vehicles to provide most of the power system auxiliary tasks. This chapter discusses key ancillary services that could be supplied by electric vehicles to maintain...

  2. Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Advance Speed Feedback

    DEFF Research Database (Denmark)

    Fossen, T.I.; Blanke, M.

    1999-01-01

    More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback controller...... minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...

  3. Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

    DEFF Research Database (Denmark)

    Fossen, T.I.; Blanke, M.

    2000-01-01

    Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...

  4. Integrated control strategies for railway vehicles with independently-driven wheel motors

    Institute of Scientific and Technical Information of China (English)

    Jinzhi FENG; Jun LI; R. M. Goodall

    2008-01-01

    This paper studies the development of inte-grated control strategies for railway vehicles with inde-pendently-driven wheel motors. First, a non-linear vehicle dynamic model and motor drive strategy are pre-sented, which are followed by an investigation of the inte-grated control of stabilization, steering, and traction for the vehicle. Meanwhile a reformulated Kalman filter is developed and applied to estimate the required feedback by the control system. Finally, the effectiveness and prac-ticality of the proposed integrated controller are examined and assessed by real-time simulation based on host-target computer technology provided by Matlab/Simulink.

  5. Automated accelerator controls for a 3 MV tandem Pelletron

    Science.gov (United States)

    Rathmell, R. D.; Kitchen, R. L.; Luck, T. R.; Sundquist, M. L.

    1991-05-01

    A new accelerator control system has been developed which uses a real-time, multitasking operating system running on a Motorola 68030 based microcomputer. The system includes multiple graphic and text displays and allows the operator to communicate via these displays to the accelerator, which is interfaced to CAMAC. Most accelerator parameters can be controlled using a mouse in conjunction with a single graphic display, eliminating the need to change CRT pages in order to control parameters from the source to the target. A touch screen is also available to permit a number of parameters to be at the operator's finger tips at all times. Operating parameters for a new beam and energy can be automatically set by scaling from a previously stored run. The program and database are structured to facilitate interlocking and closed loop control of parameters. The hardware configuration, structure and features of the software will be reviewed.

  6. FUZZY CONTROLLED AUTOMATION SYSTEM FOR THE MAIN COAL BUNKER

    Institute of Scientific and Technical Information of China (English)

    邵良杉; 叶景楼; 付华

    1997-01-01

    A fuzzy control scheme is presented according to the coal quantity in the main coal bunker, this method has a good dynamic response characteristic and is suited for complex nonlinear systems. The designation of self-adopting fuzzy controller, the working principle and functions of this system are also proposed, with the hardware and the main flow diagram of this system introduced in this paper.

  7. CUSTOMS CONTROL SYSTEM AUTOMATION AND ITS IMPACT ON THE TAXATION ON INDIVIDUALS

    Directory of Open Access Journals (Sweden)

    Valery V. Ozhigov

    2014-01-01

    Full Text Available With the development of technology and economy, an increasing number of objects requires the development of automation. In today’s world of computer technology is inconceivable without control various processes, including the control system. All accumulated information to be used for further monitoring and analysis of the computer itself without the inspector, and issued in the form of employee risks to further its decision. Only automating conducting customs operations and customs control of goods transported by individuals we can reduce the time for customs control and improve its quality and as a consequence increase the collection of customs duties and levy fines on individuals. This is important in time of crisis/

  8. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

    Science.gov (United States)

    Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

    2010-03-01

    In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

  9. Flight Control of Biomimetic Air Vehicles Using Vibrational Control and Averaging

    Science.gov (United States)

    Tahmasian, Sevak; Woolsey, Craig A.

    2016-09-01

    A combination of vibrational inputs and state feedback is applied to control the flight of a biomimetic air vehicle. First, a control strategy is developed for longitudinal flight, using a quasi-steady aerodynamic model and neglecting wing inertial effects. Vertical and forward motion is controlled by modulating the wings' stroke and feather angles, respectively. Stabilizing control parameter values are determined using the time-averaged dynamic model. Simulations of a system resembling a hawkmoth show that the proposed controller can overcome modeling error associated with the wing inertia and small parameter uncertainties when following a prescribed trajectory. After introducing the approach through an application to longitudinal flight, the control strategy is extended to address flight in three-dimensional space.

  10. Autonomous Control Reconfiguration of Aerospace Vehicle Based on Control Effectiveness Estimation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Future aerospace vehicles (ASV) are designed to fly in both inner and extra atrmospheric fields, which requires autonomous adaptability to the uncertainties emanated from abrupt faults and continuously time-varying environments. An autonomous control reconfiguration scheme is presented for ASV to deal with the uncertainties on the base of control effectiveness estimation. The on-line estimation methods for the time-varying control effectiveness of linear control system are investigated. Some sufficient conditions for the estimable system are given for different cases. There are proposed corresponding on-line estimation algorithms which are proved to be convergent and robust to noise using the least-square-based methods. On the ground of fuzzy logic and linear programming, the control allocation algorithms, which are able to implement the autonomous control reconfiguration through the redundant actuators, are put forward. Finally, an integrated system is developed to verify the scheme and algorithms by way of numerical simulation and analysis.

  11. Early Validation of Automation Plant Control Software using Simulation Based on Assumption Modeling and Validation Use Cases

    Directory of Open Access Journals (Sweden)

    Veronika Brandstetter

    2015-10-01

    Full Text Available In automation plants, technical processes must be conducted in a way that products, substances, or services are produced reliably, with sufficient quality and with minimal strain on resources. A key driver in conducting these processes is the automation plant’s control software, which controls the technical plant components and thereby affects the physical, chemical, and mechanical processes that take place in automation plants. To this end, the control software of an automation plant must adhere to strict process requirements arising from the technical processes, and from the physical plant design. Currently, the validation of the control software often starts late in the engineering process in many cases – once the automation plant is almost completely constructed. However, as widely acknowledged, the later the control software of the automation plant is validated, the higher the effort for correcting revealed defects is, which can lead to serious budget overruns and project delays. In this article we propose an approach that allows the early validation of automation control software against the technical plant processes and assumptions about the physical plant design by means of simulation. We demonstrate the application of our approach on the example of an actual plant project from the automation industry and present it’s technical implementation

  12. Automation or De-automation

    Science.gov (United States)

    Gorlach, Igor; Wessel, Oliver

    2008-09-01

    In the global automotive industry, for decades, vehicle manufacturers have continually increased the level of automation of production systems in order to be competitive. However, there is a new trend to decrease the level of automation, especially in final car assembly, for reasons of economy and flexibility. In this research, the final car assembly lines at three production sites of Volkswagen are analysed in order to determine the best level of automation for each, in terms of manufacturing costs, productivity, quality and flexibility. The case study is based on the methodology proposed by the Fraunhofer Institute. The results of the analysis indicate that fully automated assembly systems are not necessarily the best option in terms of cost, productivity and quality combined, which is attributed to high complexity of final car assembly systems; some de-automation is therefore recommended. On the other hand, the analysis shows that low automation can result in poor product quality due to reasons related to plant location, such as inadequate workers' skills, motivation, etc. Hence, the automation strategy should be formulated on the basis of analysis of all relevant aspects of the manufacturing process, such as costs, quality, productivity and flexibility in relation to the local context. A more balanced combination of automated and manual assembly operations provides better utilisation of equipment, reduces production costs and improves throughput.

  13. Automated system of control and diagnostics of cast-steel defects in the mass production

    Science.gov (United States)

    Knyazev, S. V.; Usoltsev, A. A.; Skopich, D. V.; Fatyanova, E. A.; Dolgopolov, A. E.

    2016-09-01

    To solve the problem of efficient control over technological process in the foundry the mathematical model is required, that would connect the the input and output parameters of the object. To collect the data on cast-steels defects an automated system was developed that greatly simplifies the process of technical control and allows the problem of process parameters optimization to be solved using the criterion of defects minimization in the cast- steels.

  14. A camera space control system for an automated forklift

    Energy Technology Data Exchange (ETDEWEB)

    Miller, R.K.; Stewart, D.G.; Brockman, W.H. (Iowa State Univ., Ames, IA (United States)); Skaar, S.B. (Univ. of Notre Dame, IN (United States). Dept. of Aerospace and Mechanical Engineering)

    1994-10-01

    The authors present experimental results on a method of camera space control applied to a mobile cart with an on-board robot, operated as a forklift. The objective is to extend earlier results to the task of the precise and robust three-dimensional object placement. The method is illustrated with a box stacking task. Camera space control does not rely on producing absolute position measurements. All measurements, estimates and control criteria are done relative to camera images in units of pixels. The resulting ''camera space'' technique is found to be very robust, i.e., extremely accurate modeling and calibration are not needed in order to achieve a precise result.

  15. Partitioning,Automation and Error Recovery in the Control and Monitoring System of an LHC Experiment

    Institute of Scientific and Technical Information of China (English)

    C.Gaspar

    2001-01-01

    The Joint Controls Project(JCOP)is a collaboration between CERN and the four LHC experiments to find and implement common solutions for their control and monitoring systems.As part of this project and Architecture Working Group was set up in order to study the requirements and devise an architectural model that would suit the four experiments.Many issues were studied by this working group:Alarm handling,Access Control,Hierarchical Control,etc.This paper will report on the specific issue of hierarchical control and in particular partitioning,automation and error recovery.

  16. NASA Ares I Launch Vehicle Roll and Reaction Control Systems Overview

    Science.gov (United States)

    Popp, Chris; Butt, Adam; Sharp, David; Pitts, Hank

    2008-01-01

    NASA's Ares I launch vehicle, consisting of a five segment solid rocket booster first stage and a liquid bi-propellant J-2X engine upper stage, is the vehicle that's been chosen to return humans to the moon, mars, and beyond. This paper provides an overview of the work that has taken place on the Ares I launch vehicle roll and reaction control systems. Reaction control systems are found on many launch vehicles and provide a vehicle with a three degree of freedom stabilization during the mission. The Ares I baseline configuration currently consists of a first stage roll control system that will provide the vehicle with a method of counteracting the roll torque that is expected during launch. An upper stage reaction control system will allow the upper stage three degrees of freedom control as needed. Design assessments and trade studies are being conducted on the roll and reaction control systems including: propellant selection, thruster arrangement, pressurization system configuration, and system component trades. Other vehicle considerations and issues include thruster plume impingement, thruster module aerothermal and aerodynamic effects, and system integration. This paper concludes by summarizing the process of down selecting to the current baseline configuration for the Ares I roll and reaction control systems.

  17. Development of an integrated spacecraft Guidance, Navigation, & Control subsystem for automated proximity operations

    Science.gov (United States)

    Schulte, Peter Z.; Spencer, David A.

    2016-01-01

    This paper describes the development and validation process of a highly automated Guidance, Navigation, & Control subsystem for a small satellite on-orbit inspection application, enabling proximity operations without human-in-the-loop interaction. The paper focuses on the integration and testing of Guidance, Navigation, & Control software and the development of decision logic to address the question of how such a system can be effectively implemented for full automation. This process is unique because a multitude of operational scenarios must be considered and a set of complex interactions between subsystem algorithms must be defined to achieve the automation goal. The Prox-1 mission is currently under development within the Space Systems Design Laboratory at the Georgia Institute of Technology. The mission involves the characterization of new small satellite component technologies, deployment of the LightSail 3U CubeSat, entering into a trailing orbit relative to LightSail using ground-in-the-loop commands, and demonstration of automated proximity operations through formation flight and natural motion circumnavigation maneuvers. Operations such as these may be utilized for many scenarios including on-orbit inspection, refueling, repair, construction, reconnaissance, docking, and debris mitigation activities. Prox-1 uses onboard sensors and imaging instruments to perform Guidance, Navigation, & Control operations during on-orbit inspection of LightSail. Navigation filters perform relative orbit determination based on images of the target spacecraft, and guidance algorithms conduct automated maneuver planning. A slew and tracking controller sends attitude actuation commands to a set of control moment gyroscopes, and other controllers manage desaturation, detumble, thruster firing, and target acquisition/recovery. All Guidance, Navigation, & Control algorithms are developed in a MATLAB/Simulink six degree-of-freedom simulation environment and are integrated using

  18. Vehicle Delay Estimation for an Isolated Intersection under Actuated Signal Control

    Directory of Open Access Journals (Sweden)

    Shumin Feng

    2014-01-01

    Full Text Available Vehicle delay at an actuated signal control (ASC intersection is analyzed and computed with the aim of reflecting the effects of ASC and optimizing its parameters. The operation characteristics of traffic flows at the intersections serve as the foundation to present the mechanism of vehicle delay under the ASC; given that the arrival of vehicles obeys the Poisson distribution, probability algorithms of vehicle delay are put forward under the semi-ASC and fully ASC depending on discretization of green time. Computation process is illustrated by case study and CORSIM simulation experiments. Finally, the primary results indicate that the appropriate control modes can decrease vehicle delay, which is significantly affected by unit extension. Hopefully, the study will provide useful information for selecting different ASC modes and optimizing signal control parameters.

  19. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    Energy Technology Data Exchange (ETDEWEB)

    Dohner, J.L. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics Dept.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

  20. Controlling Torque Distribution for Parallel Hybrid Vehicle Based on Hierarchical Structure Fuzzy Logic

    Institute of Scientific and Technical Information of China (English)

    HuangMiao-hua; JinGuo-dong

    2003-01-01

    The Hierarchical Structure Fuzzy Logic Control(HSFLC) strategies of torque distribute for Parallel Hybrid Electric Vehicle (PHEV) in the mocle of operation of the vehicle i. e. , acceleration, cruise, deceleration etc. have been studied. Using secondly developed the hybrid vehicle simulation tool ADVISOR, the dynamic model of PHEV has been set up by MATLAB/SIMULINK. The engine, motor as well as the battery characteristics have been studied. Simulation results show that the proposed hierarchical structured fuzzy logic control strategy is effective over the entire operating range of the vehicle in terms of fuel economy. Based on the analyses of the simulation results and driver's experiences, a fuzzy controller is designed and developed to control the torque distribution. The controller is evaluated via hardware-in-the-loop simulator (HILS). The results show that controller verify its value.

  1. NREL Reveals Links Among Climate Control, Battery Life, and Electric Vehicle Range (Fact Sheet)

    Energy Technology Data Exchange (ETDEWEB)

    2012-06-01

    Researchers at the National Renewable Energy Laboratory (NREL) are providing new insights into the relationships between the climate-control systems of plug-in electric vehicles and the distances these vehicles can travel on a single charge. In particular, NREL research has determined that 'preconditioning' a vehicle-achieving a comfortable cabin temperature and preheating or precooling the battery while the vehicle is still plugged in-can extend its driving range and improve battery life over the long term.

  2. Automated Control Surface Design and Sizing for the Prandtl Plane

    NARCIS (Netherlands)

    Van Ginneken, D.A.J.; Voskuijl, M.; Van Tooren, M.J.L.; Frediani, A.

    2010-01-01

    This paper presents a methodology for the design of the primary flight control surfaces, in terms of size, number and location, for fixed wing aircraft (conventional or unconventional). As test case, the methodology is applied to a 300 passenger variant of the Prandtl Plane. This box wing aircraft i

  3. Motion-mode energy method for vehicle dynamics analysis and control

    Science.gov (United States)

    Zhang, Nong; Wang, Lifu; Du, Haiping

    2014-01-01

    Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

  4. 78 FR 719 - California State Motor Vehicle Pollution Control Standards; Urban Buses; Request for Waiver of...

    Science.gov (United States)

    2013-01-04

    ... AGENCY California State Motor Vehicle Pollution Control Standards; Urban Buses; Request for Waiver of... amendments to its emission standards for urban bus engines in a series of rulemakings. The rulemakings at... public transit agencies that operate urban buses and other transit vehicles; additionally,...

  5. Semi-active Sliding Mode Control of Vehicle Suspension with Magneto-rheological Damper

    Institute of Scientific and Technical Information of China (English)

    ZHANG Hailong; WANG Enrong; ZHANG Ning; MIN Fuhong; SUBASH Rakheja; SU Chunyi

    2015-01-01

    The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity (F-v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

  6. Design and Implementation of Fuzzy Logic Controller for Online Computer Controlled Steering System for Navigation of a Teleoperated Agricultural Vehicle

    Directory of Open Access Journals (Sweden)

    Prema Kannan

    2013-01-01

    Full Text Available This paper describes design, modeling, simulation, control, and implementation of teleoperated agricultural vehicle using intelligent technique. This vehicle can be used for ploughing, sowing, and soil moisture sensing. Online computer controlled steering system for a vehicle utilizing two independent drive wheels can be used to avoid obstacles and to improve the ability to resist external side forces. To control the steer angles of the nondriven wheels, the mathematical relationships between the drive wheel speeds and the steer angles of the nondriven wheels are used. A fuzzy logic controller is designed to change the drive wheel speeds and to achieve the desired steer angles. Online control of the agricultural vehicle is achieved from a remote place by means of Web Publishing Tool in LabVIEW. IR sensors in the vehicle are used to detect and to avoid the obstacles around. The developed steering angle control algorithm and fuzzy logic controller have been implemented in an agricultural vehicle which depicts that the vehicle performs its operation efficiently and reduces the manpower and becomes advantageous.

  7. Hybrid Electric Vehicle Experimental Model with CAN Network Real Time Control

    Directory of Open Access Journals (Sweden)

    RATOI, M.

    2010-05-01

    Full Text Available In this paper an experimental model with a distributed control system of a hybrid electrical vehicle is presented. A communication CAN network of high speed (1 Mbps assures a distributed control of the all components. The modeling and the control of different operating regimes are realized on an experimental test-bench of a hybrid electrical vehicle. The experimental results concerning the variations of the mains variables (currents, torques, speeds are presented.

  8. From Antarctica to space: Use of telepresence and virtual reality in control of remote vehicles

    Science.gov (United States)

    Stoker, Carol; Hine, Butler P., III; Sims, Michael; Rasmussen, Daryl; Hontalas, Phil; Fong, Terrence W.; Steele, Jay; Barch, Don; Andersen, Dale; Miles, Eric

    1994-01-01

    In the Fall of 1993, NASA Ames deployed a modified Phantom S2 Remotely-Operated underwater Vehicle (ROV) into an ice-covered sea environment near McMurdo Science Station, Antarctica. This deployment was part of the antarctic Space Analog Program, a joint program between NASA and the National Science Foundation to demonstrate technologies relevant for space exploration in realistic field setting in the Antarctic. The goal of the mission was to operationally test the use of telepresence and virtual reality technology in the operator interface to a remote vehicle, while performing a benthic ecology study. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research Center. Local control of the vehicle was accomplished using the standard Phantom control box containing joysticks and switches, with the operator viewing stereo video camera images on a stereo display monitor. Remote control of the vehicle over the satellite link was accomplished using the Virtual Environment Vehicle Interface (VEVI) control software developed at NASA Ames. The remote operator interface included either a stereo display monitor similar to that used locally or a stereo head-mounted head-tracked display. The compressed video signal from the vehicle was transmitted to NASA Ames over a 768 Kbps satellite channel. Another channel was used to provide a bi-directional Internet link to the vehicle control computer through which the command and telemetry signals traveled, along with a bi-directional telephone service. In addition to the live stereo video from the satellite link, the operator could view a computer-generated graphic representation of the underwater terrain, modeled from the vehicle's sensors. The virtual environment contained an animate graphic model of the vehicle which reflected the state of the actual vehicle, along with ancillary information such

  9. Automating Fine Concurrency Control in Object-Oriented Databases

    CERN Document Server

    Malta, Carmelo; 10.1109/ICDE.1993.344057

    2010-01-01

    Several propositions were done to provide adapted concurrency control to object-oriented databases. However, most of these proposals miss the fact that considering solely read and write access modes on instances may lead to less parallelism than in relational databases! This paper cope with that issue, and advantages are numerous: (1) commutativity of methods is determined a priori and automatically by the compiler, without measurable overhead, (2) run-time checking of commutativity is as efficient as for compatibility, (3) inverse operations need not be specified for recovery, (4) this scheme does not preclude more sophisticated approaches, and, last but not least, (5) relational and object-oriented concurrency control schemes with read and write access modes are subsumed under this proposition.

  10. Biosensors and Automation for Bioprocess Monitoring and Control

    OpenAIRE

    2011-01-01

    Bioprocess monitoring and control is a complex task that needs rapid and reliable methods which are adaptable to continuous analysis. Process monitoring during fermentation is widely applicable in the field of pharmaceutical, food and beverages and wastewater treatment. The ability to monitor has direct relevance in improving performance, quality, productivity, and yield of the process. In fact, the complexity of the bioprocesses requires almost real time insight into the dynamic process for ...

  11. Automation and Systems Issues in Air Traffic Control

    Directory of Open Access Journals (Sweden)

    Gabriela STROE

    2016-12-01

    Full Text Available This paper is dedicated to the study and analysis of a successfully designed control system in ATM. The aircraft's motion is affected by other factors, besides the pilot controls in the form of external disturbances, such as wind, and internal errors, due to unmodelled dynamics, tracking error and system noise. Navigation equipment tracks the exact real-time location of the aircraft in 4D space and provides feedback to both the pilot in the cockpit and ATC via ADS-B. ATM was expressed as a large, decentralized, dynamic, variable size, infinite horizon, multi-parameter, constrained, nonlinear, non-causal, non-convex, multi-objective, high-dimensionality, hybrid (continuous and combinatorial, optimal control problem. Rapidly increasing growth and demand in CNS/ATM, the advanced scheme for ATM, ADS-B system which is based on digital communication is being implemented in the field of surveillance. ADS-B is a radically new technology that is redefining the paradigm of CNS in ATM today. Automatic Dependent Surveillance-Broadcast (ADS-B is the next generation air surveillance system which supplants and complements the limitations of conventional radar, since conventional ATM radar systems will reach their limits soon due to the increases in air traffic.

  12. 9th International Conference on Informatics in Control, Automation and Robotics

    CERN Document Server

    Bernard, Alain; Gusikhin, Oleg; Madani, Kurosh

    2014-01-01

    This book includes extended and revised versions of a set of selected papers from the Ninth International Conference on Informatics in Control Automation and Robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. The conference was organized in four simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, Systems Modeling, Signal Processing and Control and Industrial Engineering, Production and Management.   ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and...

  13. Automating Access Control Logics in Simple Type Theory with LEO-II (Techreport)

    CERN Document Server

    Benzmueller, Christoph

    2009-01-01

    Garg and Abadi recently proved that prominent access control logics can be translated in a sound and complete way into modal logic S4. We have previously outlined how normal multimodal logics, including monomodal logics K and S4, can be embedded in simple type theory (which is also known as higher-order logic) and we have demonstrated that the higher-order theorem prover LEO-II can automate reasoning in and about them. In this paper we combine these results and describe a sound and complete embedding of different access control logics in simple type theory. Employing this framework we show that the off the shelf theorem prover LEO-II can be applied to automate reasoning in prominent access control logics.

  14. Method and System for Protection of Automated Control Systems for “Smart Buildings”

    Directory of Open Access Journals (Sweden)

    Dmitry Mikhaylov

    2013-07-01

    Full Text Available The paper is related to system and method for protection of an automated control system (ACS against un-authorized devices connected to the ACS via wired or wireless channels that substantially obviates the disadvantages of the related art. The protection system monitors the signals spreading in the network analyzing the performance of the network for malicious code or hidden connections of attacker. The system is developed specifically for this purpose and it can protect the industrial control systems more effectively than standard anti-virus programs. Specific anti-virus software installed on a central server of the automated control system protects it from software-based attacks both from internal and external offenders. The system comprises a plurality of bus protection devices of different types, including any of a twisted-pair protection device, a power lines protection device, On-Board Diagnostics signal protocol protection device, and a wireless protection device.

  15. Control Algorithms of Propulsion Unit with Induction Motors for Electric Vehicle

    Directory of Open Access Journals (Sweden)

    PALACKY, P.

    2014-05-01

    Full Text Available The article deals with the research of algorithms for controlling electronic differential and differential lock of an electrically driven vehicle. The simulation part addresses the development of algorithms suitable for the implementation into a real system of a road vehicle. The algorithms are then implemented into a vehicle, a propulsion unit of which is consists of two separate electric drives with induction motors fed by voltage inverters with own control units using advanced signal processors. Communication among control units is provided by means of SPI interface. A method of vector control is used for the control of induction motors. The developed algorithms are experimentally verified for correct function in a laboratory using a roll test stand and while driving an electrically driven vehicle on the road.

  16. Motion coordination for VTOL unmanned aerial vehicles attitude synchronisation and formation control

    CERN Document Server

    Abdessameud, Abdelkader

    2013-01-01

    Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents  a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and  restrictions on the interconnection  topology  between the aerial vehicles in the team  are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers an...

  17. Design of Model Following Variable Structure Controller for Three-axle Vehicle

    Institute of Scientific and Technical Information of China (English)

    管西强; 张建武; 屈求真

    2003-01-01

    An optimal control procedure is developed for the front and rear wheels of a three-axle vehicle moving on a complex typical road based on model following variable structure control strategy. The actual vehicle may be considered as an uncertain system. Cornering stiffness of front and rear wheels and external disturbances are varied in a limited range. The model-following variable structure control method is used to control both front and rear wheels steering operations of the vehicle, so that steering responses of the vehicle follow from those of the reference model. By numerical results obtained from computer simulation, it is demonstrated that the control system model can cope with the effects of parameter perturbations and outside disturbances.

  18. Application of Professional Software in Vehicle Engineering Electronic Control Experiment

    Institute of Scientific and Technical Information of China (English)

    FAN Xiao-bin; JIN Ke

    2016-01-01

    In order to overcome the limitation of vehicle engineering professional laboratory personnel and facilities, some of them is commonly used auxiliary software in the professional field for design, calculation and research, including characteristics of software, application scope and methods are presented in this paper. Through these industries aided software powerful calculation, analysis functions and convenient visualization means, for the virtual simulation experiment, it can help to clearly illustrate the concept, deepen students′understanding level of vehicle professional course, improve the enthusiasm of the students, improve the ability of autonomous learning and improve students' thinking ability and practice ability, and can effectively train high⁃quality professionals with good quality.

  19. Power control apparatus and methods for electric vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Gadh, Rajit; Chung, Ching-Yen; Chu, Chi-Cheng; Qiu, Li

    2016-03-22

    Electric vehicle (EV) charging apparatus and methods are described which allow the sharing of charge current between multiple vehicles connected to a single source of charging energy. In addition, this charge sharing can be performed in a grid-friendly manner by lowering current supplied to EVs when necessary in order to satisfy the needs of the grid, or building operator. The apparatus and methods can be integrated into charging stations or can be implemented with a middle-man approach in which a multiple EV charging box, which includes an EV emulator and multiple pilot signal generation circuits, is coupled to a single EV charge station.

  20. Development of a finite state machine for the automates operation of the LLRF control at FLASH

    Energy Technology Data Exchange (ETDEWEB)

    Brandt, A.

    2007-07-15

    The entry of digital signal processors in modern control systems not only allows for extended diagnostics compared to analog systems but also for sophisticated and tricky extensions of the control algorithms. With modern DSP- and FPGA-technology, the processing speed of digital systems is no longer inferior to analog systems in many applications. A higher degree of digitalization leads to an increased complexity of the systems and hence to higher requirements on their operators. The focus of research and development in the field of high frequency control has changed in the last few years and moved towards the direction of software development and complexity management. In the presented thesis, a frame for an automation concept of modern high frequency control systems is developed. The developed automation is based on the concept of finite state machines (FSM), which is established in industry for years. A flexible framework was developed, in which procedures communicate using standardized interfaces and can be exchanged easily. With that, the developer of high frequency control components as well as the operator on shift shall be empowered to improve and adapt the automation to changed conditions without special programming skills required. Along the automation concept a number of algorithms addressing various problems were developed which satisfy the needs of modern high frequency control systems. Among the developed and successfully tested algorithms are the calibration of incident and reflected wave of resonators without antennas, the fast adaptive compensation of repetitive errors, the robust estimation of the phase advance in the control loop and the latency adjustment for the rejection of instabilities caused by passband modes. During the development of the resonator theory, high value was set on the usability of the equation in algorithms for high frequency control. The usage of the common nomenclature of control theory emphasizes the underlying mathematical