A linear complementarity method for the solution of vertical vehicle-track interaction

Science.gov (United States)

Zhang, Jian; Gao, Qiang; Wu, Feng; Zhong, Wan-Xie

2018-02-01

A new method is proposed for the solution of the vertical vehicle-track interaction including a separation between wheel and rail. The vehicle is modelled as a multi-body system using rigid bodies, and the track is treated as a three-layer beam model in which the rail is considered as an Euler-Bernoulli beam and both the sleepers and the ballast are represented by lumped masses. A linear complementarity formulation is directly established using a combination of the wheel-rail normal contact condition and the generalised-α method. This linear complementarity problem is solved using the Lemke algorithm, and the wheel-rail contact force can be obtained. Then the dynamic responses of the vehicle and the track are solved without iteration based on the generalised-α method. The same equations of motion for the vehicle and track are adopted at the different wheel-rail contact situations. This method can remove some restrictions, that is, time-dependent mass, damping and stiffness matrices of the coupled system, multiple equations of motion for the different contact situations and the effect of the contact stiffness. Numerical results demonstrate that the proposed method is effective for simulating the vehicle-track interaction including a separation between wheel and rail.

Autonomous Vehicles Navigation with Visual Target Tracking: Technical Approaches

Directory of Open Access Journals (Sweden)

Zhen Jia

2008-12-01

Full Text Available This paper surveys the developments of last 10 years in the area of vision based target tracking for autonomous vehicles navigation. First, the motivations and applications of using vision based target tracking for autonomous vehicles navigation are presented in the introduction section. It can be concluded that it is very necessary to develop robust visual target tracking based navigation algorithms for the broad applications of autonomous vehicles. Then this paper reviews the recent techniques in three different categories: vision based target tracking for the applications of land, underwater and aerial vehicles navigation. Next, the increasing trends of using data fusion for visual target tracking based autonomous vehicles navigation are discussed. Through data fusion the tracking performance is improved and becomes more robust. Based on the review, the remaining research challenges are summarized and future research directions are investigated.

Using the Theory of Combined Friction when Making Mathematical Models of Curvilinear Motion of Tracked Vehicles

Directory of Open Access Journals (Sweden)

M. V. Vyaznikov

2014-01-01

Full Text Available The paper presents study results of the nonlinear interaction processes between the supporting surface of the track Assembly and the ground in the contact patch, using the mathematical models of friction. For the case blaskapelle motion of a caterpillar, when the resultant of the elementary friction forces is limited by the coupling due to the sliding tracks on the ground, it appears that the increase of the lateral component leads to a decrease of the longitudinal component and the change of direction of the resulting force. As a result, with increasing angular velocity of the tracked vehicle a longitudinal component of the friction force decreases, which is the geometric factor and is defined by the locus of friction for a given type of soil. In the development of this well-known model is considered the general case of friction, which describes the effect of reducing the coefficient of friction in the contact patch at increasing the angular velocity of rotation. To describe this process is used the model of the combined friction which occurs when the surface of the body is doing at the same time the rotational and translational motion. The resulting expression for the resultant of forces of friction and the moment of resistance to rotation based on the decomposition of the first order Pade for a flat spot track Assembly with ground of rectangular shape. With combined friction any arbitrarily small perturbation force acting parallel to the surface of the contact spot, leads to slip. The paper considers the possibility of using the model of the combined friction to research a sustainability curvilinear motion of tracked vehicles. The proposed motion of the machine in the mode of skidding on the basis of the frictionslip. The interpretation of the physical processes occurring in the contact area, on the basis of the theory of the combined friction would allow using this mathematical model in the algorithm structure of automatic traffic control

Design of a Path-Tracking Steering Controller for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Chuanyang Sun

2018-06-01

Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

Multi-Perspective Vehicle Detection and Tracking

DEFF Research Database (Denmark)

Dueholm, Jacob Velling; Kristoffersen, Miklas Strøm; Satzoda, Ravi K.

2016-01-01

this dataset is introduced along with its challenges and evaluation metrics. A vision-based multi-perspective dataset is presented, containing a full panoramic view from a moving platform driving on U.S. highways capturing 2704x1440 resolution images at 12 frames per second. The dataset serves multiple......The research community has shown significant improvements in both vision-based detection and tracking of vehicles, working towards a high level understanding of on-road maneuvers. Behaviors of surrounding vehicles in a highway environment is found as an interesting starting point, of why...... purposes to be used as traditional detection and tracking, together with tracking of vehicles across perspectives. Each of the four perspectives have been annotated, resulting in more than 4000 bounding boxes in order to evaluate and compare novel methods....

Observer-based linear parameter varying H∞ tracking control for hypersonic vehicles

Directory of Open Access Journals (Sweden)

Yiqing Huang

2016-11-01

Full Text Available This article aims to develop observer-based linear parameter varying output feedback H∞ tracking controller for hypersonic vehicles. Due to the complexity of an original nonlinear model of the hypersonic vehicle dynamics, a slow–fast loop linear parameter varying polytopic model is introduced for system stability analysis and controller design. Then, a state observer is developed by linear parameter varying technique in order to estimate the unmeasured attitude angular for slow loop system. Also, based on the designed linear parameter varying state observer, a kind of attitude tracking controller is presented to reduce tracking errors for all bounded reference attitude angular inputs. The closed-loop linear parameter varying system is proved to be quadratically stable by Lypapunov function technique. Finally, simulation results show that the developed linear parameter varying H∞ controller has good tracking capability for reference commands.

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

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Jurkiewicz Andrzej

2017-09-01

Full Text Available The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous sky-hook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

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.

Track-to-track association for object matching in an inter-vehicle communication system

Science.gov (United States)

Yuan, Ting; Roth, Tobias; Chen, Qi; Breu, Jakob; Bogdanovic, Miro; Weiss, Christian A.

2015-09-01

Autonomous driving poses unique challenges for vehicle environment perception due to the complex driving environment the autonomous vehicle finds itself in and differentiates from remote vehicles. Due to inherent uncertainty of the traffic environments and incomplete knowledge due to sensor limitation, an autonomous driving system using only local onboard sensor information is generally not sufficiently enough for conducting a reliable intelligent driving with guaranteed safety. In order to overcome limitations of the local (host) vehicle sensing system and to increase the likelihood of correct detections and classifications, collaborative information from cooperative remote vehicles could substantially facilitate effectiveness of vehicle decision making process. Dedicated Short Range Communication (DSRC) system provides a powerful inter-vehicle wireless communication channel to enhance host vehicle environment perceiving capability with the aid of transmitted information from remote vehicles. However, there is a major challenge before one can fuse the DSRC-transmitted remote information and host vehicle Radar-observed information (in the present case): the remote DRSC data must be correctly associated with the corresponding onboard Radar data; namely, an object matching problem. Direct raw data association (i.e., measurement-to-measurement association - M2MA) is straightforward but error-prone, due to inherent uncertain nature of the observation data. The uncertainties could lead to serious difficulty in matching decision, especially, using non-stationary data. In this study, we present an object matching algorithm based on track-to-track association (T2TA) and evaluate the proposed approach with prototype vehicles in real traffic scenarios. To fully exploit potential of the DSRC system, only GPS position data from remote vehicle are used in fusion center (at host vehicle), i.e., we try to get what we need from the least amount of information; additional feature

Implementation and development of vehicle tracking and immobilization technologies.

Science.gov (United States)

2010-01-01

Since the mid-1980s, limited use has been made of vehicle tracking using satellite communications to mitigate the security and safety risks created by the highway transportation of certain types of hazardous materials. However, vehicle-tracking techn...

Comparative Analysis of Lightweight Robotic Wheeled and Tracked Vehicle

OpenAIRE

Johnson, Christopher Patrick

2012-01-01

This study focuses on conducting a benchmarking analysis for light wheeled and tracked robotic vehicles. Vehicle mobility has long been a key aspect of research for many organizations. According to the Department of Defense vehicle mobility is defined as, "the overall capacity to move from place to place while retaining its ability to perform its primary mission"[1]. Until recently this definition has been applied exclusively to large scale wheeled and tracked vehicles. With new development l...

Multiple Model-Based Synchronization Approaches for Time Delayed Slaving Data in a Space Launch Vehicle Tracking System

Directory of Open Access Journals (Sweden)

Haryong Song

2016-01-01

Full Text Available Due to the inherent characteristics of the flight mission of a space launch vehicle (SLV, which is required to fly over very large distances and have very high fault tolerances, in general, SLV tracking systems (TSs comprise multiple heterogeneous sensors such as radars, GPS, INS, and electrooptical targeting systems installed over widespread areas. To track an SLV without interruption and to hand over the measurement coverage between TSs properly, the mission control system (MCS transfers slaving data to each TS through mission networks. When serious network delays occur, however, the slaving data from the MCS can lead to the failure of the TS. To address this problem, in this paper, we propose multiple model-based synchronization (MMS approaches, which take advantage of the multiple motion models of an SLV. Cubic spline extrapolation, prediction through an α-β-γ filter, and a single model Kalman filter are presented as benchmark approaches. We demonstrate the synchronization accuracy and effectiveness of the proposed MMS approaches using the Monte Carlo simulation with the nominal trajectory data of Korea Space Launch Vehicle-I.

Commercial vehicle route tracking using video detection.

Science.gov (United States)

2010-10-31

Interstate commercial vehicle traffic is a major factor in the life of any road surface. The ability to track : these vehicles and their routes through the state can provide valuable information to planning : activities. We propose a method using vid...

Vehicle response-based track geometry assessment using multi-body simulation

Science.gov (United States)

Kraft, Sönke; Causse, Julien; Coudert, Frédéric

2018-02-01

The assessment of the geometry of railway tracks is an indispensable requirement for safe rail traffic. Defects which represent a risk for the safety of the train have to be identified and the necessary measures taken. According to current standards, amplitude thresholds are applied to the track geometry parameters measured by recording cars. This geometry-based assessment has proved its value but suffers from the low correlation between the geometry parameters and the vehicle reactions. Experience shows that some defects leading to critical vehicle reactions are underestimated by this approach. The use of vehicle responses in the track geometry assessment process allows identifying critical defects and improving the maintenance operations. This work presents a vehicle response-based assessment method using multi-body simulation. The choice of the relevant operation conditions and the estimation of the simulation uncertainty are outlined. The defects are identified from exceedances of track geometry and vehicle response parameters. They are then classified using clustering methods and the correlation with vehicle response is analysed. The use of vehicle responses allows the detection of critical defects which are not identified from geometry parameters.

Visual Vehicle Tracking Based on Deep Representation and Semisupervised Learning

Directory of Open Access Journals (Sweden)

Yingfeng Cai

2017-01-01

Full Text Available Discriminative tracking methods use binary classification to discriminate between the foreground and background and have achieved some useful results. However, the use of labeled training samples is insufficient for them to achieve accurate tracking. Hence, discriminative classifiers must use their own classification results to update themselves, which may lead to feedback-induced tracking drift. To overcome these problems, we propose a semisupervised tracking algorithm that uses deep representation and transfer learning. Firstly, a 2D multilayer deep belief network is trained with a large amount of unlabeled samples. The nonlinear mapping point at the top of this network is subtracted as the feature dictionary. Then, this feature dictionary is utilized to transfer train and update a deep tracker. The positive samples for training are the tracked vehicles, and the negative samples are the background images. Finally, a particle filter is used to estimate vehicle position. We demonstrate experimentally that our proposed vehicle tracking algorithm can effectively restrain drift while also maintaining the adaption of vehicle appearance. Compared with similar algorithms, our method achieves a better tracking success rate and fewer average central-pixel errors.

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

Science.gov (United States)

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

2016-01-01

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

Directory of Open Access Journals (Sweden)

Zhigang Xu

2017-01-01

Full Text Available With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

Directory of Open Access Journals (Sweden)

Lie Guo

2014-01-01

Full Text Available To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.

A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

Directory of Open Access Journals (Sweden)

Muhammad Aizzat Zakaria

2013-08-01

Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

Android App Based Vehicle Tracking Using GPS And GSM

Directory of Open Access Journals (Sweden)

Jessica Saini

2017-09-01

Full Text Available Global Positioning System GPS is used in numerous applications in todays world. A real time vehicle tracking system using the GPS technology is proposed in this paper. The project Android App based Vehicle Tracking Using GSM AND GPRS mainly focuses in tracking the location of the vehicle on which the device has been installed. It will then send the data in the form of latitude and longitude coordinates through SMS on the users mobile where the coordinates will be plotted in the Android app automatically. Initially the GPS installed in the device takes input from the satellite and stores it in the microcontrollers buffer. In order to track the vehicle the mobile user has to call on the SIM number that is registered in the GSM module of the device. Once the call is received the device authenticates the calling number. If authenticated the location of the vehicle is sent to the registered mobile number in the form of SMS. After sending the message the GSM is deactivated and the GPS is activated again. The coordinates of the location received in the SMS can be viewed on the android app. The hardware part described in the paper comprises of GPRS GSM module LCD to view the coordinates ATMega Microcontroller MAX 232 Arduino RS232 and relay.

A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

International Nuclear Information System (INIS)

Dohner, J.L.

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

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.

Optimal Vibration Control for Tracked Vehicle Suspension Systems

Directory of Open Access Journals (Sweden)

Yan-Jun Liang

2013-01-01

Full Text Available Technique of optimal vibration control with exponential decay rate and simulation for vehicle active suspension systems is developed. Mechanical model and dynamic system for a class of tracked vehicle suspension vibration control is established and the corresponding system of state space form is described. In order to prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an optimal vibration controller with exponential decay rate is designed. Numerical simulations are carried out, and the control effects of the ordinary optimal controller and the proposed controller are compared. Numerical simulation results illustrate the effectiveness of the proposed technique.

Dynamics of a railway vehicle on a laterally disturbed track

DEFF Research Database (Denmark)

Christiansen, Lasse Engbo; True, Hans

2017-01-01

In this article a theoretical investigation of the dynamics of a railway bogie running on a tangent track with a periodic disturbance of the lateral track geometry is presented. The dynamics is computed for two values of the speed of the vehicle in combination with different values of the wavelen......In this article a theoretical investigation of the dynamics of a railway bogie running on a tangent track with a periodic disturbance of the lateral track geometry is presented. The dynamics is computed for two values of the speed of the vehicle in combination with different values...

Real-time vehicle detection and tracking in video based on faster R-CNN

Science.gov (United States)

Zhang, Yongjie; Wang, Jian; Yang, Xin

2017-08-01

Vehicle detection and tracking is a significant part in auxiliary vehicle driving system. Using the traditional detection method based on image information has encountered enormous difficulties, especially in complex background. To solve this problem, a detection method based on deep learning, Faster R-CNN, which has very high detection accuracy and flexibility, is introduced. An algorithm of target tracking with the combination of Camshift and Kalman filter is proposed for vehicle tracking. The computation time of Faster R-CNN cannot achieve realtime detection. We use multi-thread technique to detect and track vehicle by parallel computation for real-time application.

PARTICLE FILTER BASED VEHICLE TRACKING APPROACH WITH IMPROVED RESAMPLING STAGE

Directory of Open Access Journals (Sweden)

Wei Leong Khong

2014-02-01

Full Text Available Optical sensors based vehicle tracking can be widely implemented in traffic surveillance and flow control. The vast development of video surveillance infrastructure in recent years has drawn the current research focus towards vehicle tracking using high-end and low cost optical sensors. However, tracking vehicles via such sensors could be challenging due to the high probability of changing vehicle appearance and illumination, besides the occlusion and overlapping incidents. Particle filter has been proven as an approach which can overcome nonlinear and non-Gaussian situations caused by cluttered background and occlusion incidents. Unfortunately, conventional particle filter approach encounters particle degeneracy especially during and after the occlusion. Particle filter with sampling important resampling (SIR is an important step to overcome the drawback of particle filter, but SIR faced the problem of sample impoverishment when heavy particles are statistically selected many times. In this work, genetic algorithm has been proposed to be implemented in the particle filter resampling stage, where the estimated position can converge faster to hit the real position of target vehicle under various occlusion incidents. The experimental results show that the improved particle filter with genetic algorithm resampling method manages to increase the tracking accuracy and meanwhile reduce the particle sample size in the resampling stage.

Research on the Effects of Hydropneumatic Parameters on Tracked Vehicle Ride Safety Based on Cosimulation

Directory of Open Access Journals (Sweden)

Shousong Han

2017-01-01

Full Text Available Ride safety of a tracked vehicle is the key focus of this research. The factors that affect the ride safety of a vehicle are analyzed and evaluation parameters with their criteria are proposed. A multibody cosimulation approach is used to investigate the effects of hydropneumatic parameters on the ride safety and aid with design optimization and tuning of the suspension system. Based on the cosimulation environment, the vehicle multibody dynamics (MBD model and the road model are developed using RecurDyn, which is linked to the hydropneumatic suspension model developed in Lab AMESim. Test verification of a single suspension unit is accomplished and the suspension parameters are implemented within the hydropneumatic model. Virtual tests on a G class road at different speeds are conducted. Effects of the accumulator charge pressure, damping diameter, and the track tensioning pressure on the ride safety are analyzed and quantified. This research shows that low accumulator charge pressure, improper damping diameter, and insufficient track tensioning pressure will deteriorate the ride safety. The results provide useful references for the optimal design and control of the parameters of a hydropneumatic suspension.

Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

Directory of Open Access Journals (Sweden)

Yiding Hua

2017-01-01

Full Text Available This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

Evaluating the accuracy of vehicle tracking data obtained from Unmanned Aerial Vehicles

Directory of Open Access Journals (Sweden)

Giuseppe Guido

2016-10-01

Full Text Available This paper presents a methodology for tracking moving vehicles that integrates Unmanned Aerial Vehicles with video processing techniques. The authors investigated the usefulness of Unmanned Aerial Vehicles to capture reliable individual vehicle data by using GPS technology as a benchmark. A video processing algorithm for vehicles trajectory acquisition is introduced. The algorithm is based on OpenCV libraries. In order to assess the accuracy of the proposed video processing algorithm an instrumented vehicle was equipped with a high precision GPS. The video capture experiments were performed in two case studies. From the field, about 24,000 positioning data were acquired for the analysis. The results of these experiments highlight the versatility of the Unmanned Aerial Vehicles technology combined with video processing technique in monitoring real traffic data.

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.

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

Institute of Scientific and Technical Information of China (English)

XIAO Kun; FANG Shao-ji; PANG Yong-jie

2007-01-01

To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

Hybrid three-dimensional and support vector machine approach for automatic vehicle tracking and classification using a single camera

Science.gov (United States)

Kachach, Redouane; Cañas, José María

2016-05-01

Using video in traffic monitoring is one of the most active research domains in the computer vision community. TrafficMonitor, a system that employs a hybrid approach for automatic vehicle tracking and classification on highways using a simple stationary calibrated camera, is presented. The proposed system consists of three modules: vehicle detection, vehicle tracking, and vehicle classification. Moving vehicles are detected by an enhanced Gaussian mixture model background estimation algorithm. The design includes a technique to resolve the occlusion problem by using a combination of two-dimensional proximity tracking algorithm and the Kanade-Lucas-Tomasi feature tracking algorithm. The last module classifies the shapes identified into five vehicle categories: motorcycle, car, van, bus, and truck by using three-dimensional templates and an algorithm based on histogram of oriented gradients and the support vector machine classifier. Several experiments have been performed using both real and simulated traffic in order to validate the system. The experiments were conducted on GRAM-RTM dataset and a proper real video dataset which is made publicly available as part of this work.

FDTD Seismic Simulation of Moving Tracked Vehicle

National Research Council Canada - National Science Library

Ketcham, Stephen

2000-01-01

This paper describes the utility of a large finite-difference time domain (FDTD) simulation of seismic wave propagation from a spatially and time varying source that generically represents a moving tracked vehicle...

Vision-based vehicle detection and tracking algorithm design

Science.gov (United States)

Hwang, Junyeon; Huh, Kunsoo; Lee, Donghwi

2009-12-01

The vision-based vehicle detection in front of an ego-vehicle is regarded as promising for driver assistance as well as for autonomous vehicle guidance. The feasibility of vehicle detection in a passenger car requires accurate and robust sensing performance. A multivehicle detection system based on stereo vision has been developed for better accuracy and robustness. This system utilizes morphological filter, feature detector, template matching, and epipolar constraint techniques in order to detect the corresponding pairs of vehicles. After the initial detection, the system executes the tracking algorithm for the vehicles. The proposed system can detect front vehicles such as the leading vehicle and side-lane vehicles. The position parameters of the vehicles located in front are obtained based on the detection information. The proposed vehicle detection system is implemented on a passenger car, and its performance is verified experimentally.

Independent review : statistical analyses of relationship between vehicle curb weight, track width, wheelbase and fatality rates.

Science.gov (United States)

2011-03-01

"NHTSA selected the vehicle footprint (the measure of a vehicles wheelbase multiplied by its average track width) as the attribute upon which to base the CAFE standards for model year 2012-2016 passenger cars and light trucks. These standards are ...

Reliability analysis of high-speed tracked vehicles in the polish army

Directory of Open Access Journals (Sweden)

Kończak Jarosław

2017-06-01

Full Text Available The Polish Armed Forces use tracked vehicles that serve as a core element of the ground combat forces. These vehicles are capable of fighting in all kinds of terrain conditions, in any season of the year. Combat missions are often fought in areas where even no dirt roads are available. The present paper assesses the reliability of tracked vehicles in the context of their irregular operation, as well as service- and maintenance-related vulnerability.

78 FR 16051 - Vehicle/Track Interaction Safety Standards; High-Speed and High Cant Deficiency Operations

Science.gov (United States)

2013-03-13

..., without the need for obtaining a waiver. In order to take advantage of high cant deficiency operations and... attention. In addition, to improve the process for analyzing data while vehicles are negotiating spiral... the last few decades, computer models of rail vehicles interacting with track have become practical...

Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Chengshun Yang

2013-01-01

Full Text Available Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

Science.gov (United States)

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

Adaptive fuzzy tracking control for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

Directory of Open Access Journals (Sweden)

Peng Fei Wang

2016-10-01

Full Text Available The design of an adaptive fuzzy tracking control for a flexible air-breathing hypersonic vehicle with actuator constraints is discussed. Based on functional decomposition methodology, velocity and altitude controllers are designed. Fuzzy logic systems are applied to approximate the lumped uncertainty of each subsystem of air-breathing hypersonic vehicle model. Every controllers contain only one adaptive parameter that needs to be updated online with a minimal-learning-parameter scheme. The back-stepping design is not demanded by converting the altitude subsystem into the normal output-feedback formulation, which predigests the design of a controller. The special contribution is that novel auxiliary systems are developed to compensate both the tracking errors and desired control laws, based on which the explored controller can still provide effective tracking of velocity and altitude commands when the inputs are saturated. Finally, reference trajectory tracking simulation shows the effectiveness of the proposed method in its application to air-breathing hypersonic vehicle control.

Launch vehicle tracking enhancement through Global Positioning System Metric Tracking

Science.gov (United States)

Moore, T. C.; Li, Hanchu; Gray, T.; Doran, A.

United Launch Alliance (ULA) initiated operational flights of both the Atlas V and Delta IV launch vehicle families in 2002. The Atlas V and Delta IV launch vehicles were developed jointly with the US Air Force (USAF) as part of the Evolved Expendable Launch Vehicle (EELV) program. Both Launch Vehicle (LV) families have provided 100% mission success since their respective inaugural launches and demonstrated launch capability from both Vandenberg Air Force Base (VAFB) on the Western Test Range and Cape Canaveral Air Force Station (CCAFS) on the Eastern Test Range. However, the current EELV fleet communications, tracking, & control architecture & technology, which date back to the origins of the space launch business, require support by a large and high cost ground footprint. The USAF has embarked on an initiative known as Future Flight Safety System (FFSS) that will significantly reduce Test Range Operations and Maintenance (O& M) cost by closing facilities and decommissioning ground assets. In support of the FFSS, a Global Positioning System Metric Tracking (GPS MT) System based on the Global Positioning System (GPS) satellite constellation has been developed for EELV which will allow both Ranges to divest some of their radar assets. The Air Force, ULA and Space Vector have flown the first 2 Atlas Certification vehicles demonstrating the successful operation of the GPS MT System. The first Atlas V certification flight was completed in February 2012 from CCAFS, the second Atlas V certification flight from VAFB was completed in September 2012 and the third certification flight on a Delta IV was completed October 2012 from CCAFS. The GPS MT System will provide precise LV position, velocity and timing information that can replace ground radar tracking resource functionality. The GPS MT system will provide an independent position/velocity S-Band telemetry downlink to support the current man-in-the-loop ground-based commanded destruct of an anomalous flight- The system

Analysis of the Dynamic Response in the Railway Vehicles to the Track Vertical Irregularities. Part I: The Theoretical Model and the Vehicle Response Functions

Directory of Open Access Journals (Sweden)

M. Dumitriu

2015-11-01

Full Text Available The paper herein focuses on the dynamic response of a two-bogie vehicle to the excitations derived from the track vertical irregularities. The symmetrical and antisymmetrical modes due from the bounce and pitch motions of the axles’ planes in the two bogies are being considered. The analysis of the dynamic response in the vehicle relies on the response functions in three reference points of the carbody, composed by means of these response functions to the symmetrical and antisymmetrical excitation modes. Similarly, the dynamic response of the vehicle to the track stochastic irregularities is examined and expressed as a power spectral density of the carbody vertical acceleration and the root mean square of the acceleration and the index of the partial comfort to the vertical vibrations is calculated. The paper is structured into two parts. The Part I includes all the theoretical elements required for the analysis of the dynamic response in the vehicle, while Part II introduces the results of the numerical analysis.

Relationship between US Societal Fatality Risk per Vehicle Miles of Travel and Mass, for Individual Vehicle Models over Time (Model Year)

Energy Technology Data Exchange (ETDEWEB)

Wenzel, Tom P. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). Environmental Technologies Area. Building Technology and Urban Systems Division

2016-07-27

This report presents a new approach to analyze the relationship between vehicle mass and risk: tracking fatality risk by vehicle model year and mass, for individual vehicle models. This approach is appealing as it greatly minimizes the influence of driver characteristics and behavior, and crash circumstances, on fatality risk. However, only the most popular vehicle models, with the largest number of fatalities, can be analyzed in this manner. While the analysis of all vehicle models of a given type suggests that there is a relationship between increased mass and fatality risk, analysis of the ten most popular four-door car models separately suggests that this relationship is weak: in many cases when the mass of a specific vehicle model is increased societal fatality risk is unchanged or even increases. These results suggest that increasing the mass of an individual vehicle model does not necessarily lead to decreased societal fatality risk.

Cooperative vehicle control, feature tracking and ocean sampling

Science.gov (United States)

Fiorelli, Edward A.

This dissertation concerns the development of a feedback control framework for coordinating multiple, sensor-equipped, autonomous vehicles into mobile sensing arrays to perform adaptive sampling of observed fields. The use of feedback is central; it maintains the array, i.e. regulates formation position, orientation, and shape, and directs the array to perform its sampling mission in response to measurements taken by each vehicle. Specifically, we address how to perform autonomous gradient tracking and feature detection in an unknown field such as temperature or salinity in the ocean. Artificial potentials and virtual bodies are used to coordinate the autonomous vehicles, modelled as point masses (with unit mass). The virtual bodies consist of linked, moving reference points called virtual leaders. Artificial potentials couple the dynamics of the vehicles and the virtual bodies. The dynamics of the virtual body are then prescribed allowing the virtual body, and thus the vehicle group, to perform maneuvers that include translation, rotation and contraction/expansion, while ensuring that the formation error remains bounded. This methodology is called the Virtual Body and Artificial Potential (VBAP) methodology. We then propose how to utilize these arrays to perform autonomous gradient climbing and front tracking in the presence of both correlated and uncorrelated noise. We implement various techniques for estimation of gradients (first-order and higher), including finite differencing, least squares error minimization, averaging, and Kalman filtering. Furthermore, we illustrate how the estimation error can be used to optimally choose the formation size. To complement our theoretical work, we present an account of sea trials performed with a fleet of autonomous underwater gliders in Monterey Bay during the Autonomous Ocean Sampling Network (AOSN) II project in August 2003. During these trials, Slocum autonomous underwater gliders were coordinated into triangle

Challenges in the Tracking and Prediction of Scheduled-Vehicle Journeys

DEFF Research Database (Denmark)

Jensen, Christian Søndergaard; Tiesyte, Dalia

2007-01-01

this type of knowledge with minimal cost. This paper characterizes the problem of real-time vehicle tracking using wireless communication, and of predicting the future status of the vehicles when their movements are restricted to given routes and when they follow schedules with a best effort. The paper...... discusses challenges related to tracking, to the prediction of future travel times, and to historical data analysis. It also suggests approaches to addressing the challenges.......A number of applications in areas such as logistics, cargo delivery, and collective transport involve the management of fleets of vehicles that are expected to travel along known routes according to fixed schedules. Due to road construction, accidents, and other unanticipated conditions...

49 CFR 214.521 - Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles.

Science.gov (United States)

2010-10-01

... maintenance machines and hi-rail vehicles. 214.521 Section 214.521 Transportation Other Regulations Relating... WORKPLACE SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.521 Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles. Each on-track roadway maintenance machine...

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

Science.gov (United States)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and

Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

Science.gov (United States)

Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

2017-03-01

In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

A Region Tracking-Based Vehicle Detection Algorithm in Nighttime Traffic Scenes

Directory of Open Access Journals (Sweden)

Jianqiang Wang

2013-12-01

Full Text Available The preceding vehicles detection technique in nighttime traffic scenes is an important part of the advanced driver assistance system (ADAS. This paper proposes a region tracking-based vehicle detection algorithm via the image processing technique. First, the brightness of the taillights during nighttime is used as the typical feature, and we use the existing global detection algorithm to detect and pair the taillights. When the vehicle is detected, a time series analysis model is introduced to predict vehicle positions and the possible region (PR of the vehicle in the next frame. Then, the vehicle is only detected in the PR. This could reduce the detection time and avoid the false pairing between the bright spots in the PR and the bright spots out of the PR. Additionally, we present a thresholds updating method to make the thresholds adaptive. Finally, experimental studies are provided to demonstrate the application and substantiate the superiority of the proposed algorithm. The results show that the proposed algorithm can simultaneously reduce both the false negative detection rate and the false positive detection rate.

Visual tracking strategies for intelligent vehicle highway systems

Science.gov (United States)

Smith, Christopher E.; Papanikolopoulos, Nikolaos P.; Brandt, Scott A.; Richards, Charles

1995-01-01

The complexity and congestion of current transportation systems often produce traffic situations that jeopardize the safety of the people involved. These situations vary from maintaining a safe distance behind a leading vehicle to safely allowing a pedestrian to cross a busy street. Environmental sensing plays a critical role in virtually all of these situations. Of the sensors available, vision sensors provide information that is richer and more complete than other sensors, making them a logical choice for a multisensor transportation system. In this paper we present robust techniques for intelligent vehicle-highway applications where computer vision plays a crucial role. In particular, we demonstrate that the controlled active vision framework can be utilized to provide a visual sensing modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations. We have selected two application examples, vehicle tracking and pedestrian tracking, to demonstrate that the framework can provide precisely the type of information required to effectively manage the given situation.

Vehicle Detection with Occlusion Handling, Tracking, and OC-SVM Classification: A High Performance Vision-Based System

Science.gov (United States)

Velazquez-Pupo, Roxana; Sierra-Romero, Alberto; Torres-Roman, Deni; Shkvarko, Yuriy V.; Romero-Delgado, Misael

2018-01-01

This paper presents a high performance vision-based system with a single static camera for traffic surveillance, for moving vehicle detection with occlusion handling, tracking, counting, and One Class Support Vector Machine (OC-SVM) classification. In this approach, moving objects are first segmented from the background using the adaptive Gaussian Mixture Model (GMM). After that, several geometric features are extracted, such as vehicle area, height, width, centroid, and bounding box. As occlusion is present, an algorithm was implemented to reduce it. The tracking is performed with adaptive Kalman filter. Finally, the selected geometric features: estimated area, height, and width are used by different classifiers in order to sort vehicles into three classes: small, midsize, and large. Extensive experimental results in eight real traffic videos with more than 4000 ground truth vehicles have shown that the improved system can run in real time under an occlusion index of 0.312 and classify vehicles with a global detection rate or recall, precision, and F-measure of up to 98.190%, and an F-measure of up to 99.051% for midsize vehicles. PMID:29382078

Impact of mesh tracks and low-ground-pressure vehicle use on blanket peat hydrology

Science.gov (United States)

McKendrick-Smith, Kathryn; Holden, Joseph; Parry, Lauren

2016-04-01

Peatlands are subject to multiple uses including drainage, farming and recreation. Low-ground-pressure vehicle access is desirable by land owners and tracks facilitate access. However, there is concern that such activity may impact peat hydrology and so granting permission for track installation has been problematic, particularly without evidence for decision-making. We present the first comprehensive study of mesh track and low-ground-pressure vehicle impacts on peatland hydrology. In the sub-arctic oceanic climate of the Moor House World Biosphere Reserve in the North Pennines, UK, a 1.5 km long experimental track was installed to investigate hydrological impacts. Surface vegetation was cut and the plastic mesh track pinned into the peat surface. The experimental track was split into 7 treatments, designed to reflect typical track usage (0 - 5 vehicle passes per week) and varying vehicle weight. The greatest hydrological impacts were expected for sections of track subject to more frequent vehicle use and in close proximity to the track. In total 554 dipwells (including 15 automated recording at 15-min intervals) were monitored for water-table depth, positioned to capture potential spatial variability in response. Before track installation, samples for vertical and lateral hydraulic conductivity (Ks) analysis (using the modified cube method) were taken at 0-10 cm depth from a frequently driven treatment (n = 15), an infrequently driven treatment (0.5 passes per week) (n = 15) and a control site with no track/driving (n = 15). The test was repeated after 16 months of track use. We present a spatially and temporally rich water-table dataset from the study site showing how the impacts of the track on water table are spatially highly variable. Water-table depths across the site were shallow, typically within the upper 10 cm of the peat profile for > 75% of the time. We show that mesh track and low-ground-pressure vehicle impacts on water-table depth were small except

Modeling ground vehicle acoustic signatures for analysis and synthesis

International Nuclear Information System (INIS)

Haschke, G.; Stanfield, R.

1995-01-01

Security and weapon systems use acoustic sensor signals to classify and identify moving ground vehicles. Developing robust signal processing algorithms for this is expensive, particularly in presence of acoustic clutter or countermeasures. This paper proposes a parametric ground vehicle acoustic signature model to aid the system designer in understanding which signature features are important, developing corresponding feature extraction algorithms and generating low-cost, high-fidelity synthetic signatures for testing. The authors have proposed computer-generated acoustic signatures of armored, tracked ground vehicles to deceive acoustic-sensored smart munitions. They have developed quantitative measures of how accurately a synthetic acoustic signature matches those produced by actual vehicles. This paper describes parameters of the model used to generate these synthetic signatures and suggests methods for extracting these parameters from signatures of valid vehicle encounters. The model incorporates wide-bandwidth and narrow- bandwidth components that are modulated in a pseudo-random fashion to mimic the time dynamics of valid vehicle signatures. Narrow- bandwidth feature extraction techniques estimate frequency, amplitude and phase information contained in a single set of narrow frequency- band harmonics. Wide-bandwidth feature extraction techniques estimate parameters of a correlated-noise-floor model. Finally, the authors propose a method of modeling the time dynamics of the harmonic amplitudes as a means adding necessary time-varying features to the narrow-bandwidth signal components. The authors present results of applying this modeling technique to acoustic signatures recorded during encounters with one armored, tracked vehicle. Similar modeling techniques can be applied to security systems

New insights into the short pitch corrugation development enigma based on 3D-FE dynamic vehicle-track coupled modelling in frictional rolling contact

NARCIS (Netherlands)

Li, S.; Li, Z.; Nunez Vicencio, Alfredo; Dollevoet, R.P.B.J.

2017-01-01

A three-dimensional (3D) finite element (FE) dynamic frictional rolling contact model is presented for the study of short pitch corrugation that considers direct and instantaneous coupling between the contact mechanics and the structural dynamics in a vehicle-track system. In this study, we examine

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

Science.gov (United States)

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-08-20

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Science.gov (United States)

2010-10-01

... or hi-rail vehicles. 214.525 Section 214.525 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.525 Towing with on-track roadway maintenance machines or hi-rail vehicles. (a) When used to tow pushcars or other maintenance-of-way equipment...

Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Yi-Hsiang Tseng

2013-01-01

Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

Investigation on a Power Coupling Steering System for Dual-Motor Drive Tracked Vehicles Based on Speed Control

Directory of Open Access Journals (Sweden)

Li Zhai

2017-08-01

Full Text Available Double-motor drive tracked vehicles (2MDTV are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.

Powertrain preheating system of tracked hybrid electric vehicle in cold weather

International Nuclear Information System (INIS)

Wang, Rui; Wang, Yichun; Feng, Chaoqing; Zhang, Xilong

2015-01-01

In order to make sure that the heavy duty tracked vehicle can work in various conditions, especially severe cold weather, preheating system of powertrain should be adopted, and a novel preheating system is presented for the tracked hybrid electric vehicle (HEV) in which heat is generated by the low-speed drive motor. The new preheating system can meet the need of cold start without adding any additional device. The characteristic of heat generation by motor is tested when the rotor of motor is rotated in very low speed. The heat loss from power cabin to external environment has been simulated, and the relevant test has been done to verify the simulation results. Combining the characteristic of heat generation and heat loss situation about preheating system, the heat transfer model of preheating system was implemented by MATLAB. The total energy required for preheating in different ambient temperature was calculated by this model. The results showed that: the minimum heating power was 70 kW and energy required was about 180 MJ when the HEV worked in −46 °C. If lithium ferrous phosphate (LFP) battery was used in power system, the minimum battery capacity is about 290 A h. - Highlights: • A novel preheating method was proposed for heavy duty tracked HEV. • Thermal energy in preheating system is produced by the PMSM in driving system. • This method can achieve preheating target by its own components without any adding. • Analyzing low temperature performance of power battery and select its capacity.

Estimation of Road Loads and Vibration Transmissibility of Torsion Bar Suspension System in a Tracked Vehicle

Science.gov (United States)

Gagneza, G. P. S.; Chandramohan, Sujatha

2018-05-01

Designing the suspension system of a tracked combat vehicle (CV) is really challenging as it has to satisfy conflicting requirements of good ride comfort, vehicle handling and stability characteristics. Many studies in this field have been reported in literature and it has been found that torsion bars satisfy the designer's conflicting requirements of good ride and handling and thus have reserved a place for themselves as the most widely used suspension system for military track vehicles. Therefore, it is imperative to evaluate the effectiveness of the torsion bar under dynamic conditions of undulating terrain and validating the same by correlating it with computer simulation results. Thus in the present work, the dynamic simulation of a 2N + 4 degrees of freedom (DOF) mathematical model has been carried out using MATLAB Simulink and the vibration levels were also measured experimentally on a 12 wheel stationed high mobility military tracked infantry combat vehicle (ICV BMP-II) traversing different terrain, that is, Aberdeen proving ground (APG) and Sinusoidal, at a constant vehicle speed. The dynamic force transmitted to the hull CG through the 12 torsion bar suspension systems was computed to be around 26,700 N and found to match the measured values. The vibration isolation of the torsion bar in bounce was found to be effective, with a transmissibility from the road wheel to the hull of about 0.6.

A study on the nondestructive test optimum design for a ground tracked combat vehicle

Energy Technology Data Exchange (ETDEWEB)

Kim Byeong Ho; Seo, Jae Hyun; Gil, Hyeon Jun [Defence Agency for Technology and Quality, Seoul (Korea, Republic of); Kim, Seon Hyeong [Hanwha Techwin Co.,Ltd., Changwon (Korea, Republic of); Seo, Sang Chul [Changwon National University, Changwon (Korea, Republic of)

2015-10-15

In this study, a nondestructive test (NDT) is performed to inspect the optimal design of a ground tracked combat vehicle for self-propelled artillery, tank, and armored vehicles. The minimum qualification required for personnel performing the NDT of a ground tracked combat vehicle was initially established in US military standards, and then applied to the Korean defense specifications to develop a ground tracked combat vehicle. However, the qualification standards of an NDT inspector have been integrated into NAS410 through the military and commercial specifications unification project that were applied in the existing aerospace/defense industry public standard. The design method for this study was verified by applying the optimal design to the liquid penetrant testing Al forging used in self-propelled artillery. This confirmed the reliability and soundness of the product.

Impacts of tracked vehicles on sediment from a desert soil

Science.gov (United States)

Erek H. Fuchs; Karl M. Wood; Tim L. Jones; Brent Racher

2003-01-01

Off-road military vehicle traffic is a major consideration in the management of military lands. The objective of this study was to determine the impacts of military tracked M1A1 heavy combat tank vehicles on sediment loss from runoff, surface plant cover, and surface microtopography in a desert military training environment. A randomized block design was used which had...

Vehicle tracking for an evasive manoeuvres assistant using low-cost ultrasonic sensors.

Science.gov (United States)

Jiménez, Felipe; Naranjo, José E; Gómez, Oscar; Anaya, José J

2014-11-28

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.

Vehicle Tracking for an Evasive Manoeuvres Assistant Using Low-Cost Ultrasonic Sensors

Directory of Open Access Journals (Sweden)

Felipe Jiménez

2014-11-01

Full Text Available Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.

Straight-Line Target Tracking for Unmanned Surface Vehicles

Directory of Open Access Journals (Sweden)

Morten Breivik

2008-10-01

Full Text Available This paper considers the subject of straight-line target tracking for unmanned surface vehicles (USVs. Target-tracking represents motion control scenarios where no information about the target behavior is known in advance, i.e., the path that the target traverses is not defined apriori. Specifically, this work presents the design of a motion control system which enables an underactuated USV to track a target that moves in a straight line at high speed. The motion control system employs a guidance principle originally developed for interceptor missiles, as well as a novel velocity controller inspired by maneuverability and agility concepts found in fighter aircraft literature. The performance of the suggested design is illustrated through full-scale USV experiments in the Trondheimsfjord.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

Science.gov (United States)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP

Institute of Scientific and Technical Information of China (English)

ZHOU Bo; HAN Jianda

2007-01-01

In order to achieve precise, robust autonomous guidance and control of a tracked vehicle, a kinematic model with longitudinal and lateral slip is established. Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly. The first filter is the well-known extended Kalman filter. The second filter is an unscented version of the Kalman filter. The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution. The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies. The four different approaches have different complexities, behavior and advantages that are surveyed and compared.

Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles

Science.gov (United States)

Li, Shengbo Eben; Li, Guofa; Yu, Jiaying; Liu, Chang; Cheng, Bo; Wang, Jianqiang; Li, Keqiang

2018-01-01

Detection and tracking of objects in the side-near-field has attracted much attention for the development of advanced driver assistance systems. This paper presents a cost-effective approach to track moving objects around vehicles using linearly arrayed ultrasonic sensors. To understand the detection characteristics of a single sensor, an empirical detection model was developed considering the shapes and surface materials of various detected objects. Eight sensors were arrayed linearly to expand the detection range for further application in traffic environment recognition. Two types of tracking algorithms, including an Extended Kalman filter (EKF) and an Unscented Kalman filter (UKF), for the sensor array were designed for dynamic object tracking. The ultrasonic sensor array was designed to have two types of fire sequences: mutual firing or serial firing. The effectiveness of the designed algorithms were verified in two typical driving scenarios: passing intersections with traffic sign poles or street lights, and overtaking another vehicle. Experimental results showed that both EKF and UKF had more precise tracking position and smaller RMSE (root mean square error) than a traditional triangular positioning method. The effectiveness also encourages the application of cost-effective ultrasonic sensors in the near-field environment perception in autonomous driving systems.

Preceding Vehicle Detection and Tracking Adaptive to Illumination Variation in Night Traffic Scenes Based on Relevance Analysis

Science.gov (United States)

Guo, Junbin; Wang, Jianqiang; Guo, Xiaosong; Yu, Chuanqiang; Sun, Xiaoyan

2014-01-01

Preceding vehicle detection and tracking at nighttime are challenging problems due to the disturbance of other extraneous illuminant sources coexisting with the vehicle lights. To improve the detection accuracy and robustness of vehicle detection, a novel method for vehicle detection and tracking at nighttime is proposed in this paper. The characteristics of taillights in the gray level are applied to determine the lower boundary of the threshold for taillights segmentation, and the optimal threshold for taillight segmentation is calculated using the OTSU algorithm between the lower boundary and the highest grayscale of the region of interest. The candidate taillight pairs are extracted based on the similarity between left and right taillights, and the non-vehicle taillight pairs are removed based on the relevance analysis of vehicle location between frames. To reduce the false negative rate of vehicle detection, a vehicle tracking method based on taillights estimation is applied. The taillight spot candidate is sought in the region predicted by Kalman filtering, and the disturbed taillight is estimated based on the symmetry and location of the other taillight of the same vehicle. Vehicle tracking is completed after estimating its location according to the two taillight spots. The results of experiments on a vehicle platform indicate that the proposed method could detect vehicles quickly, correctly and robustly in the actual traffic environments with illumination variation. PMID:25195855

Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle

Directory of Open Access Journals (Sweden)

Zhonghua Wu

2017-02-01

Full Text Available A robust adaptive neural control scheme based on a back-stepping technique is developed for the longitudinal dynamics of a flexible hypersonic flight vehicle, which is able to ensure the state tracking error being confined in the prescribed bounds, in spite of the existing model uncertainties and actuator constraints. Minimal learning parameter technique–based neural networks are used to estimate the model uncertainties; thus, the amount of online updated parameters is largely lessened, and the prior information of the aerodynamic parameters is dispensable. With the utilization of an assistant compensation system, the problem of actuator constraint is overcome. By combining the prescribed performance function and sliding mode differentiator into the neural back-stepping control design procedure, a composite state tracking error constrained adaptive neural control approach is presented, and a new type of adaptive law is constructed. As compared with other adaptive neural control designs for hypersonic flight vehicle, the proposed composite control scheme exhibits not only low-computation property but also strong robustness. Finally, two comparative simulations are performed to demonstrate the robustness of this neural prescribed performance controller.

Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

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Hongbo Gao

2017-12-01

Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

Fuzzy path tracking and position estimation of autonomous vehicles using differential GPS

OpenAIRE

Rodríguez Castaño, Ángel; Heredia Benot, José Guillermo; Ollero Baturone, Aníbal

2000-01-01

This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. A fuzzy path tracking algorithm is also proposed. Both systems have been implemented in the ROMEO-4R vehicle developed at the University of Seville.

Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

OpenAIRE

Shiuh-Jer Huang; Yu-Sheng Hsu

2017-01-01

On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be u...

Tracking Object Existence From an Autonomous Patrol Vehicle

Science.gov (United States)

Wolf, Michael; Scharenbroich, Lucas

2011-01-01

An autonomous vehicle patrols a large region, during which an algorithm receives measurements of detected potential objects within its sensor range. The goal of the algorithm is to track all objects in the region over time. This problem differs from traditional multi-target tracking scenarios because the region of interest is much larger than the sensor range and relies on the movement of the sensor through this region for coverage. The goal is to know whether anything has changed between visits to the same location. In particular, two kinds of alert conditions must be detected: (1) a previously detected object has disappeared and (2) a new object has appeared in a location already checked. For the time an object is within sensor range, the object can be assumed to remain stationary, changing position only between visits. The problem is difficult because the upstream object detection processing is likely to make many errors, resulting in heavy clutter (false positives) and missed detections (false negatives), and because only noisy, bearings-only measurements are available. This work has three main goals: (1) Associate incoming measurements with known objects or mark them as new objects or false positives, as appropriate. For this, a multiple hypothesis tracker was adapted to this scenario. (2) Localize the objects using multiple bearings-only measurements to provide estimates of global position (e.g., latitude and longitude). A nonlinear Kalman filter extension provides these 2D position estimates using the 1D measurements. (3) Calculate the probability that a suspected object truly exists (in the estimated position), and determine whether alert conditions have been triggered (for new objects or disappeared objects). The concept of a probability of existence was created, and a new Bayesian method for updating this probability at each time step was developed. A probabilistic multiple hypothesis approach is chosen because of its superiority in handling the

Nonlinear model predictive control of a passenger vehicle for automated lane changes

NARCIS (Netherlands)

Acosta, A.F.; Marquez-Ruiz, A.; Espinosa, J.J.

2017-01-01

This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for

Hyperspectral Vehicle BRDF Learning: An Exploration of Vehicle Reflectance Variation and Optimal Measures of Spectral Similarity for Vehicle Reacquisition and Tracking Algorithms

Science.gov (United States)

Svejkosky, Joseph

The spectral signatures of vehicles in hyperspectral imagery exhibit temporal variations due to the preponderance of surfaces with material properties that display non-Lambertian bi-directional reflectance distribution functions (BRDFs). These temporal variations are caused by changing illumination conditions, changing sun-target-sensor geometry, changing road surface properties, and changing vehicle orientations. To quantify these variations and determine their relative importance in a sub-pixel vehicle reacquisition and tracking scenario, a hyperspectral vehicle BRDF sampling experiment was conducted in which four vehicles were rotated at different orientations and imaged over a six-hour period. The hyperspectral imagery was calibrated using novel in-scene methods and converted to reflectance imagery. The resulting BRDF sampled time-series imagery showed a strong vehicle level BRDF dependence on vehicle shape in off-nadir imaging scenarios and a strong dependence on vehicle color in simulated nadir imaging scenarios. The imagery also exhibited spectral features characteristic of sampling the BRDF of non-Lambertian targets, which were subsequently verified with simulations. In addition, the imagery demonstrated that the illumination contribution from vehicle adjacent horizontal surfaces significantly altered the shape and magnitude of the vehicle reflectance spectrum. The results of the BRDF sampling experiment illustrate the need for a target vehicle BRDF model and detection scheme that incorporates non-Lambertian BRDFs. A new detection algorithm called Eigenvector Loading Regression (ELR) is proposed that learns a hyperspectral vehicle BRDF from a series of BRDF measurements using regression in a lower dimensional space and then applies the learned BRDF to make test spectrum predictions. In cases of non-Lambertian vehicle BRDF, this detection methodology performs favorably when compared to subspace detections algorithms and graph-based detection algorithms that

Advanced Emergency Braking Control Based on a Nonlinear Model Predictive Algorithm for Intelligent Vehicles

Directory of Open Access Journals (Sweden)

Ronghui Zhang

2017-05-01

Full Text Available Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS is proposed based on Nonlinear Model Predictive Algorithm. Considering the nonlinearities of vehicle dynamics, a vision-based longitudinal vehicle dynamics model is established. On account of the nonlinear coupling characteristics of the driver, surroundings, and vehicle itself, a hierarchical control structure is proposed to decouple and coordinate the system. To avoid or reduce the collision risk between the intelligent vehicle and collision objects, a coordinated cost function of tracking safety, comfort, and fuel economy is formulated. Based on the terminal constraints of stable tracking, a multi-objective optimization controller is proposed using the theory of non-linear model predictive control. To quickly and precisely track control target in a finite time, an electronic brake controller for AEBS is designed based on the Nonsingular Fast Terminal Sliding Mode (NFTSM control theory. To validate the performance and advantages of the proposed algorithm, simulations are implemented. According to the simulation results, the proposed algorithm has better integrated performance in reducing the collision risk and improving the driving comfort and fuel economy of the smart car compared with the existing single AEBS.

A Leader-path-following formation system for AGVs with multi-sensor data fusion based vehicle tracking

Science.gov (United States)

Yao, Wen; Zhao, Xijun; Yu, Yufeng; Fang, Yongkun; Wang, Chao; Yang, Tianfu

2017-09-01

Caravans composed of vehicles with different functionality or trafficability raise the demand that formation system structure shall allow vehicles to deviate from the path to be followed when necessary. In this paper, a formation system is developed for autonomous ground vehicles (AGVs) who follow the path of a leader vehicle while retaining the ability of deviation from the reference path. In addition, it improves robustness of preceding vehicle localization by fusing Lidar tracking, camera tracking results with predecessor’s global position within an extended Kalman filter (EKF) in case that one or more sources of preceding vehicle localization is not reliable. The system is applied on real AGV platforms and won the 3rd place in an AGV competition in China.

Trajectory planning and tracking for autonomous vehicles navigation

OpenAIRE

Chebly , Alia

2017-01-01

In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics,...

The wheel-rail contact friction influence on high speed vehicle model stability

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Mirosław DUSZA

2015-09-01

Full Text Available Right estimating of the coefficient of friction between the wheel and rail is essential in modelling rail vehicle dynamics. Constant value of coefficient of friction is the typical assumption in theoretical studies. But it is obvious that in real circumstances a few factors may have significant influence on the rails surface condition and this way on the coefficient of friction value. For example the weather condition, the railway location etc. Influence of the coefficient of friction changes on high speed rail vehicle model dynamics is presented in this paper. Four axle rail vehicle model were built. The FASTSIM code is employed for calculation of the tangential contact forces between wheel and rail. One coefficient of friction value is adopted in the particular simulation process. To check the vehicle model properties under the influence of wheel-rail coefficient of friction changes, twenty four series of simulations were performed. For three curved tracks of radii R = 3000m, 6000m and  (straight track, the coefficient of friction was changed from 0.1 to 0.8. The results are presented in form of bifurcation diagrams.

Design and Implementation of Browser based GPS/GPRS Vehicle Positioning and Tracking System

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Zhang Keqiang

2015-01-01

Full Text Available This paper mainly describes a vehicle positioning and tracking system which is based on browser, GPS and GPRS. And this system takes advantage of Baidu Map as basic material to show vehicle status, which enables drivers and supervisor to monitor the vehicle’s current and past positions. The vehicle’s location data is got from satellites, and these data is sent to the central server through GPRS, the central server will store formatted data into the database after the data is parsed; Later, these data stored in the database will be used by web application and displayed on the map as markers. This paper also involves the implementation on mobile side, and this system used Baidu map JavaScript interface, Ajax, JSP and JSON to implement the vehicle positioning and tracking system.

Establishment and verification of three-dimensional dynamic model for heavy-haul train-track coupled system

Science.gov (United States)

Liu, Pengfei; Zhai, Wanming; Wang, Kaiyun

2016-11-01

For the long heavy-haul train, the basic principles of the inter-vehicle interaction and train-track dynamic interaction are analysed firstly. Based on the theories of train longitudinal dynamics and vehicle-track coupled dynamics, a three-dimensional (3-D) dynamic model of the heavy-haul train-track coupled system is established through a modularised method. Specifically, this model includes the subsystems such as the train control, the vehicle, the wheel-rail relation and the line geometries. And for the calculation of the wheel-rail interaction force under the driving or braking conditions, the large creep phenomenon that may occur within the wheel-rail contact patch is considered. For the coupler and draft gear system, the coupler forces in three directions and the coupler lateral tilt angles in curves are calculated. Then, according to the characteristics of the long heavy-haul train, an efficient solving method is developed to improve the computational efficiency for such a large system. Some basic principles which should be followed in order to meet the requirement of calculation accuracy are determined. Finally, the 3-D train-track coupled model is verified by comparing the calculated results with the running test results. It is indicated that the proposed dynamic model could simulate the dynamic performance of the heavy-haul train well.

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

Science.gov (United States)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Pedestrian Tracking Based on Camshift with Kalman Prediction for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Lie Guo

2016-06-01

Full Text Available Pedestrian detection and tracking is the key to autonomous vehicle navigation systems avoiding potentially dangerous situations. Firstly, the probability distribution of colour information is established after a pedestrian is located in an image. Then the detected results are utilized to initialize a Kalman filter to predict the possible position of the pedestrian centroid in the future frame. A Camshift tracking algorithm is used to track the pedestrian in the specific search window of the next frame based on the prediction results. The actual position of the pedestrian centroid is output from the Camshift tracking algorithm to update the gain and error covariance matrix of the Kalman filter. Experimental results in real traffic situations show the proposed pedestrian tracking algorithm can achieve good performance even when they are partly occluded in inconsistent illumination circumstances.

Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

Science.gov (United States)

2016-03-05

Vehicles in Urban Environments The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an...Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...Probabilistic Anticipation for Autonomous Robots in Urban Environments, IEEE Transactions on Robotics, (04 2014): 0. doi: 10.1109/TRO.2013.2291620 Isaac

Dynamic Modeling and Control Strategy Optimization for a Hybrid Electric Tracked Vehicle

Directory of Open Access Journals (Sweden)

Hong Wang

2015-01-01

Full Text Available A new hybrid electric tracked bulldozer composed of an engine generator, two driving motors, and an ultracapacitor is put forward, which can provide high efficiencies and less fuel consumption comparing with traditional ones. This paper first presents the terramechanics of this hybrid electric tracked bulldozer. The driving dynamics for this tracked bulldozer is then analyzed. After that, based on analyzing the working characteristics of the engine, generator, and driving motors, the power train system model and control strategy optimization is established by using MATLAB/Simulink and OPTIMUS software. Simulation is performed under a representative working condition, and the results demonstrate that fuel economy of the HETV can be significantly improved.

Tracking Unmanned Aerial Vehicle CTU FTS - Application of equipment

Directory of Open Access Journals (Sweden)

David Hůlek

2015-10-01

Full Text Available Article which is about the Tracking Unmanned Aerial Vehicle continues in the description of the project development dealing with the utilization of the UAV (unmanned aerial vehicle. Documentation of the project progresses builds on the previous article. In that article the selection of observation and transmission equipment was summarized. In the article, the reader learns about an installation of the equipment on the UAV (helicopter, about an interconnection of the equipment to create complete and functional system, about testing of the UAV, about the solutions of the problems which came into being during testing and about protection of the equipment against unfavourable effects. The location of equipment on the unmanned vehicle was chosen after a considering of several parameters. These parameters are preservation of the functionality or an influence to the balance. To find out how the added equipment affect the centre of gravity of the UAV the tabular method of the centre of gravity calculation was used. The results of the existing work on the project are location and attaching of the equipment to the unmanned vehicle, balance of the unmanned vehicle, solutions of the problems coming into being during the testing and design of the equipment protection against unfavourable effects.

A Novel SHLNN Based Robust Control and Tracking Method for Hypersonic Vehicle under Parameter Uncertainty

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Chuanfeng Li

2017-01-01

Full Text Available Hypersonic vehicle is a typical parameter uncertain system with significant characteristics of strong coupling, nonlinearity, and external disturbance. In this paper, a combined system modeling approach is proposed to approximate the actual vehicle system. The state feedback control strategy is adopted based on the robust guaranteed cost control (RGCC theory, where the Lyapunov function is applied to get control law for nonlinear system and the problem is transformed into a feasible solution by linear matrix inequalities (LMI method. In addition, a nonfragile guaranteed cost controller solved by LMI optimization approach is employed to the linear error system, where a single hidden layer neural network (SHLNN is employed as an additive gain compensator to reduce excessive performance caused by perturbations and uncertainties. Simulation results show the stability and well tracking performance for the proposed strategy in controlling the vehicle system.

Pedestrian Detection and Tracking from Low-Resolution Unmanned Aerial Vehicle Thermal Imagery

Directory of Open Access Journals (Sweden)

Yalong Ma

2016-03-01

Full Text Available Driven by the prominent thermal signature of humans and following the growing availability of unmanned aerial vehicles (UAVs, more and more research efforts have been focusing on the detection and tracking of pedestrians using thermal infrared images recorded from UAVs. However, pedestrian detection and tracking from the thermal images obtained from UAVs pose many challenges due to the low-resolution of imagery, platform motion, image instability and the relatively small size of the objects. This research tackles these challenges by proposing a pedestrian detection and tracking system. A two-stage blob-based approach is first developed for pedestrian detection. This approach first extracts pedestrian blobs using the regional gradient feature and geometric constraints filtering and then classifies the detected blobs by using a linear Support Vector Machine (SVM with a hybrid descriptor, which sophisticatedly combines Histogram of Oriented Gradient (HOG and Discrete Cosine Transform (DCT features in order to achieve accurate detection. This research further proposes an approach for pedestrian tracking. This approach employs the feature tracker with the update of detected pedestrian location to track pedestrian objects from the registered videos and extracts the motion trajectory data. The proposed detection and tracking approaches have been evaluated by multiple different datasets, and the results illustrate the effectiveness of the proposed methods. This research is expected to significantly benefit many transportation applications, such as the multimodal traffic performance measure, pedestrian behavior study and pedestrian-vehicle crash analysis. Future work will focus on using fused thermal and visual images to further improve the detection efficiency and effectiveness.

Target tracking control and semi-physical simulation of Qball-X4 quad-rotor unmanned aerial vehicle

Directory of Open Access Journals (Sweden)

Lu Liu

2017-01-01

Full Text Available In this article, a set of integrated ground target tracking flight system has been proposed based on the Qball-X4 quad-rotor unmanned aerial vehicle hardware platform and the QuaRC software platform. Both of the hardware and software platforms are developed by Quanser Company, Canada. The proposed tracking and positioning algorithm could be divided into several stages. First, a tracker is developed based on an optical flow method to track the target; and then, in order to improve the reliability of tracking algorithm and also help in retrieving the lost target, a cascade target detector is developed; meanwhile, a model updated scheme aiming at some possible errors in tracking and detecting process is presented based on Positive-Negative (P-N learning system; at last, a monocular visual positioning system is designed based on the corresponding navigation message. In addition, the effectiveness of the proposed flight control system is verified by both simulation and hardware-in-loop system results in several tracking flight tests.

Research on Dynamic Coupled Characteristics of A Tracked Vehicle Gearbox

Directory of Open Access Journals (Sweden)

Hui Liu

2011-12-01

Full Text Available A tracked vehicle gearbox is divided into two subsystems-housing and gear train. Dynamic behaviors of the two subsystems are coupled practically. And the coupled characteristics describe the integrative dynamic behaviors of gearbox. This study proposes a coupled simulation model to investigate the interrelationship between dynamics of two subsystems. Multi-source excitations are numerically calculated to provide boundary conditions. The flexibility of transmission shafts and housing is mathematically described based on mode superposition. The coupled dynamic characteristics are analyzed with dynamics simulation computation. The flexibility of housing is one of the main causes to induce the fluctuation of dynamic responses of transmission shafts. The experimental results show that the proposed method is accurate through comparison of simulation results and test data.

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models.

Science.gov (United States)

Yang, Chenguang; Li, Zhijun; Li, Jing

2013-02-01

In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly "controls" the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller.

Study on turning performance of four-track steering vehicles. Effect of traction force and track speed distribution control; Sodashiki sokisha no senkai seino ni kansuru kenkyu. Kudoryoku haibun to sokudo haibun no eikyo

Energy Technology Data Exchange (ETDEWEB)

Imamura, M; Watanabe, K; Kitano, M [National Defense Academy, Kanagawa (Japan)

1997-10-01

The four-track steering vehicles (4TS) is a new type of off-road vehicle which can replace four wheels with track units to improve the mobility on soft terrains. In this paper, the numerical simulations, under the various types of differential and track velocity control systems, are conducted to predict the turning performance and steer ability of the 4TS vehicles. The results of the numerical analysis demonstrate that the differential systems with realistic combined distribution control systems of the track speed is efficient at a small turning radius. 4 refs., 13 figs.

Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

CERN Document Server

González, Ramón; Guzmán, José Luis

2014-01-01

This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

Steerability Analysis of Tracked Vehicles: Theory and User’s Guide for Computer Program TVSTEER

Science.gov (United States)

1986-08-01

Baladi , Donald E. Barnes, Rebecca P. BergerC oStructures Laboratory NDEPARTMENT OF THE ARMY ___ Waterways Experiment Station, Corps of Engineers . U P0 Box...Analysis of Tracked Vehicles: Theory and User’s Guide for Computer Program TVSTEER - 12 PERSONAL AUTHOR(S) Baladi , George Y., Barnes, Donald E...mathematical model was formulated by Drs. George Y. Baladi and Behzad Rohani. The logic and computer programming were accomplished by Dr. Baladi and

ON-BOARD MONITORING OF TECHNICAL STATE FOR POWER UNITS OF WHEELED AND TRACKED VEHICLES

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Yu. D. Karpievich

2016-01-01

Full Text Available The paper considers new methodologies pertaining to on-board diagnosis of wear-out rate for friction linings of a clutch driven disk and friction discs of a hydraulic press clutch of transmission gear boxes which are based on physical process that uses friction work as an integrated indicator. A new methodology in determination of life-span rate for engine oil has been developed in the paper. The paper presents block schematic diagrams for on-board monitoring of technical state for power units of wheeled and tracked vehicles. Usage of friction work as an integrated indicator for determination of wear-out rate for friction linings of clutch driven disk and friction discs of a haydraulic press clutch makes it possible timely at any operational period of wheeled and tracked vehicles to determine their residual operation life and forecast their replacement.While taking volume of the used fuel for determination of engine oil life-span rate it permits quickly and effectively at any operational period of wheeled and tracked vehicles to determine residual useful life of the engine oil and also forecast its replacement.

Numerical Modelling of the Dynamic Response of High-Speed Railway Bridges Considering Vehicle-Structure and Structure-Soil-Structure Interaction

DEFF Research Database (Denmark)

Bucinskas, Paulius; Agapii, L.; Sneideris, J.

2015-01-01

is idealized as a multi-degree-of-freedom system, modelled with two layers of spring-dashpot suspension systems. Coupling the vehicle system and railway track is realized through interaction forces between the wheels and the rail, where the irregularities of the track are implemented as a random stationary......The aim of this paper is the dynamic analysis of a multi-support bridge structure exposed to high-speed railway traffic. The proposed computational model has a unified approach for simultaneously accounting for the bridge structure response, soil response and forces induced by the vehicle....... The bridge structure is modelled in three dimensions based on the finite element method using two-noded three-dimensional beam elements. The track structure is composed of three layers: rail, sleepers and deck which are connected through spring-dashpot systems. The vehicle travelling along a bridge...

Reinforcement Learning–Based Energy Management Strategy for a Hybrid Electric Tracked Vehicle

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Teng Liu

2015-07-01

Full Text Available This paper presents a reinforcement learning (RL–based energy management strategy for a hybrid electric tracked vehicle. A control-oriented model of the powertrain and vehicle dynamics is first established. According to the sample information of the experimental driving schedule, statistical characteristics at various velocities are determined by extracting the transition probability matrix of the power request. Two RL-based algorithms, namely Q-learning and Dyna algorithms, are applied to generate optimal control solutions. The two algorithms are simulated on the same driving schedule, and the simulation results are compared to clarify the merits and demerits of these algorithms. Although the Q-learning algorithm is faster (3 h than the Dyna algorithm (7 h, its fuel consumption is 1.7% higher than that of the Dyna algorithm. Furthermore, the Dyna algorithm registers approximately the same fuel consumption as the dynamic programming–based global optimal solution. The computational cost of the Dyna algorithm is substantially lower than that of the stochastic dynamic programming.

A method for attitude measurement of a test vehicle based on the tracking of vectors

International Nuclear Information System (INIS)

Yang, Ning; Yang, Ming; Huo, Ju

2015-01-01

In the vehicle simulation test, in order to improve the measuring precision for the attitude of a test vehicle, a measuring method based on the vectors of light beams is presented, in which light beams are mounted on the test vehicle as the cooperation target, and the attitude of the test vehicle is calculated with the light beams’ vectors in the test vehicle’s coordinate system and the world coordinate system. Meanwhile, in order to expand the measuring range of the attitude parameters, cooperation targets and light beams in each cooperation target are increased. On this basis, the concept of an attitude calculation container is defined, and the selection method for the attitude calculation container that participates in the calculation is given. Simultaneously, the vectors of light beams are tracked so as to ensure the normal calculation of the attitude parameters. The experiments results show that this measuring method based on the tracking of vectors can achieve the high precision and wide range of measurement for the attitude of the test vehicle. (paper)

360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

Science.gov (United States)

Wolf, Michael T; Assad, Christopher; Kuwata, Yoshiaki; Howard, Andrew; Aghazarian, Hrand; Zhu, David; Lu, Thomas; Trebi-Ollennu, Ashitey; Huntsberger, Terry

2010-01-01

This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

Control Relevant Modeling and Design of Scramjet-Powered Hypersonic Vehicles

Science.gov (United States)

Dickeson, Jeffrey James

This report provides an overview of scramjet-powered hypersonic vehicle modeling and control challenges. Such vehicles are characterized by unstable non-minimum phase dynamics with significant coupling and low thrust margins. Recent trends in hypersonic vehicle research are summarized. To illustrate control relevant design issues and tradeoffs, a generic nonlinear 3DOF longitudinal dynamics model capturing aero-elastic-propulsive interactions for wedge-shaped vehicle is used. Limitations of the model are discussed and numerous modifications have been made to address control relevant needs. Two different baseline configurations are examined over a two-stage to orbit ascent trajectory. The report highlights how vehicle level-flight static (trim) and dynamic properties change over the trajectory. Thermal choking constraints are imposed on control system design as a direct consequence of having a finite FER margin. The implication of this state-dependent nonlinear FER margin constraint, the right half plane (RHP) zero, and lightly damped flexible modes, on control system bandwidth (BW) and FPA tracking has been discussed. A control methodology has been proposed that addresses the above dynamics while providing some robustness to modeling uncertainty. Vehicle closure (the ability to fly a trajectory segment subject to constraints) is provided through a proposed vehicle design methodology. The design method attempts to use open loop metrics whenever possible to design the vehicle. The design method is applied to a vehicle/control law closed loop nonlinear simulation for validation. The 3DOF longitudinal modeling results are validated against a newly released NASA 6DOF code.

The dynamic behaviour of a railway mine vehicle

Energy Technology Data Exchange (ETDEWEB)

van Manen, P.; Brickle, B.V.

1983-06-01

The paper describes a mathematical model of a railway mine vehicle which is capable of predicting its dynamic behaviour in response to track inputs. The predictions of the model have been compared with the results of tests carried out on a new high speed mine vehicle and the correlation shown is good. The model yields frequency response information for the vehicle and may be used to simulate dynamic behaviour in response to track irregularities. (4 refs.)

The Integration of GPS Navigator Device with Vehicles Tracking System for Rental Cars Firms

OpenAIRE

Omarah O. Alharaki; Fahad S. Alaieri; Akram M. Zeki

2010-01-01

The aim of this research is to integrate the GPS tracking system (tracking device and web-based application) with GPS navigator for rental cars, allowing the company to use various applications to monitor and manage the cars. This is enable the firms and customers to communicate with each other via the GPS navigator. The system should be developed by applying new features in GPS tracking application devices in vehicles. This paper also proposes new features that can be applied to the GPS Navi...

The vertical and the longitudinal dynamic responses of the vehicle-track system to squat-type short wavelength irregularity

Science.gov (United States)

Zhao, Xin; Li, Zili; Dollevoet, Rolf

2013-12-01

The squat, a kind of rolling contact fatigue occurring on the rail top, can excite the high-frequency vehicle-track interaction effectively due to its geometric deviations with a typical wavelength of 20-40 mm, leading to the accelerated deterioration of a track. In this work, a validated 3D transient finite element model is employed to calculate in the time domain the vertical and the longitudinal dynamic contact forces between the wheel and the rail caused by squats. The vehicle-track structure and the wheel-rail continua are both considered in order to include all the important eigencharacteristics of the system related to squats. By introducing the rotational and translational movements of the wheel, the transient wheel-rail rolling contact is solved in detail by a 3D frictional contact model integrated. The contact filter effect is considered automatically in the simulations by the finite size of the contact patch. The present work focuses on the influences of the length, width and depth of a light squat on the resulted dynamic contact forces, for which idealised defect models are used. The growth of a squat is also modelled to a certain extent by a series of defects with different dimensions. The results show that the system is mainly excited at two frequencies separately in the vertical and the longitudinal dynamics. Their superposition explains the typical appearance of mature squats. As a squat grows up, the magnitude of the excited vibration at the lower frequency increases faster than the one at the higher frequency.

Lock threshold deterioration induced by antenna vibration and signal coupling effects in hypersonic vehicle carrier tracking system of Ka band

Directory of Open Access Journals (Sweden)

Congying ZHU

2018-04-01

Full Text Available The envelope of a hypersonic vehicle is affected by severe fluctuating pressure, which causes the airborne antenna to vibrate slightly. This vibration mixes with the transmitted signals and thus introduces additional multiplicative phase noise. Antenna vibration and signal coupling effects as well as their influence on the lock threshold of the hypersonic vehicle carrier tracking system of the Ka band are investigated in this study. A vibration model is initially established to obtain phase noise in consideration of the inherent relationship between vibration displacement and electromagnetic wavelength. An analytical model of the Phase-Locked Loop (PLL, which is widely used in carrier tracking systems, is established. The coupling effects on carrier tracking performance are investigated and quantitatively analyzed by imposing the multiplicative phase noise on the PLL model. Simulation results show that the phase noise presents a Gaussian distribution and is similar to vibration displacement variation. A large standard deviation in vibration displacement exerts a significant effect on the lock threshold. A critical standard deviation is observed in the PLL of Binary Phase Shift Keying (BPSK and Quadrature Phase Shift Keying (QPSK signals. The effect on QPSK signals is more severe than that on BPSK signals. The maximum tolerable standard deviations normalized by the wavelength of the carrier are 0.04 and 0.02 for BPSK and QPSK signals, respectively. With these critical standard deviations, lock thresholds are increased from −12 and −4 dB to 3 and −2 dB, respectively. Keywords: Antenna vibration, Carrier tracking performance, Lock threshold, Phase locked loop, Tracking Telemetry and Command (TT&C signals

Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

Directory of Open Access Journals (Sweden)

Yahya Zare Khafri

2012-07-01

Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

Optimal Design of a Novel Hybrid Electric Powertrain for Tracked Vehicles

Directory of Open Access Journals (Sweden)

Zhaobo Qin

2017-12-01

Full Text Available Tracked vehicles have been widely used in construction, agriculture, and the military. Major problems facing the industry, however, are high emissions and fuel consumption. Hybrid electric tracked vehicles have thus become increasingly popular because of their improved fuel economy and reduced emissions. While the series hybrid system has drawn the most attention and has been applied in most cases, the low efficiency caused by energy conversion losses and large propulsion motors has limited its development. A novel multi-mode powertrain with two output shafts controlling each side of the track independently is first proposed. The powertrain is a three-planetary-gear power-split system with one engine, three motors, and an ultracapacitor pack. Compared with the existing technologies, the proposed powertrain can realize skid steering without an extra steering mechanism, and significantly improve the overall efficiency. To demonstrate the advantages of the novel powertrain, a topology-control-size integrated optimization problem is solved based on drivability, fuel economy, and cost. Final simulation results show that the optimized design with downsized components can produce about a 30% improvement in drivability and a 15% improvement in fuel economy compared with the commonly used series hybrid benchmark. Moreover, the optimized design is verified to be much more economical taking cumulative cost into account, which is very attractive for potential industrial applications in the future.

Dynamic surface tracking controller design for a constrained hypersonic vehicle based on disturbance observer

Directory of Open Access Journals (Sweden)

Fang Wang

2017-05-01

Full Text Available The tracking control problem of a flexible air-breathing hypersonic vehicle subjects to aerodynamic parameter uncertainty and input constraint is investigated by combining nonlinear disturbance observer and dynamic surface control. To design controller simply, a control-oriented model is firstly derived and divided into two subsystems, velocity subsystem and altitude subsystem based on the engineering backgrounds of flexible air-breathing hypersonic vehicle. In every subsystem, compounded disturbances are included to consider aerodynamic uncertainty and the effect of the flexible modes. Then, disturbance observer is not only used to handle the compounded disturbance but also to handle the input constraint, where the estimation error converges to a random small region through appropriately choosing the observer parameters. To sequel, the disturbance observer–based robust control scheme and the disturbance observer-based dynamic surface control scheme are developed for the velocity subsystem and altitude subsystem, respectively. Besides, novel filters are designed to alleviate the problem of “explosion of terms” induced by backstepping method. On the basis of Lyapunov stability theory, the presented control scheme can assure that tracking error converges to an arbitrarily small neighborhood around zero by rigorous theoretical analysis. At last, simulation result shows the effectiveness of the presented control method.

Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle

Directory of Open Access Journals (Sweden)

Tao Teng

2016-02-01

Full Text Available In this article, a global adaptive neural dynamic surface control with predefined tracking performance is developed for a class of hypersonic flight vehicles, whose accurate dynamics is hard to obtain. The control scheme developed in this paper overcomes the limitations of neural approximation region by employing a switching mechanism which incorporates an additional robust controller outside the neural approximation region to pull the transient state variables back when they overstep the neural approximation region, such that globally uniformly ultimately bounded stability can be guaranteed. Especially, the developed global adaptive neural control also improves the tracking performance by introducing an error transformation mechanism, such that both transient and steady-state performance can be shaped according to the predefined bounds. Simulation studies on the hypersonic flight vehicle validate that the designed controller has good velocity modulation and velocity stability performance.

A mathematical model of the rail track presented as a bar on elastic and dissipative supports under the influence of moving loads

Directory of Open Access Journals (Sweden)

Darenskiy Alexander

2017-01-01

Full Text Available At present, the most common track model is the one in which rails are presented as bars of infinite length rested on continuous elastic foundation. However, some specialists consider the model to be rather ideal for railways in terms of track and the technical state of track. Calculation of track as a bar rested on numerous elastic supports with variable characteristics of stiffness under static loads has shown that application of methods of elastic foundation gives results understated by 17-24%. The study presents mathematic models of the vehicle/track dynamic system, and a design scheme of track presented as a bar on numerous elastic dissipative supports with non-linear characteristics, which is taken on the base of this system. The authors developed models and methods to define the reduced vertical stiffness of the track in the wheel/rail contact point, which considers rail elastic and geometric characteristics, stiffness of supports, distance between supports and distributed track mass. The value of stiffness is variable by time for each wheel at any time and various for the vehicle’s wheels. The mathematical model proposed has been implemented in Matlab software and will make it possible to conduct numerical research into the track/vehicle dynamics.

VEHICLE TRACKING AND MONITORING SYSTEM USING GPS AND GSM/GPRS.

OpenAIRE

*Arsheen Barnagarwala, *Aziz Buriwala

2017-01-01

Abstract: This system offers an affordable and compact design implemented for tracking and monitoring vehicle’s Instantaneous speed, peak speed, distance and current location with the help of Global Positioning System (GPS) and Global System for Mobile Communication (GSM). The system consist of two parts, one is ambulatory and incorporated in the target vehicle which comprises of a GPS receiver, a microcontroller and a GSM modem with periphery display and power units. Other is stable at a rem...

Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm

Directory of Open Access Journals (Sweden)

Zain Anwar Ali

2017-01-01

Full Text Available In this paper, a novel Model Reference Adaptive Control (MRAC-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV. The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID and Fuzzy Proportional Derivative (F-PD controllers. MRAC is used as the main controller for the dynamics, while the parameters of the adaptive controller are fine-tuned by the F-PD controller for the altitude control subsystem and the F-PID controller for the attitude control subsystem of the UAV. The stability of the system is ensured and proven by Lyapunov stability analysis. The proposed control algorithm is tested and verified using computer simulations for the trajectory tracking of the desired path as an input. The effectiveness of our proposed algorithm is compared with F-PID and the Fuzzy Logic Controller (FLC. Our proposed controller exhibits much less steady state error, quick error convergence in the presence of disturbance or noise, and model uncertainties.

Vehicle tracking based technique for radiation monitoring during nuclear or radiological emergency

International Nuclear Information System (INIS)

Saindane, Shashank S.; Otari, Anil D.; Suri, M.M.K.; Patil, S.S.; Pradeepkumar, K.S.; Sharma, D.N.

2010-01-01

Radiation Safety Systems Division, BARC has developed an advanced online radiation measurement cum vehicle tracking system for use. For the preparedness for response to any nuclear/radiological emergency scenario which may occur anywhere, the system designed is a Global System for Mobile (GSM) based Radiation Monitoring System (GRaMS) along with a Global Positioning System (GPS). It uses an energy compensated GM detector for radiation monitoring and is attached with commercially available Global Positioning System (GPS) for online acquisition of positional coordinates with time, and GSM modem for online data transfer to a remote control centre. The equipment can be operated continuously while the vehicle is moving

Comparing autonomous underwater vehicle (AUV) and vessel-based tracking performance for locating acoustically tagged fish

OpenAIRE

Eiler, John H.; Grothues, Thomas M.; Dobarro, Joseph A.; Masuda, Michele M.

2013-01-01

Autonomous underwater vehicles (AUV’s) are increasingly used to collect physical, chemical, and biological information in the marine environment. Recent efforts include merging AUV technology with acoustic telemetry to provide information on the distribution and movements of marine fish. We compared surface vessel and AUV tracking capabilities under rigorous conditions in coastal waters near Juneau, Alaska. Tracking surveys were conducted with a REMUS 100 AUV equipped with an integrated acous...

Geometry Modeling and Adaptive Control of Air-Breathing Hypersonic Vehicles

Science.gov (United States)

Vick, Tyler Joseph

Air-breathing hypersonic vehicles have the potential to provide global reach and affordable access to space. Recent technological advancements have made scramjet-powered flight achievable, as evidenced by the successes of the X-43A and X-51A flight test programs over the last decade. Air-breathing hypersonic vehicles present unique modeling and control challenges in large part due to the fact that scramjet propulsion systems are highly integrated into the airframe, resulting in strongly coupled and often unstable dynamics. Additionally, the extreme flight conditions and inability to test fully integrated vehicle systems larger than X-51 before flight leads to inherent uncertainty in hypersonic flight. This thesis presents a means to design vehicle geometries, simulate vehicle dynamics, and develop and analyze control systems for hypersonic vehicles. First, a software tool for generating three-dimensional watertight vehicle surface meshes from simple design parameters is developed. These surface meshes are compatible with existing vehicle analysis tools, with which databases of aerodynamic and propulsive forces and moments can be constructed. A six-degree-of-freedom nonlinear dynamics simulation model which incorporates this data is presented. Inner-loop longitudinal and lateral control systems are designed and analyzed utilizing the simulation model. The first is an output feedback proportional-integral linear controller designed using linear quadratic regulator techniques. The second is a model reference adaptive controller (MRAC) which augments this baseline linear controller with an adaptive element. The performance and robustness of each controller are analyzed through simulated time responses to angle-of-attack and bank angle commands, while various uncertainties are introduced. The MRAC architecture enables the controller to adapt in a nonlinear fashion to deviations from the desired response, allowing for improved tracking performance, stability, and

A study on RFID adoption for vehicle tracking in container terminal

Directory of Open Access Journals (Sweden)

S.L. Ting

2012-06-01

Full Text Available Purpose: Numerous studies discuss that Radio Frequency Identification (RFID technology can provide better container handling efficiency; however, relative lack of research concerns the tracking and monitoring the movement of vehicle in the container terminal environment. Thus, this study aims at discussing the feasibility of applying RFID for vehicle tracking purpose in a container terminal. Design/methodology/approach: This study makes use of a series of experiments in a container terminal to discuss the factors that affect the use of RFID in the terminal. The possibility and accuracy of using RFID in such challenging environment is also investigated. These propositions are investigated by a case study. Findings: The experimental results indicate that the RFID communication is good at the containers area which occupies nearly all the area in the container terminal. However, in other area such as sea side and free area, the performance is not good and 100% readability only achieved in 5m and 10m in free area and sea side respectively. Originality/value: The container terminal environment, which consists of different transport vehicles for onward transportation, will affect the performance of RFID readability. Poor setup of the RFID reader and tag will lower the feasibility of RFID adoption as well as increase the cost. In order to address the challenges of implementing RFID in the container terminal environment, this paper provides a series of real site testing experiments to study the RFID performance in the container terminal environment. This represents an original contribution of value to future research and practice in the RFID adoptions in container terminal environment.

Magnetic Launch Assist Experimental Track

Science.gov (United States)

1999-01-01

In this photograph, a futuristic spacecraft model sits atop a carrier on the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) System, experimental track at the Marshall Space Flight Center (MSFC). Engineers at MSFC have developed and tested Magnetic Launch Assist technologies that would use magnetic fields to levitate and accelerate a vehicle along a track at very high speeds. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide, and about 1.5-feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Tracking control of air-breathing hypersonic vehicles with non-affine dynamics via improved neural back-stepping design.

Science.gov (United States)

Bu, Xiangwei; He, Guangjun; Wang, Ke

2018-04-01

This study considers the design of a new back-stepping control approach for air-breathing hypersonic vehicle (AHV) non-affine models via neural approximation. The AHV's non-affine dynamics is decomposed into velocity subsystem and altitude subsystem to be controlled separately, and robust adaptive tracking control laws are developed using improved back-stepping designs. Neural networks are applied to estimate the unknown non-affine dynamics, which guarantees the addressed controllers with satisfactory robustness against uncertainties. In comparison with the existing control methodologies, the special contributions are that the non-affine issue is handled by constructing two low-pass filters based on model transformations, and virtual controllers are treated as intermediate variables such that they aren't needed for back-stepping designs any more. Lyapunov techniques are employed to show the uniformly ultimately boundedness of all closed-loop signals. Finally, simulation results are presented to verify the tracking performance and superiorities of the investigated control strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A trajectory tracking controller for an underwater hexapod vehicle.

Science.gov (United States)

Plamondon, N; Nahon, M

2009-09-01

This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

A trajectory tracking controller for an underwater hexapod vehicle

International Nuclear Information System (INIS)

Plamondon, N; Nahon, M

2009-01-01

This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

Directory of Open Access Journals (Sweden)

Shousong Han

2017-01-01

Full Text Available The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid and self-adaptive control gain (cv under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive, and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.

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.

Comparison of Vehicle Choice Models

Energy Technology Data Exchange (ETDEWEB)

Stephens, Thomas S. [Argonne National Lab. (ANL), Argonne, IL (United States); Levinson, Rebecca S. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Brooker, Aaron [National Renewable Energy Lab. (NREL), Golden, CO (United States); Liu, Changzheng [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Lin, Zhenhong [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Birky, Alicia [Energetics Incorporated, Columbia, MD (United States); Kontou, Eleftheria [National Renewable Energy Lab. (NREL), Golden, CO (United States)

2017-10-01

Five consumer vehicle choice models that give projections of future sales shares of light-duty vehicles were compared by running each model using the same inputs, where possible, for two scenarios. The five models compared — LVCFlex, MA3T, LAVE-Trans, ParaChoice, and ADOPT — have been used in support of the Energy Efficiency and Renewable Energy (EERE) Vehicle Technologies Office in analyses of future light-duty vehicle markets under different assumptions about future vehicle technologies and market conditions. The models give projections of sales shares by powertrain technology. Projections made using common, but not identical, inputs showed qualitative agreement, with the exception of ADOPT. ADOPT estimated somewhat lower advanced vehicle shares, mostly composed of hybrid electric vehicles. Other models projected large shares of multiple advanced vehicle powertrains. Projections of models differed in significant ways, including how different technologies penetrated cars and light trucks. Since the models are constructed differently and take different inputs, not all inputs were identical, but were the same or very similar where possible.

Velocity Controller for a Class of Vehicles

Directory of Open Access Journals (Sweden)

Herman Przemyslaw

2017-02-01

Full Text Available This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

A traction control strategy with an efficiency model in a distributed driving electric vehicle.

Science.gov (United States)

Lin, Cheng; Cheng, Xingqun

2014-01-01

Both active safety and fuel economy are important issues for vehicles. This paper focuses on a traction control strategy with an efficiency model in a distributed driving electric vehicle. In emergency situation, a sliding mode control algorithm was employed to achieve antislip control through keeping the wheels' slip ratios below 20%. For general longitudinal driving cases, an efficiency model aiming at improving the fuel economy was built through an offline optimization stream within the two-dimensional design space composed of the acceleration pedal signal and the vehicle speed. The sliding mode control strategy for the joint roads and the efficiency model for the typical drive cycles were simulated. Simulation results show that the proposed driving control approach has the potential to apply to different road surfaces. It keeps the wheels' slip ratios within the stable zone and improves the fuel economy on the premise of tracking the driver's intention.

A Traction Control Strategy with an Efficiency Model in a Distributed Driving Electric Vehicle

Science.gov (United States)

Lin, Cheng

2014-01-01

Both active safety and fuel economy are important issues for vehicles. This paper focuses on a traction control strategy with an efficiency model in a distributed driving electric vehicle. In emergency situation, a sliding mode control algorithm was employed to achieve antislip control through keeping the wheels' slip ratios below 20%. For general longitudinal driving cases, an efficiency model aiming at improving the fuel economy was built through an offline optimization stream within the two-dimensional design space composed of the acceleration pedal signal and the vehicle speed. The sliding mode control strategy for the joint roads and the efficiency model for the typical drive cycles were simulated. Simulation results show that the proposed driving control approach has the potential to apply to different road surfaces. It keeps the wheels' slip ratios within the stable zone and improves the fuel economy on the premise of tracking the driver's intention. PMID:25197697

A path-following driver/vehicle model with optimized lateral dynamic controller

Directory of Open Access Journals (Sweden)

Behrooz Mashadi

Full Text Available Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.

Adaptive vehicle motion estimation and prediction

Science.gov (United States)

Zhao, Liang; Thorpe, Chuck E.

1999-01-01

Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.

Comparison of Vehicle Choice Models

Energy Technology Data Exchange (ETDEWEB)

Stephens, Thomas S. [Argonne National Lab. (ANL), Argonne, IL (United States); Levinson, Rebecca S. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Brooker, Aaron [National Renewable Energy Lab. (NREL), Golden, CO (United States); Liu, Changzheng [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Lin, Zhenhong [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Birky, Alicia [Energetics Incorporated, Columbia, MD (United States); Kontou, Eleftheria [National Renewable Energy Lab. (NREL), Golden, CO (United States)

2017-10-31

Five consumer vehicle choice models that give projections of future sales shares of light-duty vehicles were compared by running each model using the same inputs, where possible, for two scenarios. The five models compared — LVCFlex, MA3T, LAVE-Trans, ParaChoice, and ADOPT — have been used in support of the Energy Efficiency and Renewable Energy (EERE) Vehicle Technologies Office in analyses of future light-duty vehicle markets under different assumptions about future vehicle technologies and market conditions. The models give projections of sales shares by powertrain technology. Projections made using common, but not identical, inputs showed qualitative agreement, with the exception of ADOPT. ADOPT estimated somewhat lower advanced vehicle shares, mostly composed of hybrid electric vehicles. Other models projected large shares of multiple advanced vehicle powertrains. Projections of models differed in significant ways, including how different technologies penetrated cars and light trucks. Since the models are constructed differently and take different inputs, not all inputs were identical, but were the same or very similar where possible. Projections by all models were in close agreement only in the first few years. Although the projections from LVCFlex, MA3T, LAVE-Trans, and ParaChoice were in qualitative agreement, there were significant differences in sales shares given by the different models for individual powertrain types, particularly in later years (2030 and later). For example, projected sales shares of conventional spark-ignition vehicles in 2030 for a given scenario ranged from 35% to 74%. Reasons for such differences are discussed, recognizing that these models were not developed to give quantitatively accurate predictions of future sales shares, but to represent vehicles markets realistically and capture the connections between sales and important influences. Model features were also compared at a high level, and suggestions for further comparison

An innovative wheel–rail contact model for railway vehicles under degraded adhesion conditions

International Nuclear Information System (INIS)

Meli, E.; Ridolfi, A.

2015-01-01

The accurate modelling of the wheel–rail contact plays a fundamental role in the railway field since the contact forces heavily affect the vehicle dynamics, the wear of the contact surfaces and the vehicle safety. Concerning the wheel–rail contact, an important open problem is represented by the degraded adhesion. A realistic adhesion model is quite difficult to obtain because of the complex and highly non-linear behaviour of the adhesion coefficient and the presence of external unknown contaminants (the third body); this is especially true when degraded adhesion and large sliding between the wheel and rail contact surfaces occur.In this work the authors present an adhesion model particularly developed to describe degraded adhesion conditions. The new approach will have to be suitable to be employed within the wheel–rail contact models typical of the multibody applications. In other words, the contact model, comprising the new adhesion model, will have to guarantee a good accuracy and, at the same time, a high numerical efficiency to be implemented directly online inside the general multibody model of the vehicles (e.g. in Matlab-Simulink or Simpack environments) ( www.mathworks.com http://www.mathworks.com , 2012; www.simpack.com http://www.simpack.com , 2012).The model analysed in the paper is based on some of the main phenomena characterising the degraded adhesion, such as large sliding at the contact interface, high energy dissipation, the consequent cleaning effect on the contact surfaces and the final adhesion recovery due to the removal of external unknown contaminants.The adhesion model has been validated because of the experimental data provided by Trenitalia S.p.A. coming from on-track tests performed in Velim (Czech Republic). The tests have been carried out on a straight railway track under degraded adhesion conditions with the railway vehicle UIC-Z1 equipped with a fully-working Wheel Slide Protection (WSP) system.The validation highlighted the

An innovative wheel–rail contact model for railway vehicles under degraded adhesion conditions

Energy Technology Data Exchange (ETDEWEB)

Meli, E., E-mail: enrico.meli@unifi.it; Ridolfi, A., E-mail: a.ridolfi@unifi.it [University of Florence, Department of Industrial Engineering (Italy)

2015-03-15

The accurate modelling of the wheel–rail contact plays a fundamental role in the railway field since the contact forces heavily affect the vehicle dynamics, the wear of the contact surfaces and the vehicle safety. Concerning the wheel–rail contact, an important open problem is represented by the degraded adhesion. A realistic adhesion model is quite difficult to obtain because of the complex and highly non-linear behaviour of the adhesion coefficient and the presence of external unknown contaminants (the third body); this is especially true when degraded adhesion and large sliding between the wheel and rail contact surfaces occur.In this work the authors present an adhesion model particularly developed to describe degraded adhesion conditions. The new approach will have to be suitable to be employed within the wheel–rail contact models typical of the multibody applications. In other words, the contact model, comprising the new adhesion model, will have to guarantee a good accuracy and, at the same time, a high numerical efficiency to be implemented directly online inside the general multibody model of the vehicles (e.g. in Matlab-Simulink or Simpack environments) ( www.mathworks.com http://www.mathworks.com , 2012; www.simpack.com http://www.simpack.com , 2012).The model analysed in the paper is based on some of the main phenomena characterising the degraded adhesion, such as large sliding at the contact interface, high energy dissipation, the consequent cleaning effect on the contact surfaces and the final adhesion recovery due to the removal of external unknown contaminants.The adhesion model has been validated because of the experimental data provided by Trenitalia S.p.A. coming from on-track tests performed in Velim (Czech Republic). The tests have been carried out on a straight railway track under degraded adhesion conditions with the railway vehicle UIC-Z1 equipped with a fully-working Wheel Slide Protection (WSP) system.The validation highlighted the

Development and validation of a Kalman filter-based model for vehicle slip angle estimation

Science.gov (United States)

Gadola, M.; Chindamo, D.; Romano, M.; Padula, F.

2014-01-01

It is well known that vehicle slip angle is one of the most difficult parameters to measure on a vehicle during testing or racing activities. Moreover, the appropriate sensor is very expensive and it is often difficult to fit to a car, especially on race cars. We propose here a strategy to eliminate the need for this sensor by using a mathematical tool which gives a good estimation of the vehicle slip angle. A single-track car model, coupled with an extended Kalman filter, was used in order to achieve the result. Moreover, a tuning procedure is proposed that takes into consideration both nonlinear and saturation characteristics typical of vehicle lateral dynamics. The effectiveness of the proposed algorithm has been proven by both simulation results and real-world data.

The Dynamics of a Railway Vehicle on a Disturbed Track

DEFF Research Database (Denmark)

Christiansen, Lasse Engbo

This work studies a mathematical model of a bogie, the aim being to investigate the correlation between the lateral motion of the bogie and lateral irregularities of the track that the bogie is running along. When modelling the wheel-rail forces real wheel and rail profiles are used. One...... describing how the wheel-rail interaction is modelled. The fourth chapter gives a presentation of the numerical algorithms used in this work. The fifth chapter presents the results obtained during this work, it begins with an brief investigation of the dynamics when running on a straight track. The second...... section introduces some statistical measures and treats centerline irregularities when running with a fixed speed of 30 m/s. The following section investigates the behaviour of the model when the track possesses gauge irregularities. The fourth and fifth sections describe the changes observed when...

A Coupling Vibration Test Bench and the Simulation Research of a Maglev Vehicle

Directory of Open Access Journals (Sweden)

Weihua Ma

2015-01-01

Full Text Available To study the characteristics of the coupling vibration between a maglev vehicle and its track beam system and to improve the performance of the levitation system, a new type of vibration test bench was developed. Take a single maglev frame as the study object; simulation of the coupling vibration of the maglev vehicle, levitation system, and track beam were achieved. In addition, all types of real track irregularity excitations can be simulated using hydraulic actuators of the test bench. To expand the research scope, a simulation model was developed that can conduct the simulation research synergistically with the test bench. Based on a dynamics model of the test bench, the dynamics simulation method determined the influence on the levitation control performance of three factors: the track beam support stiffness, the track beam mass, and the track irregularity. The vibration resonance phenomenon of the vehicle/track system was reproduced by the dynamics simulation, and a portion of the simulation results were validated by the test results. By combining the test bench and the dynamics model, experiments can be guided by the simulation results, and the experimental results can validate the dynamics simulation results.

Position and Attitude Alternate of Path Tracking Heading Control

Directory of Open Access Journals (Sweden)

Baocheng Tan

2014-03-01

Full Text Available The path tracking control algorithm is one of the key problems in the control system design of autonomous vehicle. In this paper, we have conducted dynamic modeling for autonomous vehicle, the relationship between course deviation and yaw rate and centroid deflection angle. From the angle of the dynamics and geometrical, this paper have described the path tracking problem, analyzed the emergence of the eight autonomous vehicles pose binding - position and attitude alternate control methods to identify the relationship between posture and the controlling variables, and design a controller, the experimental results verify the feasibility and effectiveness of this control method.

The Seismic Response of High-Speed Railway Bridges Subjected to Near-Fault Forward Directivity Ground Motions Using a Vehicle-Track-Bridge Element

Directory of Open Access Journals (Sweden)

Chen Ling-kun

2014-01-01

Full Text Available Based on the Next Generation Attenuation (NGA project ground motion library, the finite element model of the high-speed railway vehicle-bridge system is established. The model was specifically developed for such system that is subjected to near-fault ground motions. In addition, it accounted for the influence of the rail irregularities. The vehicle-track-bridge (VTB element is presented to simulate the interaction between train and bridge, in which a train can be modeled as a series of sprung masses concentrated at the axle positions. For the short period railway bridge, the results from the case study demonstrate that directivity pulse effect tends to increase the seismic responses of the bridge compared with far-fault ground motions or nonpulse-like motions and the directivity pulse effect and high values of the vertical acceleration component can notably influence the hysteretic behaviour of piers.

Side-suspended High- Tc Superconducting Maglev Prototype Vehicle Running at a High Speed in an Evacuated Circular Test Track

International Nuclear Information System (INIS)

Zhou, Dajin; Zhao, Lifeng; Cui, Chenyu; Zhang, Yong; Guo, Jianqiang; Zhao, Yong

2017-01-01

High- T c superconductor (HTS) and permanent magnetic guideway (PMG) based maglev train is intensively studied in China, Japan, Germany and Brazil, mainly through static or vibration test. Amongst these studies, only a few of reports are available for the direct and effective assessment on the dynamic performance of the HTS maglev vehicle by running on a straight or circular PMG track. The highest running speed of these experiments is lower than 50 km/h. In this paper, a side-suspended HTS permanent magnetic guideway maglev system was proposed and constructed in order to increase the running speed in a circular track. By optimizing the arrangement of YBCO bulks besides the PMG, the side-suspended HTS maglev prototype vehicle was successfully running stably at a speed as high as 150 km/h in a circular test track with 6.5 m in diameter, and in an evacuated tube environment, in which the pressure is 5 × 10 3 Pa. (paper)

Side-suspended High-Tc Superconducting Maglev Prototype Vehicle Running at a High Speed in an Evacuated Circular Test Track

Science.gov (United States)

Zhou, Dajin; Zhao, Lifeng; Cui, Chenyu; Zhang, Yong; Guo, Jianqiang; Zhao, Yong

2017-07-01

High-T c superconductor (HTS) and permanent magnetic guideway (PMG) based maglev train is intensively studied in China, Japan, Germany and Brazil, mainly through static or vibration test. Amongst these studies, only a few of reports are available for the direct and effective assessment on the dynamic performance of the HTS maglev vehicle by running on a straight or circular PMG track. The highest running speed of these experiments is lower than 50 km/h. In this paper, a side-suspended HTS permanent magnetic guideway maglev system was proposed and constructed in order to increase the running speed in a circular track. By optimizing the arrangement of YBCO bulks besides the PMG, the side-suspended HTS maglev prototype vehicle was successfully running stably at a speed as high as 150 km/h in a circular test track with 6.5 m in diameter, and in an evacuated tube environment, in which the pressure is 5 × 103 Pa.

Real-Time Vehicle Speed Estimation Based on License Plate Tracking in Monocular Video Sequences

Directory of Open Access Journals (Sweden)

Aleksej MAKAROV

2016-02-01

Full Text Available A method of estimating the vehicle speed from images obtained by a fixed over-the-road monocular camera is presented. The method is based on detecting and tracking vehicle license plates. The contrast between the license plate and its surroundings is enhanced using infrared light emitting diodes and infrared camera filters. A range of the license plate height values is assumed a priori. The camera vertical angle of view is measured prior to installation. The camera tilt is continuously measured by a micro-electromechanical sensor. The distance of the license plate from the camera is theoretically derived in terms of its pixel coordinates. Inaccuracies due to the frame rate drift, to the tilt and the angle of view measurement errors, to edge pixel detection and to a coarse assumption of the vehicle license plate height are analyzed and theoretically formulated. The resulting system is computationally efficient, inexpensive and easy to install and maintain along with the existing ALPR cameras.

DEVELOPING A CONCEPTUAL INFORMATION SYSTEMS (IS) SUCCESS MODEL FOR INTELLIGENT VEHICLE TRACKING SYSTEMS USED IN DEVELOPING COUNTRIES – THE CASE OF GHANA

DEFF Research Database (Denmark)

Adjin, Daniel Michael Okwabi

single case study method. Grounded Theory (GT) method is employed to collect and analyze data. Research population is users of IVTS in Ghana. Purposive sampling technique is employed. Research Tools: Qualitative survey questionnaires & face-to-face interviews were used. Research Results: Most IVTS...... deployed in Ghana have very limited communication network bandwidths, low speeds & capacities, poor GSM network coverage, etc. Thus, qualities of the tracking systems & services, and vehicle information were far below users' perceptions as against their expectations. Research Findings: Relevant seventeen...

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

Science.gov (United States)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system.

Science.gov (United States)

Wang, Baofeng; Qi, Zhiquan; Chen, Sizhong; Liu, Zhaodu; Ma, Guocheng

2017-01-01

Vision-based vehicle detection is an important issue for advanced driver assistance systems. In this paper, we presented an improved multi-vehicle detection and tracking method using cascade Adaboost and Adaptive Kalman filter(AKF) with target identity awareness. A cascade Adaboost classifier using Haar-like features was built for vehicle detection, followed by a more comprehensive verification process which could refine the vehicle hypothesis in terms of both location and dimension. In vehicle tracking, each vehicle was tracked with independent identity by an Adaptive Kalman filter in collaboration with a data association approach. The AKF adaptively adjusted the measurement and process noise covariance through on-line stochastic modelling to compensate the dynamics changes. The data association correctly assigned different detections with tracks using global nearest neighbour(GNN) algorithm while considering the local validation. During tracking, a temporal context based track management was proposed to decide whether to initiate, maintain or terminate the tracks of different objects, thus suppressing the sparse false alarms and compensating the temporary detection failures. Finally, the proposed method was tested on various challenging real roads, and the experimental results showed that the vehicle detection performance was greatly improved with higher accuracy and robustness.

Scalable Track Detection in SAR CCD Images

Energy Technology Data Exchange (ETDEWEB)

Chow, James G [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Quach, Tu-Thach [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2017-03-01

Existing methods to detect vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images ta ken at different times of the same scene, rely on simple, fast models to label track pixels. These models, however, are often too simple to capture natural track features such as continuity and parallelism. We present a simple convolutional network architecture consisting of a series of 3-by-3 convolutions to detect tracks. The network is trained end-to-end to learn natural track features entirely from data. The network is computationally efficient and improves the F-score on a standard dataset to 0.988, up fr om 0.907 obtained by the current state-of-the-art method.

Traffic Information Unit, Traffic Information System, Vehicle Management System, Vehicle, and Method of Controlling a Vehicle

NARCIS (Netherlands)

Papp, Z.; Doodeman, G.J.N.; Nelisse, M.W.; Sijs, J.; Theeuwes, J.A.C.; Driessen, B.J.F.

2010-01-01

A traffic information unit (MD1, MD2, MD3) according to the invention comprises a facility (MI) for tracking vehicle state information of individual vehicles present at a traffic infrastructure and a facility (T) for transmitting said vehicle state information to a vehicle (70B, 70E). A traffic

Anti-Windup Control for an Air-Breathing Hypersonic Vehicle Model

National Research Council Canada - National Science Library

Groves, Kevin P; Serrani, Andrea; Yurkovich, Stephen; Bolender, Michael A; Doman, David B

2005-01-01

.... Anti-windup control allows the input constraints to be considered explicitly in the design of linear controllers to track a reference trajectory for the vehicle velocity, altitude, and angle of attack...

Comprehensive modeling and control of flexible flapping wing micro air vehicles

Science.gov (United States)

Nogar, Stephen Michael

Flapping wing micro air vehicles hold significant promise due to the potential for improved aerodynamic efficiency, enhanced maneuverability and hover capability compared to fixed and rotary configurations. However, significant technical challenges exist to due the lightweight, highly integrated nature of the vehicle and coupling between the actuators, flexible wings and control system. Experimental and high fidelity analysis has demonstrated that aeroelastic effects can change the effective kinematics of the wing, reducing vehicle stability. However, many control studies for flapping wing vehicles do not consider these effects, and instead validate the control strategy with simple assumptions, including rigid wings, quasi-steady aerodynamics and no consideration of actuator dynamics. A control evaluation model that includes aeroelastic effects and actuator dynamics is developed. The structural model accounts for geometrically nonlinear behavior using an implicit condensation technique and the aerodynamic loads are found using a time accurate approach that includes quasi-steady, rotational, added mass and unsteady effects. Empirically based parameters in the model are fit using data obtained from a higher fidelity solver. The aeroelastic model and its ingredients are compared to experiments and computations using models of higher fidelity, and indicate reasonable agreement. The developed control evaluation model is implemented in a previously published, baseline controller that maintains stability using an asymmetric wingbeat, known as split-cycle, along with changing the flapping frequency and wing bias. The model-based controller determines the control inputs using a cycle-averaged, linear control design model, which assumes a rigid wing and no actuator dynamics. The introduction of unaccounted for dynamics significantly degrades the ability of the controller to track a reference trajectory, and in some cases destabilizes the vehicle. This demonstrates the

Vehicle Weight in Gipps' Car-Following Model

OpenAIRE

Nerem, Sebastian

2013-01-01

Car-following models are mathematical models, which describe the situation where vehicles drive behind each other on a single lane road section with no overtaking possibilities. The purpose of the models is to estimate how a vehicle reacts to the behavior of the vehicle ahead. A weakness in these models is that they do not take the weight of each vehicle into account. It can however be shown that a vehicle?s weight affects its driving behavior.The purpose of this master?s thesis is to investi...

Vehicle rollover sensor test modeling

NARCIS (Netherlands)

McCoy, R.W.; Chou, C.C.; Velde, R. van de; Twisk, D.; Schie, C. van

2007-01-01

A computational model of a mid-size sport utility vehicle was developed using MADYMO. The model includes a detailed description of the suspension system and tire characteristics that incorporated the Delft-Tyre magic formula description. The model was correlated by simulating a vehicle suspension

Track structure in biological models.

Science.gov (United States)

Curtis, S B

1986-01-01

High-energy heavy ions in the galactic cosmic radiation (HZE particles) may pose a special risk during long term manned space flights outside the sheltering confines of the earth's geomagnetic field. These particles are highly ionizing, and they and their nuclear secondaries can penetrate many centimeters of body tissue. The three dimensional patterns of ionizations they create as they lose energy are referred to as their track structure. Several models of biological action on mammalian cells attempt to treat track structure or related quantities in their formulation. The methods by which they do this are reviewed. The proximity function is introduced in connection with the theory of Dual Radiation Action (DRA). The ion-gamma kill (IGK) model introduces the radial energy-density distribution, which is a smooth function characterizing both the magnitude and extension of a charged particle track. The lethal, potentially lethal (LPL) model introduces lambda, the mean distance between relevant ion clusters or biochemical species along the track. Since very localized energy depositions (within approximately 10 nm) are emphasized, the proximity function as defined in the DRA model is not of utility in characterizing track structure in the LPL formulation.

Nonlinear control of marine vehicles using only position and attitude measurements

Energy Technology Data Exchange (ETDEWEB)

Paulsen, Marit Johanne

1996-12-31

This thesis presents new results on the design and analysis of nonlinear output feedback controllers for auto pilots and dynamic positioning systems for ships and underwater vehicles. Only position and attitude measurements of the vehicle are used in the control design. The underlying idea of the work is to use certain structural properties of the equations of motion in the controller design and analysis. New controllers for regulation and tracking have been developed and the stability of the resulting closed-loop systems has been rigorously established. The results are supported by simulations. The following problems have been investigated covering design of passive controller for regulation, comparison of two auto pilots, nonlinear damping compensation for tracking, tracking control for nonlinear ships, and output tracking control with wave filtering for multivariable models of possibly unstable vehicles. 97 refs., 32 figs.

Development of a railway wagon-track interaction model: Case studies on excited tracks

Science.gov (United States)

Xu, Lei; Chen, Xianmai; Li, Xuwei; He, Xianglin

2018-02-01

In this paper, a theoretical framework for modeling the railway wagon-ballast track interactions is presented, in which the dynamic equations of motion of wagon-track systems are constructed by effectively coupling the linear and nonlinear dynamic characteristics of system components. For the linear components, the energy-variational principle is directly used to derive their dynamic matrices, while for the nonlinear components, the dynamic equilibrium method is implemented to deduce the load vectors, based on which a novel railway wagon-ballast track interaction model is developed, and being validated by comparing with the experimental data measured from a heavy haul railway and another advanced model. With this study, extensive contributions in figuring out the critical speed of instability, limits and localizations of track irregularities over derailment accidents are presented by effectively integrating the dynamic simulation model, the track irregularity probabilistic model and time-frequency analysis method. The proposed approaches can provide crucial information to guarantee the running safety and stability of the wagon-track system when considering track geometries and various running speeds.

Underground vehicle monitoring and material tracking by wireless data transmission; Untertaegige Fahrzeugueberwachung und Materialverfolgung mittels drahtloser Datenuebertragung

Energy Technology Data Exchange (ETDEWEB)

Huenefeld, R. [Technische Hochschule Aachen (Germany). Lehrstuhl und Inst. fuer Bergwerks- und Huettenmaschinenkunde; Kuepper, T. [XGraphic Ingenieurgesellschaft mbH, Aachen (Germany)

2008-04-17

Satellite-assisted navigation and position detection by GPS (Global Positioning System) are the state of the art in surface fleet management. The system cannot, of course, be used underground. With the introduction of WLAN networks, pocket PCs and WLAN Handys a technological platform, on the basis of which comparable services can be offered, has meanwhile become available also in the underground mining industry. Various applications, which were developed for the specified technological environment, are described in this contribution. They are used for communication, vehicle monitoring and position tracking, but are also suitable for complicated tasks. A typical example is the automation of monorails, in which communication with the vehicle and visualisation of the vehicle data and position are important. (orig.)

Localization and Tracking of Submerged Phytoplankton Bloom Patches by an Autonomous Underwater Vehicle

Science.gov (United States)

Godin, M. A.; Ryan, J. P.; Zhang, Y.; Bellingham, J. G.

2012-12-01

Observing plankton in their drifting frame of reference permits effective studies of marine ecology from the perspective of microscopic life itself. By minimizing variation caused simply by advection, observations in a plankton-tracking frame of reference focus measurement capabilities on the processes that influence the life history of populations. Further, the patchy nature of plankton populations motivates use of sensor data in real-time to resolve patch boundaries and adapt observing resources accordingly. We have developed capabilities for population-centric plankton observation and sampling by autonomous underwater vehicles (AUVs). Our focus has been on phytoplankton populations, both because of their ecological significance - as the core of the oceanic food web and yet potentially harmful under certain bloom conditions, as well as the accessibility of their signal to simple optical sensing. During the first field deployment of these capabilities in 2010, we tracked a phytoplankton patch containing toxigenic diatoms and found that their toxicity correlated with exposure to resuspended sediments. However, this first deployment was labor intensive as the AUV drove in a pre-programmed pattern centered around a patch-marking drifter; it required a boat deployment of the patch-marking drifter and required full-time operators to periodically estimate of the position of the patch with respect to the drifter and adjust the AUV path accordingly. In subsequent field experiments during 2011 and 2012, the Tethys-class long-range AUVs ran fully autonomous patch tracking algorithms which detected phytoplankton patches and continually updated estimates of each patch center by driving adaptive patterns through the patch. Iterations of the algorithm were generated to overcome the challenges of tracking advecting and evolving patches while minimizing human involvement in vehicle control. Such fully autonomous monitoring will be necessary to perform long-term in

Track classification within wireless sensor network

Science.gov (United States)

Doumerc, Robin; Pannetier, Benjamin; Moras, Julien; Dezert, Jean; Canevet, Loic

2017-05-01

In this paper, we present our study on track classification by taking into account environmental information and target estimated states. The tracker uses several motion model adapted to different target dynamics (pedestrian, ground vehicle and SUAV, i.e. small unmanned aerial vehicle) and works in centralized architecture. The main idea is to explore both: classification given by heterogeneous sensors and classification obtained with our fusion module. The fusion module, presented in his paper, provides a class on each track according to track location, velocity and associated uncertainty. To model the likelihood on each class, a fuzzy approach is used considering constraints on target capability to move in the environment. Then the evidential reasoning approach based on Dempster-Shafer Theory (DST) is used to perform a time integration of this classifier output. The fusion rules are tested and compared on real data obtained with our wireless sensor network.In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of this system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

Simulation on Vehicle Vibration Offset of NX70 Flatcar

Directory of Open Access Journals (Sweden)

Han Yanhui

2014-11-01

Full Text Available The current rolling stock gauge for standard gauge railway is a static gauge to check the vehicle frame. The contradiction of large construction gauge and small rolling stock gauge has always existed. It is important to set down the clearance requirements in respect of physical size for the safe passage of rail vehicles. Reasonably determining the maximum vibration offset can improve the efficiency of clearance. As an example, analyze the complex vibration of NX70 flat car by simulation test on the running track. Comprehensive considering the track model, loading plan, line conditions and running speed, then SIMPACK is used to present the vehicle system dynamics simulation model. After researching simulation result, respectively determine the maximum vehicle vibration offset for railroads of Class I, Class II and Class III on the height of the center of gravity 2000 mm and 2400 mm. According to the clearance between the structure gauge and the position of maximum vibration offset, analyze the safety of vehicle operation since the center of gravity is higher than before.

Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system.

Directory of Open Access Journals (Sweden)

Baofeng Wang

Full Text Available Vision-based vehicle detection is an important issue for advanced driver assistance systems. In this paper, we presented an improved multi-vehicle detection and tracking method using cascade Adaboost and Adaptive Kalman filter(AKF with target identity awareness. A cascade Adaboost classifier using Haar-like features was built for vehicle detection, followed by a more comprehensive verification process which could refine the vehicle hypothesis in terms of both location and dimension. In vehicle tracking, each vehicle was tracked with independent identity by an Adaptive Kalman filter in collaboration with a data association approach. The AKF adaptively adjusted the measurement and process noise covariance through on-line stochastic modelling to compensate the dynamics changes. The data association correctly assigned different detections with tracks using global nearest neighbour(GNN algorithm while considering the local validation. During tracking, a temporal context based track management was proposed to decide whether to initiate, maintain or terminate the tracks of different objects, thus suppressing the sparse false alarms and compensating the temporary detection failures. Finally, the proposed method was tested on various challenging real roads, and the experimental results showed that the vehicle detection performance was greatly improved with higher accuracy and robustness.

Integrated robust controller for vehicle path following

Energy Technology Data Exchange (ETDEWEB)

Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)

2015-02-15

The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.

Integrated robust controller for vehicle path following

International Nuclear Information System (INIS)

Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

2015-01-01

The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties

Track Loading Vehicle - TLV

Data.gov (United States)

Federal Laboratory Consortium — The TLV is designed to apply forces close to the strength limits of the rails and other track structure components, such as ties, rail fasteners, and ballast, while...

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Directory of Open Access Journals (Sweden)

Dewei Zhang

2014-01-01

Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

Mobile phone tracking: in support of modelling traffic-related air pollution contribution to individual exposure and its implications for public health impact assessment

Science.gov (United States)

2013-01-01

We propose a new approach to assess the impact of traffic-related air pollution on public health by mapping personal trajectories using mobile phone tracking technology in an urban environment. Although this approach is not based on any empirical studies, we believe that this method has great potential and deserves serious attention. Mobile phone tracking technology makes it feasible to generate millions of personal trajectories and thereby cover a large fraction of an urban population. Through analysis, personal trajectories are not only associated to persons, but it can also be associated with vehicles, vehicle type, vehicle speed, vehicle emission rates, and sources of vehicle emissions. Pollution levels can be estimated by dispersion models from calculated traffic emissions. Traffic pollution exposure to individuals can be estimated based on the exposure along the individual human trajectories in the estimated pollution concentration fields by utilizing modelling tools. By data integration, one may identify trajectory patterns of particularly exposed human groups. The approach of personal trajectories may open a new paradigm in understanding urban dynamics and new perspectives in population-wide empirical public health research. This new approach can be further applied to individual commuter route planning, land use planning, urban traffic network planning, and used by authorities to formulate air pollution mitigation policies and regulations. PMID:24188173

Small Orbital Stereo Tracking Camera Technology Development

Science.gov (United States)

Gagliano, L.; Bryan, T.; MacLeod, T.

On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASAs Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well To help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

Modeling of electric vehicle battery for vehicle-to-grid applications

DEFF Research Database (Denmark)

Pang, Ying; Brady, Cormac; Pellegrino, Giustino

2013-01-01

Electric vehicle battery models are essential when performing analysis of EV systems. The battery package of electric vehicles is complicated and unpredictable because of its chemical based functioning. In this paper, a battery model is presented with a number of internal and external factors taken...

Study on Two-segment Electric-mechanical Composite Braking Strategy of Tracked Vehicle Hybrid Transmission System

OpenAIRE

Ma, Tian; Gai, Jiangtao; Ma, Xiaofeng

2010-01-01

In order to lighten abrasion of braking system of hybrid electric tracked vehicle, according to characteristic of hybrid electric transmission, electric-mechanical composite braking method was proposed. By means of analyzing performance of electric braking and mechanical braking and three-segment composite braking strategy, two-segment electric-mechanical composite braking strategy was put forward in this paper. Simulation results of Matlab/Simulink indicated that the two-segment electric-mec...

Model-Based Motion Tracking of Infants

DEFF Research Database (Denmark)

Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

2014-01-01

Even though motion tracking is a widely used technique to analyze and measure human movements, only a few studies focus on motion tracking of infants. In recent years, a number of studies have emerged focusing on analyzing the motion pattern of infants, using computer vision. Most of these studies...... are based on 2D images, but few are based on 3D information. In this paper, we present a model-based approach for tracking infants in 3D. The study extends a novel study on graph-based motion tracking of infants and we show that the extension improves the tracking results. A 3D model is constructed...

Artificial Potential Field Approach to Path Tracking for a Non-Holonomic Mobile Robot

DEFF Research Database (Denmark)

Sørensen, M.J.

2003-01-01

This paper introduces a novel path tracking controller for an over-actuated robotic vehicle moving in an agricultural field. The vehicle itself is a four wheel steered, four wheel driven vehicle subject to the two non-holonomic constraints of free rolling and non-slipping wheels. A dynamic model...

Robust Vehicle and Traffic Information Extraction for Highway Surveillance

Directory of Open Access Journals (Sweden)

Yeh Chia-Hung

2005-01-01

Full Text Available A robust vision-based traffic monitoring system for vehicle and traffic information extraction is developed in this research. It is challenging to maintain detection robustness at all time for a highway surveillance system. There are three major problems in detecting and tracking a vehicle: (1 the moving cast shadow effect, (2 the occlusion effect, and (3 nighttime detection. For moving cast shadow elimination, a 2D joint vehicle-shadow model is employed. For occlusion detection, a multiple-camera system is used to detect occlusion so as to extract the exact location of each vehicle. For vehicle nighttime detection, a rear-view monitoring technique is proposed to maintain tracking and detection accuracy. Furthermore, we propose a method to improve the accuracy of background extraction, which usually serves as the first step in any vehicle detection processing. Experimental results are given to demonstrate that the proposed techniques are effective and efficient for vision-based highway surveillance.

Track-stitching using graphical models and message passing

CSIR Research Space (South Africa)

Van der Merwe, LJ

2013-07-01

Full Text Available In order to stitch tracks together, two tasks are required, namely tracking and track stitching. In this study track stitching is performed using a graphical model and message passing (belief propagation) approach. Tracks are modelled as nodes in a...

Consumer Vehicle Choice Model Documentation

Energy Technology Data Exchange (ETDEWEB)

Liu, Changzheng [ORNL; Greene, David L [ORNL

2012-08-01

In response to the Fuel Economy and Greenhouse Gas (GHG) emissions standards, automobile manufacturers will need to adopt new technologies to improve the fuel economy of their vehicles and to reduce the overall GHG emissions of their fleets. The U.S. Environmental Protection Agency (EPA) has developed the Optimization Model for reducing GHGs from Automobiles (OMEGA) to estimate the costs and benefits of meeting GHG emission standards through different technology packages. However, the model does not simulate the impact that increased technology costs will have on vehicle sales or on consumer surplus. As the model documentation states, “While OMEGA incorporates functions which generally minimize the cost of meeting a specified carbon dioxide (CO2) target, it is not an economic simulation model which adjusts vehicle sales in response to the cost of the technology added to each vehicle.” Changes in the mix of vehicles sold, caused by the costs and benefits of added fuel economy technologies, could make it easier or more difficult for manufacturers to meet fuel economy and emissions standards, and impacts on consumer surplus could raise the costs or augment the benefits of the standards. Because the OMEGA model does not presently estimate such impacts, the EPA is investigating the feasibility of developing an adjunct to the OMEGA model to make such estimates. This project is an effort to develop and test a candidate model. The project statement of work spells out the key functional requirements for the new model.

Nonlinear Dynamic Characteristics of the Railway Vehicle

Science.gov (United States)

Uyulan, Çağlar; Gokasan, Metin

2017-06-01

The nonlinear dynamic characteristics of a railway vehicle are checked into thoroughly by applying two different wheel-rail contact model: a heuristic nonlinear friction creepage model derived by using Kalker 's theory and Polach model including dead-zone clearance. This two models are matched with the quasi-static form of the LuGre model to obtain more realistic wheel-rail contact model. LuGre model parameters are determined using nonlinear optimization method, which it's objective is to minimize the error between the output of the Polach and Kalker model and quasi-static LuGre model for specific operating conditions. The symmetric/asymmetric bifurcation attitude and stable/unstable motion of the railway vehicle in the presence of nonlinearities which are yaw damping forces in the longitudinal suspension system are analyzed in great detail by changing the vehicle speed. Phase portraits of the lateral displacement of the leading wheelset of the railway vehicle are drawn below and on the critical speeds, where sub-critical Hopf bifurcation take place, for two wheel-rail contact model. Asymmetric periodic motions have been observed during the simulation in the lateral displacement of the wheelset under different vehicle speed range. The coexistence of multiple steady states cause bounces in the amplitude of vibrations, resulting instability problems of the railway vehicle. By using Lyapunov's indirect method, the critical hunting speeds are calculated with respect to the radius of the curved track parameter changes. Hunting, which is defined as the oscillation of the lateral displacement of wheelset with a large domain, is described by a limit cycle-type oscillation nature. The evaluated accuracy of the LuGre model adopted from Kalker's model results for prediction of critical speed is higher than the results of the LuGre model adopted from Polach's model. From the results of the analysis, the critical hunting speed must be resolved by investigating the track tests

CyberTORCS: An Intelligent Vehicles Simulation Platform for Cooperative Driving

Directory of Open Access Journals (Sweden)

Ming Yang

2011-05-01

Full Text Available Simulation platforms play an important role in helping intelligent vehicle research, especially for the research of cooperative driving due to the high cost and risk of the real experiments. In order to ease and bring more convenience for cooperative driving tests, we introduce an intelligent vehicle simulation platform, called CyberTORCS, for the research in cooperative driving. Details of the simulator modules including vehicle body control, vehicle visualization modeling and track visualization modeling are presented. Two simulation examples are given to validate the feasibility and effectiveness of the proposed simulation platform.

Development of vehicle model test-bending of a simple structural surfaces model for automotive vehicle sedan

Science.gov (United States)

Nor, M. K. Mohd; Noordin, A.; Ruzali, M. F. S.; Hussen, M. H.; Mustapa@Othman, N.

2017-04-01

Simple Structural Surfaces (SSS) method is offered as a means of organizing the process for rationalizing the basic vehicle body structure load paths. The application of this simplified approach is highly beneficial in the development of modern passenger car structure design. In Malaysia, the SSS topic has been widely adopted and seems compulsory in various automotive programs related to automotive vehicle structures in many higher education institutions. However, there is no real physical model of SSS available to gain considerable insight and understanding into the function of each major subassembly in the whole vehicle structures. Based on this motivation, a real physical SSS of sedan model and the corresponding model vehicle tests of bending is proposed in this work. The proposed approach is relatively easy to understand as compared to Finite Element Method (FEM). The results prove that the proposed vehicle model test is useful to physically demonstrate the importance of providing continuous load path using the necessary structural components within the vehicle structures. It is clearly observed that the global bending stiffness reduce significantly when more panels are removed from the complete SSS model. The analysis shows the front parcel shelf is an important subassembly to sustain bending load.

Ultra-Wideband Tracking System Design for Relative Navigation

Science.gov (United States)

Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

2011-01-01

This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

TIRE MODELS USED IN VEHICLE DYNAMIC APPLICATIONS AND THEIR USING IN VEHICLE ACCIDENT SIMULATIONS

Directory of Open Access Journals (Sweden)

Osman ELDOĞAN

1995-01-01

Full Text Available Wheel model is very important in vehicle modelling, it is because the contact between vehicle and road is achieved by wheel. Vehicle models can be dynamic models which are used in vehicle design, they can also be models used in accident simulations. Because of the importance of subject, many studies including theoretical, experimental and mixed type have been carried out. In this study, information is given about development of wheel modelling and research studies and also use of these modellings in traffic accident simulations.

Automated vehicle for railway track fault detection

Science.gov (United States)

Bhushan, M.; Sujay, S.; Tushar, B.; Chitra, P.

2017-11-01

For the safety reasons, railroad tracks need to be inspected on a regular basis for detecting physical defects or design non compliances. Such track defects and non compliances, if not detected in a certain interval of time, may eventually lead to severe consequences such as train derailments. Inspection must happen twice weekly by a human inspector to maintain safety standards as there are hundreds and thousands of miles of railroad track. But in such type of manual inspection, there are many drawbacks that may result in the poor inspection of the track, due to which accidents may cause in future. So to avoid such errors and severe accidents, this automated system is designed.Such a concept would surely introduce automation in the field of inspection process of railway track and can help to avoid mishaps and severe accidents due to faults in the track.

Multisensor simultaneous vehicle tracking and shape estimation

NARCIS (Netherlands)

Elfring, J.; Appeldoorn, R.P.W.; Kwakkernaat, M.R.J.A.E.

2016-01-01

This work focuses on vehicle automation applications that require both the estimation of kinematic and geometric information of surrounding vehicles, e.g., automated overtaking or merging. Rather then using one sensor that is able to estimate a vehicle's geometry from each sensor frame, e.g., a

Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

Science.gov (United States)

Gregory, Irene M.; Chowdhry, Rajiv S.; Mcminn, John D.; Shaughnessy, John D.

1994-01-01

The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

Persistent Aerial Tracking

KAUST Repository

Mueller, Matthias

2016-01-01

persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc

The effect of track load correlation on ground-borne vibration from railways

Science.gov (United States)

Ntotsios, Evangelos; Thompson, David; Hussein, Mohammed

2017-08-01

In predictions of ground-borne vibration from railways, it is generally assumed that the unevenness profile of the wheel and rail is fully correlated between the two rails and the two wheels of an axle. This leads to identical contact forces at the two rails and can allow further simplifications of the vehicle model, the track model and the track/ground interface conditions. In the present paper, the level of correlation of the track loading at the wheel/rail interface due to rail unevenness and its influence on predictions of ground vibration is investigated. The extent to which the unevenness of the two rails is correlated has been estimated from measurements of track geometry obtained with track recording vehicles for four different tracks. It was found that for wavelengths longer than about 3 m the unevenness of the two rails can be considered to be strongly correlated and in phase. To investigate the effect of this on ground vibration, an existing model expressed in the wavenumber-frequency domain is extended to include separate inputs on the two rails. The track is modelled as an infinite invariant linear structure resting on an elastic stratified half-space. This is excited by the gravitational loading of a passing train and the irregularity of the contact surfaces between the wheels and the rails. The railway model is developed in this work to be versatile so that it can account or discard the effect of load correlations on the two rails beside the effects of variation of the tractions across the width of the track-ground interface and the vehicle sprung mass, as well as the roll motion of the sleepers and the axle. A comparative analysis is carried out on the influence of these factors on the response predictions using numerical simulations. It is shown that, when determining the vibration in the free field, it is important to include in the model the traction variation across the track-ground interface and the non-symmetrical loading at the two rails that

LPV H-infinity Control for the Longitudinal Dynamics of a Flexible Air-Breathing Hypersonic Vehicle

Science.gov (United States)

Hughes, Hunter Douglas

This dissertation establishes the method needed to synthesize and simulate an Hinfinity Linear Parameter-Varying (LPV) controller for a flexible air-breathing hypersonic vehicle model. A study was conducted to gain the understanding of the elastic effects on the open loop system. It was determined that three modes of vibration would be suitable for the hypersonic vehicle model. It was also discovered from the open loop study that there is strong coupling in the hypersonic vehicle states, especially between the angle of attack, pitch rate, pitch attitude, and the exible modes of the vehicle. This dissertation outlines the procedure for synthesizing a full state feedback Hinfinity LPV controller for the hypersonic vehicle. The full state feedback study looked at both velocity and altitude tracking for the exible vehicle. A parametric study was conducted on each of these controllers to see the effects of changing the number of gridding points in the parameter space and changing the parameter variation rate limits in the system on the robust performance of the controller. As a result of the parametric study, a 7 x 7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.5 200]T was used for both the velocity tracking and altitude tracking cases. The resulting Hinfinity robust performances were gamma = 2.2224 for the velocity tracking case and = 1:7582 for the altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. This was conducted for the velocity tracking and altitude tracking cases. The results of linear analysis show that there is a slight difference in the response of the Hinfinity LPV controller and the fixed point H infinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the H infinity LPV controller was simulated

Particle Tracking Model (PTM) with Coastal Modeling System (CMS)

Science.gov (United States)

2015-11-04

Coastal Inlets Research Program Particle Tracking Model (PTM) with Coastal Modeling System ( CMS ) The Particle Tracking Model (PTM) is a Lagrangian...currents and waves. The Coastal Inlets Research Program (CIRP) supports the PTM with the Coastal Modeling System ( CMS ), which provides coupled wave...and current forcing for PTM simulations. CMS -PTM is implemented in the Surface-water Modeling System, a GUI environment for input development

Tabletop Experimental Track for Magnetic Launch Assist

Science.gov (United States)

2000-01-01

Marshall Space Flight Center's (MSFC's) Advanced Space Transportation Program has developed the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) technology that could give a space vehicle a running start to break free from Earth's gravity. A Magnetic Launch Assist system would use magnetic fields to levitate and accelerate a vehicle along a track at speeds up to 600 mph. The vehicle would shift to rocket engines for launch into orbit. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically propel a space vehicle along the track. The tabletop experimental track for the system shown in this photograph is 44-feet long, with 22-feet of powered acceleration and 22-feet of passive braking. A 10-pound carrier with permanent magnets on its sides swiftly glides by copper coils, producing a levitation force. The track uses a linear synchronous motor, which means the track is synchronized to turn the coils on just before the carrier comes in contact with them, and off once the carrier passes. Sensors are positioned on the side of the track to determine the carrier's position so the appropriate drive coils can be energized. MSFC engineers have conducted tests on the indoor track and a 50-foot outdoor track. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

A Customized Vision System for Tracking Humans Wearing Reflective Safety Clothing from Industrial Vehicles and Machinery

Science.gov (United States)

Mosberger, Rafael; Andreasson, Henrik; Lilienthal, Achim J.

2014-01-01

This article presents a novel approach for vision-based detection and tracking of humans wearing high-visibility clothing with retro-reflective markers. Addressing industrial applications where heavy vehicles operate in the vicinity of humans, we deploy a customized stereo camera setup with active illumination that allows for efficient detection of the reflective patterns created by the worker's safety garments. After segmenting reflective objects from the image background, the interest regions are described with local image feature descriptors and classified in order to discriminate safety garments from other reflective objects in the scene. In a final step, the trajectories of the detected humans are estimated in 3D space relative to the camera. We evaluate our tracking system in two industrial real-world work environments on several challenging video sequences. The experimental results indicate accurate tracking performance and good robustness towards partial occlusions, body pose variation, and a wide range of different illumination conditions. PMID:25264956

Object tracking using active appearance models

DEFF Research Database (Denmark)

Stegmann, Mikkel Bille

2001-01-01

This paper demonstrates that (near) real-time object tracking can be accomplished by the deformable template model; the Active Appearance Model (AAM) using only low-cost consumer electronics such as a PC and a web-camera. Successful object tracking of perspective, rotational and translational...

Launch vehicle selection model

Science.gov (United States)

Montoya, Alex J.

1990-01-01

Over the next 50 years, humans will be heading for the Moon and Mars to build scientific bases to gain further knowledge about the universe and to develop rewarding space activities. These large scale projects will last many years and will require large amounts of mass to be delivered to Low Earth Orbit (LEO). It will take a great deal of planning to complete these missions in an efficient manner. The planning of a future Heavy Lift Launch Vehicle (HLLV) will significantly impact the overall multi-year launching cost for the vehicle fleet depending upon when the HLLV will be ready for use. It is desirable to develop a model in which many trade studies can be performed. In one sample multi-year space program analysis, the total launch vehicle cost of implementing the program reduced from 50 percent to 25 percent. This indicates how critical it is to reduce space logistics costs. A linear programming model has been developed to answer such questions. The model is now in its second phase of development, and this paper will address the capabilities of the model and its intended uses. The main emphasis over the past year was to make the model user friendly and to incorporate additional realistic constraints that are difficult to represent mathematically. We have developed a methodology in which the user has to be knowledgeable about the mission model and the requirements of the payloads. We have found a representation that will cut down the solution space of the problem by inserting some preliminary tests to eliminate some infeasible vehicle solutions. The paper will address the handling of these additional constraints and the methodology for incorporating new costing information utilizing learning curve theory. The paper will review several test cases that will explore the preferred vehicle characteristics and the preferred period of construction, i.e., within the next decade, or in the first decade of the next century. Finally, the paper will explore the interaction

UFIR Filtering for GPS-Based Tracking over WSNs with Delayed and Missing Data

Directory of Open Access Journals (Sweden)

Karen Uribe-Murcia

2018-01-01

Full Text Available In smart cities, vehicles tracking is organized to increase safety by localizing cars using the Global Positioning System (GPS. The GPS-based system provides accurate tracking but is also required to be reliable and robust. As a main estimator, we propose using the unbiased finite impulse response (UFIR filter, which meets these needs as being more robust than the Kalman filter (KF. The UFIR filter is developed for vehicle tracking in discrete-time state-space over wireless sensor networks (WSNs with time-stamped data discretely delayed on k-step-lags and missing data. The state-space model is represented in a way such that the UFIR filter, KF, and H∞ filter can be used universally. Applications are given for measurement data, which are cooperatively transferred from a vehicle to a central station through several nodes with k-step-lags. Better tracking performance of the UFIR filter is shown experimentally.

Remote vehicle survey tool

International Nuclear Information System (INIS)

Armstrong, G.A.; Burks, B.L.; Kress, R.L.; Wagner, D.G.; Ward, C.R.

1993-01-01

The Remote Vehicle Survey Tool (RVS7) is a color graphical display tool for viewing remotely acquired scientific data. The RVST displays the data in the form of a color two-dimensional world model map. The world model map allows movement of the remote vehicle to be tracked by the operator and the data from sensors to be graphically depicted in the interface. Linear and logarithmic meters, dual channel oscilloscopes, and directional compasses are used to display sensor information. The RVST is user-configurable by the use of ASCII text files. The operator can configure the RVST to work with any remote data acquisition system and teleoperated or autonomous vehicle. The modular design of the RVST and its ability to be quickly configured for varying system requirements make the RVST ideal for remote scientific data display in all environmental restoration and waste management programs

Graph Model Based Indoor Tracking

DEFF Research Database (Denmark)

Jensen, Christian Søndergaard; Lu, Hua; Yang, Bin

2009-01-01

The tracking of the locations of moving objects in large indoor spaces is important, as it enables a range of applications related to, e.g., security and indoor navigation and guidance. This paper presents a graph model based approach to indoor tracking that offers a uniform data management...

Statistical modelling of railway track geometry degradation using Hierarchical Bayesian models

International Nuclear Information System (INIS)

Andrade, A.R.; Teixeira, P.F.

2015-01-01

Railway maintenance planners require a predictive model that can assess the railway track geometry degradation. The present paper uses a Hierarchical Bayesian model as a tool to model the main two quality indicators related to railway track geometry degradation: the standard deviation of longitudinal level defects and the standard deviation of horizontal alignment defects. Hierarchical Bayesian Models (HBM) are flexible statistical models that allow specifying different spatially correlated components between consecutive track sections, namely for the deterioration rates and the initial qualities parameters. HBM are developed for both quality indicators, conducting an extensive comparison between candidate models and a sensitivity analysis on prior distributions. HBM is applied to provide an overall assessment of the degradation of railway track geometry, for the main Portuguese railway line Lisbon–Oporto. - Highlights: • Rail track geometry degradation is analysed using Hierarchical Bayesian models. • A Gibbs sampling strategy is put forward to estimate the HBM. • Model comparison and sensitivity analysis find the most suitable model. • We applied the most suitable model to all the segments of the main Portuguese line. • Tackling spatial correlations using CAR structures lead to a better model fit

TRACKING VEHICLE IN GSM NETWORK TO SUPPORT INTELLIGENT TRANSPORTATION SYSTEMS

Directory of Open Access Journals (Sweden)

Z. Koppanyi

2012-07-01

Full Text Available The penetration of GSM capable devices is very high, especially in Europe. To exploit the potential of turning these mobile devices into dynamic data acquisition nodes that provides valuable data for Intelligent Transportation Systems (ITS, position information is needed. The paper describes the basic operation principles of the GSM system and provides an overview on the existing methods for deriving location data in the network. A novel positioning solution is presented that rely on handover (HO zone measurements; the zone geometry properties are also discussed. A new concept of HO zone sequence recognition is introduced that involves application of Probabilistic Deterministic Finite State Automata (PDFA. Both the potential commercial applications and the use of the derived position data in ITS is discussed for tracking vehicles and monitoring traffic flow. As a practical cutting edge example, the integration possibility of the technology in the SafeTRIP platform (developed in an EC FP7 project is presented.

Guidelines for the Establishment of a Model Neighborhood Electric Vehicle (NEV) Fleet

Energy Technology Data Exchange (ETDEWEB)

Roberta Brayer; Donald Karner; Kevin Morrow; James Francfort

2006-06-01

The U.S. Department of Energy’s Advanced Vehicle Testing Activity tests neighborhood electric vehicles (NEVs) in both track and fleet testing environments. NEVs, which are also known as low speed vehicles, are light-duty vehicles with top speeds of between 20 and 25 mph, and total gross vehicle weights of approximately 2,000 pounds or less. NEVs have been found to be very viable alternatives to internal combustion engine vehicles based on their low operating costs. However, special charging infrastructure is usually necessary for successful NEV fleet deployment. Maintenance requirements are also unique to NEVs, especially if flooded lead acid batteries are used as they have watering requirements that require training, personnel protection equipment, and adherence to maintenance schedules. This report provides guidelines for fleet managers to follow in order to successfully introduce and operate NEVs in fleet environments. This report is based on the NEV testing and operational experience of personnel from the Advanced Vehicle Testing Activity, Electric Transportation Applications, and the Idaho National Laboratory.

The single-track road running parallel to the D884 dual carriageway in the Pays de Gex is now closed to motor vehicles

CERN Multimedia

DSU Department

2008-01-01

The French authorities have informed CERN that, once the corresponding road signs have been installed, the single-track road running parallel to the dual carriageway culminating at Gate E will be closed to all motorised vehicle traffic, with the exception of agricultural plant, motorcycles, and service, emergency and police vehicles. Relations with the Host States Service Tel.: 72848 mailto:relations.secretariat@cern.chhttp://www.cern.ch/relations

MODELING OF THE TRACK AND ROLLING STOCK INTERACTION

Directory of Open Access Journals (Sweden)

N. V. Khalipova

2013-09-01

Full Text Available Purpose. Interaction of system’s elements of "carriage–track" modelling requires consideration of various criteria, it also requires analysis of many uncertainty and randomness factors’ influence on the basic parameters to ensure optimal or rational parameters of the system. The researching of interactions’ process requires new theoretical approaches to formulation of objectives, based on a generalization of existing modeling approaches. The purpose of this work is development of interaction models between track and rolling stock based on multiple structures of objects. Methodology. Dedicated and formed the main evaluation criteria of dynamic interaction between track and rolling stock optimization - quality assurance and safety of transportation process, improving of their efficiency and reducing of prime cost’s. Based on vector optimization methods, proposed model of rolling stock and track’s elements interaction. For the synthesis of the model used mathematical machine of multiple objects structures. Findings. Generalized approaches to modeling in the interaction of rolling stock and track for different structural elements of the system under different exploitation conditions. This theoretical approach demonstrated on the examples of modeling of passenger and freight cars with track under different exploitation conditions. Originality. Proposed theoretical approach to the problem of track and rolling stock interaction, based on a synthesis of existing models by using of multiple objects structures. Practical value. Using of proposed model allows to structure key data and rational parameters of rolling stock and track interaction’s modeling and to formulate optimal and rational parameters of the system, to determine the effective exploitation parameters and measurement system for rational use of infrastructure.

Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

Science.gov (United States)

Jiang, Yanhua; Xiong, Guangming; Chen, Huiyan; Lee, Dah-Jye

2014-01-01

This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most important parameters that describe the motion of a wheeled vehicle. Additionally, the pitch angle is also considered since the planar-motion hypothesis often fails due to the dynamic characteristics of wheel suspensions and tires in real-world environments. Linearization is used to calculate a closed-form solution of the motion parameters that works as a hypothesis generator in a RAndom SAmple Consensus (RANSAC) scheme to reduce the complexity in solving equations involving trigonometric. All inliers found are used to refine the winner solution through minimizing the reprojection error. Finally, the algorithm is applied to real-time on-board visual localization applications. Its performance is evaluated by comparing against the state-of-the-art monocular visual odometry methods using both synthetic data and publicly available datasets over several kilometers in dynamic outdoor environments. PMID:25256109

Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

Directory of Open Access Journals (Sweden)

Yanhua Jiang

2014-09-01

Full Text Available This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most important parameters that describe the motion of a wheeled vehicle. Additionally, the pitch angle is also considered since the planar-motion hypothesis often fails due to the dynamic characteristics of wheel suspensions and tires in real-world environments. Linearization is used to calculate a closed-form solution of the motion parameters that works as a hypothesis generator in a RAndom SAmple Consensus (RANSAC scheme to reduce the complexity in solving equations involving trigonometric. All inliers found are used to refine the winner solution through minimizing the reprojection error. Finally, the algorithm is applied to real-time on-board visual localization applications. Its performance is evaluated by comparing against the state-of-the-art monocular visual odometry methods using both synthetic data and publicly available datasets over several kilometers in dynamic outdoor environments.

Torque vectoring for improving stability of small electric vehicles

Science.gov (United States)

Grzegożek, W.; Weigel-Milleret, K.

2016-09-01

The electric vehicles solutions based on the individually controlled electric motors propel a single wheel allow to improve the dynamic properties of the vehicle by varying the distribution of the driving torque. Most of the literature refer to the vehicles with a track typical for passenger cars. This paper examines whether the narrow vehicle (with a very small track) torque vectoring bring a noticeable change of the understeer characteristics and whether torque vectoring is possible to use in securing a narrow vehicle from roll over (roll mitigation). The paper contains road tests of the steering characteristics (steady state understeer characteristic quasi-static acceleration with a fixed steering wheel (SH = const) and on the constant radius track (R = const)) of the narrow vehicle. The vehicle understeer characteristic as a function of a power distribution is presented.

GPU-accelerated 3-D model-based tracking

International Nuclear Information System (INIS)

Brown, J Anthony; Capson, David W

2010-01-01

Model-based approaches to tracking the pose of a 3-D object in video are effective but computationally demanding. While statistical estimation techniques, such as the particle filter, are often employed to minimize the search space, real-time performance remains unachievable on current generation CPUs. Recent advances in graphics processing units (GPUs) have brought massively parallel computational power to the desktop environment and powerful developer tools, such as NVIDIA Compute Unified Device Architecture (CUDA), have provided programmers with a mechanism to exploit it. NVIDIA GPUs' single-instruction multiple-thread (SIMT) programming model is well-suited to many computer vision tasks, particularly model-based tracking, which requires several hundred 3-D model poses to be dynamically configured, rendered, and evaluated against each frame in the video sequence. Using 6 degree-of-freedom (DOF) rigid hand tracking as an example application, this work harnesses consumer-grade GPUs to achieve real-time, 3-D model-based, markerless object tracking in monocular video.

Electric and hybrid vehicles

Science.gov (United States)

1979-01-01

Report characterizes state-of-the-art electric and hybrid (combined electric and heat engine) vehicles. Performance data for representative number of these vehicles were obtained from track and dynamometer tests. User experience information was obtained from fleet operators and individual owners of electric vehicles. Data on performance and physical characteristics of large number of vehicles were obtained from manufacturers and available literature.

Supercavitating Projectile Tracking System and Method

Science.gov (United States)

2009-12-30

Distribution is unlimited 20100104106 Attorney Docket No. 96681 SUPERCAVITATING PROJECTILE TRACKING SYSTEM AND METHOD STATEMENT OF GOVERNMENT...underwater track or path 14 of a supercavitating vehicle under surface 16 of a body of water. In this embodiment, passive acoustic or pressure...transducers 12 are utilized to measure a pressure field produced by a moving supercavitating vehicle. The present invention provides a low-cost, reusable

Vehicle with inclinable caterpillar propulsion units

International Nuclear Information System (INIS)

Clar, G.

1991-01-01

This vehicle usable in hostile environment such nuclear industry has four propulsion units with a caterpillar track and two integrated motors: one for advancing the caterpillar track and the other for inclining the propulsion unit when overcoming obstacles. Each propulsion unit is easily replaceable because there are no mechanical parts in the body of the vehicle [fr

Research on the Interior Sound Quality in Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Liao Lian Ying

2016-01-01

Full Text Available Even the overall level of vehicle interior noise of hybrid electric vehicle (HEV reduced to a certain degree, the vibration and noise generated by the engine, motor, generator and power split have made greater effect on the vehicle interior sound quality in HEV. In order to research the feature of vehicle interior sound quality in HEV, the HEV is used to be the research object, the binaural noise sample of the driver when playing different kinds of music in the vehicle with the speed of sixty kilometers per hour is collected. ArtemiS is used to conduct frequency division processing, so as to obtain the relative weight of each frequency band and the overall noise. The tone, roughness and sharpness of sound quality subjective evaluation parameters are quantified, the SPSS is used to establish the linear regression model of the sample, and the best masking music tracks are found out. Then, the sound samples that contains the best music tracks and the simple vehicle interior noise are re-collected, the regression model and ArtemiS are used to predict the subjective evaluation value. The research results show that when adding the music, the tone degree rises and the lowering degree decreases, thus the disturbing degree reduces, which significantly improves the sound quality in the HEV.

Roll-to-Roll Screen Printed Radio Frequency Identification Transponder Antennas for Vehicle Tracking Systems

Science.gov (United States)

Zichner, Ralf; Baumann, Reinhard R.

2013-05-01

Vehicle tracking systems based on ultra high frequency (UHF) radio frequency identification (RFID) technology are already introduced to control the access to car parks and corporate premises. For this field of application so-called Windshield RFID transponder labels are used, which are applied to the inside of the windshield. State of the art for manufacturing these transponder antennas is the traditional lithography/etching approach. Furthermore the performance of these transponders is limited to a reading distance of approximately 5 m which results in car speed limit of 5 km/h for identification. However, to achieve improved performance compared to existing all-purpose transponders and a dramatic cost reduction, an optimized antenna design is needed which takes into account the special dielectric and in particular metallic car environment of the tag and an roll-to-roll (R2R) printing manufacturing process. In this paper we focus on the development of a customized UHF RFID transponder antenna design, which is adopted for vehicle geometry as well as R2R screen printing manufacturing processes.

Track models and radiation chemical yields

International Nuclear Information System (INIS)

Chatterjee, A.; Magee, J.L.

1987-01-01

The authors are concerned only with systems in which single track effects dominate and radiation chemical yields are sums of yields for individual tracks. The authors know that the energy deposits of heavy particle tracks are composed of spurs along the particle trajectory (about one-half of the energy) and a more diffuse pattern composed of the tracks of knock-on electrons, called the penumbra (about one-half of the energy). The simplest way to introduce the concept of a unified track model for heavy particles is to consider the special case of the track of a heavy particle with an LET below 0.2-0.3eV/A, which in practice limits us to protons, deuterons, or particles with energy above 100 MeV per nucleon. At these LET values, to a good approximation, spurs formed by the main particle track can be considered to remain isolated throughout the radiation chemical reactions

Railway Track Allocation: Models and Methods

DEFF Research Database (Denmark)

Lusby, Richard Martin; Larsen, Jesper; Ehrgott, Matthias

2011-01-01

Efficiently coordinating the movement of trains on a railway network is a central part of the planning process for a railway company. This paper reviews models and methods that have been proposed in the literature to assist planners in finding train routes. Since the problem of routing trains......, and train routing problems, group them by railway network type, and discuss track allocation from a strategic, tactical, and operational level....... on a railway network entails allocating the track capacity of the network (or part thereof) over time in a conflict-free manner, all studies that model railway track allocation in some capacity are considered relevant. We hence survey work on the train timetabling, train dispatching, train platforming...

Railway Track Allocation: Models and Methods

DEFF Research Database (Denmark)

Lusby, Richard Martin; Larsen, Jesper; Ehrgott, Matthias

Eciently coordinating the movement of trains on a railway network is a central part of the planning process for a railway company. This paper reviews models and methods that have been proposed in the literature to assist planners in nding train routes. Since the problem of routing trains......, and train routing problems, group them by railway network type, and discuss track allocation from a strategic, tactical, and operational level....... on a railway network entails allocating the track capacity of the network (or part thereof) over time in a con ict-free manner, all studies that model railway track allocation in some capacity are considered relevant. We hence survey work on the train timetabling, train dispatching, train platforming...

Integrated development of light armored vehicles based on wargaming simulators

Science.gov (United States)

Palmarini, Marc; Rapanotti, John

2004-08-01

Vehicles are evolving into vehicle networks through improved sensors, computers and communications. Unless carefully planned, these complex systems can result in excessive crew workload and difficulty in optimizing the use of the vehicle. To overcome these problems, a war-gaming simulator is being developed as a common platform to integrate contributions from three different groups. The simulator, OneSAF, is used to integrate simplified models of technology and natural phenomena from scientists and engineers with tactics and doctrine from the military and analyzed in detail by operations analysts. This approach ensures the modelling of processes known to be important regardless of the level of information available about the system. Vehicle survivability can be improved as well with better sensors, computers and countermeasures to detect and avoid or destroy threats. To improve threat detection and reliability, Defensive Aids Suite (DAS) designs are based on three complementary sensor technologies including: acoustics, visible and infrared optics and radar. Both active armour and softkill countermeasures are considered. In a typical scenario, a search radar, providing continuous hemispherical coverage, detects and classifies the threat and cues a tracking radar. Data from the tracking radar is processed and an explosive grenade is launched to destroy or deflect the threat. The angle of attack and velocity from the search radar can be used by the soft-kill system to carry out an infrared search and track or an illuminated range-gated scan for the threat platform. Upon detection, obscuration, countermanoeuvres and counterfire can be used against the threat. The sensor suite is completed by acoustic detection of muzzle blast and shock waves. Automation and networking at the platoon level contribute to improved vehicle survivability. Sensor data fusion is essential in avoiding catastrophic failure of the DAS. The modular DAS components can be used with Light Armoured

Vehicle with inclinable caterpillars

International Nuclear Information System (INIS)

Carra, O.; Delevallee, A.

1991-01-01

Vehicle has a body with propulsion assemblies that drive caterpillar tracks. When a propulsion unit inclines about its articulation axis it is aided by an advance movement of the caterpillar track in the opposite direction of rotation [fr

A Predictive Maintenance Model for Railway Tracks

DEFF Research Database (Denmark)

Li, Rui; Wen, Min; Salling, Kim Bang

2015-01-01

presents a mathematical model based on Mixed Integer Programming (MIP) which is designed to optimize the predictive railway tamping activities for ballasted track for the time horizon up to four years. The objective function is setup to minimize the actual costs for the tamping machine (measured by time......). Five technical and economic aspects are taken into account to schedule tamping: (1) track degradation of the standard deviation of the longitudinal level over time; (2) track geometrical alignment; (3) track quality thresholds based on the train speed limits; (4) the dependency of the track quality...

The forward tracking, an optical model method

CERN Document Server

Benayoun, M

2002-01-01

This Note describes the so-called Forward Tracking, and the underlying optical model, developed in the context of LHCb-Light studies. Starting from Velo tracks, cheated or found by real pattern recognition, the tracks are found in the ST1-3 chambers after the magnet. The main ingredient to the method is a parameterisation of the track in the ST1-3 region, based on the Velo track parameters and an X seed in one ST station. Performance with the LHCb-Minus and LHCb-Light setups is given.

The dynamic behaviour of rail vehicles operating at high speeds for manriding in British coal mines

Energy Technology Data Exchange (ETDEWEB)

Manen, P. van

1984-01-01

The behaviour of trains used at high speeds for transporting men along mine railways is examined using a number of mathematical models. These models predict the responses of different rail vehicles to typical irregularities in the track, and are used to examine the guidance, the ride, and the likelihood of derailment of the main classes of manriding trains used in British coal mines. The outcome of the modelling compares favourably with the results of tests carried out on actual vehicles. The investigation has shown that the safe speed at which trains may operate is ultimately restricted by the condition of the track, but changes in the design of the vehicles can lead to an improved performance. The use of conventional wheelsets, for example, can reduce flange wear significantly and so allow higher speeds to be reached. Guidelines for the design of vehicles intended for high speed use are included in this thesis. (36 refs.)

Vibro-acoustic performance of newly designed tram track structures

Science.gov (United States)

Haladin, Ivo; Lakušić, Stjepan; Ahac, Maja

2017-09-01

Rail vehicles in interaction with a railway structure induce vibrations that are propagating to surrounding structures and cause noise disturbance in the surrounding areas. Since tram tracks in urban areas often share the running surface with road vehicles one of top priorities is to achieve low maintenance and long lasting structure. Research conducted in scope of this paper gives an overview of newly designed tram track structures designated for use on Zagreb tram network and their performance in terms of noise and vibration mitigation. Research has been conducted on a 150 m long test section consisted of three tram track types: standard tram track structure commonly used on tram lines in Zagreb, optimized tram structure for better noise and vibration mitigation and a slab track with double sleepers embedded in a concrete slab, which presents an entirely new approach of tram track construction in Zagreb. Track has been instrumented with acceleration sensors, strain gauges and revision shafts for inspection. Relative deformations give an insight into track structure dynamic load distribution through the exploitation period. Further the paper describes vibro-acoustic measurements conducted at the test site. To evaluate the track performance from the vibro-acoustical standpoint, detailed analysis of track decay rate has been analysed. Opposed to measurement technique using impact hammer for track decay rate measurements, newly developed measuring technique using vehicle pass by vibrations as a source of excitation has been proposed and analysed. Paper gives overview of the method, it’s benefits compared to standard method of track decay rate measurements and method evaluation based on noise measurements of the vehicle pass by.

Effectiveness of a Program Using a Vehicle Tracking System, Incentives, and Disincentives to Reduce the Speeding Behavior of Drivers with ADHD

Science.gov (United States)

Markham, Paula T.; Porter, Bryan E.; Ball, J. D.

2013-01-01

Objective: In this article, the authors investigated the effectiveness of a behavior modification program using global positioning system (GPS) vehicle tracking devices with contingency incentives and disincentives to reduce the speeding behavior of drivers with ADHD. Method: Using an AB multiple-baseline design, six participants drove a 5-mile…

Tensegrity Models and Shape Control of Vehicle Formations

OpenAIRE

Nabet, Benjamin; Leonard, Naomi Ehrich

2009-01-01

Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle system dynamics, where each node in the tensegrity structure maps to a vehicle and each interconnecting strut or cable in the structure maps to a virtual interconnection between vehicles. Our method provides a smooth map from any desired planar formation shape ...

Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments.

Science.gov (United States)

Ouerghi, Safa; Boutteau, Rémi; Savatier, Xavier; Tlili, Fethi

2018-03-22

In this paper, we address the problem of vehicle localization in urban environments. We rely on visual odometry, calculating the incremental motion, to track the position of the vehicle and on place recognition to correct the accumulated drift of visual odometry, whenever a location is recognized. The algorithm used as a place recognition module is SeqSLAM, addressing challenging environments and achieving quite remarkable results. Specifically, we perform the long-term navigation of a vehicle based on the fusion of visual odometry and SeqSLAM. The template library for this latter is created online using navigation information from the visual odometry module. That is, when a location is recognized, the corresponding information is used as an observation of the filter. The fusion is done using the EKF and the UKF, the well-known nonlinear state estimation methods, to assess the superior alternative. The algorithm is evaluated using the KITTI dataset and the results show the reduction of the navigation errors by loop-closure detection. The overall position error of visual odometery with SeqSLAM is 0.22% of the trajectory, which is much smaller than the navigation errors of visual odometery alone 0.45%. In addition, despite the superiority of the UKF in a variety of estimation problems, our results indicate that the UKF performs as efficiently as the EKF at the expense of an additional computational overhead. This leads to the conclusion that the EKF is a better choice for fusing visual odometry and SeqSlam in a long-term navigation context.

Tracks FAQs: What is Modeled Air Data?

Centers for Disease Control (CDC) Podcasts

2011-04-25

In this podcast, CDC Tracking experts discuss modeled air data. Do you have a question for our Tracking experts? Please e-mail questions to trackingsupport@cdc.gov.  Created: 4/25/2011 by National Center for Environmental Health, Division of Environmental Hazards and Health Effects, Environmental Health Tracking Branch.   Date Released: 4/25/2011.

Lithium-Ion Battery Management System: A Lifecycle Evaluation Model for the Use in the Development of Electric Vehicles

Directory of Open Access Journals (Sweden)

Sisodia Ayush

2018-01-01

Full Text Available The use of Lithium-ion batteries in the automobile sector has expanded drastically in the recent years. The foreseen increment of lithium to power electric and hybrid electric vehicles has provoked specialists to analyze the long term credibility of lithium as a transportation asset. To give a better picture of future accessibility, this paper exhibits a life cycle model for the key procedures and materials associated with the electric vehicle lithium-ion battery life cycle, on a worldwide scale. This model tracks the flow of lithium and energy sources from extraction, to generation, to on road utilization, and the role of reusing and scrapping. This life cycle evaluation model is the initial phase in building up an examination model for the lithium ion battery production that would enable the policymakers to survey the future importance of lithium battery recycling, and when in time setting up a reusing foundation be made necessary.

Effect of suspension kinematic on 14 DOF vehicle model

Science.gov (United States)

Wongpattananukul, T.; Chantharasenawong, C.

2017-12-01

Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

Modelling of an advanced charging system for electric vehicles

Science.gov (United States)

Hassan Jaafar, Abdul; Rahman, Ataur; Mohiuddin, A. K. M.; Rashid, Mahbubur

2017-03-01

Climate Change is recognized as one of the greatest environmental problem facing the World today and it has long been appreciated by governments that reducing the impact of the internal combustion (IC) engine powered motor vehicle has an important part to play in addressing this threat. In Malaysia, IC engine powered motor vehicle accounts almost 90% of the national greenhouse gas (GHG) emissions. The need to reduce the emission is paramount, as Malaysia has pledged to reduce 40% of CO2 intensity by 2020 from 2005 level by 25% of improvement in average fuel consumption. The introduction of electric vehicles (EVs) is one of the initiatives. However in terms of percentage, the electric vehicles have not been commonly used by people nowadays and one of the reasons is lack in charging infrastructure especially when cars are on the road. The aim of this study is to simulate and model an advanced charging system for the charging infrastructure of EVs/HEVs all over the nation with slow charging mode with charging current 25 A, medium charging mode with charging current 50 A and fast charging mode with charging current 100 A. The slow charging mode is proposed for residence, medium charging mode for office parking lots, and fast charging mode is called fast charging track for charging station on road. With three modes charger topology, consumers could choose a suitable mode for their car based on their need. The simulation and experiment of advanced charging system has been conducted on a scale down battery pack of nominal voltage of 3.75 V and capacity of 1020 mAh. Result shows that the battery could be charging less than 1 hour with fast charging mode. However, due to limitation of Tenaga Nasional Berhad (TNB) power grid, the maximum 50 A current is considered to be the optimized passive mode for the EV’s battery charging system. The developed advanced charger prototype performance has been compared with the simulation result and conventional charger performance, the

Vehicle System Management Modeling in UML for Ares I

Science.gov (United States)

Pearson, Newton W.; Biehn, Bradley A.; Curry, Tristan D.; Martinez, Mario R.

2011-01-01

The Spacecraft & Vehicle Systems Department of Marshall Space Flight Center is responsible for modeling the Vehicle System Management for the Ares I vehicle which was a part of the now canceled Constellation Program. An approach to generating the requirements for the Vehicle System Management was to use the Unified Modeling Language technique to build and test a model that would fulfill the Vehicle System Management requirements. UML has been used on past projects (flight software) in the design phase of the effort but this was the first attempt to use the UML technique from a top down requirements perspective.

HCP track calculations in Lif:Mg,Ti: 3D modeling of the ''track – escape'' parameter

International Nuclear Information System (INIS)

Sattinger, D.; Sharon, A.; Horowitz, Y.S.

2011-01-01

The conceptual framework of the track interaction model (TIM) was conceived in the 1970s and mathematically formulated in the 1980s to describe heavy charged particle TL fluence response supralinearity. The extended track interaction model (ETIM) was developed to include saturation effects due to overlapping tracks and has been applied to both proton and alpha particle TL fluence response. One of the parameters of major importance in the TIM is the ''track – escape'' parameter, defined by N e /N w , where N e represents the number of electrons which escape the parent track during heating, and N w is the number of electrons which recombine within the parent track to produce a TL photon. Recently a first attempt was carried out to theoretically model escape parameters calculated in 2D geometry as a function of particle type and energy using trapping center (TC), luminescent center (LC) and competitive center (CC) occupation probabilities calculated from track segment radial dose distributions and optical absorption (OA) dose response. In this study, the calculations are extended to 3D geometry using a Monte Carlo approach which samples the point of creation of the charge carriers according to the TC occupation probabilities and then estimates N w by sampling the chord length to the track exterior. Charge carriers which escape the irradiated track volume contribute to N e . This more sophisticated 3D calculation of N e /N w is expected to increase the reliability of the modeling of heavy charged particle TL fluence response in the framework of the ETIM and enhance our understanding of “track effects” in Heavy Charged Particle (HCP) induced TL.

Tracking of nuclear shipments with automatic vehicle location systems

International Nuclear Information System (INIS)

Colhoun, C.J.K.

1989-01-01

A complete Automatic Vehicle Location System (AVL) consists of three main elements: (1) the location sensor in the vehicle, this device constantly determines the coordinates of the vehicles position; (2) the radio link between vehicle and central base; (3) the data processing and display in the central base. For all three elements there are several solutions. The optimal combination of the different techniques depends on the requirements of the special application

Representation of Northern Hemisphere winter storm tracks in climate models

Energy Technology Data Exchange (ETDEWEB)

Greeves, C.Z.; Pope, V.D.; Stratton, R.A.; Martin, G.M. [Met Office Hadley Centre for Climate Prediction and Research, Exeter (United Kingdom)

2007-06-15

Northern Hemisphere winter storm tracks are a key element of the winter weather and climate at mid-latitudes. Before projections of climate change are made for these regions, it is necessary to be sure that climate models are able to reproduce the main features of observed storm tracks. The simulated storm tracks are assessed for a variety of Hadley Centre models and are shown to be well modelled on the whole. The atmosphere-only model with the semi-Lagrangian dynamical core produces generally more realistic storm tracks than the model with the Eulerian dynamical core, provided the horizontal resolution is high enough. The two models respond in different ways to changes in horizontal resolution: the model with the semi-Lagrangian dynamical core has much reduced frequency and strength of cyclonic features at lower resolution due to reduced transient eddy kinetic energy. The model with Eulerian dynamical core displays much smaller changes in frequency and strength of features with changes in horizontal resolution, but the location of the storm tracks as well as secondary development are sensitive to resolution. Coupling the atmosphere-only model (with semi-Lagrangian dynamical core) to an ocean model seems to affect the storm tracks largely via errors in the tropical representation. For instance a cold SST bias in the Pacific and a lack of ENSO variability lead to large changes in the Pacific storm track. Extratropical SST biases appear to have a more localised effect on the storm tracks. (orig.)

Modeling Ballasted Tracks for Runoff Coefficient C

Science.gov (United States)

2012-08-01

In this study, the Regional Transportation District (RTD)s light rail tracks were modeled to determine the Rational Method : runoff coefficient, C, values corresponding to ballasted tracks. To accomplish this, a laboratory study utilizing a : rain...

Empty tracks optimization based on Z-Map model

Science.gov (United States)

Liu, Le; Yan, Guangrong; Wang, Zaijun; Zang, Genao

2017-12-01

For parts with many features, there are more empty tracks during machining. If these tracks are not optimized, the machining efficiency will be seriously affected. In this paper, the characteristics of the empty tracks are studied in detail. Combining with the existing optimization algorithm, a new tracks optimization method based on Z-Map model is proposed. In this method, the tool tracks are divided into the unit processing section, and then the Z-Map model simulation technique is used to analyze the order constraint between the unit segments. The empty stroke optimization problem is transformed into the TSP with sequential constraints, and then through the genetic algorithm solves the established TSP problem. This kind of optimization method can not only optimize the simple structural parts, but also optimize the complex structural parts, so as to effectively plan the empty tracks and greatly improve the processing efficiency.

Power-based electric vehicle energy consumption model: Model development and validation

International Nuclear Information System (INIS)

Fiori, Chiara; Ahn, Kyoungho; Rakha, Hesham A.

2016-01-01

Highlights: • The study developed an instantaneous energy consumption model (VT-CPEM) for EVs. • The model captures instantaneous braking energy regeneration. • The model can be used for transportation modeling and vehicle applications (e.g. eco-routing). • The proposed model can be easily calibrated using publically available EV data. • Usages of air conditioning and heating systems reduce EV energy consumption by up to 10% and 24%, respectively. - Abstract: The limited drive range (The maximum distance that an EV can travel.) of Electric Vehicles (EVs) is one of the major challenges that EV manufacturers are attempting to overcome. To this end, a simple, accurate, and efficient energy consumption model is needed to develop real-time eco-driving and eco-routing systems that can enhance the energy efficiency of EVs and thus extend their travel range. Although numerous publications have focused on the modeling of EV energy consumption levels, these studies are limited to measuring energy consumption of an EV’s control algorithm, macro-project evaluations, or simplified well-to-wheels analyses. Consequently, this paper addresses this need by developing a simple EV energy model that computes an EV’s instantaneous energy consumption using second-by-second vehicle speed, acceleration and roadway grade data as input variables. In doing so, the model estimates the instantaneous braking energy regeneration. The proposed model can be easily implemented in the following applications: in-vehicle, Smartphone eco-driving, eco-routing and transportation simulation software to quantify the network-wide energy consumption levels for a fleet of EVs. One of the main advantages of EVs is their ability to recover energy while braking using a regenerative braking system. State-of-the-art vehicle energy consumption models consider an average constant regenerative braking energy efficiency or regenerative braking factors that are mainly dependent on the vehicle’s average

Improving the Energy Management of a Solar Electric Vehicle

Directory of Open Access Journals (Sweden)

GUNESER, M. T.

2015-11-01

Full Text Available A solar electric vehicle (SEV is an electric vehicle (EV with onboard photovoltaic cells charging a set of batteries for extended driving range. This study aimed to improve the energy management system of a SEV, called YILDIZ, using a fuzzy logic control system (FLC. A MATLAB based simulation model of three basic components of a solar car: solar cell modules, batteries and motor drive system was performed. An original FLC was developed. For proving its applicability, the performances of the SEV were tested by simulation, in accordance with the standard test drive cycle ECE-15. The characteristics obtained with the original Proportional Integral Fuzzy Logic Control (PI-FLC were compared with those obtained with a classical Proportional Integral (PI controller. Using the designed model, we calculated the range of YILDIZ with and without PV feeding which gave us an opportunity to study and compare both SEV and EV models on real race-track situation. Then the optimum speed, at any time, which enabled the vehicle to reach a chosen destination as quickly as possible, while fully using the available energy, was calculated. Proposed solutions tested on YILDIZ. Results of simulations were compared with YILDIZ run on the Formula-G race track in Izmit, Turkey.

Modeling and Inverse Controller Design for an Unmanned Aerial Vehicle Based on the Self-Organizing Map

Science.gov (United States)

Cho, Jeongho; Principe, Jose C.; Erdogmus, Deniz; Motter, Mark A.

2005-01-01

The next generation of aircraft will have dynamics that vary considerably over the operating regime. A single controller will have difficulty to meet the design specifications. In this paper, a SOM-based local linear modeling scheme of an unmanned aerial vehicle (UAV) is developed to design a set of inverse controllers. The SOM selects the operating regime depending only on the embedded output space information and avoids normalization of the input data. Each local linear model is associated with a linear controller, which is easy to design. Switching of the controllers is done synchronously with the active local linear model that tracks the different operating conditions. The proposed multiple modeling and control strategy has been successfully tested in a simulator that models the LoFLYTE UAV.

Space Vehicle Reliability Modeling in DIORAMA

Energy Technology Data Exchange (ETDEWEB)

Tornga, Shawn Robert [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2016-07-12

When modeling system performance of space based detection systems it is important to consider spacecraft reliability. As space vehicles age the components become prone to failure for a variety of reasons such as radiation damage. Additionally, some vehicles may lose the ability to maneuver once they exhaust fuel supplies. Typically failure is divided into two categories: engineering mistakes and technology surprise. This document will report on a method of simulating space vehicle reliability in the DIORAMA framework.

Simulation of hybrid vehicle propulsion with an advanced battery model

Energy Technology Data Exchange (ETDEWEB)

Nallabolu, S.; Kostetzer, L.; Rudnyi, E. [CADFEM GmbH, Grafing (Germany); Geppert, M.; Quinger, D. [LION Smart GmbH, Frieding (Germany)

2011-07-01

In the recent years there has been observed an increasing concern about global warming and greenhouse gas emissions. In addition to the environmental issues the predicted scarcity of oil supplies and the dramatic increase in oil price puts new demands on vehicle design. As a result energy efficiency and reduced emission have become one of main selling point for automobiles. Hybrid electric vehicles (HEV) have therefore become an interesting technology for the governments and automotive industries. HEV are more complicated compared to conventional vehicles due to the fact that these vehicles contain more electrical components such as electric machines, power electronics, electronic continuously variable transmissions (CVT), and embedded powertrain controllers. Advanced energy storage devices and energy converters, such as Li-ion batteries, ultracapacitors, and fuel cells are also considered. A detailed vehicle model used for an energy flow analysis and vehicle performance simulation is necessary. Computer simulation is indispensible to facilitate the examination of the vast hybrid electric vehicle design space with the aim to predict the vehicle performance over driving profiles, estimate fuel consumption and the pollution emissions. There are various types of mathematical models and simulators available to perform system simulation of vehicle propulsion. One of the standard methods to model the complete vehicle powertrain is ''backward quasistatic modeling''. In this method vehicle subsystems are defined based on experiential models in the form of look-up tables and efficiency maps. The interaction between adjacent subsystems of the vehicle is defined through the amount of power flow. Modeling the vehicle subsystems like motor, engine, gearbox and battery is under this technique is based on block diagrams. The vehicle model is applied in two case studies to evaluate the vehicle performance and fuel consumption. In the first case study the affect

Development and applications of GREET 2.7 -- The Transportation Vehicle-Cycle Model

International Nuclear Information System (INIS)

Burnham, A.; Wang, M. Q.; Wu, Y.

2006-01-01

Argonne National Laboratory has developed a vehicle-cycle module for the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model. The fuel-cycle GREET model has been cited extensively and contains data on fuel cycles and vehicle operations. The vehicle-cycle model evaluates the energy and emission effects associated with vehicle material recovery and production, vehicle component fabrication, vehicle assembly, and vehicle disposal/recycling. With the addition of the vehicle-cycle module, the GREET model now provides a comprehensive, lifecycle-based approach to compare the energy use and emissions of conventional and advanced vehicle technologies (e.g., hybrid electric vehicles and fuel cell vehicles). This report details the development and application of the GREET 2.7 model. The current model includes six vehicles--a conventional material and a lightweight material version of a mid-size passenger car with the following powertrain systems: internal combustion engine, internal combustion engine with hybrid configuration, and fuel cell with hybrid configuration. The model calculates the energy use and emissions that are required for vehicle component production; battery production; fluid production and use; and vehicle assembly, disposal, and recycling. This report also presents vehicle-cycle modeling results. In order to put these results in a broad perspective, the fuel-cycle model (GREET 1.7) was used in conjunction with the vehicle-cycle model (GREET 2.7) to estimate total energy-cycle results

Development and applications of GREET 2.7 -- The Transportation Vehicle-CycleModel.

Energy Technology Data Exchange (ETDEWEB)

Burnham, A.; Wang, M. Q.; Wu, Y.

2006-12-20

Argonne National Laboratory has developed a vehicle-cycle module for the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model. The fuel-cycle GREET model has been cited extensively and contains data on fuel cycles and vehicle operations. The vehicle-cycle model evaluates the energy and emission effects associated with vehicle material recovery and production, vehicle component fabrication, vehicle assembly, and vehicle disposal/recycling. With the addition of the vehicle-cycle module, the GREET model now provides a comprehensive, lifecycle-based approach to compare the energy use and emissions of conventional and advanced vehicle technologies (e.g., hybrid electric vehicles and fuel cell vehicles). This report details the development and application of the GREET 2.7 model. The current model includes six vehicles--a conventional material and a lightweight material version of a mid-size passenger car with the following powertrain systems: internal combustion engine, internal combustion engine with hybrid configuration, and fuel cell with hybrid configuration. The model calculates the energy use and emissions that are required for vehicle component production; battery production; fluid production and use; and vehicle assembly, disposal, and recycling. This report also presents vehicle-cycle modeling results. In order to put these results in a broad perspective, the fuel-cycle model (GREET 1.7) was used in conjunction with the vehicle-cycle model (GREET 2.7) to estimate total energy-cycle results.

Incorporating vehicle mix in stimulus-response car-following models

Directory of Open Access Journals (Sweden)

Saidi Siuhi

2016-06-01

Full Text Available The objective of this paper is to incorporate vehicle mix in stimulus-response car-following models. Separate models were estimated for acceleration and deceleration responses to account for vehicle mix via both movement state and vehicle type. For each model, three sub-models were developed for different pairs of following vehicles including “automobile following automobile,” “automobile following truck,” and “truck following automobile.” The estimated model parameters were then validated against other data from a similar region and roadway. The results indicated that drivers' behaviors were significantly different among the different pairs of following vehicles. Also the magnitude of the estimated parameters depends on the type of vehicle being driven and/or followed. These results demonstrated the need to use separate models depending on movement state and vehicle type. The differences in parameter estimates confirmed in this paper highlight traffic safety and operational issues of mixed traffic operation on a single lane. The findings of this paper can assist transportation professionals to improve traffic simulation models used to evaluate the impact of different strategies on ameliorate safety and performance of highways. In addition, driver response time lag estimates can be used in roadway design to calculate important design parameters such as stopping sight distance on horizontal and vertical curves for both automobiles and trucks.

Occupant-vehicle dynamics and the role of the internal model

Science.gov (United States)

Cole, David J.

2018-05-01

With the increasing need to reduce time and cost of vehicle development there is increasing advantage in simulating mathematically the dynamic interaction of a vehicle and its occupant. The larger design space arising from the introduction of automated vehicles further increases the potential advantage. The aim of the paper is to outline the role of the internal model hypothesis in understanding and modelling occupant-vehicle dynamics, specifically the dynamics associated with direction and speed control of the vehicle. The internal model is the driver's or passenger's understanding of the vehicle dynamics and is thought to be employed in the perception, cognition and action processes of the brain. The internal model aids the estimation of the states of the vehicle from noisy sensory measurements. It can also be used to optimise cognitive control action by predicting the consequence of the action; thus model predictive control (MPC) theory provides a foundation for modelling the cognition process. The stretch reflex of the neuromuscular system also makes use of the prediction of the internal model. Extensions to the MPC approach are described which account for: interaction with an automated vehicle; robust control; intermittent control; and cognitive workload. Further work to extend understanding of occupant-vehicle dynamic interaction is outlined. This paper is based on a keynote presentation given by the author to the 13th International Symposium on Advanced Vehicle Control (AVEC) conference held in Munich, September 2016.

The adaptive cruise control vehicles in the cellular automata model

International Nuclear Information System (INIS)

Jiang Rui; Wu Qingsong

2006-01-01

This Letter presented a cellular automata model where the adaptive cruise control vehicles are modelled. In this model, the constant time headway policy is adopted. The fundamental diagram is presented. The simulation results are in good agreement with the analytical ones. The mixture of ACC vehicles with manually driven vehicles is investigated. It is shown that with the introduction of ACC vehicles, the jam can be suppressed

Development of Vehicle Model Test for Road Loading Analysis of Sedan Model

Science.gov (United States)

Mohd Nor, M. K.; Noordin, A.; Ruzali, M. F. S.; Hussen, M. H.

2016-11-01

Simple Structural Surfaces (SSS) method is offered as a means of organizing the process for rationalizing the basic vehicle body structure load paths. The application of this simplified approach is highly beneficial in the design development of modern passenger car structure especially during the conceptual stage. In Malaysia, however, there is no real physical model of SSS available to gain considerable insight and understanding into the function of each major subassembly in the whole vehicle structures. Based on this motivation, a physical model of SSS for sedan model with the corresponding model vehicle tests of bending and torsion is proposed in this work. The proposed approach is relatively easy to understand as compared to Finite Element Method (FEM). The results show that the proposed vehicle model test is capable to show that satisfactory load paths can give a sufficient structural stiffness within the vehicle structure. It is clearly observed that the global bending stiffness reduce significantly when more panels are removed from a complete SSS model. It is identified that parcel shelf is an important subassembly to sustain bending load. The results also match with the theoretical hypothesis, as the stiffness of the structure in an open section condition is shown weak when subjected to torsion load compared to bending load. The proposed approach can potentially be integrated with FEM to speed up the design process of automotive vehicle.

Models and Algorithms for Tracking Target with Coordinated Turn Motion

Directory of Open Access Journals (Sweden)

Xianghui Yuan

2014-01-01

Full Text Available Tracking target with coordinated turn (CT motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT model with known turn rate, augmented coordinated turn (ACT model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM framework, the algorithm based on expectation maximization (EM algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM algorithm, the EM algorithm shows its effectiveness.

Modeling and Analysis of an Air-Breathing Flexible Hypersonic Vehicle

Directory of Open Access Journals (Sweden)

Xi-bin Zhang

2014-01-01

Full Text Available By using light-weighted material in hypersonic vehicle, the vehicle body can be easily deformed. The mutual couplings in aerodynamics, flexible structure, and propulsion system will bring great challenges for vehicle modeling. In this work, engineering estimated method is used to calculate the aerodynamic forces, moments, and flexible modes to get the physics-based model of an air-breathing flexible hypersonic vehicle. The model, which contains flexible effects and viscous effects, can capture the physical characteristics of high-speed flight. To overcome the analytical intractability of the model, a simplified control-oriented model of the hypersonic vehicle is presented with curve fitting approximations. The control-oriented model can not only reduce the complexity of the model, but also retain aero-flexible structure-propulsion interactions of the physics-based model and can be applied for nonlinear control.

Model Predictive Control for Connected Hybrid Electric Vehicles

Directory of Open Access Journals (Sweden)

Kaijiang Yu

2015-01-01

Full Text Available This paper presents a new model predictive control system for connected hybrid electric vehicles to improve fuel economy. The new features of this study are as follows. First, the battery charge and discharge profile and the driving velocity profile are simultaneously optimized. One is energy management for HEV for Pbatt; the other is for the energy consumption minimizing problem of acc control of two vehicles. Second, a system for connected hybrid electric vehicles has been developed considering varying drag coefficients and the road gradients. Third, the fuel model of a typical hybrid electric vehicle is developed using the maps of the engine efficiency characteristics. Fourth, simulations and analysis (under different parameters, i.e., road conditions, vehicle state of charge, etc. are conducted to verify the effectiveness of the method to achieve higher fuel efficiency. The model predictive control problem is solved using numerical computation method: continuation and generalized minimum residual method. Computer simulation results reveal improvements in fuel economy using the proposed control method.

The Apache Longbow-Hellfire Missile Test at Yuma Proving Ground: Ecological Risk Assessment for Tracked Vehicle Movement across Desert Pavement

International Nuclear Information System (INIS)

Peterson, Mark J; Efroymson, Rebecca Ann; Hargrove, William Walter

2008-01-01

A multiple stressor risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework. The focus was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, M60-A1 tanks. This paper describes the ecological risk assessment for the tracked vehicle movement component of the testing program. The principal stressor associated with tracked vehicle movement was soil disturbance, and a resulting, secondary stressor was hydrological change. Water loss to washes and wash vegetation was expected to result from increased infiltration and/or evaporation associated with disturbances to desert pavement. The simulated exposure of wash vegetation to water loss was quantified using estimates of exposed land area from a digital ortho quarter quad aerial photo and field observations, a 30 30 m digital elevation model, the flow accumulation feature of ESRI ArcInfo, and a two-step process in which runoff was estimated from direct precipitation to a land area and from water that flowed from upgradient to a land area. In all simulated scenarios, absolute water loss decreased with distance from the disturbance, downgradient in the washes; however, percentage water loss was greatest in land areas immediately downgradient of a disturbance. Potential effects on growth and survival of wash trees were quantified by using an empirical relationship derived from a local unpublished study of water infiltration rates. The risk characterization concluded that neither risk to wash vegetation growth or survival nor risk to mule deer abundance and reproduction was expected. The risk characterization was negative for both the incremental risk of the test program and the combination of the test and pretest disturbances

Modern techniques for condition monitoring of railway vehicle dynamics

International Nuclear Information System (INIS)

Ngigi, R W; Pislaru, C; Ball, A; Gu, F

2012-01-01

A modern railway system relies on sophisticated monitoring systems for maintenance and renewal activities. Some of the existing conditions monitoring techniques perform fault detection using advanced filtering, system identification and signal analysis methods. These theoretical approaches do not require complex mathematical models of the system and can overcome potential difficulties associated with nonlinearities and parameter variations in the system. Practical applications of condition monitoring tools use sensors which are mounted either on the track or rolling stock. For instance, monitoring wheelset dynamics could be done through the use of track-mounted sensors, while vehicle-based sensors are preferred for monitoring the train infrastructure. This paper attempts to collate and critically appraise the modern techniques used for condition monitoring of railway vehicle dynamics by analysing the advantages and shortcomings of these methods.

State-of-the-art assessment of electric vehicles and hybrid vehicles

Science.gov (United States)

1977-01-01

The Electric and Hybrid Vehicle Research, Development, and Demonstration Act of 1976 (PL 94-413) requires that data be developed to characterize the state of the art of vehicles powered by an electric motor and those propelled by a combination of an electric motor and an internal combustion engine or other power sources. Data obtained from controlled tests of a representative number of sample vehicles, from information supplied by manufacturers or contained in the literature, and from surveys of fleet operators of individual owners of electric vehicles is discussed. The results of track and dynamometer tests conducted by NASA on 22 electric, 2 hybrid, and 5 conventional vehicles, as well as on 5 spark-ignition-engine-powered vehicles, the conventional counterparts of 5 of the vehicles, are presented.

Group Targets Tracking Using Multiple Models GGIW-CPHD Based on Best-Fitting Gaussian Approximation and Strong Tracking Filter

Directory of Open Access Journals (Sweden)

Yun Wang

2016-01-01

Full Text Available Gamma Gaussian inverse Wishart cardinalized probability hypothesis density (GGIW-CPHD algorithm was always used to track group targets in the presence of cluttered measurements and missing detections. A multiple models GGIW-CPHD algorithm based on best-fitting Gaussian approximation method (BFG and strong tracking filter (STF is proposed aiming at the defect that the tracking error of GGIW-CPHD algorithm will increase when the group targets are maneuvering. The best-fitting Gaussian approximation method is proposed to implement the fusion of multiple models using the strong tracking filter to correct the predicted covariance matrix of the GGIW component. The corresponding likelihood functions are deduced to update the probability of multiple tracking models. From the simulation results we can see that the proposed tracking algorithm MM-GGIW-CPHD can effectively deal with the combination/spawning of groups and the tracking error of group targets in the maneuvering stage is decreased.

Modeling of Combined Phenomena Affecting an AUV Stealth Vehicle

Directory of Open Access Journals (Sweden)

Miroslaw Gerigk

2016-12-01

Full Text Available In the paper some results of research connected with modeling the basic stealth characteristics of an AUV vehicle are presented. First of all a general approach to design of the stealth AUV autonomous underwater vehicles under consideration is introduced. Then the AUV stealth vehicle concept is briefly described. Next a method of modeling of the stealth characteristics is briefly described. As an example of the stealth characteristics investigations some results of modeling the boundary layer and wake are presented. Some remarks regarding the behavior of the AUV stealth vehicle in the submerged conditions are given. The final conclusions are presented.

Amorphous track models: a numerical comparison study

DEFF Research Database (Denmark)

Greilich, Steffen; Grzanka, Leszek; Hahn, Ute

in carbon ion treatment at the particle facility HIT in Heidelberg. Apparent differences between the LEM and the Katz model are the way how interactions of individual particle tracks and how extended targets are handled. Complex scenarios, however, can mask the actual effect of these differences. Here, we......Amorphous track models such as Katz' Ion-Gamma-Kill (IGK) approach [1, 2] or the Local Effect Model (LEM) [3, 4] had reasonable success in predicting the response of solid state dosimeters and radiobiological systems. LEM is currently applied in radiotherapy for biological dose optimization...

Tracking a convoy of multiple targets using acoustic sensor data

Science.gov (United States)

Damarla, T. R.

2003-08-01

In this paper we present an algorithm to track a convoy of several targets in a scene using acoustic sensor array data. The tracking algorithm is based on template of the direction of arrival (DOA) angles for the leading target. Often the first target is the closest target to the sensor array and hence the loudest with good signal to noise ratio. Several steps were used to generate a template of the DOA angle for the leading target, namely, (a) the angle at the present instant should be close to the angle at the previous instant and (b) the angle at the present instant should be within error bounds of the predicted value based on the previous values. Once the template of the DOA angles of the leading target is developed, it is used to predict the DOA angle tracks of the remaining targets. In order to generate the tracks for the remaining targets, a track is established if the angles correspond to the initial track values of the first target. Second the time delay between the first track and the remaining tracks are estimated at the highest correlation points between the first track and the remaining tracks. As the vehicles move at different speeds the tracks either compress or expand depending on whether a target is moving fast or slow compared to the first target. The expansion and compression ratios are estimated and used to estimate the predicted DOA angle values of the remaining targets. Based on these predicted DOA angles of the remaining targets the DOA angles obtained from the MVDR or Incoherent MUSIC will be appropriately assigned to proper tracks. Several other rules were developed to avoid mixing the tracks. The algorithm is tested on data collected at Aberdeen Proving Ground with a convoy of 3, 4 and 5 vehicles. Some of the vehicles are tracked and some are wheeled vehicles. The tracking algorithm results are found to be good. The results will be presented at the conference and in the paper.

49 CFR 214.523 - Hi-rail vehicles.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Hi-rail vehicles. 214.523 Section 214.523..., DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.523 Hi-rail vehicles. (a) The hi-rail gear of all hi-rail vehicles shall be inspected for...

Model Design on Emergency Power Supply of Electric Vehicle

Directory of Open Access Journals (Sweden)

Yuanliang Zhao

2017-01-01

Full Text Available According to the mobile storage characteristic of electric vehicles, an emergency power supply model about the electric vehicles is presented through analyzing its storage characteristic. The model can ensure important consumer loss minimization during power failure or emergency and can make electric vehicles cost minimization about running, scheduling, and vindicating. In view of the random dispersion feature in one area, an emergency power supply scheme using the electric vehicles is designed based on the K-means algorithm. The purpose is to improve the electric vehicles initiative gathering ability and reduce the electric vehicles gathering time. The study can reduce the number of other emergency power supply equipment and improve the urban electricity reliability.

Soft Sensor of Vehicle State Estimation Based on the Kernel Principal Component and Improved Neural Network

Directory of Open Access Journals (Sweden)

Haorui Liu

2016-01-01

Full Text Available In the car control systems, it is hard to measure some key vehicle states directly and accurately when running on the road and the cost of the measurement is high as well. To address these problems, a vehicle state estimation method based on the kernel principal component analysis and the improved Elman neural network is proposed. Combining with nonlinear vehicle model of three degrees of freedom (3 DOF, longitudinal, lateral, and yaw motion, this paper applies the method to the soft sensor of the vehicle states. The simulation results of the double lane change tested by Matlab/SIMULINK cosimulation prove the KPCA-IENN algorithm (kernel principal component algorithm and improved Elman neural network to be quick and precise when tracking the vehicle states within the nonlinear area. This algorithm method can meet the software performance requirements of the vehicle states estimation in precision, tracking speed, noise suppression, and other aspects.

Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

Directory of Open Access Journals (Sweden)

Qin Zou

2015-01-01

Full Text Available The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

High-order tracking differentiator based adaptive neural control of a flexible air-breathing hypersonic vehicle subject to actuators constraints.

Science.gov (United States)

Bu, Xiangwei; Wu, Xiaoyan; Tian, Mingyan; Huang, Jiaqi; Zhang, Rui; Ma, Zhen

2015-09-01

In this paper, an adaptive neural controller is exploited for a constrained flexible air-breathing hypersonic vehicle (FAHV) based on high-order tracking differentiator (HTD). By utilizing functional decomposition methodology, the dynamic model is reasonably decomposed into the respective velocity subsystem and altitude subsystem. For the velocity subsystem, a dynamic inversion based neural controller is constructed. By introducing the HTD to adaptively estimate the newly defined states generated in the process of model transformation, a novel neural based altitude controller that is quite simpler than the ones derived from back-stepping is addressed based on the normal output-feedback form instead of the strict-feedback formulation. Based on minimal-learning parameter scheme, only two neural networks with two adaptive parameters are needed for neural approximation. Especially, a novel auxiliary system is explored to deal with the problem of control inputs constraints. Finally, simulation results are presented to test the effectiveness of the proposed control strategy in the presence of system uncertainties and actuators constraints. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Cell survival in carbon beams - comparison of amorphous track model predictions

DEFF Research Database (Denmark)

Grzanka, L.; Greilich, S.; Korcyl, M.

Introduction: Predictions of the radiobiological effectiveness (RBE) play an essential role in treatment planning with heavy charged particles. Amorphous track models ( [1] , [2] , also referred to as track structure models) provide currently the most suitable description of cell survival under i....... Amorphous track modelling of luminescence detector efficiency in proton and carbon beams. 4.Tsuruoka C, Suzuki M, Kanai T, et al. LET and ion species dependence for cell killing in normal human skin fibroblasts. Radiat Res. 2005;163:494-500.......Introduction: Predictions of the radiobiological effectiveness (RBE) play an essential role in treatment planning with heavy charged particles. Amorphous track models ( [1] , [2] , also referred to as track structure models) provide currently the most suitable description of cell survival under ion....... [2] . In addition, a new approach based on microdosimetric distributions is presented and investigated [3] . Material and methods: A suitable software library embrasing the mentioned amorphous track models including numerous submodels with respect to delta-electron range models, radial dose...

Enhanced index tracking modelling in portfolio optimization

Science.gov (United States)

Lam, W. S.; Hj. Jaaman, Saiful Hafizah; Ismail, Hamizun bin

2013-09-01

Enhanced index tracking is a popular form of passive fund management in stock market. It is a dual-objective optimization problem, a trade-off between maximizing the mean return and minimizing the risk. Enhanced index tracking aims to generate excess return over the return achieved by the index without purchasing all of the stocks that make up the index by establishing an optimal portfolio. The objective of this study is to determine the optimal portfolio composition and performance by using weighted model in enhanced index tracking. Weighted model focuses on the trade-off between the excess return and the risk. The results of this study show that the optimal portfolio for the weighted model is able to outperform the Malaysia market index which is Kuala Lumpur Composite Index because of higher mean return and lower risk without purchasing all the stocks in the market index.

Modelling and Simulation of Cooperative Control for Bus Rapid Transit Vehicle Platoon in a Connected Vehicle Environment

Directory of Open Access Journals (Sweden)

Jiahui Liu

2017-02-01

Full Text Available The aim of this paper is to develop a cooperative control model for improving the operational efficiency of Bus Rapid Transit (BRT vehicles. The model takes advantage of the emerging connected vehicle technology. A connected vehicle centre is established to assign a specific reservation time interval and transmit the corresponding dynamic speed guidance to each BRT vehicle. Furthermore, a set of constraints have been set up to avoid bus queuing and waiting phenomena in downstream BRT stations. Therefore, many BRT vehicles are strategically guided to form a platoon, which can pass through an intersection with no impedance. An actual signalized intersection along the Guangzhou BRT corridor is employed to verify and assess the cooperative control model in various traffic conditions. The simulation-based evaluation results demonstrate that the proposed approach can reduce delays, decrease the number of stops, and improve the sustainability of the BRT vehicles.

Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

Directory of Open Access Journals (Sweden)

Yu Peng

2012-09-01

Full Text Available Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.

Melody Track Selection Using Discriminative Language Model

Science.gov (United States)

Wu, Xiao; Li, Ming; Suo, Hongbin; Yan, Yonghong

In this letter we focus on the task of selecting the melody track from a polyphonic MIDI file. Based on the intuition that music and language are similar in many aspects, we solve the selection problem by introducing an n-gram language model to learn the melody co-occurrence patterns in a statistical manner and determine the melodic degree of a given MIDI track. Furthermore, we propose the idea of using background model and posterior probability criteria to make modeling more discriminative. In the evaluation, the achieved 81.6% correct rate indicates the feasibility of our approach.

Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

National Research Council Canada - National Science Library

Van Reet, Alan R

2005-01-01

In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

Pneumatic vehicle. Research and design

Directory of Open Access Journals (Sweden)

Lokodi Zsolt

2011-12-01

Full Text Available This experimental vehicle was designed for an international competition organized by Bosch Rexroth yearly in Hungary. The purpose of this competition is to design, build and race vehicles with a fuel source of compressed gas. The race consists of multiple events: longest run distance, the smartness track and the best acceleration event. These events test to the limit the capabilities of the designed vehicles.

ADOPT: A Historically Validated Light Duty Vehicle Consumer Choice Model

Energy Technology Data Exchange (ETDEWEB)

Brooker, A.; Gonder, J.; Lopp, S.; Ward, J.

2015-05-04

The Automotive Deployment Option Projection Tool (ADOPT) is a light-duty vehicle consumer choice and stock model supported by the U.S. Department of Energy’s Vehicle Technologies Office. It estimates technology improvement impacts on U.S. light-duty vehicles sales, petroleum use, and greenhouse gas emissions. ADOPT uses techniques from the multinomial logit method and the mixed logit method estimate sales. Specifically, it estimates sales based on the weighted value of key attributes including vehicle price, fuel cost, acceleration, range and usable volume. The average importance of several attributes changes nonlinearly across its range and changes with income. For several attributes, a distribution of importance around the average value is used to represent consumer heterogeneity. The majority of existing vehicle makes, models, and trims are included to fully represent the market. The Corporate Average Fuel Economy regulations are enforced. The sales feed into the ADOPT stock model. It captures key aspects for summing petroleum use and greenhouse gas emissions This includes capturing the change in vehicle miles traveled by vehicle age, the creation of new model options based on the success of existing vehicles, new vehicle option introduction rate limits, and survival rates by vehicle age. ADOPT has been extensively validated with historical sales data. It matches in key dimensions including sales by fuel economy, acceleration, price, vehicle size class, and powertrain across multiple years. A graphical user interface provides easy and efficient use. It manages the inputs, simulation, and results.

Advanced Vehicle Testing and Evaluation

Energy Technology Data Exchange (ETDEWEB)

Garetson, Thomas [The Clarity Group, Incorporated, Chicago, IL (United States)

2013-03-31

The objective of the United States (U.S.) Department of Energy's (DOEs) Advanced Vehicle Testing and Evaluation (AVTE) project was to provide test and evaluation services for advanced technology vehicles, to establish a performance baseline, to determine vehicle reliability, and to evaluate vehicle operating costs in fleet operations.Vehicles tested include light and medium-duty vehicles in conventional, hybrid, and all-electric configurations using conventional and alternative fuels, including hydrogen in internal combustion engines. Vehicles were tested on closed tracks and chassis dynamometers, as well as operated on public roads, in fleet operations, and over prescribed routes. All testing was controlled by procedures developed specifically to support such testing.

Estimation of longitudinal force, lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles

Science.gov (United States)

Chen, Te; Xu, Xing; Chen, Long; Jiang, Haobing; Cai, Yingfeng; Li, Yong

2018-02-01

Accurate estimation of longitudinal force, lateral vehicle speed and yaw rate is of great significance to torque allocation and stability control for four-wheel independent driven electric vehicle (4WID-EVs). A fusion method is proposed to estimate the longitudinal force, lateral vehicle speed and yaw rate for 4WID-EVs. The electric driving wheel model (EDWM) is introduced into the longitudinal force estimation, the longitudinal force observer (LFO) is designed firstly based on the adaptive high-order sliding mode observer (HSMO), and the convergence of LFO is analyzed and proved. Based on the estimated longitudinal force, an estimation strategy is then presented in which the strong tracking filter (STF) is used to estimate lateral vehicle speed and yaw rate simultaneously. Finally, co-simulation via Carsim and Matlab/Simulink is carried out to demonstrate the effectiveness of the proposed method. The performance of LFO in practice is verified by the experiment on chassis dynamometer bench.

Off-road vehicle dynamics analysis, modelling and optimization

CERN Document Server

Taghavifar, Hamid

2017-01-01

This book deals with the analysis of off-road vehicle dynamics from kinetics and kinematics perspectives and the performance of vehicle traversing over rough and irregular terrain. The authors consider the wheel performance, soil-tire interactions and their interface, tractive performance of the vehicle, ride comfort, stability over maneuvering, transient and steady state conditions of the vehicle traversing, modeling the aforementioned aspects and optimization from energetic and vehicle mobility perspectives. This book brings novel figures for the transient dynamics and original wheel terrain dynamics at on-the-go condition.

A new enhanced index tracking model in portfolio optimization with sum weighted approach

Science.gov (United States)

Siew, Lam Weng; Jaaman, Saiful Hafizah; Hoe, Lam Weng

2017-04-01

Index tracking is a portfolio management which aims to construct the optimal portfolio to achieve similar return with the benchmark index return at minimum tracking error without purchasing all the stocks that make up the index. Enhanced index tracking is an improved portfolio management which aims to generate higher portfolio return than the benchmark index return besides minimizing the tracking error. The objective of this paper is to propose a new enhanced index tracking model with sum weighted approach to improve the existing index tracking model for tracking the benchmark Technology Index in Malaysia. The optimal portfolio composition and performance of both models are determined and compared in terms of portfolio mean return, tracking error and information ratio. The results of this study show that the optimal portfolio of the proposed model is able to generate higher mean return than the benchmark index at minimum tracking error. Besides that, the proposed model is able to outperform the existing model in tracking the benchmark index. The significance of this study is to propose a new enhanced index tracking model with sum weighted apporach which contributes 67% improvement on the portfolio mean return as compared to the existing model.

Marine vehicle path following using inner-outer loop control.

Digital Repository Service at National Institute of Oceanography (India)

Maurya, P.K.; Agular, A.P.; Pascoal, A.M.

constraints are imposed on the motion of the vehicle. This is in striking contrast with trajectory tracking, where the reference for the vehicle motion is given explicitly in terms of ”space versus time” coordinates. This strategy is seldom pursued in practice... that its output variables can be tracked infinitely fast by the inner dynamic loop. In practice, this does not hold true. Furthermore, many vehicle suppliers equip their platforms with inner dynamic control loops for which only a general characterization...

Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

Directory of Open Access Journals (Sweden)

Cuauhtémoc Acosta Lúa

2018-01-01

Full Text Available This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk test, with the presence of other collaborative vehicles.

Using Unmanned Aerial Vehicles (UAVs) to Modeling Tornado Impacts

Science.gov (United States)

Wagner, M.; Doe, R. K.

2017-12-01

Using Unmanned Aerial Vehicles (UAVs) to assess storm damage is a useful research tool. Benefits include their ability to access remote or impassable areas post-storm, identify unknown damages and assist with more detailed site investigations and rescue efforts. Technological advancement of UAVs mean that they can capture high resolution images often at an affordable price. These images can be used to create 3D environments to better interpret and delineate damages from large areas that would have been difficult in ground surveys. This research presents the results of a rapid response site investigation of the 29 April 2017 Canton, Texas, USA, tornado using low cost UAVs. This was a multiple, high impact tornado event measuring EF4 at maximum. Rural farmland was chosen as a challenging location to test both equipment and methodology. Such locations provide multiple impacts at a variety of scales including structural and vegetation damage and even animal fatalities. The 3D impact models allow for a more comprehensive study prior to clean-up. The results show previously unseen damages and better quantify damage impacts at the local level. 3D digital track swaths were created allowing for a more accurate track width determination. These results demonstrate how effective the use of low cost UAVs can be for rapid response storm damage assessments, the high quality of data they can achieve, and how they can help us better visualize tornado site investigations.

Remote Sensing-based Models of Soil Vulnerability to Compaction and Erosion from Off-highway Vehicles

Science.gov (United States)

Villarreal, M. L.; Webb, R. H.; Norman, L.; Psillas, J.; Rosenberg, A.; Carmichael, S.; Petrakis, R.; Sparks, P.

2014-12-01

Intensive off-road vehicle use for immigration, smuggling, and security of the United States-Mexico border has prompted concerns about long-term human impacts on sensitive desert ecosystems. To help managers identify areas susceptible to soil erosion from vehicle disturbances, we developed a series of erosion potential models based on factors from the Revised Universal Soil Loss Equation (RUSLE), with particular focus on the management factor (P-factor) and vegetation cover (C-factor). To better express the vulnerability of soils to human disturbances, a soil compaction index (applied as the P-factor) was calculated as the difference in saturated hydrologic conductivity (Ks) between disturbed and undisturbed soils, which was then scaled up to remote sensing-based maps of vehicle tracks and digital soils maps. The C-factor was improved using a satellite-based vegetation index, which was better correlated with estimated ground cover (r2 = 0.77) than data derived from regional land cover maps (r2 = 0.06). RUSLE factors were normalized to give equal weight to all contributing factors, which provided more management-specific information on vulnerable areas where vehicle compaction of sensitive soils intersects with steep slopes and low vegetation cover. Resulting spatial data on vulnerability and erosion potential provide land managers with information to identify critically disturbed areas and potential restoration sites where off-road driving should be restricted to reduce further degradation.

Water-Column Stratification Observed along an AUV-Tracked Isotherm

Science.gov (United States)

Zhang, Y.; Messié, M.; Ryan, J. P.; Kieft, B.; Stanway, M. J.; Hobson, B.; O'Reilly, T. C.; Raanan, B. Y.; Smith, J. M.; Chavez, F.

2016-02-01

Studies of marine physical, chemical and microbiological processes benefit from observing in a Lagrangian frame of reference, i.e. drifting with ambient water. Because these processes can be organized relative to specific density or temperature ranges, maintaining observing platforms within targeted environmental ranges is an important observing strategy. We have developed a novel method to enable a Tethys-class long-range autonomous underwater vehicle (AUV) (which has a propeller and a buoyancy engine) to track a target isotherm in buoyancy-controlled drift mode. In this mode, the vehicle shuts off its propeller and autonomously detects the isotherm and stays with it by actively controlling the vehicle's buoyancy. In the June 2015 CANON (Controlled, Agile, and Novel Observing Network) Experiment in Monterey Bay, California, AUV Makai tracked a target isotherm for 13 hours to study the coastal upwelling system. The tracked isotherm started from 33 m depth, shoaled to 10 m, and then deepened to 29 m. The thickness of the tracked isotherm layer (within 0.3°C error from the target temperature) increased over this duration, reflecting weakened stratification around the isotherm. During Makai's isotherm tracking, another long-range AUV, Daphne, acoustically tracked Makai on a circular yo-yo trajectory, measuring water-column profiles in Makai's vicinity. A wave glider also acoustically tracked Makai, providing sea surface measurements on the track. The presented method is a new approach for studying water-column stratification, but requires careful analysis of the temporal and spatial variations mingled in the vehicles' measurements. We will present a synthesis of the water column's stratification in relation to the upwelling conditions, based on the in situ measurements by the mobile platforms, as well as remote sensing and mooring data.

Study on Standard Fatigue Vehicle Load Model

Science.gov (United States)

Huang, H. Y.; Zhang, J. P.; Li, Y. H.

2018-02-01

Based on the measured data of truck from three artery expressways in Guangdong Province, the statistical analysis of truck weight was conducted according to axle number. The standard fatigue vehicle model applied to industrial areas in the middle and late was obtained, which adopted equivalence damage principle, Miner linear accumulation law, water discharge method and damage ratio theory. Compared with the fatigue vehicle model Specified by the current bridge design code, the proposed model has better applicability. It is of certain reference value for the fatigue design of bridge in China.

Effective Multi-Model Motion Tracking Under Multiple Team Member Actuators

OpenAIRE

Gu, Yang; Veloso, Manuela

2009-01-01

Motivated by the interactions between a team and the tracked target, we contribute a method to achieve efficient tracking through using a play-based motion model and combined vision and infrared sensory information. This method gives the robot a more exact task-specific motion model when executing different tactics over the tracked target (e.g. the ball) or collaborating with the tracked target (e.g. the team member). Then we represent the system in a compact dynamic Bayesian network and use ...

Real-time object detection, tracking and occlusion reasoning

Science.gov (United States)

Divakaran, Ajay; Yu, Qian; Tamrakar, Amir; Sawhney, Harpreet Singh; Zhu, Jiejie; Javed, Omar; Liu, Jingen; Cheng, Hui; Eledath, Jayakrishnan

2018-02-27

A system for object detection and tracking includes technologies to, among other things, detect and track moving objects, such as pedestrians and/or vehicles, in a real-world environment, handle static and dynamic occlusions, and continue tracking moving objects across the fields of view of multiple different cameras.

System safety engineering in the development of advanced surface transportation vehicles

Science.gov (United States)

Arnzen, H. E.

1971-01-01

Applications of system safety engineering to the development of advanced surface transportation vehicles are described. As a pertinent example, the paper describes a safety engineering efforts tailored to the particular design and test requirements of the Tracked Air Cushion Research Vehicle (TACRV). The test results obtained from this unique research vehicle provide significant design data directly applicable to the development of future tracked air cushion vehicles that will carry passengers in comfort and safety at speeds up to 300 miles per hour.

Modeling Of In-Vehicle Human Exposure to Ambient Fine Particulate Matter

Science.gov (United States)

Liu, Xiaozhen; Frey, H. Christopher

2012-01-01

A method for estimating in-vehicle PM2.5 exposure as part of a scenario-based population simulation model is developed and assessed. In existing models, such as the Stochastic Exposure and Dose Simulation model for Particulate Matter (SHEDS-PM), in-vehicle exposure is estimated using linear regression based on area-wide ambient PM2.5 concentration. An alternative modeling approach is explored based on estimation of near-road PM2.5 concentration and an in-vehicle mass balance. Near-road PM2.5 concentration is estimated using a dispersion model and fixed site monitor (FSM) data. In-vehicle concentration is estimated based on air exchange rate and filter efficiency. In-vehicle concentration varies with road type, traffic flow, windspeed, stability class, and ventilation. Average in-vehicle exposure is estimated to contribute 10 to 20 percent of average daily exposure. The contribution of in-vehicle exposure to total daily exposure can be higher for some individuals. Recommendations are made for updating exposure models and implementation of the alternative approach. PMID:23101000

A Dynamic Travel Time Estimation Model Based on Connected Vehicles

Directory of Open Access Journals (Sweden)

Daxin Tian

2015-01-01

Full Text Available With advances in connected vehicle technology, dynamic vehicle route guidance models gradually become indispensable equipment for drivers. Traditional route guidance models are designed to direct a vehicle along the shortest path from the origin to the destination without considering the dynamic traffic information. In this paper a dynamic travel time estimation model is presented which can collect and distribute traffic data based on the connected vehicles. To estimate the real-time travel time more accurately, a road link dynamic dividing algorithm is proposed. The efficiency of the model is confirmed by simulations, and the experiment results prove the effectiveness of the travel time estimation method.

An Analysis of the Relationship between Casualty Risk Per Crash and Vehicle Mass and Footprint for Model Year 2003-2010 Light-Duty Vehicles

Energy Technology Data Exchange (ETDEWEB)

Wenzel, Tom P. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

2018-01-05

The Department of Energy’s (DOE) Vehicle Technologies Office funds research on development of technologies to improve the fuel economy of both light- and heavy-duty vehicles, including advanced combustion systems, improved batteries and electric drive systems, and new lightweight materials. Of these approaches to increase fuel economy and reduce fuel consumption, reducing vehicle mass through more extensive use of strong lightweight materials is perhaps the easiest and least expensive method; however, there is a concern that reducing vehicle mass may lead to more fatalities. Lawrence Berkeley National Laboratory (LBNL) has conducted several analyses to better understand the relationship between vehicle mass, size and safety, in order to ameliorate concerns that down-weighting vehicles will inherently lead to more fatalities. These analyses include recreating the regression analyses conducted by the National Highway Traffic Safety Administration (NHTSA) that estimate the relationship between mass reduction and U.S. societal fatality risk per vehicle mile of travel (VMT), while holding vehicle size (i.e. footprint, wheelbase times track width) constant; these analyses are referred to as LBNL Phase 1 analysis. In addition, LBNL has conducted additional analysis of the relationship between mass and the two components of risk per VMT, crash frequency (crashes per VMT) and risk once a crash has occurred (risk per crash); these analyses are referred to as LBNL Phase 2 analysis.

A visual tracking method based on deep learning without online model updating

Science.gov (United States)

Tang, Cong; Wang, Yicheng; Feng, Yunsong; Zheng, Chao; Jin, Wei

2018-02-01

The paper proposes a visual tracking method based on deep learning without online model updating. In consideration of the advantages of deep learning in feature representation, deep model SSD (Single Shot Multibox Detector) is used as the object extractor in the tracking model. Simultaneously, the color histogram feature and HOG (Histogram of Oriented Gradient) feature are combined to select the tracking object. In the process of tracking, multi-scale object searching map is built to improve the detection performance of deep detection model and the tracking efficiency. In the experiment of eight respective tracking video sequences in the baseline dataset, compared with six state-of-the-art methods, the method in the paper has better robustness in the tracking challenging factors, such as deformation, scale variation, rotation variation, illumination variation, and background clutters, moreover, its general performance is better than other six tracking methods.

Large-scale model-based assessment of deer-vehicle collision risk.

Directory of Open Access Journals (Sweden)

Torsten Hothorn

Full Text Available Ungulates, in particular the Central European roe deer Capreolus capreolus and the North American white-tailed deer Odocoileus virginianus, are economically and ecologically important. The two species are risk factors for deer-vehicle collisions and as browsers of palatable trees have implications for forest regeneration. However, no large-scale management systems for ungulates have been implemented, mainly because of the high efforts and costs associated with attempts to estimate population sizes of free-living ungulates living in a complex landscape. Attempts to directly estimate population sizes of deer are problematic owing to poor data quality and lack of spatial representation on larger scales. We used data on >74,000 deer-vehicle collisions observed in 2006 and 2009 in Bavaria, Germany, to model the local risk of deer-vehicle collisions and to investigate the relationship between deer-vehicle collisions and both environmental conditions and browsing intensities. An innovative modelling approach for the number of deer-vehicle collisions, which allows nonlinear environment-deer relationships and assessment of spatial heterogeneity, was the basis for estimating the local risk of collisions for specific road types on the scale of Bavarian municipalities. Based on this risk model, we propose a new "deer-vehicle collision index" for deer management. We show that the risk of deer-vehicle collisions is positively correlated to browsing intensity and to harvest numbers. Overall, our results demonstrate that the number of deer-vehicle collisions can be predicted with high precision on the scale of municipalities. In the densely populated and intensively used landscapes of Central Europe and North America, a model-based risk assessment for deer-vehicle collisions provides a cost-efficient instrument for deer management on the landscape scale. The measures derived from our model provide valuable information for planning road protection and defining

Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation

Directory of Open Access Journals (Sweden)

Jiajia Zhou

2018-05-01

Full Text Available This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances. Keywords: Dynamic velocity regulation, Bio-inspired model, Backstepping, Underactuated AUV, Three-dimensional trajectory tracking

Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

Directory of Open Access Journals (Sweden)

Rongrong Wang

2013-01-01

Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

Analysis of traversable pits model to make intelligent wheeled vehicles

Directory of Open Access Journals (Sweden)

F. Abbasi

2017-11-01

Full Text Available In this paper, the issue of passing wheeled vehicles from pits is discussed. The issue is modeled by defining the limits of passing wheeled vehicles. The proposed model has been studied based on changes in the effective parameters. Finally, in order to describe the problem, the proposed model has been solved for wheeled vehicles based on the effective parameters by using one of the numerical methods.

Vehicle - Bridge interaction, comparison of two computing models

Science.gov (United States)

Melcer, Jozef; Kuchárová, Daniela

2017-07-01

The paper presents the calculation of the bridge response on the effect of moving vehicle moves along the bridge with various velocities. The multi-body plane computing model of vehicle is adopted. The bridge computing models are created in two variants. One computing model represents the bridge as the Bernoulli-Euler beam with continuously distributed mass and the second one represents the bridge as the lumped mass model with 1 degrees of freedom. The mid-span bridge dynamic deflections are calculated for both computing models. The results are mutually compared and quantitative evaluated.

Modeling hydraulic regenerative hybrid vehicles using AMESim and Matlab/Simulink

Science.gov (United States)

Lynn, Alfred; Smid, Edzko; Eshraghi, Moji; Caldwell, Niall; Woody, Dan

2005-05-01

This paper presents the overview of the simulation modeling of a hydraulic system with regenerative braking used to improve vehicle emissions and fuel economy. Two simulation software packages were used together to enhance the simulation capability for fuel economy results and development of vehicle and hybrid control strategy. AMESim, a hydraulic simulation software package modeled the complex hydraulic circuit and component hardware and was interlinked with a Matlab/Simulink model of the vehicle, engine and the control strategy required to operate the vehicle and the hydraulic hybrid system through various North American and European drive cycles.

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.

The link between physics and chemistry in track modelling

International Nuclear Information System (INIS)

Green, N.J.B.; Bolton, C.E.; Spencer-Smith, R.D.

1999-01-01

The physical structure of a radiation track provides the initial conditions for the modelling of radiation chemistry. These initial conditions are not perfectly understood, because there are important gaps between what is provided by a typical track structure model and what is required to start the chemical model. This paper addresses the links between the physics and chemistry of tracks, with the intention of identifying those problems that need to be solved in order to obtain an accurate picture of the initial conditions for the purposes of modelling chemistry. These problems include the reasons for the increased yield of ionisation relative to homolytic bond breaking in comparison with the gas phase. A second area of great importance is the physical behaviour of low-energy electrons in condensed matter (including thermolisation and solvation). Many of these processes are not well understood, but they can have profound effects on the transient chemistry in the track. Several phenomena are discussed, including the short distance between adjacent energy loss events, the molecular nature of the underlying medium, dissociative attachment resonances and the ability of low-energy electrons to excite optically forbidden molecular states. Each of these phenomena has the potential to modify the transient chemistry substantially and must therefore be properly characterised before the physical model of the track can be considered to be complete. (orig.)

Track structure model of cell damage in space flight

Science.gov (United States)

Katz, Robert; Cucinotta, Francis A.; Wilson, John W.; Shinn, Judy L.; Ngo, Duc M.

1992-01-01

The phenomenological track-structure model of cell damage is discussed. A description of the application of the track-structure model with the NASA Langley transport code for laboratory and space radiation is given. Comparisons to experimental results for cell survival during exposure to monoenergetic, heavy-ion beams are made. The model is also applied to predict cell damage rates and relative biological effectiveness for deep-space exposures.

A hybrid positioning strategy for vehicles in a tunnel based on RFID and in-vehicle sensors.

Science.gov (United States)

Song, Xiang; Li, Xu; Tang, Wencheng; Zhang, Weigong; Li, Bin

2014-12-05

Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID) technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS) is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS) federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM)-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF) algorithm is designed to replace the conventional extended Kalman filter (EKF) to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy.

A Hybrid Positioning Strategy for Vehicles in a Tunnel Based on RFID and In-Vehicle Sensors

Directory of Open Access Journals (Sweden)

Xiang Song

2014-12-01

Full Text Available Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF algorithm is designed to replace the conventional extended Kalman filter (EKF to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy.

Operations Assessment of Launch Vehicle Architectures using Activity Based Cost Models

Science.gov (United States)

Ruiz-Torres, Alex J.; McCleskey, Carey

2000-01-01

The growing emphasis on affordability for space transportation systems requires the assessment of new space vehicles for all life cycle activities, from design and development, through manufacturing and operations. This paper addresses the operational assessment of launch vehicles, focusing on modeling the ground support requirements of a vehicle architecture, and estimating the resulting costs and flight rate. This paper proposes the use of Activity Based Costing (ABC) modeling for this assessment. The model uses expert knowledge to determine the activities, the activity times and the activity costs based on vehicle design characteristics. The approach provides several advantages to current approaches to vehicle architecture assessment including easier validation and allowing vehicle designers to understand the cost and cycle time drivers.

Explicit Nonlinear Model Predictive Control for a Saucer-Shaped Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Zhihui Xing

2013-01-01

Full Text Available A lifting body unmanned aerial vehicle (UAV generates lift by its body and shows many significant advantages due to the particular shape, such as huge loading space, small wetted area, high-strength fuselage structure, and large lifting area. However, designing the control law for a lifting body UAV is quite challenging because it has strong nonlinearity and coupling, and usually lacks it rudders. In this paper, an explicit nonlinear model predictive control (ENMPC strategy is employed to design a control law for a saucer-shaped UAV which can be adequately modeled with a rigid 6-degrees-of-freedom (DOF representation. In the ENMPC, control signal is calculated by approximation of the tracking error in the receding horizon by its Taylor-series expansion to any specified order. It enhances the advantages of the nonlinear model predictive control and eliminates the time-consuming online optimization. The simulation results show that ENMPC is a propriety strategy for controlling lifting body UAVs and can compensate the insufficient control surface area.

Rail Track Detection and Modelling in Mobile Laser Scanner Data

Directory of Open Access Journals (Sweden)

S. Oude Elberink

2013-10-01

Full Text Available We present a method for detecting and modelling rails in mobile laser scanner data. The detection is based on the properties of the rail tracks and contact wires such as relative height, linearity and relative position with respect to other objects. Points classified as rail track are used in a 3D modelling algorithm. The modelling is done by first fitting a parametric model of a rail piece to the points along each track, and estimating the position and orientation parameters of each piece model. For each position and orientation parameter a smooth low-order Fourier curve is interpolated. Using all interpolated parameters a mesh model of the rail is reconstructed. The method is explained using two areas from a dataset acquired by a LYNX mobile mapping system in a mountainous area. Residuals between railway laser points and 3D models are in the range of 2 cm. It is concluded that a curve fitting algorithm is essential to reliably and accurately model the rail tracks by using the knowledge that railways are following a continuous and smooth path.

Comparison Study on Two Model-Based Adaptive Algorithms for SOC Estimation of Lithium-Ion Batteries in Electric Vehicles

Directory of Open Access Journals (Sweden)

Yong Tian

2014-12-01

Full Text Available State of charge (SOC estimation is essential to battery management systems in electric vehicles (EVs to ensure the safe operations of batteries and providing drivers with the remaining range of the EVs. A number of estimation algorithms have been developed to get an accurate SOC value because the SOC cannot be directly measured with sensors and is closely related to various factors, such as ambient temperature, current rate and battery aging. In this paper, two model-based adaptive algorithms, including the adaptive unscented Kalman filter (AUKF and adaptive slide mode observer (ASMO are applied and compared in terms of convergence behavior, tracking accuracy, computational cost and estimation robustness against parameter uncertainties of the battery model in SOC estimation. Two typical driving cycles, including the Dynamic Stress Test (DST and New European Driving Cycle (NEDC are applied to evaluate the performance of the two algorithms. Comparison results show that the AUKF has merits in convergence ability and tracking accuracy with an accurate battery model, while the ASMO has lower computational cost and better estimation robustness against parameter uncertainties of the battery model.

Characteristic Model-Based Robust Model Predictive Control for Hypersonic Vehicles with Constraints

Directory of Open Access Journals (Sweden)

Jun Zhang

2017-06-01

Full Text Available Designing robust control for hypersonic vehicles in reentry is difficult, due to the features of the vehicles including strong coupling, non-linearity, and multiple constraints. This paper proposed a characteristic model-based robust model predictive control (MPC for hypersonic vehicles with reentry constraints. First, the hypersonic vehicle is modeled by a characteristic model composed of a linear time-varying system and a lumped disturbance. Then, the identification data are regenerated by the accumulative sum idea in the gray theory, which weakens effects of the random noises and strengthens regularity of the identification data. Based on the regenerated data, the time-varying parameters and the disturbance are online estimated according to the gray identification. At last, the mixed H2/H∞ robust predictive control law is proposed based on linear matrix inequalities (LMIs and receding horizon optimization techniques. Using active tackling system constraints of MPC, the input and state constraints are satisfied in the closed-loop control system. The validity of the proposed control is verified theoretically according to Lyapunov theory and illustrated by simulation results.

Automated time activity classification based on global positioning system (GPS) tracking data.

Science.gov (United States)

Wu, Jun; Jiang, Chengsheng; Houston, Douglas; Baker, Dean; Delfino, Ralph

2011-11-14

Air pollution epidemiological studies are increasingly using global positioning system (GPS) to collect time-location data because they offer continuous tracking, high temporal resolution, and minimum reporting burden for participants. However, substantial uncertainties in the processing and classifying of raw GPS data create challenges for reliably characterizing time activity patterns. We developed and evaluated models to classify people's major time activity patterns from continuous GPS tracking data. We developed and evaluated two automated models to classify major time activity patterns (i.e., indoor, outdoor static, outdoor walking, and in-vehicle travel) based on GPS time activity data collected under free living conditions for 47 participants (N = 131 person-days) from the Harbor Communities Time Location Study (HCTLS) in 2008 and supplemental GPS data collected from three UC-Irvine research staff (N = 21 person-days) in 2010. Time activity patterns used for model development were manually classified by research staff using information from participant GPS recordings, activity logs, and follow-up interviews. We evaluated two models: (a) a rule-based model that developed user-defined rules based on time, speed, and spatial location, and (b) a random forest decision tree model. Indoor, outdoor static, outdoor walking and in-vehicle travel activities accounted for 82.7%, 6.1%, 3.2% and 7.2% of manually-classified time activities in the HCTLS dataset, respectively. The rule-based model classified indoor and in-vehicle travel periods reasonably well (Indoor: sensitivity > 91%, specificity > 80%, and precision > 96%; in-vehicle travel: sensitivity > 71%, specificity > 99%, and precision > 88%), but the performance was moderate for outdoor static and outdoor walking predictions. No striking differences in performance were observed between the rule-based and the random forest models. The random forest model was fast and easy to execute, but was likely less robust

Metric Tracking of Launch Vehicles, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — NASA needs reliable, accurate navigation for launch vehicles and other missions. GPS is the best world-wide navigation system, but operates at low power making it...

Sensitivity Analysis of Launch Vehicle Debris Risk Model

Science.gov (United States)

Gee, Ken; Lawrence, Scott L.

2010-01-01

As part of an analysis of the loss of crew risk associated with an ascent abort system for a manned launch vehicle, a model was developed to predict the impact risk of the debris resulting from an explosion of the launch vehicle on the crew module. The model consisted of a debris catalog describing the number, size and imparted velocity of each piece of debris, a method to compute the trajectories of the debris and a method to calculate the impact risk given the abort trajectory of the crew module. The model provided a point estimate of the strike probability as a function of the debris catalog, the time of abort and the delay time between the abort and destruction of the launch vehicle. A study was conducted to determine the sensitivity of the strike probability to the various model input parameters and to develop a response surface model for use in the sensitivity analysis of the overall ascent abort risk model. The results of the sensitivity analysis and the response surface model are presented in this paper.

Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

Directory of Open Access Journals (Sweden)

Pan Zhao

2012-07-01

Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

Three-dimensional flow structure measurements behind a queue of studied model vehicles

International Nuclear Information System (INIS)

Huang, J.F.; Chan, T.L.; Zhou, Y.

2009-01-01

The three-dimensional flow structures of a queue of studied model vehicles (i.e., one-, two- and three-vehicle cases) were investigated comprehensively in a closed-circuit wind tunnel using particle image velocimetry (PIV) for the typical urban vehicle speeds (i.e., 10, 30 and 50 km/h). In this three-dimensional vehicle wake, a pair of longitudinal vortices is characterized by counter-rotating and moving downstream at relatively low velocity than their surrounding flow. The flow structures of multiple studied model vehicles are dominated by the wake generated from the last studied model vehicle but the preceding studied model vehicle(s) also has/have some minor effects. Cross-sectional turbulence distribution is non-uniform in the far-wake region for all studied cases. The lowest turbulence occurs at the center part of the vehicle wake while high turbulence occurs at its two sides. As such, it may lead to considerable underestimation in turbulence magnitude if the measurement is only taken along the centerline of the vehicle wake.

Control-oriented modeling and adaptive backstepping control for a nonminimum phase hypersonic vehicle.

Science.gov (United States)

Ye, Linqi; Zong, Qun; Tian, Bailing; Zhang, Xiuyun; Wang, Fang

2017-09-01

In this paper, the nonminimum phase problem of a flexible hypersonic vehicle is investigated. The main challenge of nonminimum phase is the prevention of dynamic inversion methods to nonlinear control design. To solve this problem, we make research on the relationship between nonminimum phase and backstepping control, finding that a stable nonlinear controller can be obtained by changing the control loop on the basis of backstepping control. By extending the control loop to cover the internal dynamics in it, the internal states are directly controlled by the inputs and simultaneously serve as virtual control for the external states, making it possible to guarantee output tracking as well as internal stability. Then, based on the extended control loop, a simplified control-oriented model is developed to enable the applicability of adaptive backstepping method. It simplifies the design process and releases some limitations caused by direct use of the no simplified control-oriented model. Next, under proper assumptions, asymptotic stability is proved for constant commands, while bounded stability is proved for varying commands. The proposed method is compared with approximate backstepping control and dynamic surface control and is shown to have superior tracking accuracy as well as robustness from the simulation results. This paper may also provide a beneficial guidance for control design of other complex systems. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Test bed for applications of heterogeneous unmanned vehicles

Directory of Open Access Journals (Sweden)

Filiberto Muñoz Palacios

2017-01-01

Full Text Available This article addresses the development and implementation of a test bed for applications of heterogeneous unmanned vehicle systems. The test bed consists of unmanned aerial vehicles (Parrot AR.Drones versions 1 or 2, Parrot SA, Paris, France, and Bebop Drones 1.0 and 2.0, Parrot SA, Paris, France, ground vehicles (WowWee Rovio, WowWee Group Limited, Hong Kong, China, and the motion capture systems VICON and OptiTrack. Such test bed allows the user to choose between two different options of development environments, to perform aerial and ground vehicles applications. On the one hand, it is possible to select an environment based on the VICON system and LabVIEW (National Instruments or robotics operating system platforms, which make use the Parrot AR.Drone software development kit or the Bebop_autonomy Driver to communicate with the unmanned vehicles. On the other hand, it is possible to employ a platform that uses the OptiTrack system and that allows users to develop their own applications, replacing AR.Drone’s original firmware with original code. We have developed four experimental setups to illustrate the use of the Parrot software development kit, the Bebop Driver (AutonomyLab, Simon Fraser University, British Columbia, Canada, and the original firmware replacement for performing a strategy that involves both ground and aerial vehicle tracking. Finally, in order to illustrate the effectiveness of the developed test bed for the implementation of advanced controllers, we present experimental results of the implementation of three consensus algorithms: static, adaptive, and neural network, in order to accomplish that a team of multiagents systems move together to track a target.

A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

Science.gov (United States)

2013-09-01

Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

49 CFR 393.130 - What are the rules for securing heavy vehicles, equipment and machinery?

Science.gov (United States)

2010-10-01

... heavy vehicles, equipment and machinery? (a) Applicability. The rules in this section apply to the transportation of heavy vehicles, equipment and machinery which operate on wheels or tracks, such as front end... heavy vehicles, equipment or machinery with crawler tracks or wheels. (1) In addition to the...

Analyzing The Impacts of the Biogas-to-Electricity Purchase Incentives on Electric Vehicle Deployment with the MA3T Vehicle Choice Model

Energy Technology Data Exchange (ETDEWEB)

Podkaminer, Kara [U.S. Department of Energy (DOE); Xie, Fei [ORNL; Lin, Zhenhong [ORNL

2017-01-01

This analysis represents the biogas-to-electricity pathway under the Renewable Fuel Standard (RFS) as a point of purchase incentive and tests the impact of this incentive on EV deployment using a vehicle consumer choice model. The credit value generated under this policy was calculated in a number of scenarios based on electricity use of each power train choice on a yearly basis over the 15 year vehicle lifetime, accounting for the average electric vehicle miles travelled and vehicle efficiency, competition for biogas-derived electricity among electric vehicles (EVs), the RIN equivalence value and the time value of money. The credit value calculation in each of these scenarios is offered upfront as a point of purchase incentive for EVs using the Market Acceptance of Advanced Automotive Technologies (MA3T) vehicle choice model, which tracks sales, fleet size and energy use over time. The majority of the scenarios use a proposed RIN equivalence value, which increases the credit value as a way to explore the analysis space. Additional model runs show the relative impact of the equivalence value on EV deployment. The MA3T model output shows that a consumer incentive accelerates the deployment of EVs for all scenarios relative to the baseline (no policy) case. In the scenario modeled to represent the current biogas-to-electricity generation capacity (15 TWh/year) with a 5.24kWh/RIN equivalence value, the policy leads to an additional 1.4 million plug-in hybrid electric vehicles (PHEVs) and 3.5 million battery electric vehicles (BEVs) in 2025 beyond the no-policy case of 1.3 million PHEVs and 2.1 million BEVs when the full value of the credit is passed on to the consumer. In 2030, this increases to 2.4 million PHEVs and 7.3 million BEVs beyond the baseline. This larger impact on BEVs relative to PHEVs is due in part to the larger credit that BEVs receive in the model based on the greater percentage of electric vehicle miles traveled by BEVs relative to PHEVs. In this

Vehicle dynamics modeling and simulation

CERN Document Server

Schramm, Dieter; Bardini, Roberto

2014-01-01

The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context different levels of complexity will be presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models on the basis of real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios.

Angular Position Tracking Control of a Quadcopter

OpenAIRE

T. V. Glazkov; A. E. Golubev

2017-01-01

The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles.Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the s...

Modeling speed and width parameters of vehicle tires for prediction of the reduction in vehicle noise pollution

Directory of Open Access Journals (Sweden)

Amir Esmael Forouhid

2016-06-01

Full Text Available Introduction: Safe driving requires the ability of the driver to receive the messages and complying with them. The most significant consequences of noise pollution are on the human auditory system. Disorders in the auditory system can have harmful side effects for human health. By reducing this kind of pollution in large cities, the quality of life, which is one of the biggest goals of the governments, can be considerably increased. Hence, in the present research, some parameters of vehicle tires were examined as a source of noise pollution, and the results can be taken into consideration in noise pollution reduction. Material and Method: Several vehicles with different tire width were selected for measuring sound level. The sound levels were measured for moving vehicles with the use of the Statistical Pass By Method (SPB, ISO 11819-1. Following sound level measurements for moving vehicles and by considering tire width, mathematical model of noise level was predicted on the basis of the obtained information and by usage of SPSS program and considering vehicle tire parameters. Result: The result of this study showed that the vehicle speed and tire width can affect different sound levels emitted by moving tire on road surface. The average speed of vehicles can play an important role in the noise pollution. By increasing speed, rotation of the the tires on the asphalt is increased, as it is a known factors for noise pollution. Moreover, changing the speed of vehicles is accompanied with abnormal sounds of vehicle engine. According to regression model analysis, the obtained value of R2 for the model is 0.8367 which represents the coefficient of determination. Conclusion: The results suggest the main role of the vehicle speed and tire width in increasing the noise reaches to the drivers and consequent noise pollution, which demonstrates the necessity for noise control measures. According to the obtained model, it is understood that changes in noise

Geometric Filtering Effect of Vertical Vibrations in Railway Vehicles

Directory of Open Access Journals (Sweden)

Mădălina Dumitriu

2012-09-01

Full Text Available The paper herein examines the geometric filtering effect coming from the axle base of a railway vehicle upon the vertical vibrations behavior, due to the random irregularities of the track. For this purpose, the complete model of a two-level suspension and flexible carbody vehicle has been taken into account. Following the modal analysis, the movement equations have been treated in an original manner and brought to a structure that points out at the symmetrical and anti-symmetrical decoupled movements of vehicle and their excitation modes. There has been shown that the geometric filtering has a selective behavior in decreasing the level of vibrations, and its contribution is affected by the axle base magnitude, rolling speed and frequency range.

Large scale tracking algorithms

Energy Technology Data Exchange (ETDEWEB)

Hansen, Ross L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Love, Joshua Alan [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Melgaard, David Kennett [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Karelitz, David B. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Pitts, Todd Alan [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Zollweg, Joshua David [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Anderson, Dylan Z. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Nandy, Prabal [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Whitlow, Gary L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Bender, Daniel A. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Byrne, Raymond Harry [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2015-01-01

Low signal-to-noise data processing algorithms for improved detection, tracking, discrimination and situational threat assessment are a key research challenge. As sensor technologies progress, the number of pixels will increase signi cantly. This will result in increased resolution, which could improve object discrimination, but unfortunately, will also result in a significant increase in the number of potential targets to track. Many tracking techniques, like multi-hypothesis trackers, suffer from a combinatorial explosion as the number of potential targets increase. As the resolution increases, the phenomenology applied towards detection algorithms also changes. For low resolution sensors, "blob" tracking is the norm. For higher resolution data, additional information may be employed in the detection and classfication steps. The most challenging scenarios are those where the targets cannot be fully resolved, yet must be tracked and distinguished for neighboring closely spaced objects. Tracking vehicles in an urban environment is an example of such a challenging scenario. This report evaluates several potential tracking algorithms for large-scale tracking in an urban environment.

Bidirectional Long Short-Term Memory Network for Vehicle Behavior Recognition

Directory of Open Access Journals (Sweden)

Jiasong Zhu

2018-06-01

Full Text Available Vehicle behavior recognition is an attractive research field which is useful for many computer vision and intelligent traffic analysis tasks. This paper presents an all-in-one behavior recognition framework for moving vehicles based on the latest deep learning techniques. Unlike traditional traffic analysis methods which rely on low-resolution videos captured by road cameras, we capture 4K ( 3840 × 2178 traffic videos at a busy road intersection of a modern megacity by flying a unmanned aerial vehicle (UAV during the rush hours. We then manually annotate locations and types of road vehicles. The proposed method consists of the following three steps: (1 vehicle detection and type recognition based on deep neural networks; (2 vehicle tracking by data association and vehicle trajectory modeling; (3 vehicle behavior recognition by nearest neighbor search and by bidirectional long short-term memory network, respectively. This paper also presents experimental results of the proposed framework in comparison with state-of-the-art approaches on the 4K testing traffic video, which demonstrated the effectiveness and superiority of the proposed method.

TAFV Alternative Fuels and Vehicles Choice Model Documentation; TOPICAL

International Nuclear Information System (INIS)

Greene, D.L.

2001-01-01

A model for predicting choice of alternative fuel and among alternative vehicle technologies for light-duty motor vehicles is derived. The nested multinomial logit (NML) mathematical framework is used. Calibration of the model is based on information in the existing literature and deduction based on assuming a small number of key parameters, such as the value of time and discount rates. A spreadsheet model has been developed for calibration and preliminary testing of the model

Software for large scale tracking studies

International Nuclear Information System (INIS)

Niederer, J.

1984-05-01

Over the past few years, Brookhaven accelerator physicists have been adapting particle tracking programs in planning local storage rings, and lately for SSC reference designs. In addition, the Laboratory is actively considering upgrades to its AGS capabilities aimed at higher proton intensity, polarized proton beams, and heavy ion acceleration. Further activity concerns heavy ion transfer, a proposed booster, and most recently design studies for a heavy ion collider to join to this complex. Circumstances have thus encouraged a search for common features among design and modeling programs and their data, and the corresponding controls efforts among present and tentative machines. Using a version of PATRICIA with nonlinear forces as a vehicle, we have experimented with formal ways to describe accelerator lattice problems to computers as well as to speed up the calculations for large storage ring models. Code treated by straightforward reorganization has served for SSC explorations. The representation work has led to a relational data base centered program, LILA, which has desirable properties for dealing with the many thousands of rapidly changing variables in tracking and other model programs. 13 references

Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

Directory of Open Access Journals (Sweden)

Xianlei Cheng

2015-01-01

Full Text Available We propose a predictive sliding mode control (PSMC scheme for attitude control of hypersonic vehicle (HV with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO. First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC, which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

Magnetic suspension and guidance of high speed vehicles. Final report

Energy Technology Data Exchange (ETDEWEB)

Alston, I A; Clark, J M; Hayden, J T

1972-12-01

Technical and economical assessments of magnetic suspensions for high speed vehicles and transport systems are reported. In these suspensions the suspending magnet takes the form of a powerful superconducting electromagnet that induces currents while it moves over conducting sheets or loops. A number of vehicle track designs are evaluated for operating cost effectiveness. It is shown that propulsion systems using power collected from the track are more expensive than those using power generated onboard the vehicle, and that the conducting sheet suspension is slightly more expensive than the null flux suspension.

Approximate optimal tracking control for near-surface AUVs with wave disturbances

Science.gov (United States)

Yang, Qing; Su, Hao; Tang, Gongyou

2016-10-01

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

Data fusion for target tracking and classification with wireless sensor network

Science.gov (United States)

Pannetier, Benjamin; Doumerc, Robin; Moras, Julien; Dezert, Jean; Canevet, Loic

2016-10-01

In this paper, we address the problem of multiple ground target tracking and classification with information obtained from a unattended wireless sensor network. A multiple target tracking (MTT) algorithm, taking into account road and vegetation information, is proposed based on a centralized architecture. One of the key issue is how to adapt classical MTT approach to satisfy embedded processing. Based on track statistics, the classification algorithm uses estimated location, velocity and acceleration to help to classify targets. The algorithms enables tracking human and vehicles driving both on and off road. We integrate road or trail width and vegetation cover, as constraints in target motion models to improve performance of tracking under constraint with classification fusion. Our algorithm also presents different dynamic models, to palliate the maneuvers of targets. The tracking and classification algorithms are integrated into an operational platform (the fusion node). In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

Visual feedback navigation for cable tracking by autonomous underwater vehicles; Jiritsugata kaichu robot no gazo shori ni motozuku cable jido tsuiju

Energy Technology Data Exchange (ETDEWEB)

Takai, M.; Ura, T. [The University of Tokyo, Tokyo (Japan). Institute of Industrial Science; Balasuriya, B.; Lam, W. [The University of Tokyo, Tokyo (Japan); Kuroda, Y. [Meiji Univ., Tokyo (Japan)

1997-08-01

A vision processing unit was introduced into autonomous underwater vehicles (AUV) to judge the visual situation and to construct an environmental observation platform that can collect wide-range and high-precision measurement data. The cable optionally installed at the bottom of the sea was recognized by vision processing to propose automatic tracking technique. An estimator that compensates for the hough conversion or time delay and a PSA controller that is used as a target value set mechanism or lower-level controller were introduced as the factor technology required for automatic tracking. The feature of the automatic tracking is that a general-purpose platform which can observe the prescribed range environmentally in high precision and density can be constructed because the observation range required by the observer can be prescribed near the sea-bottom surface using a cable. The verification result off Omi Hachiman at Lake Biwa showed that AUV can be used for the high-precision environmental survey in the range prescribed near the sea-bottom surface using a cable. 8 refs., 8 figs., 1 tab.

Ground Vehicle System Integration (GVSI) and Design Optimization Model

National Research Council Canada - National Science Library

Horton, William

1996-01-01

This report documents the Ground Vehicle System Integration (GVSI) and Design Optimization Model GVSI is a top-level analysis tool designed to support engineering tradeoff studies and vehicle design optimization efforts...

Vehicles' Sample Generation and Realization in Car-Following Mathematical Models

Directory of Open Access Journals (Sweden)

Algimantas Danilevičius

2016-02-01

Full Text Available The object of the article is the adjustment of car-following mathematical models according to collected traffic data. Here the problem of ineffectively burdened road section is solved by adjusting the speed of vehicles in order to reduce the distance between the cars to a safe distance. The paper analyzes the car-following models to measure the interaction between vehicles in the same lane. Experimental data processed in Matlab and traffic distribution histograms are created using the most appropriate distribution curve. Distribution curve is used to compile congestion scenario of road section. Applicable model uses fundamental diagrams, which are created from the kind of traffic flow measurements. The mathematical model allows to choose the optimal vehicle speed while maintaining safe distance between vehicles, and to make recommendations to improve the traffic as the process.

Lightweight Vehicle and Driver’s Whole-Body Models for Vibration Analysis

Science.gov (United States)

MdSah, Jamali; Taha, Zahari; Azwan Ismail, Khairul

2018-03-01

Vehicle vibration is a main factor for driving fatigue, discomfort and health problems. The ability to simulate the vibration characteristics in the vehicle and its effects on driver’s whole-body vibration will give significant advantages to designers especially on the vehicle development time and cost. However, it is difficult to achieve optimal condition of ride comfort and handling when using passive suspension system. This paper presents mathematical equations that can be used to describe the vibration characteristics of a lightweight electric vehicle that had been developed. The vehicle’s model was combined with the lumped-parameter model of driver to determine the whole-body vibration level when the vehicle is passing over a road hump using Matlab Simulink. The models were simulated at a constant speed and the results were compared with the experimental data. The simulated vibration level at the vehicle floor and seat were almost similar to the experimental vibration results. The suspension systems that are being used for the solar vehicle are able to reduce the vibration level due to the road hump. The models can be used to simulate and choose the optimal parameters for the suspensions.

2001 Joint ADVISOR/PSAT Vehicle Systems Modeling User's Conference Proceedings (CD)

International Nuclear Information System (INIS)

Markel, T.

2001-01-01

The 2001 Joint ADVISOR/PSAT Vehicle Systems Modeling User Conference provided an opportunity for engineers in the automotive industry and the research environment to share their experiences in vehicle systems modeling using ADVISOR and PSAT. ADVISOR and PSAT are vehicle systems modeling tools developed and supported by the National Renewable Energy Laboratory and Argonne National Laboratory respectively with the financial support of the US Department of Energy. During this conference peers presented the results of studies using the simulation tools and improvements that they have made or would like to see in the simulation tools. Focus areas of the presentations included Control Strategy, Model Validation, Optimization and Co-Simulation, Model Development, Applications, and Fuel Cell Vehicle Systems Analysis. Attendees were offered the opportunity to give feedback on future model development plans

Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

Directory of Open Access Journals (Sweden)

Linhui Li

2013-01-01

Full Text Available The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.

Network modeling for reverse flows of end-of-life vehicles

International Nuclear Information System (INIS)

Ene, Seval; Öztürk, Nursel

2015-01-01

Highlights: • We developed a network model for reverse flows of end-of-life vehicles. • The model considers all recovery operations for end-of-life vehicles. • A scenario-based model is used for uncertainty to improve real case applications. • The model is adequate to real case applications for end-of-life vehicles recovery. • Considerable insights are gained from the model by sensitivity analyses. - Abstract: Product recovery operations are of critical importance for the automotive industry in complying with environmental regulations concerning end-of-life products management. Manufacturers must take responsibility for their products over the entire life cycle. In this context, there is a need for network design methods for effectively managing recovery operations and waste. The purpose of this study is to develop a mathematical programming model for managing reverse flows in end-of-life vehicles’ recovery network. A reverse flow is the collection of used products from consumers and the transportation of these products for the purpose of recycling, reuse or disposal. The proposed model includes all operations in a product recovery and waste management network for used vehicles and reuse for vehicle parts such as collection, disassembly, refurbishing, processing (shredding), recycling, disposal and reuse of vehicle parts. The scope of the network model is to determine the numbers and locations of facilities in the network and the material flows between these facilities. The results show the performance of the model and its applicability for use in the planning of recovery operations in the automotive industry. The main objective of recovery and waste management is to maximize revenue and minimize pollution in end-of-life product operations. This study shows that with an accurate model, these activities may provide economic benefits and incentives in addition to protecting the environment

Network modeling for reverse flows of end-of-life vehicles

Energy Technology Data Exchange (ETDEWEB)

Ene, Seval; Öztürk, Nursel

2015-04-15

Highlights: • We developed a network model for reverse flows of end-of-life vehicles. • The model considers all recovery operations for end-of-life vehicles. • A scenario-based model is used for uncertainty to improve real case applications. • The model is adequate to real case applications for end-of-life vehicles recovery. • Considerable insights are gained from the model by sensitivity analyses. - Abstract: Product recovery operations are of critical importance for the automotive industry in complying with environmental regulations concerning end-of-life products management. Manufacturers must take responsibility for their products over the entire life cycle. In this context, there is a need for network design methods for effectively managing recovery operations and waste. The purpose of this study is to develop a mathematical programming model for managing reverse flows in end-of-life vehicles’ recovery network. A reverse flow is the collection of used products from consumers and the transportation of these products for the purpose of recycling, reuse or disposal. The proposed model includes all operations in a product recovery and waste management network for used vehicles and reuse for vehicle parts such as collection, disassembly, refurbishing, processing (shredding), recycling, disposal and reuse of vehicle parts. The scope of the network model is to determine the numbers and locations of facilities in the network and the material flows between these facilities. The results show the performance of the model and its applicability for use in the planning of recovery operations in the automotive industry. The main objective of recovery and waste management is to maximize revenue and minimize pollution in end-of-life product operations. This study shows that with an accurate model, these activities may provide economic benefits and incentives in addition to protecting the environment.

Optimal Vehicle Design Using the Integrated System and Cost Modeling Tool Suite

Science.gov (United States)

2010-08-01

Space Vehicle Costing ( ACEIT ) • New Small Sat Model Development & Production Cost O&M Cost Module  Radiation Exposure  Radiation Detector Response...Reliability OML Availability Risk l l Tools CEA, SRM Model, POST, ACEIT , Inflation Model, Rotor Blade Des, Microsoft Project, ATSV, S/1-iABP...space STK, SOAP – Specific mission • Space Vehicle Design (SMAD) • Space Vehicle Propulsion • Orbit Propagation • Space Vehicle Costing ( ACEIT ) • New

The sophisticated control of the tram bogie on track

Directory of Open Access Journals (Sweden)

Radovan DOLECEK

2015-09-01

Full Text Available The paper deals with the problems of routing control algorithms of new conception of tram vehicle bogie. The main goal of these research activities is wear reduction of rail wheels and tracks, wear reduction of traction energy losses and increasing of running comfort. The testing experimental tram vehicle with special bogie construction powered by traction battery is utilized for these purposes. This vehicle has a rotary bogie with independent rotating wheels driven by permanent magnets synchronous motors and a solid axle. The wheel forces in bogie are measured by large amounts of the various sensors placed on the testing experimental tram vehicle. Nowadays the designed control algorithms are implemented to the vehicle superset control system. The traction requirements and track characteristics have an effect to these control algorithms. This control including sophisticated routing brings other improvements which is verified and corrected according to individual traction and driving characteristics, and opens new possibilities.

Reduction of lateral forces between the railway vehicle and the track in small-radius curves by means of active elements

Directory of Open Access Journals (Sweden)

Michálek T.

2011-12-01

Full Text Available This paper deals with a possibility of reduction of guiding forces magnitude in small-radius curves by means of active elements. These guiding forces characterize the lateral force interaction between the rail vehicle and the track and influence the wear of wheels and rails in curves. Their magnitudes are assessed in the framework of vehicle authorization process. However, in case of new railway vehicles with axleload of approximately 20t and more it is problematic to meet the condition of maximum value of the quasistatic guiding force which acts on the outer wheel of the 1st wheelset in small-radius curves. One of the possible ways how to reduce these forces is using the system of active yaw dampers. By means of computer simulations of guiding behaviour of a new electric locomotive, comparison of reached values of the quasistatic guiding forces in case of locomotive equipped with active yaw dampers and without them was performed. Influences of magnitude of force generated by the active yaw dampers, friction coefficient in wheel/rail contact and curve radius were analysed in this work, as well.

Influence of wheel-rail contact modelling on vehicle dynamic simulation

Science.gov (United States)

Burgelman, Nico; Sichani, Matin Sh.; Enblom, Roger; Berg, Mats; Li, Zili; Dollevoet, Rolf

2015-08-01

This paper presents a comparison of four models of rolling contact used for online contact force evaluation in rail vehicle dynamics. Until now only a few wheel-rail contact models have been used for online simulation in multibody software (MBS). Many more models exist and their behaviour has been studied offline, but a comparative study of the mutual influence between the calculation of the creep forces and the simulated vehicle dynamics seems to be missing. Such a comparison would help researchers with the assessment of accuracy and calculation time. The contact methods investigated in this paper are FASTSIM, Linder, Kik-Piotrowski and Stripes. They are compared through a coupling between an MBS for the vehicle simulation and Matlab for the contact models. This way the influence of the creep force calculation on the vehicle simulation is investigated. More specifically this study focuses on the influence of the contact model on the simulation of the hunting motion and on the curving behaviour.

Vehicle logo recognition using multi-level fusion model

Science.gov (United States)

Ming, Wei; Xiao, Jianli

2018-04-01

Vehicle logo recognition plays an important role in manufacturer identification and vehicle recognition. This paper proposes a new vehicle logo recognition algorithm. It has a hierarchical framework, which consists of two fusion levels. At the first level, a feature fusion model is employed to map the original features to a higher dimension feature space. In this space, the vehicle logos become more recognizable. At the second level, a weighted voting strategy is proposed to promote the accuracy and the robustness of the recognition results. To evaluate the performance of the proposed algorithm, extensive experiments are performed, which demonstrate that the proposed algorithm can achieve high recognition accuracy and work robustly.

Detection and 3d Modelling of Vehicles from Terrestrial Stereo Image Pairs

Science.gov (United States)

Coenen, M.; Rottensteiner, F.; Heipke, C.

2017-05-01

The detection and pose estimation of vehicles plays an important role for automated and autonomous moving objects e.g. in autonomous driving environments. We tackle that problem on the basis of street level stereo images, obtained from a moving vehicle. Processing every stereo pair individually, our approach is divided into two subsequent steps: the vehicle detection and the modelling step. For the detection, we make use of the 3D stereo information and incorporate geometric assumptions on vehicle inherent properties in a firstly applied generic 3D object detection. By combining our generic detection approach with a state of the art vehicle detector, we are able to achieve satisfying detection results with values for completeness and correctness up to more than 86%. By fitting an object specific vehicle model into the vehicle detections, we are able to reconstruct the vehicles in 3D and to derive pose estimations as well as shape parameters for each vehicle. To deal with the intra-class variability of vehicles, we make use of a deformable 3D active shape model learned from 3D CAD vehicle data in our model fitting approach. While we achieve encouraging values up to 67.2% for correct position estimations, we are facing larger problems concerning the orientation estimation. The evaluation is done by using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012).

Inflatable Re-Entry Vehicle Experiment (IRVE) Design Overview

Science.gov (United States)

Hughes, Stephen J.; Dillman, Robert A.; Starr, Brett R.; Stephan, Ryan A.; Lindell, Michael C.; Player, Charles J.; Cheatwood, F. McNeil

2005-01-01

integrity when exposed to a relevant dynamic pressure and aerodynamic stability of the inflatable system. Structural integrity and structural response of the inflatable will be verified with photogrammetric measurements of the back side of the aeroshell in flight. Aerodynamic stability as well as drag performance will be verified with on board inertial measurements and radar tracking from multiple ground radar stations. The experiment will yield valuable information about zero-g vacuum deployment dynamics of the flexible inflatable structure with both inertial and photographic measurements. In addition to demonstrating inflatable technology, IRVE will validate structural, aerothermal, and trajectory modeling techniques for the inflatable. Structural response determined from photogrammetrics will validate structural models, skin temperature measurements and additional in-depth temperature measurements will validate material thermal performance models, and on board inertial measurements along with radar tracking from multiple ground radar stations will validate trajectory simulation models.

Multiple-lesion track-structure model

International Nuclear Information System (INIS)

Wilson, J.W.; Cucinotta, F.A.; Shinn, J.L.

1992-03-01

A multilesion cell kinetic model is derived, and radiation kinetic coefficients are related to the Katz track structure model. The repair-related coefficients are determined from the delayed plating experiments of Yang et al. for the C3H10T1/2 cell system. The model agrees well with the x ray and heavy ion experiments of Yang et al. for the immediate plating, delaying plating, and fractionated exposure protocols employed by Yang. A study is made of the effects of target fragments in energetic proton exposures and of the repair-deficient target-fragment-induced lesions

Vehicle-network defensive aids suite

Science.gov (United States)

Rapanotti, John

2005-05-01

Defensive Aids Suites (DAS) developed for vehicles can be extended to the vehicle network level. The vehicle network, typically comprising four platoon vehicles, will benefit from improved communications and automation based on low latency response to threats from a flexible, dynamic, self-healing network environment. Improved DAS performance and reliability relies on four complementary sensor technologies including: acoustics, visible and infrared optics, laser detection and radar. Long-range passive threat detection and avoidance is based on dual-purpose optics, primarily designed for manoeuvring, targeting and surveillance, combined with dazzling, obscuration and countermanoeuvres. Short-range active armour is based on search and track radar and intercepting grenades to defeat the threat. Acoustic threat detection increases the overall robustness of the DAS and extends the detection range to include small calibers. Finally, detection of active targeting systems is carried out with laser and radar warning receivers. Synthetic scene generation will provide the integrated environment needed to investigate, develop and validate these new capabilities. Computer generated imagery, based on validated models and an acceptable set of benchmark vignettes, can be used to investigate and develop fieldable sensors driven by real-time algorithms and countermeasure strategies. The synthetic scene environment will be suitable for sensor and countermeasure development in hardware-in-the-loop simulation. The research effort focuses on two key technical areas: a) computing aspects of the synthetic scene generation and b) and development of adapted models and databases. OneSAF is being developed for research and development, in addition to the original requirement of Simulation and Modelling for Acquisition, Rehearsal, Requirements and Training (SMARRT), and is becoming useful as a means for transferring technology to other users, researchers and contractors. This procedure

Use of along-track magnetic field differences in lithospheric field modelling

DEFF Research Database (Denmark)

Kotsiaros, Stavros; Finlay, Chris; Olsen, Nils

2015-01-01

. Experiments in modelling the Earth's lithospheric magnetic field with along-track differences are presented here as a proof of concept. We anticipate that use of such along-track differences in combination with east–west field differences, as are now provided by the Swarm satellite constellation......We demonstrate that first differences of polar orbiting satellite magnetic data in the along-track direction can be used to obtain high resolution models of the lithospheric field. Along-track differences approximate the north–south magnetic field gradients for non-polar latitudes. In a test case......, using 2 yr of low altitude data from the CHAMP satellite, we show that use of along-track differences of vector field data results in an enhanced recovery of the small scale lithospheric field, compared to the use of the vector field data themselves. We show that the along-track technique performs...

Zebrabase: An intuitive tracking solution for aquatic model organisms

OpenAIRE

Oltova, Jana; Bartunek, Petr; Machonova, Olga; Svoboda, Ondrej; Skuta, Ctibor; Jindrich, Jindrich

2018-01-01

Small fish species, like zebrafish or medaka, are constantly gaining popularity in basic research and disease modeling as a useful alternative to rodent model organisms. However, the tracking options for fish within a facility are rather limited. Here, we present an aquatic species tracking database, Zebrabase, developed in our zebrafish research and breeding facility that represents a practical and scalable solution and an intuitive platform for scientists, fish managers and caretakers, in b...

THE CONTENT MODEL AND THE EQUATIONS OF MOTION OF ELECTRIC VEHICLE

Directory of Open Access Journals (Sweden)

K. O. Soroka

2015-06-01

Full Text Available Purpose. The calculation methods improvement of the electric vehicle curve movement and the cost of electricity with the aim of performance and accuracy of calculations improving are considered in the paper. Methodology. The method is based upon the general principles of mathematical simulation, when a conceptual model of problem domain is created and then a mathematic model is formulated according to the conceptual model. Development of an improved conceptual model of electric vehicles motion is proposed and a corresponding mathematical model is studied. Findings. The authors proposed model in which the vehicle considers as a system of interacting point-like particles with defined interactions under the influence of external forces. As a mathematical model the Euler-Lagrange equation of the second kind is used. Conservative and dissipative forces affecting the system dynamics are considered. Equations for calculating motion of electric vehicles with taking into account the energy consumption are proposed. Originality. In the paper the conceptual model of motion for electric vehicles with distributed masses has been developed as a system of interacting point-like particles. In the easiest case the system has only one degree of freedom. The mathematical model is based on Lagrange equations. The shown approach allows a detailed and physically based description of the electric vehicles dynamics. The derived motion equations for public electric transport are substantially more precise than the equations recommended in textbooks and the reference documentation. The motion equations and energy consumption calculations for transportation of one passenger with a trolleybus are developed. It is shown that the energy consumption depends on the data of vehicle and can increase when the manload is above the certain level. Practical value. The authors received the equations of motion and labour costs in the calculations focused on the use of computer methods

Model tracking dual stochastic controller design under irregular internal noises

International Nuclear Information System (INIS)

Lee, Jong Bok; Heo, Hoon; Cho, Yun Hyun; Ji, Tae Young

2006-01-01

Although many methods about the control of irregular external noise have been introduced and implemented, it is still necessary to design a controller that will be more effective and efficient methods to exclude for various noises. Accumulation of errors due to model tracking, internal noises (thermal noise, shot noise and l/f noise) that come from elements such as resistor, diode and transistor etc. in the circuit system and numerical errors due to digital process often destabilize the system and reduce the system performance. New stochastic controller is adopted to remove those noises using conventional controller simultaneously. Design method of a model tracking dual controller is proposed to improve the stability of system while removing external and internal noises. In the study, design process of the model tracking dual stochastic controller is introduced that improves system performance and guarantees robustness under irregular internal noises which can be created internally. The model tracking dual stochastic controller utilizing F-P-K stochastic control technique developed earlier is implemented to reveal its performance via simulation

Tracks for Eastern/Western European Future Launch Vehicles Cooperation

Science.gov (United States)

Eymar, Patrick; Bertschi, Markus

2002-01-01

exclusively upon Western European elements indigenously produced. Yet some private initiatives took place successfully in the second half of the nineties (Eurockot and Starsem) bringing together companies from Western and Eastern Europe. Evolution of these JV's are already envisioned. But these ventures relied mostly on already existing vehicles. broadening the bases in order to enlarge the reachable world market appears attractive, even if structural difficulties are complicating the process. had recently started to analyze, with KSRC counterparts how mixing Russian and Western European based elements would provide potential competitive edges. and RKA in the frame of the new ESA's Future Launch Preparatory Programme (FLPP). main technical which have been considered as the most promising (reusable LOx/Hydrocarbon engine, experimental reentry vehicles or demonstrators and reusable launch vehicle first stage or booster. international approach. 1 patrick.eymar@lanceurs.aeromatra.com 2

Particle tracking in sophisticated CAD models for simulation purposes

International Nuclear Information System (INIS)

Sulkimo, J.; Vuoskoski, J.

1995-01-01

The transfer of physics detector models from computer aided design systems to physics simulation packages like GEANT suffers from certain limitations. In addition, GEANT is not able to perform particle tracking in CAD models. We describe an application which is able to perform particle tracking in boundary models constructed in CAD systems. The transfer file format used is the new international standard, STEP. The design and implementation of the application was carried out using object-oriented techniques. It will be integrated in the future object-oriented version of GEANT. (orig.)

Particle tracking in sophisticated CAD models for simulation purposes

Science.gov (United States)

Sulkimo, J.; Vuoskoski, J.

1996-02-01

The transfer of physics detector models from computer aided design systems to physics simulation packages like GEANT suffers from certain limitations. In addition, GEANT is not able to perform particle tracking in CAD models. We describe an application which is able to perform particle tracking in boundary models constructed in CAD systems. The transfer file format used is the new international standard, STEP. The design and implementation of the application was carried out using object-oriented techniques. It will be integrated in the future object-oriented version of GEANT.

Generalized Linear Models in Vehicle Insurance

Directory of Open Access Journals (Sweden)

Silvie Kafková

2014-01-01

Full Text Available Actuaries in insurance companies try to find the best model for an estimation of insurance premium. It depends on many risk factors, e.g. the car characteristics and the profile of the driver. In this paper, an analysis of the portfolio of vehicle insurance data using a generalized linear model (GLM is performed. The main advantage of the approach presented in this article is that the GLMs are not limited by inflexible preconditions. Our aim is to predict the relation of annual claim frequency on given risk factors. Based on a large real-world sample of data from 57 410 vehicles, the present study proposed a classification analysis approach that addresses the selection of predictor variables. The models with different predictor variables are compared by analysis of deviance and Akaike information criterion (AIC. Based on this comparison, the model for the best estimate of annual claim frequency is chosen. All statistical calculations are computed in R environment, which contains stats package with the function for the estimation of parameters of GLM and the function for analysis of deviation.

Time-varying mixed logit model for vehicle merging behavior in work zone merging areas.

Science.gov (United States)

Weng, Jinxian; Du, Gang; Li, Dan; Yu, Yao

2018-08-01

This study aims to develop a time-varying mixed logit model for the vehicle merging behavior in work zone merging areas during the merging implementation period from the time of starting a merging maneuver to that of completing the maneuver. From the safety perspective, vehicle crash probability and severity between the merging vehicle and its surrounding vehicles are regarded as major factors influencing vehicle merging decisions. Model results show that the model with the use of vehicle crash risk probability and severity could provide higher prediction accuracy than previous models with the use of vehicle speeds and gap sizes. It is found that lead vehicle type, through lead vehicle type, through lag vehicle type, crash probability of the merging vehicle with respect to the through lag vehicle, crash severities of the merging vehicle with respect to the through lead and lag vehicles could exhibit time-varying effects on the merging behavior. One important finding is that the merging vehicle could become more and more aggressive in order to complete the merging maneuver as quickly as possible over the elapsed time, even if it has high vehicle crash risk with respect to the through lead and lag vehicles. Copyright © 2018 Elsevier Ltd. All rights reserved.

Modelling how drivers respond to a bicyclist crossing their path at an intersection: How do test track and driving simulator compare?

Science.gov (United States)

Boda, Christian-Nils; Dozza, Marco; Bohman, Katarina; Thalya, Prateek; Larsson, Annika; Lubbe, Nils

2018-02-01

Bicyclist fatalities are a great concern in the European Union. Most of them are due to crashes between motorized vehicles and bicyclists at unsignalised intersections. Different countermeasures are currently being developed and implemented in order to save lives. One type of countermeasure, active safety systems, requires a deep understanding of driver behaviour to be effective without being annoying. The current study provides new knowledge about driver behaviour which can inform assessment programmes for active safety systems such as Euro NCAP. This study investigated how drivers responded to bicyclists crossing their path at an intersection. The influences of car speed and cyclist speed on the driver response process were assessed for three different crossing configurations. The same experimental protocol was tested in a fixed-base driving simulator and on a test track. A virtual model of the test track was used in the driving simulator to keep the protocol as consistent as possible across testing environments. Results show that neither car speed nor bicycle speed directly influenced the response process. The crossing configuration did not directly influence the braking response process either, but it did influence the strategy chosen by the drivers to approach the intersection. The point in time when the bicycle became visible (which depended on the car speed, the bicycle speed, and the crossing configuration) and the crossing configuration alone had the largest effects on the driver response process. Dissimilarities between test-track and driving-simulator studies were found; however, there were also interesting similarities, especially in relation to the driver braking behaviour. Drivers followed the same strategy to initiate braking, independent of the test environment. On the other hand, the test environment affected participants' strategies for releasing the gas pedal and regulating deceleration. Finally, a mathematical model, based on both experiments

Modeling of Maximum Power Point Tracking Controller for Solar Power System

Directory of Open Access Journals (Sweden)

Aryuanto Soetedjo

2012-09-01

Full Text Available In this paper, a Maximum Power Point Tracking (MPPT controller for solar power system is modeled using MATLAB Simulink. The model consists of PV module, buck converter, and MPPT controller. The contribution of the work is in the modeling of buck converter that allowing the input voltage of the converter, i.e. output voltage of PV is changed by varying the duty cycle, so that the maximum power point could be tracked when the environmental changes. The simulation results show that the developed model performs well in tracking the maximum power point (MPP of the PV module using Perturb and Observe (P&O Algorithm.

Portfolio optimization for index tracking modelling in Malaysia stock market

Science.gov (United States)

Siew, Lam Weng; Jaaman, Saiful Hafizah; Ismail, Hamizun

2016-06-01

Index tracking is an investment strategy in portfolio management which aims to construct an optimal portfolio to generate similar mean return with the stock market index mean return without purchasing all of the stocks that make up the index. The objective of this paper is to construct an optimal portfolio using the optimization model which adopts regression approach in tracking the benchmark stock market index return. In this study, the data consists of weekly price of stocks in Malaysia market index which is FTSE Bursa Malaysia Kuala Lumpur Composite Index from January 2010 until December 2013. The results of this study show that the optimal portfolio is able to track FBMKLCI Index at minimum tracking error of 1.0027% with 0.0290% excess mean return over the mean return of FBMKLCI Index. The significance of this study is to construct the optimal portfolio using optimization model which adopts regression approach in tracking the stock market index without purchasing all index components.

On distributed model predictive control for vehicle platooning with a recursive feasibility guarantee

NARCIS (Netherlands)

Shi, Shengling; Lazar, Mircea

2017-01-01

This paper proposes a distributed model predictive control algorithm for vehicle platooning and more generally networked systems in a chain structure. The distributed models of the vehicle platoon are coupled through the input of the preceding vehicles. Using the principles of robust model

Consumer Views on Transportation and Advanced Vehicle Technologies

Energy Technology Data Exchange (ETDEWEB)

Singer, Mark [National Renewable Energy Lab. (NREL), Golden, CO (United States)

2015-09-01

Vehicle manufacturers, U.S. Department of Energy laboratories, universities, private researchers, and organizations from countries around the globe are pursuing advanced vehicle technologies that aim to reduce gasoline and diesel consumption. This report details study findings of broad American public sentiments toward issues surrounding advanced vehicle technologies and is supported by the U.S. Department of Energy Vehicle Technology Office (VTO) in alignment with its mission to develop and deploy these technologies to improve energy security, increase mobility flexibility, reduce transportation costs, and increase environmental sustainability. Understanding and tracking consumer sentiments can influence the prioritization of development efforts by identifying barriers to and opportunities for broad acceptance of new technologies. Predicting consumer behavior toward developing technologies and products is inherently inexact. A person's stated preference given in an interview about a hypothetical setting may not match the preference that is demonstrated in an actual situation. This difference makes tracking actual consumer actions ultimately more valuable in understanding potential behavior. However, when developing technologies are not yet available and actual behaviors cannot be tracked, stated preferences provide some insight into how consumers may react in new circumstances. In this context this report provides an additional source to validate data and a new resource when no data are available. This report covers study data captured from December 2005 through June 2015 relevant to VTO research efforts at the time of the studies. Broadly the report covers respondent sentiments about vehicle fuel economy, future vehicle technology alternatives, ethanol as a vehicle fuel, plug-in electric vehicles, and willingness to pay for vehicle efficiency. This report represents a renewed effort to publicize study findings and make consumer sentiment data available to

Using Posture Estimation to Enhance Personal Inertial Tracking

Science.gov (United States)

2016-06-01

augment tracking during periods without GPS coverage. The goal of this research is to improve the current personal inertial navigation system by...solution is to use inertial navigation systems to augment tracking during periods without GPS coverage. The goal of this research is to improve the...For large items such as vehicles or aircraft, a Global Positioning System ( GPS ) is used to track the locations of friendly units and display these

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Directory of Open Access Journals (Sweden)

Haijian Bai

2017-01-01

Full Text Available Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC. Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lane-changing model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

Modeling of hybrid vehicle fuel economy and fuel engine efficiency

Science.gov (United States)

Wu, Wei

"Near-CV" (i.e., near-conventional vehicle) hybrid vehicles, with an internal combustion engine, and a supplementary storage with low-weight, low-energy but high-power capacity, are analyzed. This design avoids the shortcoming of the "near-EV" and the "dual-mode" hybrid vehicles that need a large energy storage system (in terms of energy capacity and weight). The small storage is used to optimize engine energy management and can provide power when needed. The energy advantage of the "near-CV" design is to reduce reliance on the engine at low power, to enable regenerative braking, and to provide good performance with a small engine. The fuel consumption of internal combustion engines, which might be applied to hybrid vehicles, is analyzed by building simple analytical models that reflect the engines' energy loss characteristics. Both diesel and gasoline engines are modeled. The simple analytical models describe engine fuel consumption at any speed and load point by describing the engine's indicated efficiency and friction. The engine's indicated efficiency and heat loss are described in terms of several easy-to-obtain engine parameters, e.g., compression ratio, displacement, bore and stroke. Engine friction is described in terms of parameters obtained by fitting available fuel measurements on several diesel and spark-ignition engines. The engine models developed are shown to conform closely to experimental fuel consumption and motored friction data. A model of the energy use of "near-CV" hybrid vehicles with different storage mechanism is created, based on simple algebraic description of the components. With powertrain downsizing and hybridization, a "near-CV" hybrid vehicle can obtain a factor of approximately two in overall fuel efficiency (mpg) improvement, without considering reductions in the vehicle load.

An approach for modeling the influence of wheel tractor loads and vibration frequencies on soil compaction

Science.gov (United States)

Verotti, M.; Servadio, P.; Belfiore, N. P.; Bergonzoli, S.

2012-04-01

Both soil compaction and ground vibration are forms of environmental degradation that may be understood in the context of the vehicle-soil interaction process considered (Hildebrand et al., 2008). The transit of tractors on agricultural soil is often the main cause of soil compaction increasing. As known, this can be a serious problems for tillage and sowing and therefore the influence of all the affecting factors have been extensively studied in the last decades in order to understand their impact on the biosystem. There are factors related to the climate, namely to the rainfalls and temperature, and many others. Hence, it is not simple to figure out a complete model for predicting an index of compaction, for a given situation. Soil compaction models are important tools for controlling soil compaction due to agricultural field traffic and they are potentially useful technique to provide information concerning correct soil management. By means of such models, strategies and recommendations for prevention of soil compaction may be developed and specific advice may be given to farmers and advisers. In order to predict field wheeled and tracked vehicle performance, some empirical methods, used for off-road vehicle, were applied by Servadio (2010) on agricultural soil. The empirical indexes included, besides the soil strength, the load carried by the tire or track, some technical characteristics of the tire or track of the vehicle (tire or track width, tire or track wheel diameter, unloaded tire section height, number of wheel station in one track, tire deflection, total length of the belt track, the track pitch) as well as the vehicle passes. They have been validated with the tests results of agricultural vehicles over a range of soil in central Italy. Among the parameters which affect soil compaction, the water content of the soil, the axle load and number of vehicle passes proved to be the most important ones. The present paper concerns mainly vehicle

Developing a particle tracking surrogate model to improve inversion of ground water - Surface water models

Science.gov (United States)

Cousquer, Yohann; Pryet, Alexandre; Atteia, Olivier; Ferré, Ty P. A.; Delbart, Célestine; Valois, Rémi; Dupuy, Alain

2018-03-01

The inverse problem of groundwater models is often ill-posed and model parameters are likely to be poorly constrained. Identifiability is improved if diverse data types are used for parameter estimation. However, some models, including detailed solute transport models, are further limited by prohibitive computation times. This often precludes the use of concentration data for parameter estimation, even if those data are available. In the case of surface water-groundwater (SW-GW) models, concentration data can provide SW-GW mixing ratios, which efficiently constrain the estimate of exchange flow, but are rarely used. We propose to reduce computational limits by simulating SW-GW exchange at a sink (well or drain) based on particle tracking under steady state flow conditions. Particle tracking is used to simulate advective transport. A comparison between the particle tracking surrogate model and an advective-dispersive model shows that dispersion can often be neglected when the mixing ratio is computed for a sink, allowing for use of the particle tracking surrogate model. The surrogate model was implemented to solve the inverse problem for a real SW-GW transport problem with heads and concentrations combined in a weighted hybrid objective function. The resulting inversion showed markedly reduced uncertainty in the transmissivity field compared to calibration on head data alone.

Control system design for UAV trajectory tracking

Science.gov (United States)

Wang, Haitao; Gao, Jinyuan

2006-11-01

In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

Vision based guidance and flight control in problems of aerial tracking

Science.gov (United States)

Stepanyan, Vahram

The use of visual sensors in providing the necessary information for the autonomous guidance and navigation of the unmanned-air vehicles (UAV) or micro-air vehicles (MAV) applications is inspired by biological systems and is motivated first of all by the reduction of the navigational sensor cost. Also, visual sensors can be more advantageous in military operations since they are difficult to detect. However, the design of a reliable guidance, navigation and control system for aerial vehicles based only on visual information has many unsolved problems, ranging from hardware/software development to pure control-theoretical issues, which are even more complicated when applied to the tracking of maneuvering unknown targets. This dissertation describes guidance law design and implementation algorithms for autonomous tracking of a flying target, when the information about the target's current position is obtained via a monocular camera mounted on the tracking UAV (follower). The visual information is related to the target's relative position in the follower's body frame via the target's apparent size, which is assumed to be constant, but otherwise unknown to the follower. The formulation of the relative dynamics in the inertial frame requires the knowledge of the follower's orientation angles, which are assumed to be known. No information is assumed to be available about the target's dynamics. The follower's objective is to maintain a desired relative position irrespective of the target's motion. Two types of guidance laws are designed and implemented in the dissertation. The first one is a smooth guidance law that guarantees asymptotic tracking of a target, the velocity of which is viewed as a time-varying disturbance, the change in magnitude of which has a bounded integral. The second one is a smooth approximation of a discontinuous guidance law that guarantees bounded tracking with adjustable bounds when the target's acceleration is viewed as a bounded but otherwise

Elastomers for Tracked Vehicles: 1980-1997 Program to Improve Durability of Rubber Tank Pads for Army Tracked Vehicles

Science.gov (United States)

2015-06-01

elastomeric compound coded NBR -12 was developed. This compound was based on a highly saturated nitrile rubber or hydrogenated acrylonitrile-butadiene...at Fort Belvoir, VA, produced a patented rubber formulation ( NBR -12) based on hydrogenated nitrile rubber (HNBR)1,2 with a novel curing and filler...performance vehicles. • Acrylonitrile butadiene or nitrile rubber ( NBR )10: NBR is the generic name given to emulsion polymerized copolymers of

Models Supporting Trajectory Planning in Autonomous Vehicles

OpenAIRE

Ward, Erik

2018-01-01

Autonomous vehicles have the potential to drastically improve the safety, efficiency and cost of transportation. Instead of a driver, an autonomous vehicle is controlled by an algorithm, offering improved consistency and the potential to eliminate human error from driving: by far the most common cause of accidents. Data collected from different types of sensors, along with prior information such as maps, are used to build models of the surrounding traffic scene, encoding relevant aspects of t...

Model tracking system for low-level radioactive waste disposal facilities: License application interrogatories and responses

Energy Technology Data Exchange (ETDEWEB)

Benbennick, M.E.; Broton, M.S.; Fuoto, J.S.; Novgrod, R.L.

1994-08-01

This report describes a model tracking system for a low-level radioactive waste (LLW) disposal facility license application. In particular, the model tracks interrogatories (questions, requests for information, comments) and responses. A set of requirements and desired features for the model tracking system was developed, including required structure and computer screens. Nine tracking systems were then reviewed against the model system requirements and only two were found to meet all requirements. Using Kepner-Tregoe decision analysis, a model tracking system was selected.

Model tracking system for low-level radioactive waste disposal facilities: License application interrogatories and responses

International Nuclear Information System (INIS)

Benbennick, M.E.; Broton, M.S.; Fuoto, J.S.; Novgrod, R.L.

1994-08-01

This report describes a model tracking system for a low-level radioactive waste (LLW) disposal facility license application. In particular, the model tracks interrogatories (questions, requests for information, comments) and responses. A set of requirements and desired features for the model tracking system was developed, including required structure and computer screens. Nine tracking systems were then reviewed against the model system requirements and only two were found to meet all requirements. Using Kepner-Tregoe decision analysis, a model tracking system was selected

Letter to the Editor: Electric Vehicle Demand Model for Load Flow Studies

DEFF Research Database (Denmark)

Garcia-Valle, Rodrigo; Vlachogiannis, Ioannis (John)

2009-01-01

This paper introduces specific and simple model for electric vehicles suitable for load flow studies. The electric vehicles demand system is modelled as PQ bus with stochastic characteristics based on the concept of queuing theory. All appropriate variables of stochastic PQ buses are given...... with closed formulae as a function of charging time. Specific manufacturer model of electric vehicles is used as study case....

A Deep-Structured Conditional Random Field Model for Object Silhouette Tracking.

Directory of Open Access Journals (Sweden)

Mohammad Javad Shafiee

Full Text Available In this work, we introduce a deep-structured conditional random field (DS-CRF model for the purpose of state-based object silhouette tracking. The proposed DS-CRF model consists of a series of state layers, where each state layer spatially characterizes the object silhouette at a particular point in time. The interactions between adjacent state layers are established by inter-layer connectivity dynamically determined based on inter-frame optical flow. By incorporate both spatial and temporal context in a dynamic fashion within such a deep-structured probabilistic graphical model, the proposed DS-CRF model allows us to develop a framework that can accurately and efficiently track object silhouettes that can change greatly over time, as well as under different situations such as occlusion and multiple targets within the scene. Experiment results using video surveillance datasets containing different scenarios such as occlusion and multiple targets showed that the proposed DS-CRF approach provides strong object silhouette tracking performance when compared to baseline methods such as mean-shift tracking, as well as state-of-the-art methods such as context tracking and boosted particle filtering.

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.