WorldWideScience

Sample records for vehicle tracking system

  1. Vehicle Tracking System, Vehicle Infrastructure Provided with Vehicle Tracking System and Method for Tracking

    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 vehicle tracking system is described comprising - a plurality of sensor nodes (10) that each provide a message (D) indicative for an occupancy status of a detection area of an vehicle infrastructure monitored by said sensor node, said sensor nodes (10) being arranged in the vehicle infrastructure

  2. 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.

  3. 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

  4. 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

  5. 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.

  6. 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.

  7. 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.

  8. 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

  9. Emergency Brake for Tracked Vehicles

    Science.gov (United States)

    Green, G. L.; Hooper, S. L.

    1986-01-01

    Caliper brake automatically stops tracked vehicle as vehicle nears end of travel. Bar on vehicle, traveling to right, dislodges block between brake pads. Pads then press against bar, slowing vehicle by friction. Emergencybraking system suitable for elevators, amusement rides and machine tools.

  10. Advanced Tracking of Vehicles

    DEFF Research Database (Denmark)

    Jensen, Christian Søndergaard; Li, K.-J.; Pakalnis, Stardas

    2005-01-01

    efficient tracking techniques. More specifically, while almost all commercially available tracking solutions simply offer time-based sampling of positions, this paper's techniques aim to offer a guaranteed tracking accuracy for each vehicle at the lowest possible costs, in terms of network traffic...

  11. 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...

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

    Directory of Open Access Journals (Sweden)

    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.

  13. Vehicle track interaction safety standards

    Science.gov (United States)

    2014-04-02

    Vehicle/Track Interaction (VTI) Safety Standards aim to : reduce the risk of derailments and other accidents attributable : to the dynamic interaction between moving vehicles and the : track over which they operate. On March 13, 2013, the Federal : R...

  14. 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.

  15. 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...

  16. 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.

  17. 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

  18. Tracked vehicles in hazardous environments

    International Nuclear Information System (INIS)

    Jones, S.; Walton, P.J.

    1993-01-01

    A programme of remote inspections has been conducted on the Magnox steel reactor pressure vessel at Trawsfynydd Power Station using climbing vehicles. Tracked remotely operated vehicles supported the inspection programme by assisting with the delivery and recovery of the climbing vehicles and facilitating the use of various accessory packages. This paper presents details of the support project, the tracked vehicles and of the uses made of them during the inspection programme. (author)

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

    Directory of Open Access Journals (Sweden)

    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.

  20. 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.

  1. 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.

  2. 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...

  3. 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.

  4. 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

  5. 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.

  6. 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...

  7. Robotic vehicle with multiple tracked mobility platforms

    Science.gov (United States)

    Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

    2012-07-24

    A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

  8. 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

  9. 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...

  10. 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.

  11. 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.

  12. 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.

  13. Development of SPIES (Space Intelligent Eyeing System) for smart vehicle tracing and tracking

    Science.gov (United States)

    Abdullah, Suzanah; Ariffin Osoman, Muhammad; Guan Liyong, Chua; Zulfadhli Mohd Noor, Mohd; Mohamed, Ikhwan

    2016-06-01

    SPIES or Space-based Intelligent Eyeing System is an intelligent technology which can be utilized for various applications such as gathering spatial information of features on Earth, tracking system for the movement of an object, tracing system to trace the history information, monitoring driving behavior, security and alarm system as an observer in real time and many more. SPIES as will be developed and supplied modularly will encourage the usage based on needs and affordability of users. SPIES are a complete system with camera, GSM, GPS/GNSS and G-Sensor modules with intelligent function and capabilities. Mainly the camera is used to capture pictures and video and sometimes with audio of an event. Its usage is not limited to normal use for nostalgic purpose but can be used as a reference for security and material of evidence when an undesirable event such as crime occurs. When integrated with space based technology of the Global Navigational Satellite System (GNSS), photos and videos can be recorded together with positioning information. A product of the integration of these technologies when integrated with Information, Communication and Technology (ICT) and Geographic Information System (GIS) will produce innovation in the form of information gathering methods in still picture or video with positioning information that can be conveyed in real time via the web to display location on the map hence creating an intelligent eyeing system based on space technology. The importance of providing global positioning information is a challenge but overcome by SPIES even in areas without GNSS signal reception for the purpose of continuous tracking and tracing capability

  14. 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.

  15. Automated Vehicle Monitoring System

    OpenAIRE

    Wibowo, Agustinus Deddy Arief; Heriansyah, Rudi

    2014-01-01

    An automated vehicle monitoring system is proposed in this paper. The surveillance system is based on image processing techniques such as background subtraction, colour balancing, chain code based shape detection, and blob. The proposed system will detect any human's head as appeared at the side mirrors. The detected head will be tracked and recorded for further action.

  16. Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

    Science.gov (United States)

    Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

    2016-04-22

    The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

  17. Tracking of a Fluorescent Dye in a Freshwater Lake with an Unmanned Surface Vehicle and an Unmanned Aircraft System

    Directory of Open Access Journals (Sweden)

    Craig Powers

    2018-01-01

    Full Text Available Recent catastrophic events in our oceans, including the spill of toxic oil from the explosion of the Deepwater Horizon drilling rig and the rapid dispersion of radioactive particulates from the meltdown of the Fukushima Daiichi nuclear plant, underscore the need for new tools and technologies to rapidly respond to hazardous agents. Our understanding of the movement and aerosolization of hazardous agents from natural aquatic systems can be expanded upon and used in prevention and tracking. New technologies with coordinated unmanned robotic systems could lead to faster identification and mitigation of hazardous agents in lakes, rivers, and oceans. In this study, we released a fluorescent dye (fluorescein into a freshwater lake from an anchored floating platform. A fluorometer (fluorescence sensor was mounted underneath an unmanned surface vehicle (USV, unmanned boat and was used to detect and track the released dye in situ in real-time. An unmanned aircraft system (UAS was used to visualize the dye and direct the USV to sample different areas of the dye plume. Image processing tools were used to map concentration profiles of the dye plume from aerial images acquired from the UAS, and these were associated with concentration measurements collected from the sensors onboard the USV. The results of this project have the potential to transform monitoring strategies for hazardous agents, enabling timely and accurate exposure assessment and response in affected areas. Fast response is essential in reacting to the introduction of hazardous agents, in order to quickly predict and contain their spread.

  18. 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...

  19. Vehicle Dynamics Monitoring and Tracking System (VDMTS): Monitoring Mission Impacts in Support of Installation Land Management

    Science.gov (United States)

    2012-06-01

    mine vehicle velocity and turning radius 8 Using vehicle impact mod- els for prediction of im- pacts 7 Analyzing impact data for site-specific...Allocation of Land for Training and Non-Training Uses ( OPAL ). The objective of the OPAL work package is to predict impacts for cumulative military land-use...Management and Budget OPAL Optimal Allocation of Land for Training and Non-Training Uses OTD Office of the Technical Director PI Principal Investigator

  20. Analysis of Dead Time and Implementation of Smith Predictor Compensation in Tracking Servo Systems for Small Unmanned Aerial Vehicles

    National Research Council Canada - National Science Library

    Brashear , Jr, Thomas J

    2005-01-01

    .... Gimbaled video camera systems, designed at NPS, use two servo actuators to command line of sight orientation via serial controller while tracking a target and is termed Visual Based Target Tracking (VBTT...

  1. 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…

  2. Leader-Follower Tracking System for Agricultural Vehicles: Fusion of Laser and Odometry Positioning Using Extended Kalman Filter

    Directory of Open Access Journals (Sweden)

    Zhang Lin Huan

    2015-03-01

    Full Text Available The aim of this research was to develop a safe human-driven and autonomous leader-follower tracking system for an autonomous tractor. To enable the tracking system, a laser range finder (LRF-based landmark detection system was designed to observe the relative position between a leader and a follower used in agricultural operations. The virtual follower-based formation-tracking algorithm was developed to minimize tracking errors and ensure safety. An extended Kalman filter (EKF was implemented for fusing LRF and odometry position to ensure stability of tracking in noisy farmland conditions. Simulations were conducted for tracking the leader in small and large sinusoidal curved paths. Simulated results verified high accuracy of formation tracking, stable velocity, and regulated steering angle of the follower. The tracking method confirmed the follower could follow the leader with a required formation safely and steadily in noisy conditions. The EKF helped to improve observation accuracy, velocity, and steering angle stability of the follower. As a result of the improved accuracy of observation and motion action, the tracking performance for lateral, longitudinal, and heading were also improved after the EKF was implemented in the tracking system.

  3. 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....

  4. Evaluation of an Efficient Approach for Target Tracking from Acoustic Imagery for the Perception System of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Sebastián A. Villar

    2014-02-01

    Full Text Available This article describes the core algorithms of the perception system to be included within an autonomous underwater vehicle (AUV. This perception system is based on the acoustic data acquired from side scan sonar (SSS. These data should be processed in an efficient time, so that the perception system is able to detect and recognize a predefined target. This detection and recognition outcome is therefore an important piece of knowledge for the AUVs dynamic mission planner (DMP. Effectively, the DMP should propose different trajectories, navigation depths and other parameters that will change the robot's behaviour according to the perception system output. Hence, the time in which to make a decision is critical in order to assure safe robot operation and to acquire good quality data; consequently, the efficiency of the on-line image processing from acoustic data is a key issue. Current techniques for acoustic data processing are time and computationally intensive. Hence, it was decided to process data coming from a SSS using a technique that is used for radars, due to its efficiency and its amenability to on-line processing. The engineering problem to solve in this case was underwater pipeline tracking for routine inspections in the off-shore industry. Then, an automatic oil pipeline detection system was developed borrowing techniques from the processing of radar measurements. The radar technique is known as Cell Average – Constant False Alarm Rate (CA – CFAR. With a slight variation of the algorithms underlying this radar technique, which consisted of the previous accumulation of partial sums, a great improvement in computing time and effort was achieved. Finally, a comparison with previous approaches over images acquired with a SSS from a vessel in the Salvador de Bahia bay in Brazil showed the feasibility of using this on-board technique for AUV perception.

  5. 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...

  6. 3-D model-based vehicle tracking.

    Science.gov (United States)

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.

  7. 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...

  8. Solar tracking system

    Science.gov (United States)

    Okandan, Murat; Nielson, Gregory N.

    2016-07-12

    Solar tracking systems, as well as methods of using such solar tracking systems, are disclosed. More particularly, embodiments of the solar tracking systems include lateral supports horizontally positioned between uprights to support photovoltaic modules. The lateral supports may be raised and lowered along the uprights or translated to cause the photovoltaic modules to track the moving sun.

  9. 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.

  10. 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.

  11. Real-Time Implementation of an Asynchronous Vision-Based Target Tracking System for an Unmanned Aerial Vehicle

    Science.gov (United States)

    2007-06-01

    Chin Khoon Quek. “Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle.” Master’s Thesis, Naval Postgraduate School...December 2005. [6] Kwee Chye Yap. “Incorporating Target Mensuration System for Target Motion Estimation Along a Road Using Asynchronous Filter

  12. Renewable Energy Tracking Systems

    Science.gov (United States)

    Renewable energy generation ownership can be accounted through tracking systems. Tracking systems are highly automated, contain specific information about each MWh, and are accessible over the internet to market participants.

  13. 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...

  14. 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.

  15. 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...

  16. Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle.

    Science.gov (United States)

    Xu, Bin; Yang, Chenguang; Pan, Yongping

    2015-10-01

    This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.

  17. A Clonal Selection Algorithm for Minimizing Distance Travel and Back Tracking of Automatic Guided Vehicles in Flexible Manufacturing System

    Science.gov (United States)

    Chawla, Viveak Kumar; Chanda, Arindam Kumar; Angra, Surjit

    2018-03-01

    The flexible manufacturing system (FMS) constitute of several programmable production work centers, material handling systems (MHSs), assembly stations and automatic storage and retrieval systems. In FMS, the automatic guided vehicles (AGVs) play a vital role in material handling operations and enhance the performance of the FMS in its overall operations. To achieve low makespan and high throughput yield in the FMS operations, it is highly imperative to integrate the production work centers schedules with the AGVs schedules. The Production schedule for work centers is generated by application of the Giffler and Thompson algorithm under four kind of priority hybrid dispatching rules. Then the clonal selection algorithm (CSA) is applied for the simultaneous scheduling to reduce backtracking as well as distance travel of AGVs within the FMS facility. The proposed procedure is computationally tested on the benchmark FMS configuration from the literature and findings from the investigations clearly indicates that the CSA yields best results in comparison of other applied methods from the literature.

  18. 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.

  19. DCS Budget Tracking System

    Data.gov (United States)

    Social Security Administration — DCS Budget Tracking System database contains budget information for the Information Technology budget and the 'Other Objects' budget. This data allows for monitoring...

  20. 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.

  1. 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

  2. Development of Bushing Compounds for Tracked Vehicles

    Science.gov (United States)

    1990-10-01

    unwanted stepchild - part of called anti patented NBR -12 formulation the family (system), but devoid of needed indicated that service life could be...as Development and Engineering Center’s long. Bushings currently used in the M I track Rubber and Coated Fabrics Research Group assembly typically fail...formulations of should be improved. Numerous selected candidate natural rubber , propylene formulations-based on natural rubber , oxide, and silicone

  3. Function integrated track system

    OpenAIRE

    Hohnecker, Eberhard

    2010-01-01

    The paper discusses a function integrated track system that focuses on the reduction of acoustic emissions from railway lines. It is shown that the combination of an embedded rail system (ERS), a sound absorbing track surface, and an integrated mini sound barrier has significant acoustic advantages compared to a standard ballast superstructure. The acoustic advantages of an embedded rail system are particularly pronounced in the case of railway bridges. Finally, it is shown that a...

  4. 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.

  5. Procurement Tracking System (PTS)

    Data.gov (United States)

    Office of Personnel Management — The Procurement Tracking System (PTS) is used solely by the procurement staff of the Office of the Inspector General (OIG) at the U.S. Office of Personnel Management...

  6. Matter Tracking Information System -

    Data.gov (United States)

    Department of Transportation — The Matter Tracking Information System (MTIS) principle function is to streamline and integrate the workload and work activity generated or addressed by our 300 plus...

  7. Real-time model for simulating a tracked vehicle on deformable soils

    Directory of Open Access Journals (Sweden)

    Martin Meywerk

    2016-05-01

    Full Text Available Simulation is one possibility to gain insight into the behaviour of tracked vehicles on deformable soils. A lot of publications are known on this topic, but most of the simulations described there cannot be run in real-time. The ability to run a simulation in real-time is necessary for driving simulators. This article describes an approach for real-time simulation of a tracked vehicle on deformable soils. The components of the real-time model are as follows: a conventional wheeled vehicle simulated in the Multi Body System software TRUCKSim, a geometric description of landscape, a track model and an interaction model between track and deformable soils based on Bekker theory and Janosi–Hanamoto, on one hand, and between track and vehicle wheels, on the other hand. Landscape, track model, soil model and the interaction are implemented in MATLAB/Simulink. The details of the real-time model are described in this article, and a detailed description of the Multi Body System part is omitted. Simulations with the real-time model are compared to measurements and to a detailed Multi Body System–finite element method model of a tracked vehicle. An application of the real-time model in a driving simulator is presented, in which 13 drivers assess the comfort of a passive and an active suspension of a tracked vehicle.

  8. 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...

  9. 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.

  10. 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

  11. 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.

  12. Vehicle usage verification system

    NARCIS (Netherlands)

    Scanlon, W.G.; McQuiston, Jonathan; Cotton, Simon L.

    2012-01-01

    EN)A computer-implemented system for verifying vehicle usage comprising a server capable of communication with a plurality of clients across a communications network. Each client is provided in a respective vehicle and with a respective global positioning system (GPS) by which the client can

  13. 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...

  14. 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...

  15. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  16. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  17. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

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

  18. A model predictive control approach combined unscented Kalman filter vehicle state estimation in intelligent vehicle trajectory tracking

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

    Full Text Available Trajectory tracking and state estimation are significant in the motion planning and intelligent vehicle control. This article focuses on the model predictive control approach for the trajectory tracking of the intelligent vehicles and state estimation of the nonlinear vehicle system. The constraints of the system states are considered when applying the model predictive control method to the practical problem, while 4-degree-of-freedom vehicle model and unscented Kalman filter are proposed to estimate the vehicle states. The estimated states of the vehicle are used to provide model predictive control with real-time control and judge vehicle stability. Furthermore, in order to decrease the cost of solving the nonlinear optimization, the linear time-varying model predictive control is used at each time step. The effectiveness of the proposed vehicle state estimation and model predictive control method is tested by driving simulator. The results of simulations and experiments show that great and robust performance is achieved for trajectory tracking and state estimation in different scenarios.

  19. Position and orientation tracking system

    International Nuclear Information System (INIS)

    Burks, B.L.; DePiero, F.W.; Armstrong, G.A.; Jansen, J.F.; Muller, R.C.; Gee, T.F.

    1998-01-01

    A position and orientation tracking system presents a laser scanning apparatus having two measurement pods, a control station, and a detector array. The measurement pods can be mounted in the dome of a radioactive waste storage silo. Each measurement pod includes dual orthogonal laser scanner subsystems. The first laser scanner subsystem is oriented to emit a first line laser in the pan direction. The second laser scanner is oriented to emit a second line laser in the tilt direction. Both emitted line lasers scan planes across the radioactive waste surface to encounter the detector array mounted on a target robotic vehicle. The angles of incidence of the planes with the detector array are recorded by the control station. Combining measurements describing each of the four planes provides data for a closed form solution of the algebraic transform describing the position and orientation of the target robotic vehicle. 14 figs

  20. Vehicle barrier systems

    International Nuclear Information System (INIS)

    Sena, P.A.

    1986-01-01

    The ground vehicle is one of the most effective tools available to an adversary force. Vehicles can be used to penetrate many types of perimeter barriers, transport equipment and personnel rapidly over long distances, and deliver large amounts of explosives directly to facilities in suicide missions. The function of a vehicle barrier system is to detain or disable a defined threat vehicle at a selected distance from a protected facility. Numerous facilities are installing, or planning to install, vehicle barrier systems and many of these facilities are requesting guidance to do so adequately. Therefore, vehicle barriers are being evaluated to determine their stopping capabilities so that systems can be designed that are both balanced and capable of providing a desired degree of protection. Equally important, many of the considerations that should be taken into account when establishing a vehicle barrier system have been identified. These considerations which pertain to site preparation, barrier selection, system integration and operation, and vehicle/barrier interaction, are discussed in this paper

  1. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

  3. 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.

  4. Second sound tracking system

    Science.gov (United States)

    Yang, Jihee; Ihas, Gary G.; Ekdahl, Dan

    2017-10-01

    It is common that a physical system resonates at a particular frequency, whose frequency depends on physical parameters which may change in time. Often, one would like to automatically track this signal as the frequency changes, measuring, for example, its amplitude. In scientific research, one would also like to utilize the standard methods, such as lock-in amplifiers, to improve the signal to noise ratio. We present a complete He ii second sound system that uses positive feedback to generate a sinusoidal signal of constant amplitude via automatic gain control. This signal is used to produce temperature/entropy waves (second sound) in superfluid helium-4 (He ii). A lock-in amplifier limits the oscillation to a desirable frequency and demodulates the received sound signal. Using this tracking system, a second sound signal probed turbulent decay in He ii. We present results showing that the tracking system is more reliable than those of a conventional fixed frequency method; there is less correlation with temperature (frequency) fluctuation when the tracking system is used.

  5. Stability control for high speed tracked unmanned vehicles

    Science.gov (United States)

    Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

    2005-05-01

    The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

  6. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  7. Tracking Object Existence From an Autonomous Patrol Vehicle

    Science.gov (United States)

    Wolf, Michael; Scharenbroich, Lucas

    2011-01-01

    uncertainty arising from errors in sensors and upstream processes. However, traditional target tracking methods typically assume a stationary detection volume of interest, whereas in this case, one must make adjustments for being able to see only a small portion of the region of interest and understand when an alert situation has occurred. To track object existence inside and outside the vehicle's sensor range, a probability of existence was defined for each hypothesized object, and this value was updated at every time step in a Bayesian manner based on expected characteristics of the sensor and object and whether that object has been detected in the most recent time step. Then, this value feeds into a sequential probability ratio test (SPRT) to determine the status of the object (suspected, confirmed, or deleted). Alerts are sent upon selected status transitions. Additionally, in order to track objects that move in and out of sensor range and update the probability of existence appropriately a variable probability detection has been defined and the hypothesis probability equations have been re-derived to accommodate this change. Unsupervised object tracking is a pervasive issue in automated perception systems. This work could apply to any mobile platform (ground vehicle, sea vessel, air vehicle, or orbiter) that intermittently revisits regions of interest and needs to determine whether anything interesting has changed.

  8. 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.

  9. 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.

  10. 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,...

  11. Patient tracking system

    International Nuclear Information System (INIS)

    Chapman, L.J.; Hakimi, R.; Salehi, D.; McCord, T.; Zionczkowski, B.; Churchill, R.

    1987-01-01

    This exhibit describes computer applications in monitoring patient tracking in radiology and the collection of management information (technologist productivity, patient waiting times, repeat rate, room utilization) and quality assurance information. An analysis of the reports that assist in determining staffing levels, training needs, and patient scheduling is presented. The system is designed to require minimal information input and maximal information output to assist radiologists, quality assurance coordinators, and management personnel in departmental operations

  12. 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.

  13. Space Vehicle Valve System

    Science.gov (United States)

    Kelley, Anthony R. (Inventor); Lindner, Jeffrey L. (Inventor)

    2014-01-01

    The present invention is a space vehicle valve system which controls the internal pressure of a space vehicle and the flow rate of purged gases at a given internal pressure and aperture site. A plurality of quasi-unique variable dimension peaked valve structures cover the purge apertures on a space vehicle. Interchangeable sheet guards configured to cover valve apertures on the peaked valve structure contain a pressure-activated surface on the inner surface. Sheet guards move outwardly from the peaked valve structure when in structural contact with a purge gas stream flowing through the apertures on the space vehicle. Changing the properties of the sheet guards changes the response of the sheet guards at a given internal pressure, providing control of the flow rate at a given aperture site.

  14. 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

  15. 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.

  16. A COOPERATIVE ASSISTANCE SYSTEM BETWEEN VEHICLES FOR ELDERLY DRIVERS

    Directory of Open Access Journals (Sweden)

    Naohisa HASHIMOTO

    2009-01-01

    Full Text Available This paper proposes a new concept of elderly driver assistance systems, which performs the assistance by cooperative driving between two vehicles, and describes some experiments with elderly drivers. The assistance consists of one vehicle driven by an elderly driver called a guest vehicle and the other driven by a assisting driver called a host vehicle, and the host vehicle assists or escorts the guest vehicle through the inter-vehicle communications. The functions of the systems installed on a single-seat electric vehicle are highly evaluated by subjects of elderly drivers in virtual streets on a test track.

  17. 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.

  18. Vehicle brake testing system

    Science.gov (United States)

    Stevens, Samuel S [Harriman, TN; Hodgson, Jeffrey W [Lenoir City, TN

    2002-11-19

    This invention relates to a force measuring system capable of measuring forces associated with vehicle braking and of evaluating braking performance. The disclosure concerns an invention which comprises a first row of linearly aligned plates, a force bearing surface extending beneath and beside the plates, vertically oriented links and horizontally oriented links connecting each plate to a force bearing surface, a force measuring device in each link, a transducer coupled to each force measuring device, and a computing device coupled to receive an output signal from the transducer indicative of measured force in each force measuring device. The present invention may be used for testing vehicle brake systems.

  19. 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.

  20. 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.

  1. Pennsylvania Source Term Tracking System

    International Nuclear Information System (INIS)

    1992-08-01

    The Pennsylvania Source Term Tracking System tabulates surveys received from radioactive waste generators in the Commonwealth of radioactive waste is collected each quarter from generators using the Low-Level Radioactive Waste Management Quarterly Report Form (hereafter called the survey) and then entered into the tracking system data base. This personal computer-based tracking system can generate 12 types of tracking reports. The first four sections of this reference manual supply complete instructions for installing and setting up the tracking system on a PC. Section 5 presents instructions for entering quarterly survey data, and Section 6 discusses generating reports. The appendix includes samples of each report

  2. Reasonable Accommodation Information Tracking System

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Reasonable Accommodation Information Tracking System (RAITS) is a case management system that allows the National Reasonable Accommodation Coordinator (NRAC) and...

  3. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...

  4. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias

    2016-12-19

    In this paper, we propose a 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.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  5. Persistent Aerial Tracking system for UAVs

    KAUST Repository

    Mueller, Matthias; Sharma, Gopal; Smith, Neil; Ghanem, Bernard

    2016-01-01

    In this paper, we propose a 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.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

  6. 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

  7. 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.

  8. 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

  9. Official Union Time Tracking System

    Data.gov (United States)

    Social Security Administration — Official Union Time Tracking System captures the reporting and accounting of the representational activity for all American Federation of Government Employees (AFGE)...

  10. Financial Disclosure Tracking System

    Data.gov (United States)

    US Agency for International Development — USAID's FDTS identifies personal service contractors and local employees who should file disclosure reports. It tracks late filers and identifies those who must take...

  11. Case Analysis Tracking System

    Data.gov (United States)

    National Archives and Records Administration — CATS tracks Public and Federal Agency Reference Requests for OPF (Official Personnel Folder) , EMF (Employee Medical Folder), and eOPF (electronic Official Personnel...

  12. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

    This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

  13. CONTRACT ADMINISTRATIVE TRACKING SYSTEM (CATS)

    Science.gov (United States)

    The Contract Administrative Tracking System (CATS) was developed in response to an ORD NHEERL, Mid-Continent Ecology Division (MED)-recognized need for an automated tracking and retrieval system for Cost Reimbursable Level of Effort (CR/LOE) Contracts. CATS is an Oracle-based app...

  14. Hybrid-Vehicle Transmission System

    Science.gov (United States)

    Lupo, G.; Dotti, G.

    1985-01-01

    Continuously-variable transmission system for hybrid vehicles couples internal-combustion engine and electric motor section, either individually or in parallel, to power vehicle wheels during steering and braking.

  15. 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.

  16. Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

    Science.gov (United States)

    Ata, W. G.; Salem, A. M.

    2017-05-01

    In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.

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

    Directory of Open Access Journals (Sweden)

    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.

  18. Systems Challenges for Hypersonic Vehicles

    Science.gov (United States)

    Hunt, James L.; Laruelle, Gerard; Wagner, Alain

    1997-01-01

    This paper examines the system challenges posed by fully reusable hypersonic cruise airplanes and access to space vehicles. Hydrocarbon and hydrogen fueled airplanes are considered with cruise speeds of Mach 5 and 10, respectively. The access to space matrix is examined. Airbreathing and rocket powered, single- and two-stage vehicles are considered. Reference vehicle architectures are presented. Major systems/subsystems challenges are described. Advanced, enhancing systems concepts as well as common system technologies are discussed.

  19. 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.

  20. 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.

  1. 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

  2. Dynamic Ocean Track System Plus -

    Data.gov (United States)

    Department of Transportation — Dynamic Ocean Track System Plus (DOTS Plus) is a planning tool implemented at the ZOA, ZAN, and ZNY ARTCCs. It is utilized by Traffic Management Unit (TMU) personnel...

  3. 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)

  4. 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.

  5. 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.

  6. 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.

  7. Solar tracking system

    Science.gov (United States)

    White, P. R.; Scott, D. R. (Inventor)

    1981-01-01

    A solar tracker for a solar collector is described in detail. The collector is angularly oriented by a motor wherein the outputs of two side-by-side photodetectors are discriminated as to three ranges: a first corresponding to a low light or darkness condition; a second corresponding to light intensity lying in an intermediate range; and a third corresponding to light above an intermediate range, direct sunlight. The first output drives the motor to a selected maximum easterly angular position; the second enables the motor to be driven westerly at the Earth rotational rate; and the third output, the separate outputs of the two photodetectors, differentially controls the direction of rotation of the motor to effect actual tracking of the Sun.

  8. Electric vehicle data acquisition system

    DEFF Research Database (Denmark)

    Svendsen, Mathias; Winther-Jensen, Mads; Pedersen, Anders Bro

    2014-01-01

    and industrial applications, e.g. research in electric vehicle driving patterns, vehicle substitutability analysis and fleet management. The platform is based on a embedded computer running Linux, and features a high level of modularity and flexibility. The system operates independently of the make of the car......, by using the On-board Diagnostic port to identify car model and adapt its software accordingly. By utilizing on-board Global Navigation Satellite System, General Packet Radio Service, accelerometer, gyroscope and magnetometer, the system not only provides valuable data for research in the field of electric......A data acquisition system for electric vehicles is presented. The system connects to the On-board Diagnostic port of newer vehicles, and utilizes the in-vehicle sensor network, as well as auxiliary sensors, to gather data. Data is transmitted continuously to a central database for academic...

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. Tracking System : Suaineadh satellite experiment

    OpenAIRE

    Brengesjö, Carl; Selin, Martine

    2011-01-01

    The purpose of this bachelor thesis is to present a tracking system for the Suaineadh satellite experiment. The experiment is a part of the REXUS (Rocket EXperiments for University Students) program and the objective is to deploy a foldable web in space. The assignment of this thesis is to develop a tracking system to find the parts from the Suaineadh experiment that will land on Earth. It is important to find the parts and recover all the data that the experiment performed during the travel ...

  15. Intelligent Emergency Response System for Police Vehicles in India

    DEFF Research Database (Denmark)

    Ganeshan, Ishan; Memon, Nasrullah

    2015-01-01

    time by the police vehicles. In the proposed system, the administrator can view the performance of all the police vehicles at any time through a web portal. The system used traditional data mining algorithms in order to analyze crimes in different areas of a city and at different times of the day....... Based on this crime mapping, the administrator assigns patrol schedules for different police vehicles throughout the day. The proposed system would make it very easy for people to call for the help, and the police authorities to know the locations of the callers and identify crime hot spots...... and the administrator to keep track of the performance of each police vehicle....

  16. Tracking Audit Consolidated System

    Data.gov (United States)

    US Agency for International Development — The TRACS System will be used by Chief Financial Operations (CFO) and Office of Acquisition and Assistance (OAA) (in Washington) and Foreign Missions (FM) (at the...

  17. Long range position and Orientation Tracking System

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Jansen, J.F.; Burks, B.L.

    1996-01-01

    The long range Position and Orientation Tracking System is an active triangulation-based system that is being developed to track a target to a resolution of 6.35 mm (0.25 in.) and 0.009 degrees(32.4 arcseconds) over a range of 13.72 m (45 ft.). The system update rate is currently set at 20 Hz but can be increased to 100 Hz or more. The tracking is accomplished by sweeping two pairs of orthogonal line lasers over infrared (IR) sensors spaced with known geometry with respect to one another on the target (the target being a rigid body attached to either a remote vehicle or a remote manipulator arm). The synchronization and data acquisition electronics correlates the time that an IR sensor has been hit by one of the four lasers and the angle of the respective mirror at the time of the hit. This information is combined with the known geometry of the IR sensors on the target to determine position and orientation of the target. This method has the advantage of allowing the target to be momentarily lost due to occlusions and then reacquired without having to return the target to a known reference point. The system also contains a camera with operator controlled lighting in each pod that allows the target to be continuously viewed from either pod, assuming their are no occlusions

  18. Students paperwork tracking system (SPATRASE)

    Science.gov (United States)

    Ishak, I. Y.; Othman, M. B.; Talib, Rahmat; Ilyas, M. A.

    2017-09-01

    This paper focused on a system for tracking the status of the paperwork using the Near Field Communication (NFC) technology and mobile apps. Student paperwork tracking system or known as SPATRASE was developed to ease the user to track the location status of the paperwork. The current problem faced by the user is the process of approval paperwork takes around a month or more. The process took around a month to get full approval from the department because of many procedures that need to be done. Nevertheless, the user cannot know the location status of the paperwork immediately because of the inefficient manual system. The submitter needs to call the student affairs department to get the information about the location status of the paperwork. Thus, this project was purposed as an alternative to solve the waiting time of the paperwork location status. The prototype of this system involved the hardware and software. The project consists of NFC tags, RFID Reader, and mobile apps. At each checkpoint, the RFID Reader was placed on the secretary desk. While the system involved the development of database using Google Docs that linked to the web server. After that, the submitter received the URL link and be directed to the web server and mobile apps. This system is capable of checking their location status tracking using mobile apps and Google Docs. With this system, it makes the tracking process become efficient and reliable to know the paperwork at the exact location. Thus, it is preventing the submitter to call the department all the time. Generally, this project is fully functional and we hope it can help Universiti Tun Hussein Onn Malaysia (UTHM) to overcome the problem of paperwork missing and location of the paperwork.

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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

  5. 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.

  6. 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...

  7. 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.

  8. 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.

  9. 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...

  10. 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.

  11. Pamela tracking system status report

    CERN Document Server

    Taccetti, F; Bonechi, L; Bongi, M; Boscherini, M; Castellini, G; D'Alessandro, R; Gabbanini, A; Grandi, M; Papini, P; Piccardi, S; Ricciarini, S; Spillantini, P; Straulino, S; Tesi, M; Vannuccini, E

    2002-01-01

    The Pamela apparatus will be launched at the end of 2002 on board of the Resurs DK Russian satellite. The tracking system, composed of six planes of silicon sensors inserted inside a permanent magnetic field was intensively tested during these last years. Results of tests have shown a good signal-to-noise ratio and an excellent spatial resolution, which should allow to measure the antiproton flux in an energy range from 80 MeV up to 190 GeV. The production of the final detector modules is about to start and mechanical and thermal tests on the tracking tower are being performed according to the specifications of the Russian launcher and satellite.

  12. 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.

  13. Accurate Localization of Communicant Vehicles using GPS and Vision Systems

    Directory of Open Access Journals (Sweden)

    Georges CHALLITA

    2009-07-01

    Full Text Available The new generation of ADAS systems based on cooperation between vehicles can offer serious perspectives to the road security. The inter-vehicle cooperation is made possible thanks to the revolution in the wireless mobile ad hoc network. In this paper, we will develop a system that will minimize the imprecision of the GPS used to car tracking, based on the data given by the GPS which means the coordinates and speed in addition to the use of the vision data that will be collected from the loading system in the vehicle (camera and processor. Localization information can be exchanged between the vehicles through a wireless communication device. The creation of the system must adopt the Monte Carlo Method or what we call a particle filter for the treatment of the GPS data and vision data. An experimental study of this system is performed on our fleet of experimental communicating vehicles.

  14. 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

  15. 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.

  16. Tracking system for solar collectors

    Science.gov (United States)

    Butler, B.

    1980-10-01

    A tracking system is provided for pivotally mounted spaced-apart solar collectors. A pair of cables is connected to spaced-apart portions of each collector, and a driver displaces the cables, thereby causing the collectors to pivot about their mounting, so as to assume the desired orientation. The collectors may be of the cylindrical type as well as the flat-plate type. Rigid spar-like linkages may be substituted for the cables. Releasable attachments of the cables to the collectors is also described, as is a fine tuning mechanism for precisely aligning each individual collector.

  17. Vehicle electrical system state controller

    Science.gov (United States)

    Bissontz, Jay E.

    2017-10-17

    A motor vehicle electrical power distribution system includes a plurality of distribution sub-systems, an electrical power storage sub-system and a plurality of switching devices for selective connection of elements of and loads on the power distribution system to the electrical power storage sub-system. A state transition initiator provides inputs to control system operation of switching devices to change the states of the power distribution system. The state transition initiator has a plurality of positions selection of which can initiate a state transition. The state transition initiator can emulate a four position rotary ignition switch. Fail safe power cutoff switches provide high voltage switching device protection.

  18. Subaru FATS (fault tracking system)

    Science.gov (United States)

    Winegar, Tom W.; Noumaru, Junichi

    2000-07-01

    The Subaru Telescope requires a fault tracking system to record the problems and questions that staff experience during their work, and the solutions provided by technical experts to these problems and questions. The system records each fault and routes it to a pre-selected 'solution-provider' for each type of fault. The solution provider analyzes the fault and writes a solution that is routed back to the fault reporter and recorded in a 'knowledge-base' for future reference. The specifications of our fault tracking system were unique. (1) Dual language capacity -- Our staff speak both English and Japanese. Our contractors speak Japanese. (2) Heterogeneous computers -- Our computer workstations are a mixture of SPARCstations, Macintosh and Windows computers. (3) Integration with prime contractors -- Mitsubishi and Fujitsu are primary contractors in the construction of the telescope. In many cases, our 'experts' are our contractors. (4) Operator scheduling -- Our operators spend 50% of their work-month operating the telescope, the other 50% is spent working day shift at the base facility in Hilo, or day shift at the summit. We plan for 8 operators, with a frequent rotation. We need to keep all operators informed on the current status of all faults, no matter the operator's location.

  19. Real Property Project Tracking System (RPPTS)

    Data.gov (United States)

    Department of Veterans Affairs — The Real Property Project Tracking System (RPPTS), formerly known as the Lease/Project Tracking (LEASE) database, contains information about lease and land projects...

  20. Audit Follow-up Tracking System (AFTS)

    Data.gov (United States)

    Office of Personnel Management — The Audit Follow-up Tracking System (AFTS) is used to track, monitor, and report on audits and open recommendations of the U.S. Office of Personnel Management (OPM)...

  1. Flight Activity and Crew Tracking System -

    Data.gov (United States)

    Department of Transportation — The Flight Activity and Crew Tracking System (FACTS) is a Web-based application that provides an overall management and tracking tool of FAA Airmen performing Flight...

  2. FY2015 Vehicle Systems Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2016-01-31

    The Vehicle Systems research and development (R&D) subprogram within the DOE Vehicle Technologies Office (VTO) provides support and guidance for many cutting-edge automotive technologies under development. Research focuses on addressing critical barriers to advancing light-, medium-, and heavy-duty vehicle systems to help maximize the number of electric miles driven and increase the energy efficiency of transportation vehicles.

  3. Introducing Dual Suspension System in Road Vehicles

    OpenAIRE

    Imtiaz Hussain; Jawaid Daudpoto; Ali Asghar Memon

    2013-01-01

    The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability...

  4. 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.

  5. 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 ...

  6. 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.

  7. 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.

  8. In-Vehicle Information Systems

    Directory of Open Access Journals (Sweden)

    Gordana Štefančić

    2012-10-01

    Full Text Available The work considers different information systems, includingthe infonnation ~ystems with autonomous units, whichcany all their intelligence around with them, and those withcommunicating units, which infonn the motorist about the currentsituation of the road system by radio or other means. Thesymbols of various messages have three main objectives: to provideinstruction, to warn of oncoming dange1~ or to give adviceregarding parking or looking for altemative routes. When notused for these pwposes, they are used to provide general informationabout the weathe1~ temperature or possible attractions.The in-vehicle information systems fly to assist the motorist indriving, and they are promoted as part of the comprehensive intelligenttransport system.

  9. 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.

  10. 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

  11. 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...

  12. 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.

  13. Logistic Vehicle System Replacement Cost Estimate

    National Research Council Canada - National Science Library

    Stinson, Margaret

    1998-01-01

    The Logistics Vehicle System (LVS) was originally fielded from 1985-1989. Most of the LVS fleet will reach end-of-service life in 2005, therefore the goal of the Logistics Vehicle System Replacement (LVSR...

  14. A digital video tracking system

    Science.gov (United States)

    Giles, M. K.

    1980-01-01

    The Real-Time Videotheodolite (RTV) was developed in connection with the requirement to replace film as a recording medium to obtain the real-time location of an object in the field-of-view (FOV) of a long focal length theodolite. Design philosophy called for a system capable of discriminatory judgment in identifying the object to be tracked with 60 independent observations per second, capable of locating the center of mass of the object projection on the image plane within about 2% of the FOV in rapidly changing background/foreground situations, and able to generate a predicted observation angle for the next observation. A description is given of a number of subsystems of the RTV, taking into account the processor configuration, the video processor, the projection processor, the tracker processor, the control processor, and the optics interface and imaging subsystem.

  15. Long range position and orientation tracking system

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Jansen, J.F.; Burks, B.L.; Bernacki, B.E.; Nypaver, D.J.

    1995-01-01

    The long range position and orientation tracking system (LRPOTS) will consist of two measurement pods, a VME-based computer system, and a detector array. The system is used to measure the position and orientation of a target that may be attached to a robotic arm, teleoperated manipulator, or autonomous vehicle. The pods have been designed to be mounted in the man-ways of the domes of the Fernald K-65 waste silos. Each pod has two laser scanner subsystems as well as lights and camera systems. One of the laser scanners will be oriented to scan in the pan direction, the other in the tilt direction. As the lasers scan across the detector array, the angles of incidence with each detector are recorded. Combining measurements from each of the four lasers yields sufficient data for a closed-form solution of the transform describing the location and orientation of the Content Mobilization System (CMS). Redundant detectors will be placed on the CMS to accommodate occlusions, to provide improved measurement accuracy, and to determine the CMS orientation

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

    Science.gov (United States)

    Jeon, Juncheol; Choi, Seung-Bok

    2011-03-01

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

  17. Upgrade of the ALICE Inner Tracking System

    OpenAIRE

    Reidt, Felix; Collaboration, for the ALICE

    2014-01-01

    During the Long Shutdown 2 of the LHC in 2018/2019, the ALICE experiment plans the installation of a novel Inner Tracking System. It will replace the current six layer detector system with a seven layer detector using Monolithic Active Pixel Sensors. The upgraded Inner Tracking System will have significantly improved tracking and vertexing capabilities, as well as readout rate to cope with the expected increased Pb-Pb luminosity of the LHC. The choice of Monolithic Active Pixel Sensors has be...

  18. Electric vehicle energy management system

    Science.gov (United States)

    Alaoui, Chakib

    This thesis investigates and analyzes novel strategies for the optimum energy management of electric vehicles (EVs). These are aimed to maximize the useful life of the EV batteries and make the EV more practical in order to increase its acceptability to market. The first strategy concerns the right choice of the batteries for the EV according to the user's driving habits, which may vary. Tests conducted at the University of Massachusetts Lowell battery lab show that the batteries perform differently from one manufacturer to the other. The second strategy was to investigate the fast chargeability of different batteries, which leads to reduce the time needed to recharge the EV battery pack. Tests were conducted again to prove that only few battery types could be fast charged. Test data were used to design a fast battery charger that could be installed in an EV charging station. The third strategy was the design, fabrication and application of an Electric Vehicle Diagnostic and Rejuvenation System (EVDRS). This system is based on Mosfet Controlled Thyristors (MCTs). It is capable of quickly identifying any failing battery(s) within the EV pack and rejuvenating the whole battery pack without dismantling them and unloading them. A novel algorithm to rejuvenate Electric Vehicle Sealed Lead Acid Batteries is described. This rejuvenation extends the useful life of the batteries and makes the EV more competitive. The fourth strategy was to design a thermal management system for EV, which is crucial to the safe operation, and the achievement of normal/optimal performance of, electric vehicle (EV) batteries. A novel approach for EV thermal management, based on Pettier-Effect heat pumps, was designed, fabricated and tested in EV. It shows the application of this type of technology for thermal management of EVs.

  19. 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.

  20. Hazardous waste minimization tracking system

    International Nuclear Information System (INIS)

    Railan, R.

    1994-01-01

    Under RCRA section 3002 9(b) and 3005f(h), hazardous waste generators and owners/operators of treatment, storage, and disposal facilities (TSDFs) are required to certify that they have a program in place to reduce the volume or quantity and toxicity of hazardous waste to the degree determined to be economically practicable. In many cases, there are environmental, as well as, economic benefits, for agencies that pursue pollution prevention options. Several state governments have already enacted waste minimization legislation (e.g., Massachusetts Toxic Use Reduction Act of 1989, and Oregon Toxic Use Reduction Act and Hazardous Waste Reduction Act, July 2, 1989). About twenty six other states have established legislation that will mandate some type of waste minimization program and/or facility planning. The need to address the HAZMIN (Hazardous Waste Minimization) Program at government agencies and private industries has prompted us to identify the importance of managing The HAZMIN Program, and tracking various aspects of the program, as well as the progress made in this area. The open-quotes WASTEclose quotes is a tracking system, which can be used and modified in maintaining the information related to Hazardous Waste Minimization Program, in a manageable fashion. This program maintains, modifies, and retrieves information related to hazardous waste minimization and recycling, and provides automated report generating capabilities. It has a built-in menu, which can be printed either in part or in full. There are instructions on preparing The Annual Waste Report, and The Annual Recycling Report. The program is very user friendly. This program is available in 3.5 inch or 5 1/4 inch floppy disks. A computer with 640K memory is required

  1. 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.

  2. Information Technology Procurement Authorization (ITPA) Tracking System

    Data.gov (United States)

    Office of Personnel Management — Information Technology Procurement Authorization (ITPA) Tracking System is used for gathering consistent data from U.S. Office of Personnel Management (OPM) program...

  3. Correlation of track irregularities and vehicle responses based on measured data

    Science.gov (United States)

    Karis, Tomas; Berg, Mats; Stichel, Sebastian; Li, Martin; Thomas, Dirk; Dirks, Babette

    2018-06-01

    Track geometry quality and dynamic vehicle response are closely related, but do not always correspond with each other in terms of maximum values and standard deviations. This can often be seen to give poor results in analyses with correlation coefficients or regression analysis. Measured data from both the EU project DynoTRAIN and the Swedish Green Train (Gröna Tåget) research programme is used in this paper to evaluate track-vehicle response for three vehicles. A single degree of freedom model is used as an inspiration to divide track-vehicle interaction into three parts, which are analysed in terms of correlation. One part, the vertical axle box acceleration divided by vehicle speed squared (?) and the second spatial derivative of the vertical track irregularities (?), is shown to be the weak link with lower correlation coefficients than the other parts. Future efforts should therefore be directed towards investigating the relation between axle box accelerations and track irregularity second derivatives.

  4. Food Delivery System with the Utilization of Vehicle Using Geographical Information System (GIS) and A Star Algorithm

    Science.gov (United States)

    Siregar, B.; Gunawan, D.; Andayani, U.; Sari Lubis, Elita; Fahmi, F.

    2017-01-01

    Food delivery system is one kind of geographical information systems (GIS) that can be applied through digitation process. The main case in food delivery system is the way to determine the shortest path and food delivery vehicle movement tracking. Therefore, to make sure that the digitation process of food delivery system can be applied efficiently, it is needed to add shortest path determination facility and food delivery vehicle tracking. This research uses A Star (A*) algorithm for determining shortest path and location-based system (LBS) programming for moving food delivery vehicle object tracking. According to this research, it is generated the integrated system that can be used by food delivery driver, customer, and administrator in terms of simplifying the food delivery system. Through the application of shortest path and the tracking of moving vehicle, thus the application of food delivery system in the scope of geographical information system (GIS) can be executed.

  5. Thinking Tracks for Integrated Systems Design

    NARCIS (Netherlands)

    Bonnema, Gerrit Maarten; Denkena, B.; Gausemeijer, J.; Scholz-Reiter, B.

    2012-01-01

    The paper investigates systems thinking and systems engineering. After a short literature review, the paper presents, as a means for systems thinking, twelve thinking tracks. The tracks can be used as creativity starter, checklist, and as means to investigate effects of design decisions taken early

  6. Quality assurance tracking and trending system (QATTS)

    International Nuclear Information System (INIS)

    Anderson, W.J.

    1987-01-01

    In 1984, The Philadelphia Electric Company (PECo) Quality Assurance (QA) Division recognized a need to modify the existing quality finding tracking program to generate a nuclear trending program that could detect trends of PECo-initiated findings that were not detectable to a day-to-day observer. Before 1984, each quality organization in PECo had a separate tracking system. An adequate quality trending program demanded that all findings be tracked in a common data base. The Quality Assurance Tracking and Trending System (QATTS) is divided into two parts, an on-line subsystem that provides access to QATTS data via corporate computer data screens and a reports and graphics subsystem that connects commercially available reports and graphic software computer packages to the QATTS data base. The QATTS can be accessed from any terminal connected to the main frame computer at PECo headquarters. The paper discusses the tracking system, report generation, responsible organization commitment tracking system (ROCT), and trending program

  7. 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.

  8. Distributed Systems for Problems in Robust Control and Visual Tracking

    National Research Council Canada - National Science Library

    Tannenbaum, Allen

    2000-01-01

    .... A key application is in controlled active vision, including visual tracking, the control of autonomous vehicles, motion planning, and the utilization of visual information in guidance and control...

  9. 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

  10. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  11. 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...

  12. 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

  13. Transcom's next move: Improvements to DOE's transportation satellite tracking systems

    International Nuclear Information System (INIS)

    Harmon, L.H.; Harris, A.D. III; Driscoll, K.L.; Ellis, L.G.

    1990-01-01

    In today's society, the use of satellites is becoming the state-of-the-art method of tracking shipments. The United States Department of Energy (US DOE) has advanced technology in this area with its transportation tracking and communications system, TRANSCOM, which has been in operation for over one year. TRANSCOM was developed by DOE to monitor selected, unclassified shipments of radioactive materials across the country. With the latest technology in satellite communications, Long Range Navigation (Loran), and computer networks, TRANSCOM tracks shipments in near-real time, disseminates information on each shipment to authorized users of the system, and offers two-way communications between vehicle operators and TRANSCOM users anywhere in the country. TRANSCOM's successful tracking record, during fiscal year 1989, includes shipments of spent fuel, cesium, uranium hexafluoride, and demonstration shipments for the Waste Isolation Pilot Plant (WIPP). Plans for fiscal year 1990 include tracking additional shipments, implementing system enhancements designed to meet the users' needs, and continuing to research the technology of tracking systems so that TRANSCOM can provide its users with the newest technology available in satellite communications. 3 refs., 1 fig

  14. A Low-cost Vehicle Tracking Platform using Secure SMS

    DEFF Research Database (Denmark)

    Jacobsen, Rune Hylsberg; Aliu, Drini; Ebeid, Emad Samuel Malki

    2017-01-01

    as the in-vehicle device. Furthermore, a cloud web-platform is built involving the de-facto modern web-applications standards and carefully tailored concerning the security aspects. The cost-effectiveness of our solution results from the use of COTS components, open source software, and cheap SMS...

  15. Sistem Pengantaran Makanan dengan Pendayagunaan Vehicle Menggunakan Geographical Information System (GIS) dan Algoritma A Star (A*)

    OpenAIRE

    Lubis, Elita Sari

    2016-01-01

    Food delivery system is one various of geographical information systems (GIS) that can be applied through digitation process. The main case in food delivery service is the way to acquire shortest path and movement tracking of food delivery vehicle. Therefore, to accomplish the efficient food delivery system digitation process, it is needed to add facility of shortest path determination and food delivery vehicle tracking. This research uses A* shortest path algorithm to determine shortest path...

  16. Dynamics of vehicle-road coupled system

    CERN Document Server

    Yang, Shaopu; Li, Shaohua

    2015-01-01

    Vehicle dynamics and road dynamics are usually considered to be two largely independent subjects. In vehicle dynamics, road surface roughness is generally regarded as random excitation of the vehicle, while in road dynamics, the vehicle is generally regarded as a moving load acting on the pavement. This book suggests a new research concept to integrate the vehicle and the road system with the help of a tire model, and establishes a cross-subject research framework dubbed vehicle-pavement coupled system dynamics. In this context, the dynamics of the vehicle, road and the vehicle-road coupled system are investigated by means of theoretical analysis, numerical simulations and field tests. This book will be a valuable resource for university professors, graduate students and engineers majoring in automotive design, mechanical engineering, highway engineering and other related areas. Shaopu Yang is a professor and deputy president of Shijiazhuang Tiedao University, China; Liqun Chen is a professor at Shanghai Univ...

  17. 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

  18. 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...

  19. Cold Regions Test of Tracked and Wheeled Vehicles

    Science.gov (United States)

    2015-12-11

    time from when the operator applied the brake and when the brake application actually occurs due to the brake fluid viscosity becoming thicker. Note if...while operating in snow. The TOP includes guidance for snow as well as mud, sand, swamps, and wet clay . Most conventional wheeled vehicles cannot...grade to the proper viscosity oils and grease as prescribed by the applicable LO for the vehicle’s intended destination. h. Prior to shipment of the

  20. Introducing Dual Suspension System in Road Vehicles

    Directory of Open Access Journals (Sweden)

    Imtiaz Hussain

    2013-04-01

    Full Text Available The main objective of suspension system is to reduce the motions of the vehicle body with respect to road disturbances. The conventional suspension systems in road vehicles use passive elements such as springs and dampers to suppress the vibrations induced by the irregularities in the road. But these conventional suspension systems can suppress vibrations to a certain limit. This paper presents a novel idea to improve the ride quality of roads vehicles without compromising vehicle?s stability. The paper proposes the use of primary and secondary suspension to suppress the vibrations more effectively.

  1. 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.)

  2. Integrated vehicle control and guidance systems in unmanned ground vehicles for commercial applications

    Science.gov (United States)

    Kenyon, Chase H.

    1995-01-01

    While there is a lot of recent development in the entire IVHS field, very few have had the opportunity to combine the many areas of development into a single integrated `intelligent' unmanned vehicle. One of our systems was developed specifically to serve a major automobile manufacturer's need for an automated vehicle chassis durability test facility. Due to the severity of the road surface human drivers could not be used. A totally automated robotic vehicle driver and guidance system was necessary. In order to deliver fixed price commercial projects now, it was apparent system and component costs were of paramount importance. Cyplex has developed a robust, cost effective single wire guidance system. This system has inherent advantages in system simplicity. Multi-signal (per vehicle lane) systems complicate path planning and layout when multiple lanes and lane changes are required, as on actual highways. The system has demonstrated high enough immunity to rain and light snow cover that normal safety reductions in speed are adequate to stay within the required system performance envelope. This system and it's antenna interface have shown the ability to guide the vehicle at slow speeds (10 MPH) with a tracking repeatability of plus or minus 1/8 of an inch. The basic guide and antenna system has been tested at speeds up to 80 mph. The system has inherently superior abilities for lane changes and precision vehicle placement. The operation of this system will be described and the impact of a system that is commercially viable now for highway and off road use will be discussed.

  3. 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

  4. Evolution of the SOFIA tracking control system

    Science.gov (United States)

    Fiebig, Norbert; Jakob, Holger; Pfüller, Enrico; Röser, Hans-Peter; Wiedemann, Manuel; Wolf, Jürgen

    2014-07-01

    The airborne observatory SOFIA (Stratospheric Observatory for Infrared Astronomy) is undergoing a modernization of its tracking system. This included new, highly sensitive tracking cameras, control computers, filter wheels and other equipment, as well as a major redesign of the control software. The experiences along the migration path from an aged 19" VMbus based control system to the application of modern industrial PCs, from VxWorks real-time operating system to embedded Linux and a state of the art software architecture are presented. Further, the concept is presented to operate the new camera also as a scientific instrument, in parallel to tracking.

  5. 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...

  6. Distributed Control in Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Paul A. Avery

    2013-12-01

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

  7. 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.

  8. A stereo vision-based obstacle detection system in vehicles

    Science.gov (United States)

    Huh, Kunsoo; Park, Jaehak; Hwang, Junyeon; Hong, Daegun

    2008-02-01

    Obstacle detection is a crucial issue for driver assistance systems as well as for autonomous vehicle guidance function and it has to be performed with high reliability to avoid any potential collision with the front vehicle. The vision-based obstacle detection systems are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility of these systems in passenger car requires accurate and robust sensing performance. In this paper, an obstacle detection system using stereo vision sensors is developed. This system utilizes feature matching, epipoplar constraint and feature aggregation in order to robustly detect the initial corresponding pairs. After the initial detection, the system executes the tracking algorithm for the obstacles. The proposed system can detect a front obstacle, a leading vehicle and a vehicle cutting into the lane. Then, the position parameters of the obstacles and leading vehicles can be obtained. The proposed obstacle detection system is implemented on a passenger car and its performance is verified experimentally.

  9. Hybrid and Electric Advanced Vehicle Systems Simulation

    Science.gov (United States)

    Beach, R. F.; Hammond, R. A.; Mcgehee, R. K.

    1985-01-01

    Predefined components connected to represent wide variety of propulsion systems. Hybrid and Electric Advanced Vehicle System (HEAVY) computer program is flexible tool for evaluating performance and cost of electric and hybrid vehicle propulsion systems. Allows designer to quickly, conveniently, and economically predict performance of proposed drive train.

  10. Vehicle systems: coupled and interactive dynamics analysis

    Science.gov (United States)

    Vantsevich, Vladimir V.

    2014-11-01

    This article formulates a new direction in vehicle dynamics, described as coupled and interactive vehicle system dynamics. Formalised procedures and analysis of case studies are presented. An analytical consideration, which explains the physics of coupled system dynamics and its consequences for dynamics of a vehicle, is given for several sets of systems including: (i) driveline and suspension of a 6×6 truck, (ii) a brake mechanism and a limited slip differential of a drive axle and (iii) a 4×4 vehicle steering system and driveline system. The article introduces a formal procedure to turn coupled system dynamics into interactive dynamics of systems. A new research direction in interactive dynamics of an active steering and a hybrid-electric power transmitting unit is presented and analysed to control power distribution between the drive axles of a 4×4 vehicle. A control strategy integrates energy efficiency and lateral dynamics by decoupling dynamics of the two systems thus forming their interactive dynamics.

  11. Former Prisoner of War Statistical Tracking System

    Data.gov (United States)

    Department of Veterans Affairs — The Former Prisoner of War (POW) Statistical Tracking System database is a registry designed to comply with Public Law 97-37, the Former Prisoner of War Benefits Act...

  12. Freedom of Information Act (FOIA) Tracking System

    Data.gov (United States)

    Office of Personnel Management — Tracking system which allows for the input of the Freedom of Information Act (FOIA) request date, compiles the due date, information pertaining to the request, name...

  13. Grants Reporting and Tracking System (GRTS)

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Grants Reporting and Tracking System (GRTS) is the primary tool for management and oversight of EPA's Nonpoint Source (NPS) Pollution Control Program. GRTS pulls...

  14. Amtrak performance tracking (APT) system : methodology summary

    Science.gov (United States)

    2017-09-15

    The Volpe Center collaborated with Amtrak and the Federal Railroad Administration (FRA) to develop a cost accounting system named Amtrak Performance Tracking (APT) used by Amtrak to manage, allocate, and report its costs. APTs initial development ...

  15. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Butti, P; The ATLAS collaboration

    2014-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, planar silicon modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments and deformations of the active detector elements deteriorate the track reconstruction resolution and lead to systematic biases on the measured track parameters. The alignment procedures exploits various advanced tools and techniques in order to determine for module positions and correct for deformations. For the LHC Run II, the system is being upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

  16. Vehicle systems design optimization study

    Science.gov (United States)

    Gilmour, J. L.

    1980-01-01

    The optimum vehicle configuration and component locations are determined for an electric drive vehicle based on using the basic structure of a current production subcompact vehicle. The optimization of an electric vehicle layout requires a weight distribution in the range of 53/47 to 62/38 in order to assure dynamic handling characteristics comparable to current internal combustion engine vehicles. Necessary modification of the base vehicle can be accomplished without major modification of the structure or running gear. As long as batteries are as heavy and require as much space as they currently do, they must be divided into two packages, one at front under the hood and a second at the rear under the cargo area, in order to achieve the desired weight distribution. The weight distribution criteria requires the placement of batteries at the front of the vehicle even when the central tunnel is used for the location of some batteries. The optimum layout has a front motor and front wheel drive. This configuration provides the optimum vehicle dynamic handling characteristics and the maximum passenger and cargo space for a given size vehicle.

  17. 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

  18. Thinking Tracks for Multidisciplinary System Design

    Directory of Open Access Journals (Sweden)

    Gerrit Maarten Bonnema

    2016-11-01

    Full Text Available Systems engineering is, for a large part, a process description of how to bring new systems to existence. It is valuable as it directs the development effort. Tools exist that can be used in this process. System analysis investigates existing and/or desired situations. However, how to create a system that instantiates the desired situation depends significantly on human creativity and insight; the required human trait here is commonly called systems thinking. In literature, this trait is regularly used, but information on how to do systems thinking is scarce. Therefore, we have introduced earlier twelve thinking tracks that are concrete and help system designers to make an optimal fit between the system under design, the identified issue, the user, the environment and the rest of the world. The paper provides the scientific rationale for the thinking tracks based on literature. Secondly, the paper presents three cases of application, leading to the conclusion that the tracks are usable and effective.

  19. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Pedraza Lopez, S; The ATLAS collaboration

    2012-01-01

    In order to reconstruct trajectories of charged particles, ATLAS is equipped with a tracking system built using different technologies embedded in a 2T solenoidal magnetic field. ATLAS physics goals require high resolution, unbiased measurement of all charged particle kinematic parameters in order to assure accurate invariant mass reconstruction and interaction and decay vertex finding. These critically depend on the systematic effects related to the alignment of the tracking system. In order to eliminate malicious systematic deformations, various advanced tools and techniques have been put in place. These include information from known mass resonances, energy of electrons and positrons measured by the electromagnetic calorimeters, etc. Despite being stable under normal running conditions, ATLAS tracking system responses to sudden environ-mental changes (temperature, magnetic field) by small collective deformations. These have to be identified and corrected in order to assure uniform, highest quality tracking...

  20. Track star : Merrick's RFID system tracks oilpatch equipment

    International Nuclear Information System (INIS)

    Louie, J.

    2006-01-01

    Designed by Merrick Systems, the new Rig-Hand system uses radio frequency identification (RFID) in conjunction with downhole components to manage both surface and downhole equipment. The Rig-Hand system consists of RFID tags which can either be installed to new pipe or retrofitted to existing components; handheld or fixed RFID tag readers; and, software modules. The tags can be mounted to a wide range of surface and downhole components. The system can be used by rig personnel to scan tags with handheld computers, or can be used by a designated reader for greater automation and efficiency. The software modules have been designed for typical rig, pipeyard and service company users. The system provides essential drillstring information that helps to reduce pipe failures, fishing costs and downtime. Component tracking may also impact on both personnel safety and operational risks, as a recent survey has suggested that 14 per cent of catastrophic drillstring failures are due to pipe fatigue. When drilling deviated wells, operators typically have difficulty tracking which pipe may have become fatigued. It is anticipated that the system will also allow for improved logistics management, as it is currently estimated that 70 per cent of casing returned from the wellsite to a pipe yard goes to rust. The tagged components will also demand a higher resale or salvage value than untagged components with limited traceability. The system has gone through extensive testing, and to date has provided extensive savings in both onshore and offshore rigs. Commercialization is expected by the end of 2006. 1 fig

  1. Track star : Merrick's RFID system tracks oilpatch equipment

    Energy Technology Data Exchange (ETDEWEB)

    Louie, J

    2006-10-15

    Designed by Merrick Systems, the new Rig-Hand system uses radio frequency identification (RFID) in conjunction with downhole components to manage both surface and downhole equipment. The Rig-Hand system consists of RFID tags which can either be installed to new pipe or retrofitted to existing components; handheld or fixed RFID tag readers; and, software modules. The tags can be mounted to a wide range of surface and downhole components. The system can be used by rig personnel to scan tags with handheld computers, or can be used by a designated reader for greater automation and efficiency. The software modules have been designed for typical rig, pipeyard and service company users. The system provides essential drillstring information that helps to reduce pipe failures, fishing costs and downtime. Component tracking may also impact on both personnel safety and operational risks, as a recent survey has suggested that 14 per cent of catastrophic drillstring failures are due to pipe fatigue. When drilling deviated wells, operators typically have difficulty tracking which pipe may have become fatigued. It is anticipated that the system will also allow for improved logistics management, as it is currently estimated that 70 per cent of casing returned from the wellsite to a pipe yard goes to rust. The tagged components will also demand a higher resale or salvage value than untagged components with limited traceability. The system has gone through extensive testing, and to date has provided extensive savings in both onshore and offshore rigs. Commercialization is expected by the end of 2006. 1 fig.

  2. 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.

  3. Advanced hybrid and electric vehicles system optimization and vehicle integration

    CERN Document Server

    2016-01-01

    This contributed volume contains the results of the research program “Agreement for Hybrid and Electric Vehicles”, funded by the International Energy Agency. The topical focus lies on technology options for the system optimization of hybrid and electric vehicle components and drive train configurations which enhance the energy efficiency of the vehicle. The approach to the topic is genuinely interdisciplinary, covering insights from fields. The target audience primarily comprises researchers and industry experts in the field of automotive engineering, but the book may also be beneficial for graduate students.

  4. Decontamination and Decommissioning Equipment Tracking System (DDETS)

    International Nuclear Information System (INIS)

    Cook, S.

    1994-07-01

    At the request of the Department of Energy (DOE)(EM-50), the Scientific Computing Unit developed a prototype system to track information and data relevant to equipment and tooling removed during decontamination and decommissioning activities. The DDETS proof-of-concept tracking system utilizes a one-dimensional (1D) and two-dimensional (2D) bar coding technology to retain and track information such as identification number, manufacturer, requisition information, and various contaminant information, etc. The information is encoded in a bar code, printed on a label and can be attached to corresponding equipment. The DDETS was developed using a proven relational database management system which allows the addition, modification, printing, and deletion of data. In addition, communication interfaces with bar code printers and bar code readers were developed. Additional features of the system include: (a) Four different reports available for the user (REAPS, transaction, and two inventory), (b) Remote automated inventory tracking capabilities, (c) Remote automated inventory tracking capability (2D bar codes allow equipment to be scanned/tracked without being linked to the DDETS database), (d) Edit, update, delete, and query capabilities, (e) On-line bar code label printing utility (data from 2D bar codes can be scanned directly into the data base simplifying data entry), and (f) Automated data backup utility. Compatibility with the Reportable Excess Automated Property System (REAPS) to upload data from DDETS is planned

  5. Systems for tracking minimally invasive surgical instruments.

    Science.gov (United States)

    Chmarra, M K; Grimbergen, C A; Dankelman, J

    2007-01-01

    Minimally invasive surgery (e.g. laparoscopy) requires special surgical skills, which should be objectively assessed. Several studies have shown that motion analysis is a valuable assessment tool of basic surgical skills in laparoscopy. However, to use motion analysis as the assessment tool, it is necessary to track and record the motions of laparoscopic instruments. This article describes the state of the art in research on tracking systems for laparoscopy. It gives an overview on existing systems, on how these systems work, their advantages, and their shortcomings. Although various approaches have been used, none of the tracking systems to date comes out as clearly superior. A great number of systems can be used in training environment only, most systems do not allow the use of real laparoscopic instruments, and only a small number of systems provide force feedback.

  6. FY2016 Vehicle Systems Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2017-10-31

    Vehicle Systems is concerned with advancing light-, medium-, and heavy-duty (HD) vehicle systems to support DOE’s goals of developing technologies for the U.S. transportation sector that enhance national energy security,increase U.S. competitiveness in the global economy, and support improvement of U.S. transportation and energy infrastructure.

  7. AUTOMATED COMPUTER SYSTEM OF VEHICLE VOICE CONTROL

    Directory of Open Access Journals (Sweden)

    A. Kravchenko

    2009-01-01

    Full Text Available Domestic cars and foreign analogues are considered. Failings are marked related to absence of the auxiliary electronic system which serves for the increase of safety and comfort of vehicle management. Innovative development of the complex system of vocal management which provides reliability, comfort and simplicity of movement in a vehicle is offered.

  8. Vehicle Systems Analysis Technical Team Roadmap

    Energy Technology Data Exchange (ETDEWEB)

    None

    2013-06-01

    The mission of the Vehicle Systems Analysis Technical Team (VSATT) is to evaluate the performance and interactions of proposed advanced automotive powertrain components and subsystems, in a vehicle systems context, to inform ongoing research and development activities and maximize the potential for fuel efficiency improvements and emission reduction.

  9. Vehicle systems design optimization study

    Energy Technology Data Exchange (ETDEWEB)

    Gilmour, J. L.

    1980-04-01

    The optimization of an electric vehicle layout requires a weight distribution in the range of 53/47 to 62/38 in order to assure dynamic handling characteristics comparable to current production internal combustion engine vehicles. It is possible to achieve this goal and also provide passenger and cargo space comparable to a selected current production sub-compact car either in a unique new design or by utilizing the production vehicle as a base. Necessary modification of the base vehicle can be accomplished without major modification of the structure or running gear. As long as batteries are as heavy and require as much space as they currently do, they must be divided into two packages - one at front under the hood and a second at the rear under the cargo area - in order to achieve the desired weight distribution. The weight distribution criteria requires the placement of batteries at the front of the vehicle even when the central tunnel is used for the location of some batteries. The optimum layout has a front motor and front wheel drive. This configuration provides the optimum vehicle dynamic handling characteristics and the maximum passsenger and cargo space for a given size vehicle.

  10. Emergency vehicle traffic signal preemption system

    Science.gov (United States)

    Bachelder, Aaron D. (Inventor); Foster, Conrad F. (Inventor)

    2011-01-01

    An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.

  11. Obstacle detection system for underground mining vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cohen, P.; Polotski, V.; Piotte, M.; Melamed, F. [Ecole Polytechnique de Montreal, Montreal, PQ (Canada)

    1998-01-01

    A device for detecting obstacles by autonomous vehicles navigating in mine drifts is described. The device is based upon structured lighting and the extraction of relevant features from images of obstacles. The system uses image profile changes, ground and wall irregularities, disturbances of the vehicle`s trajectory, and impaired visibility to detect obstacles, rather than explicit three-dimensional scene reconstruction. 7 refs., 5 figs.

  12. 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

  13. Development of the heavy manipulator vehicle system

    International Nuclear Information System (INIS)

    Herbst, C.; Paustian, P.; Kruger, W.

    1993-01-01

    After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

  14. Fuzzy logic control for camera tracking system

    Science.gov (United States)

    Lea, Robert N.; Fritz, R. H.; Giarratano, J.; Jani, Yashvant

    1992-01-01

    A concept utilizing fuzzy theory has been developed for a camera tracking system to provide support for proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning are used in a control system which utilizes images from a camera and generates required pan and tilt commands to track and maintain a moving target in the camera's field of view. This control system can be implemented on a fuzzy chip to provide an intelligent sensor for autonomous operations. Capabilities of the control system can be expanded to include approach, handover to other sensors, caution and warning messages.

  15. Vision-based pedestrian protection systems for intelligent vehicles

    CERN Document Server

    Geronimo, David

    2013-01-01

    Pedestrian Protection Systems (PPSs) are on-board systems aimed at detecting and tracking people in the surroundings of a vehicle in order to avoid potentially dangerous situations. These systems, together with other Advanced Driver Assistance Systems (ADAS) such as lane departure warning or adaptive cruise control, are one of the most promising ways to improve traffic safety. By the use of computer vision, cameras working either in the visible or infra-red spectra have been demonstrated as a reliable sensor to perform this task. Nevertheless, the variability of human's appearance, not only in

  16. Tracking of atmospheric release of pollution using unmanned aerial vehicles

    Czech Academy of Sciences Publication Activity Database

    Šmídl, Václav; Hofman, Radek

    2013-01-01

    Roč. 67, č. 1 (2013), s. 425-436 ISSN 1352-2310 R&D Projects: GA MV VG20102013018 Institutional support: RVO:67985556 Keywords : Data assimilation * Atmospheric dispersion model * Sequential Monte Carlo * Sensor positioning Subject RIV: BC - Control Systems Theory Impact factor: 3.062, year: 2013 http://library.utia.cas.cz/separaty/2012/AS/smidl-0385368.pdf

  17. Autonomous system for launch vehicle range safety

    Science.gov (United States)

    Ferrell, Bob; Haley, Sam

    2001-02-01

    The Autonomous Flight Safety System (AFSS) is a launch vehicle subsystem whose ultimate goal is an autonomous capability to assure range safety (people and valuable resources), flight personnel safety, flight assets safety (recovery of valuable vehicles and cargo), and global coverage with a dramatic simplification of range infrastructure. The AFSS is capable of determining current vehicle position and predicting the impact point with respect to flight restriction zones. Additionally, it is able to discern whether or not the launch vehicle is an immediate threat to public safety, and initiate the appropriate range safety response. These features provide for a dramatic cost reduction in range operations and improved reliability of mission success. .

  18. Vehicle/Guideway Interaction in Maglev Systems

    Science.gov (United States)

    1992-03-01

    Technology Division Materials and Components in Maglev Systems Technology Division Materials and Components Technology Division byY. Cai, S. S. Chen, and D. M...Transportation Systems Reports (UC-330, Vehicle/Guideway Interaction in Maglev Systems by Y. Cai and S. S. Chen Materials and Components Technology Division D. M...Surface Irregularities ...................................... 32 4 Vehicle/Guideway Interaction in Transrapid Maglev System .................. 34 4.1

  19. 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.

  20. Advanced alignment of the ATLAS tracking system

    CERN Document Server

    AUTHOR|(CDS)2085334; The ATLAS collaboration

    2016-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, silicon planar modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments of the active detector elements and deformations of the structures (which can lead to \\textit{Weak Modes}) deteriorate resolution of the track reconstruction and lead to systematic biases on the measured track parameters. The applied alignment procedures exploit various advanced techniques in order to minimise track-hit residuals and remove detector deformations. For the LHC Run II, the Pixel Detector has been refurbished and upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

  1. Perspective : component tracking on the Nova system

    International Nuclear Information System (INIS)

    MacDonald, S.

    1999-01-01

    The issue of introducing Component Tracking as a service to natural gas producers, shippers and straddle plant operators was discussed. Approximately 39 companies in the industry were contacted by consultants at Nova Gas Transmission in an effort to assess if introducing this service would add value to individual producers. The numerous implications that may have to be dealt with if Component Tracking is introduced were also described. Component Tracking would provide an equitable approach to the allocation of molecules in the gas stream, and could provide producers with the ability to avoid capital outlay in field plants by alternatively contracting for recovery of the liquids at the straddle plants. Component Tracking is to be voluntary and each shipper would be able to decide whether to utilize the service at each of their receipt points onto the Nova system

  2. Advanced propulsion system concept for hybrid vehicles

    Science.gov (United States)

    Bhate, S.; Chen, H.; Dochat, G.

    1980-01-01

    A series hybrid system, utilizing a free piston Stirling engine with a linear alternator, and a parallel hybrid system, incorporating a kinematic Stirling engine, are analyzed for various specified reference missions/vehicles ranging from a small two passenger commuter vehicle to a van. Parametric studies for each configuration, detail tradeoff studies to determine engine, battery and system definition, short term energy storage evaluation, and detail life cycle cost studies were performed. Results indicate that the selection of a parallel Stirling engine/electric, hybrid propulsion system can significantly reduce petroleum consumption by 70 percent over present conventional vehicles.

  3. PAMTRAK: A personnel and material tracking system

    International Nuclear Information System (INIS)

    Anspach, D.A.; Anspach, J.P.; Crain, B. Jr.

    1996-01-01

    There is a need for an automated system for protecting and monitoring sensitive or classified parts and material. Sandia has developed a real-time personnel and material tracking system (PAMTRAK) that has been installed at selected DOE facilities. It safeguards sensitive parts and material by tracking tags worn by personnel and by monitoring sensors attached to the parts or material. It includes remote control and alarm display capabilities and a complementary program in Keyhole to display measured material attributes remotely. This paper describes the design goals, the system components, current installations, and the benefits a site can expect when using PAMTRAK

  4. Hires and Losses Tracking System

    Data.gov (United States)

    Social Security Administration — This database contains data about the hires and losses of employees for the Office of Systems-those who join or leave the Office of Systems and those who transfer...

  5. 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

  6. 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

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

    Directory of Open Access Journals (Sweden)

    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.

  8. 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)

  9. Developing an Undergraduate Information Systems Security Track

    Science.gov (United States)

    Sharma, Aditya; Murphy, Marianne C.; Rosso, Mark A.; Grant, Donna

    2013-01-01

    Information Systems Security as a specialized area of study has mostly been taught at the graduate level. This paper highlights the efforts of establishing an Information Systems (IS) Security track at the undergraduate level. As there were many unanswered questions and concerns regarding the Security curriculum, focus areas, the benefit of…

  10. Tracking Control of Nonlinear Mechanical Systems

    NARCIS (Netherlands)

    Lefeber, A.A.J.

    2000-01-01

    The subject of this thesis is the design of tracking controllers for certain classes of mechanical systems. The thesis consists of two parts. In the first part an accurate mathematical model of the mechanical system under consideration is assumed to be given. The goal is to follow a certain

  11. A Cost-Effective Tracking Algorithm for Hypersonic Glide Vehicle Maneuver Based on Modified Aerodynamic Model

    Directory of Open Access Journals (Sweden)

    Yu Fan

    2016-10-01

    Full Text Available In order to defend the hypersonic glide vehicle (HGV, a cost-effective single-model tracking algorithm using Cubature Kalman filter (CKF is proposed in this paper based on modified aerodynamic model (MAM as process equation and radar measurement model as measurement equation. In the existing aerodynamic model, the two control variables attack angle and bank angle cannot be measured by the existing radar equipment and their control laws cannot be known by defenders. To establish the process equation, the MAM for HGV tracking is proposed by using additive white noise to model the rates of change of the two control variables. For the ease of comparison several multiple model algorithms based on CKF are presented, including interacting multiple model (IMM algorithm, adaptive grid interacting multiple model (AGIMM algorithm and hybrid grid multiple model (HGMM algorithm. The performances of these algorithms are compared and analyzed according to the simulation results. The simulation results indicate that the proposed tracking algorithm based on modified aerodynamic model has the best tracking performance with the best accuracy and least computational cost among all tracking algorithms in this paper. The proposed algorithm is cost-effective for HGV tracking.

  12. Modular Energy Storage System for Alternative Energy Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Thomas, Janice [Magna Electronics Inc., Auburn Hills, MI (United States); Ervin, Frank [Magna Electronics Inc., Auburn Hills, MI (United States)

    2012-05-15

    An electrical vehicle environment was established to promote research and technology development in the area of high power energy management. The project incorporates a topology that permits parallel development of an alternative energy delivery system and an energy storage system. The objective of the project is to develop technologies, specifically power electronics, energy storage electronics and controls that provide efficient and effective energy management between electrically powered devices in alternative energy vehicles plugin electric vehicles, hybrid vehicles, range extended vehicles, and hydrogen-based fuel cell vehicles. In order to meet the project objectives, the Vehicle Energy Management System (VEMS) was defined and subsystem requirements were obtained. Afterwards, power electronics, energy storage electronics and controls were designed. Finally, these subsystems were built, tested individually, and integrated into an electric vehicle system to evaluate and optimize the subsystems performance. Phase 1 of the program established the fundamental test bed to support development of an electrical environment ideal for fuel cell application and the mitigation of many shortcomings of current fuel cell technology. Phase 2, continued development from Phase 1, focusing on implementing subsystem requirements, design and construction of the energy management subsystem, and the integration of this subsystem into the surrogate electric vehicle. Phase 2 also required the development of an Alternative Energy System (AES) capable of emulating electrical characteristics of fuel cells, battery, gen set, etc. Under the scope of the project, a boost converter that couples the alternate energy delivery system to the energy storage system was developed, constructed and tested. Modeling tools were utilized during the design process to optimize both component and system design. This model driven design process enabled an iterative process to track and evaluate the impact

  13. 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.

  14. Posture estimation system for underground mine vehicles

    CSIR Research Space (South Africa)

    Hlophe, K

    2010-09-01

    Full Text Available Page 1 of 8 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa A POSTURE ESTIMATION SYSTEM FOR UNDERGROUND MINE VEHICLES Khonzumusa Hlophe1, Gideon Ferreira2... and the transmitter. The main difference between the three systems is their implementation. This paper describes an implementation of a posture estimation system for underground mine vehicles. The paper is organized as follows. In the next section, a brief...

  15. Electro-Optical Data Acquisition and Tracking System

    Data.gov (United States)

    Federal Laboratory Consortium — The Electro-Optical Data Acquisition and Tracking System (EDATS) dynamically tracks and measures target signatures. It consists of an instrumentation van integrated...

  16. Assignment and Correspondence Tracking System - Tactical / Operational Reporting

    Data.gov (United States)

    Social Security Administration — Reporting data store for the Assignment and Correspondence Tracking System (ACT). ACT automates the assignment and tracking of correspondence processing within the...

  17. Distributed formation tracking using local coordinate systems

    DEFF Research Database (Denmark)

    Yang, Qingkai; Cao, Ming; Garcia de Marina, Hector

    2018-01-01

    This paper studies the formation tracking problem for multi-agent systems, for which a distributed estimator–controller scheme is designed relying only on the agents’ local coordinate systems such that the centroid of the controlled formation tracks a given trajectory. By introducing a gradient...... descent term into the estimator, the explicit knowledge of the bound of the agents’ speed is not necessary in contrast to existing works, and each agent is able to compute the centroid of the whole formation in finite time. Then, based on the centroid estimation, a distributed control algorithm...

  18. A satellite-tracking millimeter-wave reflector antenna system for mobile satellite-tracking

    Science.gov (United States)

    Densmore, Arthur C.; Jamnejad, Vahraz; Woo, Kenneth E.

    1995-03-01

    A miniature dual-band two-way mobile satellite tracking antenna system mounted on a movable ground vehicle includes a miniature parabolic reflector dish having an elliptical aperture with major and minor elliptical axes aligned horizontally and vertically, respectively, to maximize azimuthal directionality and minimize elevational directionality to an extent corresponding to expected pitch excursions of the movable ground vehicle. A feed-horn has a back end and an open front end facing the reflector dish and has vertical side walls opening out from the back end to the front end at a lesser horn angle and horizontal top and bottom walls opening out from the back end to the front end at a greater horn angle. An RF circuit couples two different signal bands between the feed-horn and the user. An antenna attitude controller maintains an antenna azimuth direction relative to the satellite by rotating it in azimuth in response to sensed yaw motions of the movable ground vehicle so as to compensate for the yaw motions to within a pointing error angle. The controller sinusoidally dithers the antenna through a small azimuth dither angle greater than the pointing error angle while sensing a signal from the satellite received at the reflector dish, and deduces the pointing angle error from dither-induced fluctuations in the received signal.

  19. Robust Solar Position Sensor for Tracking Systems

    DEFF Research Database (Denmark)

    Ritchie, Ewen; Argeseanu, Alin; Leban, Krisztina Monika

    2009-01-01

    The paper proposes a new solar position sensor used in tracking system control. The main advantages of the new solution are the robustness and the economical aspect. Positioning accuracy of the tracking system that uses the new sensor is better than 1°. The new sensor uses the ancient principle...... of the solar clock. The sensitive elements are eight ordinary photo-resistors. It is important to note that all the sensors are not selected simultaneously. It is not necessary for sensor operating characteristics to be quasi-identical because the sensor principle is based on extreme operating duty measurement...... (bright or dark). In addition, the proposed solar sensor significantly simplifies the operation of the tracking control device....

  20. Design and Implementation of Vehicle Navigation System in Urban Environments using Internet of Things (Iot)

    Science.gov (United States)

    Godavarthi, Bhavana; Nalajala, Paparao; Ganapuram, Vasavi

    2017-08-01

    Advanced vehicle monitoring and tracking system based on embedded Linux board and android application is designed and implemented for monitoring the school vehicle from any location A to location B at real time. The present system would make good use of new technology that based on embedded Linux namely Raspberry Pi and Smartphone android application. This system works on GPS/GPRS/GSM SIM900A. GPS finds the current location of the vehicle, GPRS sends the tracking information to the server and the GSM is used for sending alert message to vehicle’s owner mobile. This system is placed inside the vehicle whose position is to be determined on the web page and monitored at real time. There is a comparison between the current vehicle path already specified paths into the file system. Inside the raspberry pi’s file system taken from vehicle owners through android phone using android application. Means the selection of path from location A to B takes place from vehicle owner’s android application which gives more safety and secures traveling to the traveler. Hence the driver drives the vehicle only on the vehicle owner’s specified path. The driver drives the vehicle only on the vehicle owner’s specified path but if the driver drives in wrong path the message alert will be sent from this system to the vehicle owners mobile and also sent speakers alert to driver through audio jack. If the vehicles speed goes beyond the specified value of the speed, then warning message will be sent to owner mobile. This system also takes care of the traveler’s safety by using Gas leakage and Temperature sensors

  1. Communications and Tracking Distributed Systems Evolution Study

    Science.gov (United States)

    Culpepper, William

    1990-01-01

    The Communications and Tracking (C & T) techniques and equipment to support evolutionary space station concepts are being analyzed. Evolutionary space station configurations and operational concepts are used to derive the results to date. A description of the C & T system based on future capability needs is presented. Included are the hooks and scars currently identified to support future growth.

  2. 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...

  3. 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

  4. Deficiency tracking system, conceptual business process requirements

    Energy Technology Data Exchange (ETDEWEB)

    Hermanson, M.L.

    1997-04-18

    The purpose of this document is to describe the conceptual business process requirements of a single, site-wide, consolidated, automated, deficiency management tracking, trending, and reporting system. This description will be used as the basis for the determination of the automated system acquisition strategy including the further definition of specific requirements, a ''make or buy'' determination and the development of specific software design details.

  5. Deficiency tracking system, conceptual business process requirements

    International Nuclear Information System (INIS)

    Hermanson, M.L.

    1997-01-01

    The purpose of this document is to describe the conceptual business process requirements of a single, site-wide, consolidated, automated, deficiency management tracking, trending, and reporting system. This description will be used as the basis for the determination of the automated system acquisition strategy including the further definition of specific requirements, a ''make or buy'' determination and the development of specific software design details

  6. Sensor system for fuel transport vehicle

    Science.gov (United States)

    Earl, Dennis Duncan; McIntyre, Timothy J.; West, David L.

    2016-03-22

    An exemplary sensor system for a fuel transport vehicle can comprise a fuel marker sensor positioned between a fuel storage chamber of the vehicle and an access valve for the fuel storage chamber of the vehicle. The fuel marker sensor can be configured to measure one or more characteristics of one or more fuel markers present in the fuel adjacent the sensor, such as when the marked fuel is unloaded at a retail station. The one or more characteristics can comprise concentration and/or identity of the one or more fuel markers in the fuel. Based on the measured characteristics of the one or more fuel markers, the sensor system can identify the fuel and/or can determine whether the fuel has been adulterated after the marked fuel was last measured, such as when the marked fuel was loaded into the vehicle.

  7. Development of an FPGA Based Embedded System for High Speed Object Tracking

    Directory of Open Access Journals (Sweden)

    Chandrashekar MATHAM

    2010-01-01

    Full Text Available This paper deals with the development and implementation of system on chip (SOC for object tracking using histograms. To acquire the distance and velocity information of moving vehicles such as military tanks, to identify the type of target within the range from 100 m to 3 km and to estimate the movements of the vehicle. The VHDL code is written for the above objectives and implemented using Xilinx’s VERTEX-4 based PCI card family.

  8. Multiple Drosophila Tracking System with Heading Direction

    Directory of Open Access Journals (Sweden)

    Pudith Sirigrivatanawong

    2017-01-01

    Full Text Available Machine vision systems have been widely used for image analysis, especially that which is beyond human ability. In biology, studies of behavior help scientists to understand the relationship between sensory stimuli and animal responses. This typically requires the analysis and quantification of animal locomotion. In our work, we focus on the analysis of the locomotion of the fruit fly D r o s o p h i l a m e l a n o g a s t e r , a widely used model organism in biological research. Our system consists of two components: fly detection and tracking. Our system provides the ability to extract a group of flies as the objects of concern and furthermore determines the heading direction of each fly. As each fly moves, the system states are refined with a Kalman filter to obtain the optimal estimation. For the tracking step, combining information such as position and heading direction with assignment algorithms gives a successful tracking result. The use of heading direction increases the system efficiency when dealing with identity loss and flies swapping situations. The system can also operate with a variety of videos with different light intensities.

  9. Vehicle systems and payload requirements evaluation. [computer programs for identifying launch vehicle system requirements

    Science.gov (United States)

    Rea, F. G.; Pittenger, J. L.; Conlon, R. J.; Allen, J. D.

    1975-01-01

    Techniques developed for identifying launch vehicle system requirements for NASA automated space missions are discussed. Emphasis is placed on development of computer programs and investigation of astrionics for OSS missions and Scout. The Earth Orbit Mission Program - 1 which performs linear error analysis of launch vehicle dispersions for both vehicle and navigation system factors is described along with the Interactive Graphic Orbit Selection program which allows the user to select orbits which satisfy mission requirements and to evaluate the necessary injection accuracy.

  10. Hazardous chemical tracking system (HAZ-TRAC)

    International Nuclear Information System (INIS)

    Bramlette, J.D.; Ewart, S.M.; Jones, C.E.

    1990-07-01

    Westinghouse Idaho Nuclear Company, Inc. (WINCO) developed and implemented a computerized hazardous chemical tracking system, referred to as Haz-Trac, for use at the Idaho Chemical Processing Plant (ICPP). Haz-Trac is designed to provide a means to improve the accuracy and reliability of chemical information, which enhances the overall quality and safety of ICPP operations. The system tracks all chemicals and chemical components from the time they enter the ICPP until the chemical changes form, is used, or becomes a waste. The system runs on a Hewlett-Packard (HP) 3000 Series 70 computer. The system is written in COBOL and uses VIEW/3000, TurboIMAGE/DBMS 3000, OMNIDEX, and SPEEDWARE. The HP 3000 may be accessed throughout the ICPP, and from remote locations, using data communication lines. Haz-Trac went into production in October, 1989. Currently, over 1910 chemicals and chemical components are tracked on the system. More than 2500 personnel hours were saved during the first six months of operation. Cost savings have been realized by reducing the time needed to collect and compile reporting information, identifying and disposing of unneeded chemicals, and eliminating duplicate inventories. Haz-Trac maintains information required by the Superfund Amendment Reauthorization Act (SARA), the Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) and the Occupational Safety and Health Administration (OSHA)

  11. Hazardous chemical tracking system (HAZ-TRAC)

    Energy Technology Data Exchange (ETDEWEB)

    Bramlette, J D; Ewart, S M; Jones, C E

    1990-07-01

    Westinghouse Idaho Nuclear Company, Inc. (WINCO) developed and implemented a computerized hazardous chemical tracking system, referred to as Haz-Trac, for use at the Idaho Chemical Processing Plant (ICPP). Haz-Trac is designed to provide a means to improve the accuracy and reliability of chemical information, which enhances the overall quality and safety of ICPP operations. The system tracks all chemicals and chemical components from the time they enter the ICPP until the chemical changes form, is used, or becomes a waste. The system runs on a Hewlett-Packard (HP) 3000 Series 70 computer. The system is written in COBOL and uses VIEW/3000, TurboIMAGE/DBMS 3000, OMNIDEX, and SPEEDWARE. The HP 3000 may be accessed throughout the ICPP, and from remote locations, using data communication lines. Haz-Trac went into production in October, 1989. Currently, over 1910 chemicals and chemical components are tracked on the system. More than 2500 personnel hours were saved during the first six months of operation. Cost savings have been realized by reducing the time needed to collect and compile reporting information, identifying and disposing of unneeded chemicals, and eliminating duplicate inventories. Haz-Trac maintains information required by the Superfund Amendment Reauthorization Act (SARA), the Comprehensive Environmental Response, Compensation and Liability Act (CERCLA) and the Occupational Safety and Health Administration (OSHA).

  12. Hacker tracking Security system for HMI

    Science.gov (United States)

    Chauhan, Rajeev Kumar

    2011-12-01

    Conventional Supervisory control and data Acquisition (SCADA) systems use PC, notebook, thin client, and PDA as a Client. Nowadays the Process Industries are following multi shift system that's why multi- client of different category have to work at a single human Machine Interface (HMI). They may hack the HMI Display and change setting of the other client. This paper introduces a Hacker tracking security (HTS) System for HMI. This is developed by using the conventional and Biometric authentication. HTS system is developed by using Numeric passwords, Smart card, biometric, blood flow and Finger temperature. This work is also able to identify the hackers.

  13. Kinetic energy recovery systems in motor vehicles

    Science.gov (United States)

    Śliwiński, C.

    2016-09-01

    The article draws attention to the increasing environmental pollution caused by the development of vehicle transport and motorization. Different types of design solutions used in vehicles for the reduction of fuel consumption, and thereby emission of toxic gasses into the atmosphere, were specified. Historical design solutions concerning energy recovery devices in mechanical vehicles which used flywheels to accumulate kinetic energy were shown. Developmental tendencies in the area of vehicle manufacturing in the form of hybrid electric and electric devices were discussed. Furthermore, designs of energy recovery devices with electrical energy storage from the vehicle braking and shock absorbing systems were presented. A mechanical energy storing device using a flywheel operating under vacuum was presented, as were advantages and disadvantages of both systems, the limitations they impose on individual constructions and safety issues. The paper also discusses a design concept of an energy recovery device in mechanical vehicles which uses torsion springs as the main components of energy accumulation during braking. The desirability of a cooperation of both the mechanical- and electrical energy recovery devices was indicated.

  14. NET in-vessel vehicle system

    International Nuclear Information System (INIS)

    Jones, H.

    1991-02-01

    The CFFTP/Spar In-vessel Vehicle System concept for in-vessel remote maintenance of the NET/ITER machine is described. It comprises a curved deployable boom, a vehicle which can travel on the boom and an end effector or work unit mounted on the vehicle. The stowed boom, vehicle, and work unit are inserted via the equatorial access port of the torus. Following insertion the boom is deployed and locked in place. The vehicle may then travel along the boom to transport the work unit to any desired location. A novel feature of the concept is the deployable boom. When fully deployed, it closely resembles a conventional curved truss structure in configuration and characteristics. However, the joints of the truss structure are hinged so that it can fold into a compact package, of less than 20% of deployed volume for storage, transportation and insertion into the torus. A full-scale 2-metre long section of this boom was produced for demonstration purposes. As part of the concept definition the work unit for divertor handling was studied to demonstrate that large payloads could be manipulated within the confines of the torus using the in-vessel vehicle system. Principal advantages of the IVVS are its high load capacity and rigidity, low weight and stowed volume, simplicity of control and operation, and its relatively high speed of transportation

  15. Tracking errors in a prototype real-time tumour tracking system

    International Nuclear Information System (INIS)

    Sharp, Gregory C; Jiang, Steve B; Shimizu, Shinichi; Shirato, Hiroki

    2004-01-01

    In motion-compensated radiation therapy, radio-opaque markers can be implanted in or near a tumour and tracked in real-time using fluoroscopic imaging. Tracking these implanted markers gives highly accurate position information, except when tracking fails due to poor or ambiguous imaging conditions. This study investigates methods for automatic detection of tracking errors, and assesses the frequency and impact of tracking errors on treatments using the prototype real-time tumour tracking system. We investigated four indicators for automatic detection of tracking errors, and found that the distance between corresponding rays was most effective. We also found that tracking errors cause a loss of gating efficiency of between 7.6 and 10.2%. The incidence of treatment beam delivery during tracking errors was estimated at between 0.8% and 1.25%

  16. Fiber optic gyroscopes for vehicle navigation systems

    Science.gov (United States)

    Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao

    1994-03-01

    Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.

  17. Development of the Open Items Tracking System

    International Nuclear Information System (INIS)

    Riggi, V.

    1994-01-01

    The West Valley Demonstration Project, located on the site of the only commercial nuclear fuel reprocessing facility to have operated in USA, has the directed objectives of solidifying the high-level radioactive waste into a durable, solid form for shipment; decontaminating and decommissioning the tanks and facilities; and disposing of the resulting low-level and transuranic wastes. Since an escalating trend of open work items was noticed in the Fall of 1988, and there was no control mechanism for tracking and closing the open items, a Work Control System was developed for this purpose. It is self-contained system on a mainframe ARTEMIS 9000, which tracks, monitors, and closes out external commitments in a timely manner. Audits, surveillances, site appraisals, preventive maintenance, instrument calibration recall, and scheduling are covered

  18. Vehicle Dynamic Prediction Systems with On-Line Identification of Vehicle Parameters and Road Conditions

    Science.gov (United States)

    Hsu, Ling-Yuan; Chen, Tsung-Lin

    2012-01-01

    This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event. PMID:23202231

  19. ENERGY EFFICIENT TRACKING SYSTEM USING WIRELESS SENSORS

    OpenAIRE

    Thankaselvi Kumaresan; Sheryl Mathias; Digja Khanvilkar; Prof. Smita Dange

    2014-01-01

    One of the most important applications of wireless sensor networks (WSNs) is surveillance system, which is used to track moving targets. WSN is composed of a large number of low cost sensors which operate on the power derived from batteries. Energy efficiency is an important issue in WSN, which determines the network lifetime. Due to the need for continuous monitoring with 100% efficiency, keeping all the sensor nodes active permanently leads to fast draining of batteries. Hen...

  20. 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.

  1. 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.

  2. 40 CFR 73.30 - Allowance tracking system accounts.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 16 2010-07-01 2010-07-01 false Allowance tracking system accounts. 73.30 Section 73.30 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) SULFUR DIOXIDE ALLOWANCE SYSTEM Allowance Tracking System § 73.30 Allowance tracking system...

  3. Optimum Design Of On Grid Pv System Using Tracking System

    Directory of Open Access Journals (Sweden)

    Saeed Mansour

    2015-05-01

    Full Text Available Abstract The fossil fuel is a main issue in the world due to the increase of fossil fuel cost and the depletion of the fossil fuel with continuous increasing demand on electricity. With continuous decrease of PV panels cost it is interesting to consider generation of electricity from PV system. To provide electric energy to a load in a remote area where electric grid utility is not available or connection with grid utility is available there are two approaches of photovoltaic system PV without tracking system Fixed System and PV with tracking systems. The result shows that the energy production by using PV with tracking system generates more energy in comparison with fixed panels system. However the cost per produced KWH is less in case of using fixed panels. This is the backbone in choice between two approaches of photovoltaic system. In this work a system design and cost analysis for two approaches of photovoltaic system are considered.

  4. Real-Time Vehicle Data Logging System Using GPS And GSM

    OpenAIRE

    Win Minn Thet; MyoMaung Maung; Hla Myo Tun

    2015-01-01

    Abstract This paper proposes and implements a low cost Vehicle Data Logging System using GPS and GSM. This system allows a user to trace the present and past positions recorded in SD card. This system also reads the current position of the vehicle using GPS the data is sent via GSM service from the GSM network. The vehicles position including the driving speed the UTC time and data are stored in the SD card for live and past tracking. All of that GPS data is sent to PIC 18F4520 by the Uni...

  5. A Terrain-Vehicle Interaction Model for Analysis of Steering Performance of Track-Laying Vehicles

    Science.gov (United States)

    1979-05-01

    by C !Gerge Y" Baladi and BDhzad Roheni 4.Structures Labratory’J .Army Enghimer waterway, Expeuinsftt Staton "II U . 0.O. Box 631, Vi&sburg, Miss...CONTRACT OR GRANT NUMER(*) George VI/ Baladi -4.Behzad(Rohani . . ERFRMIG ORGANIZTION NAME AND ADDRESS -T0. PROGRAM LEMENT. PROJECT. TASK( U. S.. Army...Project 4A161102AT24, Task A3/E3, Work Unit 003, "Soil Response to Nonlinear Loading Systems." This investigation was conducted by Drs. G. Y. Baladi and

  6. MTB-USDH Compensation Tracking System (MTB-CTS)

    Data.gov (United States)

    US Agency for International Development — MTB-USDH Compensation Tracking System: is the USDH Compensation Tracking System (MTB-CTS) to assist managers in monitoring their payroll costs for U.S. direct hires....

  7. Evaluation of environmental commitment tracking systems for use at CDOT.

    Science.gov (United States)

    2011-10-01

    "The purpose of this study is to review existing Environmental Tracking Systems (ETSs) used by other, : select state Departments of Transportation (DOTs), as well as the existing Environmental Commitment : Tracking System (ECTS) currently in use by C...

  8. Advanced propulsion system for hybrid vehicles

    Science.gov (United States)

    Norrup, L. V.; Lintz, A. T.

    1980-01-01

    A number of hybrid propulsion systems were evaluated for application in several different vehicle sizes. A conceptual design was prepared for the most promising configuration. Various system configurations were parametrically evaluated and compared, design tradeoffs performed, and a conceptual design produced. Fifteen vehicle/propulsion systems concepts were parametrically evaluated to select two systems and one vehicle for detailed design tradeoff studies. A single hybrid propulsion system concept and vehicle (five passenger family sedan)were selected for optimization based on the results of the tradeoff studies. The final propulsion system consists of a 65 kW spark-ignition heat engine, a mechanical continuously variable traction transmission, a 20 kW permanent magnet axial-gap traction motor, a variable frequency inverter, a 386 kg lead-acid improved state-of-the-art battery, and a transaxle. The system was configured with a parallel power path between the heat engine and battery. It has two automatic operational modes: electric mode and heat engine mode. Power is always shared between the heat engine and battery during acceleration periods. In both modes, regenerative braking energy is absorbed by the battery.

  9. Automatic vehicle counting system for traffic monitoring

    Science.gov (United States)

    Crouzil, Alain; Khoudour, Louahdi; Valiere, Paul; Truong Cong, Dung Nghy

    2016-09-01

    The article is dedicated to the presentation of a vision-based system for road vehicle counting and classification. The system is able to achieve counting with a very good accuracy even in difficult scenarios linked to occlusions and/or presence of shadows. The principle of the system is to use already installed cameras in road networks without any additional calibration procedure. We propose a robust segmentation algorithm that detects foreground pixels corresponding to moving vehicles. First, the approach models each pixel of the background with an adaptive Gaussian distribution. This model is coupled with a motion detection procedure, which allows correctly location of moving vehicles in space and time. The nature of trials carried out, including peak periods and various vehicle types, leads to an increase of occlusions between cars and between cars and trucks. A specific method for severe occlusion detection, based on the notion of solidity, has been carried out and tested. Furthermore, the method developed in this work is capable of managing shadows with high resolution. The related algorithm has been tested and compared to a classical method. Experimental results based on four large datasets show that our method can count and classify vehicles in real time with a high level of performance (>98%) under different environmental situations, thus performing better than the conventional inductive loop detectors.

  10. 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.

  11. A Low-Cost Vehicle Anti-Theft System Using Obsolete Smartphone

    Directory of Open Access Journals (Sweden)

    Bang Liu

    2018-01-01

    Full Text Available In modern society, vehicle theft has become an increasing problem to the general public. Deploying onboard anti-theft systems could relieve this problem, but it often requires extra investment for vehicle owners. In this paper, we propose the idea of PhoneInside, which does not need a special device but leverages an obsolete smartphone to build a low-cost vehicle anti-theft system. After being fixed in the vehicle body with a car charger, the smartphone can detect vehicle movement and adaptively use GPS, cellular/WiFi localization, and dead reckoning to locate the vehicle during driving. Especially, a novel Velocity-Aware Dead Reckoning (VA-DR method is presented, which utilizes map knowledge and vehicle’s turns at road curves and intersections to estimate velocity for trajectory computation. Compared to traditional dead reckoning, it reduces accumulated errors and achieves great improvement in localization accuracy. Furthermore, based on the learning of the driving history, our system can establish individual mobility model for a vehicle and distinguish abnormal driving behaviors by a Long Short Term Memory (LSTM network. With the help of ad hoc authentication, the system can identify vehicle theft and send out timely alarming and tracking messages for rapid recovery. The realistic experiments running on Android smartphones prove that our system can detect vehicle theft effectively and locate a stolen vehicle accurately, with average errors less than the sight range.

  12. Hydraulic regenerative system for a light vehicle

    OpenAIRE

    Orpella Aceret, Jordi; Guinart Trayter, Xavier

    2009-01-01

    The thesis is based in a constructed light vehicle that must be improved by adding a hydraulic energy recovery system. This vehicle named as TrecoLiTH, participated in the Formula Electric and Hybrid competition (Formula EHI) 2009 in Italy -Rome- and won several awards. This system consists in two hydraulic motors hub mounted which are used to store fluid at high pressure in an accumulator when braking. Through a valve the pressure will flow from the high pressure accumulator to the low press...

  13. Characterization Test Procedures for Intersection Collision Avoidance Systems Based on Vehicle-to-Vehicle Communications

    Science.gov (United States)

    2015-12-01

    Characterization test procedures have been developed to quantify the performance of intersection collision avoidance (ICA) systems based on vehicle-to-vehicle communications. These systems warn the driver of an imminent crossing-path collision at a r...

  14. LHCb : Tracking system of the LHCb upgrade

    CERN Multimedia

    Szumlak, Tomasz

    2015-01-01

    The upgrade of the LHCb experiment will run at an instantaneous luminosity of 2x10^33 cm^-2 s^-1 with a fully software based trigger, allowing to read out the detector at a rate of 40MHz. For this purpose, the full tracking system will be newly developed: the vertex locator (VELO) will be replaced by a pixel-based detector, withstanding the high radiation dose and providing an excellent track reconstruction with an efficiency of above 99% for all charged particles of interest. Upstream of the magnet, a silicon mico-strip detector with a high granularity and an improved acceptance coverage, called the Upstream Tracker (UT), will replace the current silicon strip tracker, and provide a rough momentum estimate. The tracking system downstream of the magnet will be replaced by the Scintillating Fibre tracker (SciFi), which will consist of 12 layers using 2.5m long scintillating fibres read out by silicon photo-multipliers, providing a spatial resolution better than 100 micron and resulting in a total momentum reso...

  15. The Cosmic Ray Tracking (CRT) detector system

    International Nuclear Information System (INIS)

    Bernloehr, K.; Gamp, S.; Hermann, G.; Hofmann, W.; Kihm, T.; Knoeppler, J.; Leffers, G.; Matheis, V.; Panter, M.; Trunk, U.; Ulrich, M.; Wolf, T.; Zink, R.; Heintze, J.

    1996-01-01

    The Cosmic Ray Tracking (CRT) project represents a study on the use of tracking detectors of the time projection chamber type to detect secondary cosmic ray particles in extensive air showers. In reconstructing the arrival direction of the primary cosmic ray particles, the CRT detectors take advantage of the angular correlation of secondary particles with the cosmic rays leading to these air showers. In this paper, the detector hardware including the custom-designed electronics system is described in detail. A CRT detector module provides an active area of 2.5 m 2 and allows to measure track directions with a precision of 0.4 circle . It consists of two circular drift chambers of 1.8 m diameter with six sense wires each, and a 10 cm thick iron plate between the two chambers. Each detector has a local electronics box with a readout, trigger, and monitoring system. The detectors can distinguish penetrating muons from other types of charged secondaries. A large detector array could be used to search for γ-ray point sources at energies above several TeV and for studies of the cosmic-ray composition. Ten detectors are in operation at the site of the HEGRA air shower array. (orig.)

  16. Systems Engineering of Electric and Hybrid Vehicles

    Science.gov (United States)

    Kurtz, D. W.; Levin, R. R.

    1986-01-01

    Technical paper notes systems engineering principles applied to development of electric and hybrid vehicles such that system performance requirements support overall program goal of reduced petroleum consumption. Paper discusses iterative design approach dictated by systems analyses. In addition to obvious peformance parameters of range, acceleration rate, and energy consumption, systems engineering also considers such major factors as cost, safety, reliability, comfort, necessary supporting infrastructure, and availability of materials.

  17. Enterprise Mobile Tracking and Reminder System: MAE

    Directory of Open Access Journals (Sweden)

    Cheah Huei Yoong

    2012-07-01

    Full Text Available Mobile phones have made significant improvements from providing voice communications to advanced features such as camera, GPS, Wi-Fi, SMS, voice recognition, Internet surfing, and touch screen. This paper presents an enterprise mobile tracking and reminder system (MAE that enables the elderly to have a better elder-care experience. The high-level architecture and major software algorithms especially the tracking in Android phones and SMS functions in server are described. The analysis of data captured and performance study of the server are discussed. In order to show the effectiveness of MAE, a pilot test was carried out with a retirement village in Singapore and the feedback from the elderly was evaluated. Generally, most comments received from the elderly were positive.

  18. Control of a self guided tracked vehicle for hazardous waste removal using GPS positioning and ultrasonic collision avoidance

    International Nuclear Information System (INIS)

    Roy, B.; Lokhorst, D.; Fung, P.; Rice, P.

    1996-01-01

    In 1994 a large hydraulic telerobotic tracked transport vehicle (TTV) was built for Lockheed Idaho Technologies by a team of companies consisting of RAHCO International of Spokane, Spar Aerospace of Toronto and RSI Research of Victoria. The TTV was developed as a part of the Department of Energy's Buried Waste Integrated Demonstration Program to transport low level transuranic waste in a safe, dust-free manner minimizing the potential spread of airborne contaminants. The TTV was controlled from a remote control station by an operator relying on video and sensor feedback. This paper describes the control system of SGTV, a self guided version of the TTV developed in 1995 to travel autonomously between loading and off-loading points while automatically avoiding obstacles in its path. Self-guidance is divided between a supervisory Mission Planning and Control computer (WC) and an on-board system of five networked computers

  19. Tracking Control for Switched Cascade Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Xiaoxiao Dong

    2015-01-01

    Full Text Available The issue of H∞ output tracking for switched cascade nonlinear systems is discussed in this paper, where not all the linear parts of subsystems are stabilizable. The conditions of the solvability for the issue are given by virtue of the structural characteristics of the systems and the average dwell time method, in which the total activation time for stabilizable subsystems is longer than that for the unstabilizable subsystems. At last, a simulation example is used to demonstrate the validity and advantages of the proposed approach.

  20. 47 CFR 64.1320 - Payphone call tracking system audits.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 3 2010-10-01 2010-10-01 false Payphone call tracking system audits. 64.1320... call tracking system audits. (a) Unless it has entered into an alternative compensation arrangement... Completing Carrier must undergo an audit of its § 64.1310(a)(1) tracking system by an independent third party...

  1. 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.

  2. A Remote Characterization System and a fault-tolerant tracking system for subsurface mapping of buried waste sites

    International Nuclear Information System (INIS)

    Sandness, G.A.; Bennett, D.W.; Martinson, L.; Bingham, D.N.; Anderson, A.A.

    1992-08-01

    This paper describes two closely related projects that will provide new technology for characterizing hazardous waste burial sites. The first project, a collaborative effort by five of the national laboratories, involves the development and demonstration of a remotely controlled site characterization system. The Remote Characterization System (RCS) includes a unique low-signature survey vehicle, a base station, radio telemetry data links, satellite-based vehicle tracking, stereo vision, and sensors for noninvasive inspection of the surface and subsurface. The second project, conducted by the Idaho National Engineering Laboratory (INEL), involves the development of a position sensing system that can track a survey vehicle or instrument in the field. This system can coordinate updates at a rate of 200/s with an accuracy better than 0.1% of the distance separating the target and the sensor. It can employ acoustic or electromagnetic signals in a wide range of frequencies and can be operated as a passive or active device

  3. INERTIAL TECHNOLOGIES IN SYSTEMS FOR STABILIZATION OF GROUND VEHICLES EQUIPMENT

    Directory of Open Access Journals (Sweden)

    Olha Sushchenko

    2016-12-01

    Full Text Available Purpose: The vibratory inertial technology is a recent modern inertial technology. It represents the most perspective approach to design of inertial sensors, which can be used in stabilization and tracking systems operated on vehicles of the wide class. The purpose of the research is to consider advantages of this technology in comparison with laser and fiber-optic ones. Operation of the inertial sensors on the ground vehicles requires some improvement of the Coriolis vibratory gyroscope with the goal to simplify information processing, increase reliability, and compensate bias. Methods: Improvement of the Coriolis vibratory gyroscope includes introducing of the phase detector and additional excitation unit. The possibility to use the improved Coriolis vibratory gyroscope in the stabilization systems operated on the ground vehicles is shown by means of analysis of gyroscope output signal. To prove efficiency of the Coriolis vibratory gyroscope in stabilization system the simulation technique is used. Results: The scheme of the improved Coriolis vibratory gyroscope including the phase detector and additional excitation unit is developed and analyzed. The way to compensate bias is determined. Simulation of the stabilization system with the improved Coriolis vibratory gyroscope is carried out. Expressions for the output signals of the improved Coriolis vibratory gyroscope are derived. The error of the output signal is estimated and the possibility to use the modified Coriolis vibratory gyroscope in stabilization systems is proved. The results of stabilization system simulation are given. Their analysis is carried out. Conclusions: The represented results prove efficiency of the proposed technical decisions. They can be useful for design of stabilization platform with instrumental equipment operated on moving vehicles of the wide class.

  4. Video-based lane estimation and tracking for driver assistance: Survey, system, and evaluation

    OpenAIRE

    McCall, J C; Trivedi, Mohan Manubhai

    2006-01-01

    Driver-assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively considered. It is therefore important to take a critical look at key aspects of these systems, one of which is lane-position tracking. It is for these driver-assistance objectives that motivate the development of the novel "video-based lane estimation and tracking" (VioLET) system. The system is designed using steerable filters for robust and accurate lan...

  5. Four-Wheel Vehicle Suspension System

    Science.gov (United States)

    Bickler, Donald B.

    1990-01-01

    Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

  6. Component Control System for a Vehicle

    Science.gov (United States)

    Fraser-Chanpong, Nathan (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Waligora, Thomas M. (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Reed, Ryan M. (Inventor)

    2016-01-01

    A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

  7. Energy Efficient Hybrid Dual Axis Solar Tracking System

    Directory of Open Access Journals (Sweden)

    Rashid Ahammed Ferdaus

    2014-01-01

    Full Text Available This paper describes the design and implementation of an energy efficient solar tracking system from a normal mechanical single axis to a hybrid dual axis. For optimizing the solar tracking mechanism electromechanical systems were evolved through implementation of different evolutional algorithms and methodologies. To present the tracker, a hybrid dual-axis solar tracking system is designed, built, and tested based on both the solar map and light sensor based continuous tracking mechanism. These light sensors also compare the darkness and cloudy and sunny conditions assisting daily tracking. The designed tracker can track sun’s apparent position at different months and seasons; thereby the electrical controlling device requires a real time clock device for guiding the tracking system in seeking solar position for the seasonal motion. So the combination of both of these tracking mechanisms made the designed tracker a hybrid one. The power gain and system power consumption are compared with a static and continuous dual axis solar tracking system. It is found that power gain of hybrid dual axis solar tracking system is almost equal to continuous dual axis solar tracking system, whereas the power saved in system operation by the hybrid tracker is 44.44% compared to the continuous tracking system.

  8. Canadian high speed magnetically levitated vehicle system

    Energy Technology Data Exchange (ETDEWEB)

    Atherton, D L [Queen' s Univ., Kingston, Ont.; Belanger, P R; Burke, P E; Dawson, G E; Eastham, A R; Hayes, W F; Ooi, B T; Silvester, P; Slemon, G R

    1978-04-01

    A technically feasible high speed (400 to 480 km/h) guided ground transportation system, based on the use of the vehicle-borne superconducting magnets for electrodynamic suspension and guidance and for linear synchronous motor propulsion was defined as a future modal option for Canadian application. Analysis and design proposals were validated by large-scale tests on a rotating wheel facility and by modelling system components and their interactions. Thirty ton vehicles carrying 100 passengers operate over a flat-topped elevated guideway, which minimizes system down-time due to ice and snow accumulation and facilitates the design of turn-outs. A clearance of up to 15 cm is produced by the electrodynamic interaction between the vehicle-borne superconducting magnets and aluminum guideway strips. Propulsion and automatic system control is provided by the superconducting linear synchronous motor which operates at good efficiency (0.74) and high power factor (0.95). The vehicle is guided primarily by the interaction between the LSM field magnet array and flat null-flux loops overlying the stator windings in the guideway. The linear synchronous motor, electrodynamic suspension as well as levitation strip joints, parasitic LSM winding losses and limitations to the use of ferromagnetic guideway reinforcement were investigated experimentally on the test wheel facility. The use of a secondary suspension assures adequate dynamic stability, and good ride quality is achieved by optimized passive components with respect to lateral modes and by an actively controlled secondary suspension with respect to vertical motion.

  9. Tracking Behavioral Progress within a Children's Mental Health System: The Vermont Community Adjustment Tracking System.

    Science.gov (United States)

    Bruns, Eric J.; Burchard, John D.; Froelich, Peter; Yoe, James T.; Tighe, Theodore

    1998-01-01

    Describes the Vermont Community Adjustment Tracking System (VT-CATS), which utilizes four behavioral instruments to allow intensive, ongoing, and interpretable behavioral assessment of a service system's most challenging children and adolescents. Also explains the adjustment indicator checklists and the ability of VT-CATS to address agencies'…

  10. Vehicle fault diagnostics and management system

    Science.gov (United States)

    Gopal, Jagadeesh; Gowthamsachin

    2017-11-01

    This project is a kind of advanced automatic identification technology, and is more and more widely used in the fields of transportation and logistics. It looks over the main functions with like Vehicle management, Vehicle Speed limit and Control. This system starts with authentication process to keep itself secure. Here we connect sensors to the STM32 board which in turn is connected to the car through Ethernet cable, as Ethernet in capable of sending large amounts of data at high speeds. This technology involved clearly shows how a careful combination of software and hardware can produce an extremely cost-effective solution to a problem.

  11. Cabling for an SSC silicon tracking system

    International Nuclear Information System (INIS)

    Ziock, H.; Boissevain, J.; Cooke, B.; Miller, W.

    1990-01-01

    As part of the Superconducting Super Collider Laboratory (SSCL) funded silicon tracking subsystem R ampersand D program, we examine the problems associated with cabling such a system. Different options for the cabling plant are discussed. A silicon microstrip tracking detector for an SSC experiment is an extremely complex system. The system consists of approximately 10 7 detector channels, each of which requires a communication link with the outside world and connections to the detector bias voltage supply, to a DC power supply for the onboard electronics, and to an adjustable discrimination level. The large number of channels and the short time between beam interactions (16 nanoseconds) dictates the need for high speed and large bandwidth communication channels, and a power distribution system that can handle the high current draw of the electronics including the large AC component due to their switching. At the same time the constraints imposed by the physics measurements require that the cable plant have absolutely minimal mass and radiation length. 4 refs., 2 figs

  12. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Beaty, Kevin D [Kalamazoo, MI; Zou, Zhanijang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-07-21

    A battery control system for controlling a state of charge of a hybrid vehicle battery includes a detecting arrangement for determining a vehicle operating state or an intended vehicle operating state and a controller for setting a target state of charge level of the battery based on the vehicle operating state or the intended vehicle operating state. The controller is operable to set a target state of charge level at a first level during a mobile vehicle operating state and at a second level during a stationary vehicle operating state or in anticipation of the vehicle operating in the stationary vehicle operating state. The invention further includes a method for controlling a state of charge of a hybrid vehicle battery.

  13. An insight on advantage of hybrid sun–wind-tracking over sun-tracking PV system

    International Nuclear Information System (INIS)

    Rahimi, Masoud; Banybayat, Meisam; Tagheie, Yaghoub; Valeh-e-Sheyda, Peyvand

    2015-01-01

    Graphical abstract: Real photograph of hybrid sun–wind-tracking system. - Highlights: • Novel hybrid sun–wind-tracking system proposed to enhance PV cell performance. • The wind tracker can cool down the PV cell as sun-tracking system work. • The hybrid tracker achieved 7.4% increase in energy gain over the sun tracker. • The overall daily output energy gain was increased by 49.83% by using this system. - Abstract: This paper introduces the design and application of a novel hybrid sun–wind-tracking system. This hybrid system employs cooling effect of wind, besides the advantages of tracking sun for enhancing power output from examined hybrid photovoltaic cell. The principal experiment focuses on comparison between dual-axes sun-tracking and hybrid sun–wind-tracking photovoltaic (PV) panels. The deductions based on the research tests confirm that the overall daily output energy gain was increased by 49.83% compared with that of a fixed system. Moreover, an overall increase of about 7.4% in the output power was found for the hybrid sun–wind-tracking over the two-axis sun tracking system.

  14. Bar-code automated waste tracking system

    International Nuclear Information System (INIS)

    Hull, T.E.

    1994-10-01

    The Bar-Code Automated Waste Tracking System was designed to be a site-Specific program with a general purpose application for transportability to other facilities. The system is user-friendly, totally automated, and incorporates the use of a drive-up window that is close to the areas dealing in container preparation, delivery, pickup, and disposal. The system features ''stop-and-go'' operation rather than a long, tedious, error-prone manual entry. The system is designed for automation but allows operators to concentrate on proper handling of waste while maintaining manual entry of data as a backup. A large wall plaque filled with bar-code labels is used to input specific details about any movement of waste

  15. Automated Mulitple Object Optical Tracking and Recognition System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — OPTRA proposes to develop an optical tracking system that is capable of recognizing and tracking up to 50 different objects within an approximately 2 degree x 3...

  16. Quality Assurance Tracking System - R7 (QATS-R7)

    Data.gov (United States)

    U.S. Environmental Protection Agency — This is metadata documentation for the Quality Assurance Tracking System - R7, an EPA Region 7 resource that tracks information on quality assurance reviews. Also...

  17. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-02-10

    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  18. 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

  19. Integrated vehicle-based safety systems light-vehicle field operational test key findings report.

    Science.gov (United States)

    2011-01-01

    "This document presents key findings from the light-vehicle field operational test conducted as part of the Integrated Vehicle-Based Safety Systems program. These findings are the result of analyses performed by the University of Michigan Transportat...

  20. Integrated vehicle-based safety systems light-vehicle field operational test, methodology and results report.

    Science.gov (United States)

    2010-12-01

    "This document presents the methodology and results from the light-vehicle field operational test conducted as part of the Integrated Vehicle-Based Safety Systems program. These findings are the result of analyses performed by the University of Michi...

  1. Integrated vehicle-based safety systems (IVBSS) : light vehicle platform field operational test data analysis plan.

    Science.gov (United States)

    2009-12-22

    This document presents the University of Michigan Transportation Research Institutes plan to : perform analysis of data collected from the light vehicle platform field operational test of the : Integrated Vehicle-Based Safety Systems (IVBSS) progr...

  2. 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.

  3. ac propulsion system for an electric vehicle

    Science.gov (United States)

    Geppert, S.

    1980-01-01

    It is pointed out that dc drives will be the logical choice for current production electric vehicles (EV). However, by the mid-80's, there is a good chance that the price and reliability of suitable high-power semiconductors will allow for a competitive ac system. The driving force behind the ac approach is the induction motor, which has specific advantages relative to a dc shunt or series traction motor. These advantages would be an important factor in the case of a vehicle for which low maintenance characteristics are of primary importance. A description of an EV ac propulsion system is provided, taking into account the logic controller, the inverter, the motor, and a two-speed transmission-differential-axle assembly. The main barrier to the employment of the considered propulsion system in EV is not any technical problem, but inverter transistor cost.

  4. Output Tracking Control of Switched Hybrid Systems: A Fliess Functional Expansion Approach

    Directory of Open Access Journals (Sweden)

    Fenghua He

    2013-01-01

    Full Text Available The output tracking problem is investigated for a nonlinear affine system with multiple modes of continuous control inputs. We convert the family of nonlinear affine systems under consideration into a switched hybrid system by introducing a multiple-valued logic variable. The Fliess functional expansion is adopted to express the input and output relationship of the switched hybrid system. The optimal switching control is determined for a multiple-step output tracking performance index. The proposed approach is applied to a multitarget tracking problem for a flight vehicle aiming for one real target with several decoys flying around it in the terminal guidance course. These decoys appear as apparent targets and have to be distinguished with the approaching of the flight vehicle. The guidance problem of one flight vehicle versus multiple apparent targets should be considered if no large miss distance might be caused due to the limitation of the flight vehicle maneuverability. The target orientation at each time interval is determined. Simulation results show the effectiveness of the proposed method.

  5. Design of a positional tracking and radiological alarm system for transportation of radioactive isotopes

    International Nuclear Information System (INIS)

    Saindane, Shashank; Pujari, R.N.; Narsaiah, M.V.R.; Chaudhury, Probal; Pradeepkumar, K.S.

    2016-01-01

    The safety aspects during the transport of radioactive material have to ensure that even in event of accident the potential of radiation exposure to public is extremely small. Continuous monitoring and online data transfer to emergency control room will strengthen the emergency preparedness to response to any such accident during transport of radioactive material. The paper presents the combined application of Geographical Information Systems (GIS), Global Positioning System (GPS), General Packet Radio Service (GPRS) and the Internet for tracking the shipment vehicle transporting radioactive isotopes for use in the medical industry. The key features of the prototype system designed are realtime radiological status update along with photo snap of the shipping flask at predefined interval along with positional coordinates, GIS platform and a web-based user interface. The system consists of a GM based radiation monitoring device (RMD) along with a LAN camera, GPS for tracking the shipment vehicle, a communications server, a web-server, a database server, and a map server. The RMD and tracking device mounted in the shipment vehicle collects location and radiological information on real-time via the GPS. This information is transferred continuously through GPRS to a central database. The users will be able to view the current location of the vehicle via a web-based application

  6. Stability of miniature electromagnetic tracking systems

    International Nuclear Information System (INIS)

    Schicho, Kurt; Figl, Michael; Donat, Markus; Birkfellner, Wolfgang; Seemann, Rudolf; Wagner, Arne; Bergmann, Helmar; Ewers, Rolf

    2005-01-01

    This study aims at a comparative evaluation of two recently introduced electromagnetic tracking systems under reproducible simulated operating-room (OR) conditions: the recently launched Medtronic StealthStation TM Treon-EM TM and the NDI Aurora TM . We investigate if and to what extent these systems provide improved performance and stability in the presence of surgical instruments as possible sources of distortions compared with earlier reports on electromagnetic tracking technology. To investigate possible distortions under pseudo-realistic OR conditions, a large Langenbeck hook, a dental drill with its handle and an ultrasonic (US) scanhead are fixed on a special measurement rack at variable distances from the navigation sensor. The position measurements made by the Treon-EM TM were least affected by the presence of the instruments. The lengths of the mean deviation vectors were 0.21 mm for the Langenbeck hook, 0.23 mm for the drill with handle and 0.56 mm for the US scanhead. The Aurora TM was influenced by the three sources of distortion to a higher degree. A mean deviation vector of 1.44 mm length was observed in the vicinity of the Langenbeck hook, 0.53 mm length with the drill and 2.37 mm due to the US scanhead. The maximum of the root mean squared error (RMSE) for all coordinates in the presence of the Langenbeck hook was 0.3 mm for the Treon TM and 2.1 mm for the Aurora TM ; the drill caused a maximum RMSE of 0.2 mm with the Treon TM and 1.2 mm with the Aurora TM . In the presence of the US scanhead, the maximum RMSE was 1.4 mm for the Treon TM and 5.1 mm for the Aurora TM . The new generation of electromagnetic tracking systems has significantly improved compared to common systems that were available in the middle of the 1990s and has reached a high level of technical development. We conclude that, in general, both systems are suitable for routine clinical application

  7. A distributed database view of network tracking systems

    Science.gov (United States)

    Yosinski, Jason; Paffenroth, Randy

    2008-04-01

    In distributed tracking systems, multiple non-collocated trackers cooperate to fuse local sensor data into a global track picture. Generating this global track picture at a central location is fairly straightforward, but the single point of failure and excessive bandwidth requirements introduced by centralized processing motivate the development of decentralized methods. In many decentralized tracking systems, trackers communicate with their peers via a lossy, bandwidth-limited network in which dropped, delayed, and out of order packets are typical. Oftentimes the decentralized tracking problem is viewed as a local tracking problem with a networking twist; we believe this view can underestimate the network complexities to be overcome. Indeed, a subsequent 'oversight' layer is often introduced to detect and handle track inconsistencies arising from a lack of robustness to network conditions. We instead pose the decentralized tracking problem as a distributed database problem, enabling us to draw inspiration from the vast extant literature on distributed databases. Using the two-phase commit algorithm, a well known technique for resolving transactions across a lossy network, we describe several ways in which one may build a distributed multiple hypothesis tracking system from the ground up to be robust to typical network intricacies. We pay particular attention to the dissimilar challenges presented by network track initiation vs. maintenance and suggest a hybrid system that balances speed and robustness by utilizing two-phase commit for only track initiation transactions. Finally, we present simulation results contrasting the performance of such a system with that of more traditional decentralized tracking implementations.

  8. Muon tracking system with Silicon Photomultipliers

    International Nuclear Information System (INIS)

    Arneodo, F.; Benabderrahmane, M.L.; Dahal, S.; Di Giovanni, A.; Pazos Clemens, L.; Candela, A.; D'Incecco, M.; Sablone, D.; Franchi, G.

    2015-01-01

    We report the characterisation and performance of a low cost muon tracking system consisting of plastic scintillator bars and Silicon Photomultipliers equipped with a customised front-end electronics based on a fast preamplifier network. This system can be used as a detector test bench for astroparticle physics and for educational and outreach purposes. We investigated the device behaviour in self-trigger and coincidence mode, without using LED and pulse generators, showing that with a relatively simple set up a complete characterisation work can be carried out. A high definition oscilloscope, which can easily be found in many university physics or engineering departments, has been used for triggering and data acquisition. Its capabilities have been exploited to discriminate real particles from the background

  9. Muon tracking system with Silicon Photomultipliers

    Energy Technology Data Exchange (ETDEWEB)

    Arneodo, F.; Benabderrahmane, M.L.; Dahal, S. [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Di Giovanni, A., E-mail: adriano.digiovanni@nyu.edu [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Pazos Clemens, L. [New York University Abu Dhabi, Abu Dhabi (United Arab Emirates); Candela, A.; D' Incecco, M.; Sablone, D. [Gran Sasso National Laboratory of INFN, Assergi (Italy); Franchi, G. [AGE Scientific Srl, Capezzano Pianore (Italy)

    2015-11-01

    We report the characterisation and performance of a low cost muon tracking system consisting of plastic scintillator bars and Silicon Photomultipliers equipped with a customised front-end electronics based on a fast preamplifier network. This system can be used as a detector test bench for astroparticle physics and for educational and outreach purposes. We investigated the device behaviour in self-trigger and coincidence mode, without using LED and pulse generators, showing that with a relatively simple set up a complete characterisation work can be carried out. A high definition oscilloscope, which can easily be found in many university physics or engineering departments, has been used for triggering and data acquisition. Its capabilities have been exploited to discriminate real particles from the background.

  10. Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

    Science.gov (United States)

    Zhang, Han; Zhao, Wanzhong

    2018-02-01

    To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

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

    Directory of Open Access Journals (Sweden)

    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.

  12. 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.

  13. 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.

  14. The GLAST silicon-strip tracking system

    International Nuclear Information System (INIS)

    Johnson, Robert P.

    2000-01-01

    The GLAST instrument concept is a gamma-ray pair conversion telescope that uses silicon microstrip detector technology to track the electron-positron pairs resulting from gamma-ray conversions in thin lead foils. A cesium iodide calorimeter following the tracker is used to measure the gamma-ray energy. Silicon strip technology is mature and robust, with an excellent heritage in space science and particle physics. It has many characteristics important for optimal performance of a pair conversion telescope, including high efficiency in thin detector planes, low noise, and excellent resolution and two-track separation. The large size of GLAST and high channel count in the tracker puts demands on the readout technology to operate at very low power, yet with sufficiently low noise occupancy to allow self triggering. A prototype system employing custom-designed ASIC's has been built and tested that meets the design goal of approximately 200 W per channel power consumption with a noise occupancy of less than one hit per trigger per 10,000 channels. Detailed design of the full-scale tracker is well advanced, with non-flight prototypes built for all components, and a complete 50,000 channel engineering demonstration tower module is currently under construction and will be tested in particle beams in late 1999. The flight-instrument conceptual design is for a 4x4 array of tower modules with an aperture of 2.9 m2 and an effective area of greater than 8000 cm2

  15. The GLAST Silicon-Strip Tracking System

    International Nuclear Information System (INIS)

    Johnson, R

    2004-01-01

    The GLAST instrument concept is a gamma-ray pair conversion telescope that uses silicon microstrip detector technology to track the electron-positron pairs resulting from gamma ray conversions in thin lead foils. A cesium iodide calorimeter following the tracker is used to measure the gamma-ray energy. Silicon strip technology is mature and robust, with an excellent heritage in space science and particle physics. It has many characteristics important for optimal performance of a pair conversion telescope, including high efficiency in thin detector planes, low noise, and excellent resolution and two-track separation. The large size of GLAST and high channel count in the tracker puts demands on the readout technology to operate at very low power, yet with sufficiently low noise occupancy to allow self triggering. A prototype system employing custom-designed ASIC's has been built and tested that meets the design goal of approximately 200 (micro)W per channel power consumption with a noise occupancy of less than one hit per trigger per 10,000 channels. Detailed design of the full-scale tracker is well advanced, with non-flight prototypes built for all components, and a complete 50,000 channel engineering demonstration tower module is currently under construction and will be tested in particle beams in late 1999. The flight-instrument conceptual design is for a 4 x 4 array of tower modules with an aperture of 2.9 m 2 and an effective area of greater than 8000 cm 2

  16. Upgrade of the ALICE Inner Tracking System

    CERN Document Server

    INSPIRE-00246160

    2015-05-20

    {During the Long Shutdown 2 (LS2) of the LHC in 2018/2019, the ALICE experiment plans the installation of a novel Inner Tracking System (ITS). The upgraded detector will fully replace the current ITS having six layers by seven layers of Monolithic Active Pixel Sensors (MAPS). The upgraded ITS will have significantly improved tracking and vertexing capabilities, as well as readout rate to cope with the expected increased Pb-Pb luminosity in LHC. The choice of MAPS has been driven by the specific requirements of ALICE as a heavy ion experiment dealing with rare probes at low $p_\\mathrm{T}$. This leads to stringent requirements on the material budget of 0.3$\\%~X/X_{0}$ per layer for the three innermost layers. Furthermore, the detector will see large hit densities of $\\sim 19~\\mathrm{cm}^{-2}/\\mathrm{event}$ on average for minimum-bias events in the inner most layer and has to stand moderate radiation loads of 700 kRad TID and $1\\times 10^{13}$ 1 MeV n$_\\mathrm{eq}/\\mathrm{cm}^{2}$ NIEL at maximum. The MAPS dete...

  17. 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.

  18. Advanced Lyapunov control of a novel laser beam tracking system

    Science.gov (United States)

    Nikulin, Vladimir V.; Sofka, Jozef; Skormin, Victor A.

    2005-05-01

    Laser communication systems developed for mobile platforms, such as satellites, aircraft, and terrain vehicles, require fast wide-range beam-steering devices to establish and maintain a communication link. Conventionally, the low-bandwidth, high-steering-range part of the beam-positioning task is performed by gimbals that inherently constitutes the system bottleneck in terms of reliability, accuracy and dynamic performance. Omni-WristTM, a novel robotic sensor mount capable of carrying a payload of 5 lb and providing a full 180-deg hemisphere of azimuth/declination motion is known to be free of most of the deficiencies of gimbals. Provided with appropriate controls, it has the potential to become a new generation of gimbals systems. The approach we demonstrate describes an adaptive controller enabling Omni-WristTM to be utilized as a part of a laser beam positioning system. It is based on a Lyapunov function that ensures global asymptotic stability of the entire system while achieving high tracking accuracy. The proposed scheme is highly robust, does not require knowledge of complex system dynamics, and facilitates independent control of each channel by full decoupling of the Omni-WristTM dynamics. We summarize the basic algorithm and demonstrate the results obtained in the simulation environment.

  19. Proposal of an intelligent wayside monitoring system for detection of critical ice accumulations on railway vehicles

    Science.gov (United States)

    Michelberger, Frank; Wagner, Adrian; Ostermann, Michael; Maly, Thomas

    2017-09-01

    At railway lines with ballasted tracks, under unfavourable conditions, the so-called flying ballast can occur predominantly for trains driving at high speeds. Especially in wintertime, it is highly likely that the causes are adhered snow or ice deposits, which are falling off the vehicle. Due to the high kinetic energy, the impact can lead to the removal of ballast stones from the structure of the ballasted track. If the stones reach the height of vehicles underside, they may be accelerated significantly due to the collision with the vehicle or may detach further ice blocks. In the worst case, a reinforcing effect occurs, which can lead to considerable damage to railway vehicles (under-floor-area, vehicle exteriors, etc.) and infrastructure (signal masts, noise barriers, etc.). Additionally the flying gravel is a significant danger to people in the nearby area of the tracks. With this feasibility study the applicability and meaningfulness of an intelligent monitoring system for identification of the critical ice accumulation to prevent the ballast fly induced by ice dropping was examined. The key findings of the research are that the detection of ice on railway vehicles and the development of an intelligent monitoring seem to be possible with existing technologies, but a proof of concept in terms of field tests is necessary.

  20. Computer controlled scanning systems for quantitative track measurements

    International Nuclear Information System (INIS)

    Gold, R.; Roberts, J.H.; Preston, C.C.; Ruddy, F.H.

    1982-01-01

    The status of three computer cntrolled systems for quantitative track measurements is described. Two systems, an automated optical track scanner (AOTS) and an automated scanning electron microscope (ASEM) are used for scanning solid state track recorders (SSTR). The third system, the emulsion scanning processor (ESP), is an interactive system used to measure the length of proton tracks in nuclear research emulsions (NRE). Recent advances achieved with these systems are presented, with emphasis placed upon the current limitation of these systems for reactor neutron dosimetry

  1. An Assessment Methodology for Emergency Vehicle Traffic Signal Priority Systems

    OpenAIRE

    McHale, Gene Michael

    2002-01-01

    Emergency vehicle traffic signal priority systems allow emergency vehicles such as fire and emergency medical vehicles to request and receive a green traffic signal indication when approaching an intersection. Such systems have been around for a number of years, however, there is little understanding of the costs and benefits of such systems once they are deployed. This research develops an improved method to assess the travel time impacts of emergency vehicle traffic signal priority system...

  2. The tracking of high level waste shipments-TRANSCOM system

    International Nuclear Information System (INIS)

    Johnson, P.E.; Joy, D.S.; Pope, R.B.

    1995-01-01

    The TRANSCOM (transportation tracking and communication) system is the U.S. Department of Energy's (DOE's) real-time system for tracking shipments of spent fuel, high-level wastes, and other high-visibility shipments of radioactive material. The TRANSCOM system has been operational since 1988. The system was used during FY1993 to track almost 100 shipments within the US.DOE complex, and it is accessed weekly by 10 to 20 users

  3. The tracking of high level waste shipments - TRANSCOM system

    International Nuclear Information System (INIS)

    Johnson, P.E.; Joy, D.S.; Pope, R.B.; Thomas, T.M.; Lester, P.B.

    1994-01-01

    The TRANSCOM (transportation tracking and communication) system is the US Department of Energy's (DOE's) real-time system for tracking shipments of spent fuel, high-level wastes, and other high-visibility shipments of radioactive material. The TRANSCOM system has been operational since 1988. The system was used during FY 1993 to track almost 100 shipments within the US DOE complex, and it is accessed weekly by 10 to 20 users

  4. Road Vehicle Monitoring System Based on Intelligent Visual Internet of Things

    Directory of Open Access Journals (Sweden)

    Qingwu Li

    2015-01-01

    Full Text Available In recent years, with the rapid development of video surveillance infrastructure, more and more intelligent surveillance systems have employed computer vision and pattern recognition techniques. In this paper, we present a novel intelligent surveillance system used for the management of road vehicles based on Intelligent Visual Internet of Things (IVIoT. The system has the ability to extract the vehicle visual tags on the urban roads; in other words, it can label any vehicle by means of computer vision and therefore can easily recognize vehicles with visual tags. The nodes designed in the system can be installed not only on the urban roads for providing basic information but also on the mobile sensing vehicles for providing mobility support and improving sensing coverage. Visual tags mentioned in this paper consist of license plate number, vehicle color, and vehicle type and have several additional properties, such as passing spot and passing moment. Moreover, we present a fast and efficient image haze removal method to deal with haze weather condition. The experiment results show that the designed road vehicle monitoring system achieves an average real-time tracking accuracy of 85.80% under different conditions.

  5. Explosives Classifications Tracking System User Manual

    Energy Technology Data Exchange (ETDEWEB)

    Genoni, R.P.

    1993-10-01

    The Explosives Classification Tracking System (ECTS) presents information and data for U.S. Department of Energy (DOE) explosives classifications of interest to EM-561, Transportation Management Division, other DOE facilities, and contractors. It is intended to be useful to the scientist, engineer, and transportation professional, who needs to classify or transport explosives. This release of the ECTS reflects upgrading of the software which provides the user with an environment that makes comprehensive retrieval of explosives related information quick and easy. Quarterly updates will be provided to the ECTS throughout its development in FY 1993 and thereafter. The ECTS is a stand alone, single user system that contains unclassified, publicly available information, and administrative information (contractor names, product descriptions, transmittal dates, EX-Numbers, etc.) information from many sources for non-decisional engineering and shipping activities. The data is the most up-to-date and accurate available to the knowledge of the system developer. The system is designed to permit easy revision and updating as new information and data become available. These, additions and corrections are welcomed by the developer. This user manual is intended to help the user install, understand, and operate the system so that the desired information may be readily obtained, reviewed, and reported.

  6. 32 CFR 635.27 - Vehicle Registration System.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 4 2010-07-01 2010-07-01 true Vehicle Registration System. 635.27 Section 635.27 National Defense Department of Defense (Continued) DEPARTMENT OF THE ARMY (CONTINUED) LAW ENFORCEMENT AND CRIMINAL INVESTIGATIONS LAW ENFORCEMENT REPORTING Offense Reporting § 635.27 Vehicle Registration System. The Vehicle Registration System (VR...

  7. The CDF-II silicon tracking system

    Energy Technology Data Exchange (ETDEWEB)

    F. Palmonari et al.

    2002-01-18

    The CDFII silicon tracking system, SVX, for Run II of the Fermilab Tevatron has up to 8 cylindrical layers with average radii spanning from {approx} (1.5 to 28.7) cm, and lengths ranging from {approx} (90 to 200) cm for a total active-area of {approx} 6 m{sup 2} and {approx} 7.2 x 10{sup 5} readout channels. SVX will improve the CDFII acceptance and efficiency for both B and high-Pt physics dependent upon b-tagging. Along with the description of the SVX we report some alignment survey data from the SVX assembly phase and the actual status of the alignment as it results from the offline data analysis. The problems encountered are also reviewed.

  8. Systems and methods of eye tracking calibration

    DEFF Research Database (Denmark)

    2014-01-01

    Methods and systems to facilitate eye tracking control calibration are provided. One or more objects are displayed on a display of a device, where the one or more objects are associated with a function unrelated to a calculation of one or more calibration parameters. The one or more calibration...... parameters relate to a calibration of a calculation of gaze information of a user of the device, where the gaze information indicates where the user is looking. While the one or more objects are displayed, eye movement information associated with the user is determined, which indicates eye movement of one...... or more eye features associated with at least one eye of the user. The eye movement information is associated with a first object location of the one or more objects. The one or more calibration parameters are calculated based on the first object location being associated with the eye movement information....

  9. Long-range position and orientation tracking system

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Jansen, J.F.; Burks, B.L.

    1995-01-01

    The long-range position and orientation tracking system will consist of two measurement pods, a VME-based computer system, and a detector array. The system is used to measure the position and orientation of a target that may be attached to a robotic arm, teleoperated manipulator, or autonomous vehicle. The pods have been designed to be mounted in the manways of the domes of the Fernald K-65 waste silos. Each pod has two laser scanner subsystems as well as lights and camera systems. One of the laser scanners will be oriented to scan in the pan direction, the other in the tilt direction. As the lasers scan across the detector array, the angles of incidence with each detector are recorded. Combining measurements from each of the four lasers yields sufficient data for a closed-form solution of the transform describing the location and orientation of the content mobilization system (CMS). Redundant detectors will be placed on the CMS to accommodate occlusions, to provide improved measurement accuracy, and to determine the CMS orientation

  10. Advanced laser-based tracking device for motor vehicle lane position monitoring and steering assistance

    Science.gov (United States)

    Bachalo, William D.; Inenaga, Andrew; Schuler, Carlos A.

    1995-12-01

    Aerometrics is developing an innovative laser-diode based device that provides a warning signal when a motor-vehicle deviates from the center of the lane. The device is based on a sensor that scans the roadway on either side of the vehicle and determines the lateral position relative to the existing painted lines marking the lane. No additional markings are required. A warning is used to alert the driver of excessive weaving or unanticipated departure from the center of the lane. The laser beams are at invisible wavelengths to that operation of the device does not pose a distraction to the driver or other motorists: When appropriate markers are not present on the road, the device is capable of detecting this condition and warn the driver. The sensor system is expected to work well irrespective of ambient light levels, fog and rain. This sensor has enormous commercial potential. It could be marketed as an instrument to warn drivers that they are weaving, used as a research tool to monitor driving patterns, be required equipment for those previously convicted of driving under the influence, or used as a backup sensor for vehicle lateral position control. It can also be used in storage plants to guide robotic delivery vehicles. In this paper, the principles of operation of the sensor, and the results of Aerometrics ongoing testing will be presented.

  11. Automation system for optical counting of nuclear tracks

    Energy Technology Data Exchange (ETDEWEB)

    Boulyga, S.F.; Boulyga, E.G.; Lomonosova, E.M.; Zhuk, I.V

    1999-06-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2{center_dot}10{sup 5} tracks/cm{sup 2}. The automatic system was applied in the experimental investigation of uranium and transuranium elements.

  12. Automation system for optical counting of nuclear tracks

    International Nuclear Information System (INIS)

    Boulyga, S.F.; Boulyga, E.G.; Lomonosova, E.M.; Zhuk, I.V.

    1999-01-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2·10 5 tracks/cm 2 . The automatic system was applied in the experimental investigation of uranium and transuranium elements

  13. Automation system for optical counting of nuclear tracks

    CERN Document Server

    Boulyga, S F; Lomonosova, E M; Zhuk, I V

    1999-01-01

    An automation system consisting of the microscope, video camera and Pentium PC with frame recorder was created. The system provides counting of nuclear tracks on the SSNTD surface with a resolution of 752 x 582 points, determination of the surface area and main axis of the track. The pattern recognition program was developed for operation in Windows 3.1 (or higher) ensuring a convenient interface with the user. In a comparison of the results on automatic track counting with the more accurate hand mode it was shown that the program enables the tracks to be detected even on images with a rather high noise level. It ensures a high accuracy of track counting being comparable with the accuracy of manual counting for densities of tracks in the range of up to 2 centre dot 10 sup 5 tracks/cm sup 2. The automatic system was applied in the experimental investigation of uranium and transuranium elements.

  14. Green electricity: Tracking systems for environmental disclosure

    Energy Technology Data Exchange (ETDEWEB)

    Biewald, B.E.; Ramey, J.A. [Synapse Energy Economics, Inc., Cambridge, MA (United States)

    1997-12-31

    For the first time, electricity consumers in the US are beginning to choose their generation providers. One of the opportunities created by the introduction of retail choice in electricity is the chance for customers to influence the mix of generating resources through their purchasing decisions. Some environmentally aware consumers will want {open_quotes}clean,{close_quotes} {open_quotes}green,{close_quotes} or renewable power. While some suppliers will attempt to differentiate themselves according to their environmental performance, such claims for green electricity can be particularly difficult to verify given the complexity of the interconnected electric system. Because electricity is delivered over an integrated transmission grid and kilowatt-hours at the point of retail sale are indistinguishable from each other; disclosure requires tracking protocols to attribute generation at power plants to sales at the customers` meters. Fortunately, it is possible to implement a workable disclosure system. Some states have already included disclosure requirements in their electric industry restructuring orders and legislation. In this paper, a set of design criteria for an environmental disclosure system are presented along with two methods for disclosure: the company approach and the product approach. In addition, the authors discuss of power pools, data availability issues, and propose a company-based disclosure system using a {open_quotes}wholesale sales first{close_quotes} approach to transaction accounting.

  15. Usability Analysis of Collision Avoidance System in Vehicle-to-Vehicle Communication Environment

    Directory of Open Access Journals (Sweden)

    Hong Cho

    2014-01-01

    Full Text Available Conventional intelligent vehicles have performance limitations owing to the short road and obstacle detection range of the installed sensors. In this study, to overcome this limitation, we tested the usability of a new conceptual autonomous emergency braking (AEB system that employs vehicle-to-vehicle (V2V communication technology in the existing AEB system. To this end, a radar sensor and a driving and communication environment constituting the AEB system were simulated; the simulation was then linked by applying vehicle dynamics and control logic. The simulation results show that the collision avoidance relaxation rate of V2V communication-based AEB system was reduced compared with that of existing vehicle-mounted-sensor-based system. Thus, a method that can lower the collision risk of the existing AEB system, which uses only a sensor cluster installed on the vehicle, is realized.

  16. Control Algorithms for a Shape-shifting Tracked Robotic Vehicle Climbing Obstacles

    Science.gov (United States)

    2008-12-01

    robot be- havioural skills. The Swiss Federal Institute of Technology is developing the shape-shifting robotic platform Octopus [6] (Figure l(b...and traverse steep (a) Lurker (b) Octopus (c) NUGV (d) Chaos (e) STRV Figure 1: Shape-shifting robotic vehicles in different research labs. DRDC...situations. The system is assumed stuck when vv?; + v~ + v’i) < 0.01 mls or Vx < O. Only forward movements are considered in this work, for this reason

  17. Electronic Conference Tracking and Approval System

    Data.gov (United States)

    US Agency for International Development — eCTAS tracks information relevant to attendance and hosting conferences of USAID's Washington offices and Missions worldwide including cost, numbers attending,...

  18. Automated Root Tracking with "Root System Analyzer"

    Science.gov (United States)

    Schnepf, Andrea; Jin, Meina; Ockert, Charlotte; Bol, Roland; Leitner, Daniel

    2015-04-01

    identification number, the distance between branching point to the parent root base, the root length, the root radius and the nodes that belong to each individual root path. This information is relevant for the analysis of dynamic root system development as well as the parameterisation of root architecture models. Here, we show results of Root System Analyzer applied to analyse the root systems of wheat plants grown in rhizotrons. Different treatments with respect to soil moisture and apatite concentrations were used to test the effects of those conditions on root system development. Photographs of the root systems were taken at high spatial and temporal resolution and root systems are automatically tracked.

  19. Advanced hybrid vehicle propulsion system study

    Science.gov (United States)

    Schwarz, R.

    1982-01-01

    Results are presented of a study of an advanced heat engine/electric automotive hybrid propulsion system. The system uses a rotary stratified charge engine and ac motor/controller in a parallel hybrid configuration. The three tasks of the study were (1) parametric studies involving five different vehicle types, (2) design trade-off studies to determine the influence of various vehicle and propulsion system paramaters on system performance fuel economy and cost, and (3) a conceptual design establishing feasibility at the selected approach. Energy consumption for the selected system was .034 1/km (61.3 mpg) for the heat engine and .221 kWh/km (.356 kWh/mi) for the electric power system over a modified J227 a schedule D driving cycle. Life cycle costs were 7.13 cents/km (11.5 cents/mi) at $2/gal gasoline and 7 cents/kWh electricity for 160,000 km (100,000 mi) life.

  20. Hybrid electric vehicle power management system

    Science.gov (United States)

    Bissontz, Jay E.

    2015-08-25

    Level voltage levels/states of charge are maintained among a plurality of high voltage DC electrical storage devices/traction battery packs that are arrayed in series to support operation of a hybrid electric vehicle drive train. Each high voltage DC electrical storage device supports a high voltage power bus, to which at least one controllable load is connected, and at least a first lower voltage level electrical distribution system. The rate of power transfer from the high voltage DC electrical storage devices to the at least first lower voltage electrical distribution system is controlled by DC-DC converters.

  1. Combined braking system for hybrid vehicle

    Science.gov (United States)

    Kulekina, A. V.; Bakholdin, P. A.; Shchurov, N. I.

    2017-10-01

    The paper presents an analysis of surface vehicle’s existing braking systems. The technical solution and brake-system design were developed for use of regenerative braking energy. A technical parameters comparison of energy storage devices of various types was made. Based on the comparative analysis, it was decided to use supercapacitor because of its applicability for an electric drive intermittent operation. The calculation methods of retarder key components were proposed. Therefrom, it was made a conclusion that rebuild gasoline-electric vehicles are more efficient than gasoline ones.

  2. Powertrain system for a hybrid electric vehicle

    Science.gov (United States)

    Reed, Jr., Richard G.; Boberg, Evan S.; Lawrie, Robert E.; Castaing, Francois J.

    1999-08-31

    A hybrid electric powertrain system is provided including an electric motor/generator drivingly engaged with the drive shaft of a transmission. The electric is utilized for synchronizing the rotation of the drive shaft with the driven shaft during gear shift operations. In addition, a mild hybrid concept is provided which utilizes a smaller electric motor than typical hybrid powertrain systems. Because the electric motor is drivingly engaged with the drive shaft of the transmission, the electric motor/generator is driven at high speed even when the vehicle speed is low so that the electric motor/generator provides more efficient regeneration.

  3. Powertrain system for a hybrid electric vehicle

    Science.gov (United States)

    Reed, R.G. Jr.; Boberg, E.S.; Lawrie, R.E.; Castaing, F.J.

    1999-08-31

    A hybrid electric powertrain system is provided including an electric motor/generator drivingly engaged with the drive shaft of a transmission. The electric is utilized for synchronizing the rotation of the drive shaft with the driven shaft during gear shift operations. In addition, a mild hybrid concept is provided which utilizes a smaller electric motor than typical hybrid powertrain systems. Because the electric motor is drivingly engaged with the drive shaft of the transmission, the electric motor/generator is driven at high speed even when the vehicle speed is low so that the electric motor/generator provides more efficient regeneration. 34 figs.

  4. Design and Implementation of an Emergency Vehicle Signal Preemption System Based on Cooperative Vehicle-Infrastructure Technology

    OpenAIRE

    Yinsong Wang; Zhizhou Wu; Xiaoguang Yang; Luoyi Huang

    2013-01-01

    Emergency vehicle is an important part of traffic flow. The efficiency, reliability, and safety of emergency vehicle operations dropped due to increasing traffic congestion. With the advancement of the wireless communication technologies and the development of the vehicle-to-vehicle (v2v) and vehicle-to-infrastructure (v2i) systems, called Cooperative Vehicle-Infrastructure System (CVIS), there is an opportunity to provide appropriate traffic signal preemption for emergency vehicle based on r...

  5. Digital Signal Processing for In-Vehicle Systems and Safety

    CERN Document Server

    Boyraz, Pinar; Takeda, Kazuya; Abut, Hüseyin

    2012-01-01

    Compiled from papers of the 4th Biennial Workshop on DSP (Digital Signal Processing) for In-Vehicle Systems and Safety this edited collection features world-class experts from diverse fields focusing on integrating smart in-vehicle systems with human factors to enhance safety in automobiles. Digital Signal Processing for In-Vehicle Systems and Safety presents new approaches on how to reduce driver inattention and prevent road accidents. The material addresses DSP technologies in adaptive automobiles, in-vehicle dialogue systems, human machine interfaces, video and audio processing, and in-vehicle speech systems. The volume also features: Recent advances in Smart-Car technology – vehicles that take into account and conform to the driver Driver-vehicle interfaces that take into account the driving task and cognitive load of the driver Best practices for In-Vehicle Corpus Development and distribution Information on multi-sensor analysis and fusion techniques for robust driver monitoring and driver recognition ...

  6. COMBINING INDEPENDENT VISUALIZATION AND TRACKING SYSTEMS FOR AUGMENTED REALITY

    Directory of Open Access Journals (Sweden)

    P. Hübner

    2018-05-01

    Full Text Available The basic requirement for the successful deployment of a mobile augmented reality application is a reliable tracking system with high accuracy. Recently, a helmet-based inside-out tracking system which meets this demand has been proposed for self-localization in buildings. To realize an augmented reality application based on this tracking system, a display has to be added for visualization purposes. Therefore, the relative pose of this visualization platform with respect to the helmet has to be tracked. In the case of hand-held visualization platforms like smartphones or tablets, this can be achieved by means of image-based tracking methods like marker-based or model-based tracking. In this paper, we present two marker-based methods for tracking the relative pose between the helmet-based tracking system and a tablet-based visualization system. Both methods were implemented and comparatively evaluated in terms of tracking accuracy. Our results show that mobile inside-out tracking systems without integrated displays can easily be supplemented with a hand-held tablet as visualization device for augmented reality purposes.

  7. Automated Safety Incident Surveillance and Tracking System (ASISTS)

    Data.gov (United States)

    Department of Veterans Affairs — The Automated Safety Incident Surveillance and Tracking System (ASISTS) is a repository of Veterans Health Administration (VHA) employee accident data. Many types of...

  8. Official Union Time Tracking System Operational Data Store

    Data.gov (United States)

    Social Security Administration — Official Union Time Tracking System captures the reporting and accounting of the representational activity for all American Federation of Government Employees (AFGE)...

  9. Integration of Disaster Detection and Warning System for a Smart Vehicle

    Directory of Open Access Journals (Sweden)

    Chun-Chieh Wang

    2014-02-01

    Full Text Available For firefighters and rescuers, the disaster relief works are difficulty performed in the tunnels because of their constricted space. To reduce the losses of accident, the safety of tunnels and factories should be ordinarily kept under surveillance. Hence, a multisensor based smart tracked vehicle is designed for the application of autonomous detection and surveillance in this paper. Besides, multisensors, communication modules, wireless cameras, an electronic compass, and a GPS module are installed in the vehicle. The key feature is the integration of disaster detection and warning systems so that the vehicle can move autonomously. Furthermore, a LabVIEW graphical programming software is applied to design a human machine interface (HMI and integrate all systems such that the vehicle can be guided by High Speed Downlink Packet Access (HSHPA based remote control. Moreover, basic stamp microcontrollers are utilized as its control kernel such that the remote monitoring and control system (RMCS can be constructed successfully.

  10. Wire chamber requirements and tracking simulation studies for tracking systems at the superconducting super collider

    International Nuclear Information System (INIS)

    Hanson, G.G.; Niczyporuk, B.B.; Palounek, A.P.T.

    1989-02-01

    Limitations placed on wire chambers by radiation damage and rate requirements in the SSC environment are reviewed. Possible conceptual designs for wire chamber tracking systems which meet these requirements are discussed. Computer simulation studies of tracking in such systems are presented. Simulations of events from interesting physics at the SSC, including hits from minimum bias background events, are examined. Results of some preliminary pattern recognition studies are given. Such computer simulation studies are necessary to determine the feasibility of wire chamber tracking systems for complex events in a high-rate environment such as the SSC. 11 refs., 9 figs., 1 tab

  11. Alignment of the ATLAS Inner Detector Tracking System

    CERN Document Server

    Lacuesta, V; The ATLAS collaboration

    2010-01-01

    ATLAS is a multipurpose experiment that records the LHC collisions. To reconstruct trajectories of charged particles produced in these collisions, ATLAS tracking system is equipped with silicon planar sensors and drift‐tube based detectors. They constitute the ATLAS Inner Detector. In order to achieve its scientific goals, the alignment of the ATLAS tracking system requires the determine accurately its almost 36000 degrees of freedom. Thus the demanded precision for the alignment of the silicon sensors is below 10 micrometers. This implies to use a large sample of high momentum and isolated charge particle tracks. The high level trigger selects those tracks online. Then the raw data with the hits information of the triggered tracks is stored in a calibration stream. Tracks from cosmic trigger during empty LHC bunches are also used as input for the alignment. The implementation of the track based alignment within the ATLAS software framework unifies different alignment approaches and allows the alignment of ...

  12. In-vehicle information system functions

    Energy Technology Data Exchange (ETDEWEB)

    Tufano, D.R.; Spelt, P.F.; Knee, H.E.

    1997-04-01

    This paper describes the functional requirement for an In-Vehicle Information System (IVIS), which will manage and display all driving-related information from many sources. There are numerous information systems currently being fielded or developed (e.g., routing and navigation, collision avoidance). However, without a logical integration of all of the possible on-board information, there is a potential for overwhelming the driver. The system described in this paper will filter and prioritize information across all sources, and present it to the driver in a timely manner, within a unified interface. To do this, IVIS will perform three general functions: (1) interact with other, on-board information subsystems and the vehicle; (2) manage the information by filtering, prioritizing, and integrating it; and (3) interact with the driver, both in terms of displaying information to the driver and allowing the driver to input requests, goals and preferences. The functional requirements described in this paper have either been derived from these three high-level functions or are directly mandated by the overriding requirements for modularity and flexibility. IVIS will have to be able to accommodate different types of information subsystems, of varying level of sophistication. The system will also have to meet the diverse needs of different types of drivers (private, commercial, transit), who may have very different levels of expertise in using information systems.

  13. Maximum-power-point tracking control of solar heating system

    KAUST Repository

    Huang, Bin-Juine; Ton, Wei-Zhe; Wu, Chen-Chun; Ko, Hua-Wei; Chang, Hsien-Shun; Yen, Rue-Her; Wang, Jiunn-Cherng

    2012-01-01

    was used to determine the instantaneous tracking target Q max(t). The system transfer-function model of solar heating system was also derived experimentally using a step response test and used in the design of tracking feedback control system. The PI

  14. Phase tracking system for ultra narrow bandwidth applications

    NARCIS (Netherlands)

    Hill, M.T.; Cantoni, A.

    2002-01-01

    Recent advances make it possible to mitigate a number of drawbacks of conventional phase locked loops. These advances permit the design of phase tracking systems with much improved characteristics that are sought after in modern communication system applications. A new phase tracking system is

  15. Blind spot monitoring in light vehicles -- system performance.

    Science.gov (United States)

    2014-07-01

    This report summarizes findings of a small population study of blind spot monitoring systems (BSM) installed by : original vehicle manufacturers on standard production vehicles. The primary goals of these tests were to simulate real-world driving sce...

  16. 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...

  17. The vehicle data translator V3.0 system description.

    Science.gov (United States)

    2011-05-30

    With funding and support from the USDOT RITA and direction from the FHWA Road Weather Management Program, NCAR is developing a Vehicle Data Translator (VDT) software system that incorporates vehicle-based measurements of the road and surrounding atmo...

  18. The Commercial Vehicle Information Systems and Network program, 2012.

    Science.gov (United States)

    2014-03-01

    The Commercial Vehicle Information Systems and : Networks (CVISN) program supports that safety : mission by providing grant funds to States for: : Improving safety and productivity of motor : carriers, commercial motor vehicles : (CMVs), and thei...

  19. System Architecture Design for Electric Vehicle (EV) Systems

    DEFF Research Database (Denmark)

    Xu, Zhao; Wu, Qiuwei; Nielsen, Arne Hejde

    2010-01-01

    The electric vehicle (EV) system should fulfill the energy needs of EVs to meet the EV users’ driving requirements and enable the system service from EVs to support the power system operation with high penetration of renewable energy resources (RES) by providing necessary infrastructures. In orde...

  20. Application of one-axis sun tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Sefa, Ibrahim; Demirtas, Mehmet; Colak, Ilhami [Gazi University, Faculty of Technical Education, Department of Electrical Education, GEMEC-Gazi Electric Machines and Control Group, Ankara (Turkey)

    2009-11-15

    This paper introduces design and application of a novel one-axis sun tracking system which follows the position of the sun and allows investigating effects of one-axis tracking system on the solar energy in Turkey. The tracking system includes a serial communication interface based on RS 485 to monitor whole processes on a computer screen and to plot data as graphic. In addition, system parameters such as the current, the voltage and the panel position have been observed by means of a microcontroller. The energy collected is measured and compared with a fixed solar system for the same solar panel. The results show that the solar energy collected on the tracking system is considerably much efficient than the fixed system. The tracking system developed in this study provides easy installation, simple mechanism and less maintenance. (author)

  1. Application of one-axis sun tracking system

    International Nuclear Information System (INIS)

    Sefa, Ibrahim; Demirtas, Mehmet; Colak, Ilhami

    2009-01-01

    This paper introduces design and application of a novel one-axis sun tracking system which follows the position of the sun and allows investigating effects of one-axis tracking system on the solar energy in Turkey. The tracking system includes a serial communication interface based on RS 485 to monitor whole processes on a computer screen and to plot data as graphic. In addition, system parameters such as the current, the voltage and the panel position have been observed by means of a microcontroller. The energy collected is measured and compared with a fixed solar system for the same solar panel. The results show that the solar energy collected on the tracking system is considerably much efficient than the fixed system. The tracking system developed in this study provides easy installation, simple mechanism and less maintenance.

  2. 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.

  3. 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.

  4. Disturbance observer-based L1 robust tracking control for hypersonic vehicles with T-S disturbance modeling

    Directory of Open Access Journals (Sweden)

    Yang Yi

    2016-11-01

    Full Text Available This article concerns a disturbance observer-based L1 robust anti-disturbance tracking algorithm for the longitudinal models of hypersonic flight vehicles with different kinds of unknown disturbances. On one hand, by applying T-S fuzzy models to represent those modeled disturbances, a disturbance observer relying on T-S disturbance models can be constructed to track the dynamics of exogenous disturbances. On the other hand, L1 index is introduced to analyze the attenuation performance of disturbance for those unmodeled disturbances. By utilizing the existing convex optimization algorithm, a disturbance observer-based proportional-integral-controlled input is proposed such that the stability of hypersonic flight vehicles can be ensured and the tracking error for velocity and altitude in hypersonic flight vehicle models can converge to equilibrium point. Furthermore, the satisfactory disturbance rejection and attenuation with L1 index can be obtained simultaneously. Simulation results on hypersonic flight vehicle models can reflect the feasibility and effectiveness of the proposed control algorithm.

  5. Initial validations for pursuing irradiation using a gimbals tracking system

    International Nuclear Information System (INIS)

    Takayama, Kenji; Mizowaki, Takashi; Kokubo, Masaki; Kawada, Noriyuki; Nakayama, Hiroshi; Narita, Yuichiro; Nagano, Kazuo; Kamino, Yuichiro; Hiraoka, Masahiro

    2009-01-01

    Our newly designed image-guided radiotherapy (IGRT) system enables the dynamic tracking irradiation with a gimbaled X-ray head and a dual on-board kilovolt imaging subsystem for real-time target localization. Examinations using a computer-controlled three-dimensionally movable phantom demonstrated that our gimbals tracking system significantly reduced motion blurring effects in the dose distribution compared to the non-tracking state.

  6. 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.

  7. Smart mobile in-vehicle systems next generation advancements

    CERN Document Server

    Abut, Huseyin; Takeda, Kazuya; Hansen, John

    2014-01-01

    This is an edited collection by world-class experts, from diverse fields, focusing on integrating smart in-vehicle systems with human factors to enhance safety in automobiles. The book presents developments on road safety, in-vehicle technologies and state-of-the art systems. Includes coverage of DSP technologies in adaptive automobiles, algorithms and evaluation of in-car communication systems, driver-status monitoring and stress detection, in-vehicle dialogue systems and human-machine interfaces, challenges in video and audio processing for in-vehicle products, multi-sensor fusion for driver identification and vehicle to infrastructure wireless technologies.

  8. Real-Time Vehicle Data Logging System Using GPS And GSM

    Directory of Open Access Journals (Sweden)

    Win Minn Thet

    2015-07-01

    Full Text Available Abstract This paper proposes and implements a low cost Vehicle Data Logging System using GPS and GSM. This system allows a user to trace the present and past positions recorded in SD card. This system also reads the current position of the vehicle using GPS the data is sent via GSM service from the GSM network. The vehicles position including the driving speed the UTC time and data are stored in the SD card for live and past tracking. All of that GPS data is sent to PIC 18F4520 by the Universal Asynchronous ReceiverTransmitter UART and also store in SD card. GSM also uses UART to transmit. To know the position of the vehicle the owner sends a request through a SMS. The SMS sends to the authorized person through the GSM network. The travel history of the vehicle are stored in a file on an SD card in FAT format.This system is very useful for car tracking for adolescent driver being checked by parent speed limit exceeding leaving a specific area. V The developed system is easy to use requires no additional hardware and permits the selection of the amount of data and the time intervals between the data recordings. In addition the collected data can easily be transferred to a computer via a connected serial port.

  9. Demonstrating EnTracked a System for Energy-Efficient Position Tracking for Mobile Devices

    DEFF Research Database (Denmark)

    Kjærgaard, Mikkel Baun; Jensen, Jakob Langdal; Godsk, Torben

    An important feature of a modern mobile device is that it can position itself. Not only for use on the device but also for remote applications that require tracking of the device. To be useful, such position tracking has to be energy-efficient to avoid having a major impact on the battery life...... of the mobile device. To address this challenge we have build a system named EnTracked that, based on the estimation and prediction of system conditions and mobility, schedules position updates to both minimize energy consumption and optimize robustness. In this demonstration we would like to show how...

  10. Hybrid vehicle powertrain system with power take-off driven vehicle accessory

    Science.gov (United States)

    Beaty, Kevin D.; Bockelmann, Thomas R.; Zou, Zhanijang; Hope, Mark E.; Kang, Xiaosong; Carpenter, Jeffrey L.

    2006-09-12

    A hybrid vehicle powertrain system includes a first prime mover, a first prime mover driven power transmission mechanism having a power take-off adapted to drive a vehicle accessory, and a second prime mover. The second prime mover is operable to drive the power transmission mechanism alone or in combination with the first prime mover to provide power to the power take-off through the power transmission mechanism. The invention further includes methods for operating a hybrid vehicle powertrain system.

  11. Coupling vibration research on Vehicle-bridge system

    Science.gov (United States)

    Zhou, Jiguo; Wang, Guihua

    2018-01-01

    The vehicle-bridge coupling system forms when vehicle running on a bridge. It will generate a relatively large influence on the driving comfort and driving safe when the vibration of the vehicle is bigger. A three-dimensional vehicle-bridge system with biaxial seven degrees of freedom has been establish in this paper based on finite numerical simulation. Adopting the finite element transient numerical simulation to realize the numerical simulation of vehicle-bridge system coupling vibration. Then, analyze the dynamic response of vehicle and bridge while different numbers of vehicles running on the bridge. Got the variation rule of vertical vibration of car body and bridge, and that of the contact force between the wheel and bridge deck. The research results have a reference value for the analysis about the vehicle running on a large-span cabled bridge.

  12. Vehicle-to-Grid Power in Danish Electric Power Systems

    DEFF Research Database (Denmark)

    Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

    2009-01-01

    The integration of renewable energy systems is often constrained by the variable nature of their output. This demands for the services of storing the electricity generated from most of the renewable energy sources. Vehicle-to-grid (V2G) power could use the inherent energy storage of electric...... vehicles and its quick response time to balance and stabilize a power system with fluctuating power. This paper outlines the use of battery electric vehicles in supporting large-scale integration of renewable energy in the Danish electric power systems. The reserve power requirements for a high renewable...... energy penetration could be met by an amount of V2G based electric vehicles less than 10% of the total vehicle need in Denmark. The participation of electric vehicle in ancillary services would earn significant revenues to the vehicle owner. The power balancing services of electric vehicles...

  13. Real-Time Tumor Tracking in the Lung Using an Electromagnetic Tracking System

    Energy Technology Data Exchange (ETDEWEB)

    Shah, Amish P., E-mail: Amish.Shah@orlandohealth.com [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States); Kupelian, Patrick A.; Waghorn, Benjamin J.; Willoughby, Twyla R.; Rineer, Justin M.; Mañon, Rafael R.; Vollenweider, Mark A.; Meeks, Sanford L. [Department of Radiation Oncology, MD Anderson Cancer Center Orlando, Orlando, Florida (United States)

    2013-07-01

    Purpose: To describe the first use of the commercially available Calypso 4D Localization System in the lung. Methods and Materials: Under an institutional review board-approved protocol and an investigational device exemption from the US Food and Drug Administration, the Calypso system was used with nonclinical methods to acquire real-time 4-dimensional lung tumor tracks for 7 lung cancer patients. The aims of the study were to investigate (1) the potential for bronchoscopic implantation; (2) the stability of smooth-surface beacon transponders (transponders) after implantation; and (3) the ability to acquire tracking information within the lung. Electromagnetic tracking was not used for any clinical decision making and could only be performed before any radiation delivery in a research setting. All motion tracks for each patient were reviewed, and values of the average displacement, amplitude of motion, period, and associated correlation to a sinusoidal model (R{sup 2}) were tabulated for all 42 tracks. Results: For all 7 patients at least 1 transponder was successfully implanted. To assist in securing the transponder at the tumor site, it was necessary to implant a secondary fiducial for most transponders owing to the transponder's smooth surface. For 3 patients, insertion into the lung proved difficult, with only 1 transponder remaining fixed during implantation. One patient developed a pneumothorax after implantation of the secondary fiducial. Once implanted, 13 of 14 transponders remained stable within the lung and were successfully tracked with the tracking system. Conclusions: Our initial experience with electromagnetic guidance within the lung demonstrates that transponder implantation and tracking is achievable though not clinically available. This research investigation proved that lung tumor motion exhibits large variations from fraction to fraction within a single patient and that improvements to both transponder and tracking system are still

  14. The ALICE Inner Tracking System Upgrade

    CERN Document Server

    Siddhanta, Sabyasachi

    2015-01-01

    The long term plan of ALICE (A Large Ion Collider Experiment) at the CERN Large Hadron Collider (LHC) is a detailed investigation and characterisation of the Quark-Gluon Plasma (QGP). ALICE has devised a comprehensive upgrade strategy to enhance its physics capabilities and to exploit the LHC running conditions after the second long shutdown of the LHC scheduled in 2019-20. The upgraded ALICE will focus on high precision measurements of rare probes over a wide range of momenta, which will significantly improve the performance with respect to the present experimental set up. The upgrade strategy is based on the fact that after LS2 LHC will progressively increase its luminosity with Pb beams eventually reaching an interaction rate of about 50 kHz. To exploit the new LHC capabilities, several existing detectors will undergo a substantial upgrade and new detectors will be added. Within this upgrade strategy, the Inner Tracking System (ITS) upgrade forms an important cornerstone, providing precise measurements for...

  15. Impacts of Electric Vehicle Loads on Power Distribution Systems

    DEFF Research Database (Denmark)

    Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

    2010-01-01

    operation. This paper investigates the effects on the key power distribution system parameters like voltages, line drops, system losses etc. by integrating electric vehicles in the range of 0-50% of the cars with different charging capacities. The dump as well as smart charging modes of electric vehicles......Electric vehicles (EVs) are the most promising alternative to replace a significant amount of gasoline vehicles to provide cleaner, CO2 free and climate friendly transportation. On integrating more electric vehicles, the electric utilities must analyse the related impacts on the electricity system...... is applied in this analysis. A typical Danish primary power distribution system is used as a test case for the studies. From the simulation results, not more than 10% of electric vehicles could be integrated in the test system for the dump charging mode. About 40% of electric vehicle loads could...

  16. Office of Civilian Response Deployment Tracking System

    Data.gov (United States)

    US Agency for International Development — The purpose of OCR DTS is to establish, manage and track relevant Civilian Response Corps teams for deployment by sector experience, training, education etc.

  17. Laminated track design for inductrack maglev systems

    Science.gov (United States)

    Post, Richard F.

    2004-07-06

    A magnet configuration comprising a pair of Halbach arrays magnetically and structurally connected together are positioned with respect to each other so that a first component of their fields substantially cancels at a first plane between them, and a second component of their fields substantially adds at this first plane. A track is located between the pair of Halbach arrays and a propulsion mechanism is provided for moving the pair of Halbach arrays along the track. When the pair of Halbach arrays move along the track and the track is not located at the first plane, a current is induced in the windings and a restoring force is exerted on the pair of Halbach arrays.

  18. A Shuttle Derived Vehicle launch system

    Science.gov (United States)

    Tewell, J. R.; Buell, D. N.; Ewing, E. S.

    1982-01-01

    This paper describes a Shuttle Derived Vehicle (SDV) launch system presently being studied for the NASA by Martin Marietta Aerospace which capitalizes on existing Shuttle hardware elements to provide increased accommodations for payload weight, payload volume, or both. The SDV configuration utilizes the existing solid rocket boosters, external tank and the Space Shuttle main engines but replaces the manned orbiter with an unmanned, remotely controlled cargo carrier. This cargo carrier substitution more than doubles the performance capability of the orbiter system and is realistically achievable for minimal cost. The advantages of the SDV are presented in terms of performance and economics. Based on these considerations, it is concluded that an unmanned SDV offers a most attractive complement to the present Space Transportation System.

  19. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

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

  20. An automated miniature robotic vehicle inspection system

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  1. 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.

  2. Parallel Hybrid Vehicle Optimal Storage System

    Science.gov (United States)

    Bloomfield, Aaron P.

    2009-01-01

    A paper reports the results of a Hybrid Diesel Vehicle Project focused on a parallel hybrid configuration suitable for diesel-powered, medium-sized, commercial vehicles commonly used for parcel delivery and shuttle buses, as the missions of these types of vehicles require frequent stops. During these stops, electric hybridization can effectively recover the vehicle's kinetic energy during the deceleration, store it onboard, and then use that energy to assist in the subsequent acceleration.

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

    Science.gov (United States)

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

    1993-01-01

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

  4. Anticipatory vehicle routing using delegate multi-agent systems

    OpenAIRE

    Weyns, Danny; Holvoet, Tom; Helleboogh, Alexander

    2007-01-01

    This paper presents an agent-based approach, called delegate multi-agent systems, for anticipatory vehicle routing to avoid traffic congestion. In this approach, individual vehicles are represented by agents, which themselves issue light-weight agents that explore alternative routes in the environment on behalf of the vehicles. Based on the evaluation of the alternatives, the vehicles then issue light-weight agents for allocating road segments, spreading the vehicles’ intentions and coordi...

  5. An Indoor Tracking System Based on Bluetooth Technology

    OpenAIRE

    Opoku, Samuel King

    2012-01-01

    Implementations of tracking systems have become prevalent issues in modern technology due to its advantage of location detection of objects. Objects are usually tracked using trackers based on GPS, GSM, RFID and Bluetooth signal strength implementation. These mechanisms usually require line of sight operations, limited coverage and low level programming language for accessing Bluetooth signal strength. This paper presents an alternative technique for tracking the movement of indoor objects ba...

  6. Novel high accurate sensorless dual-axis solar tracking system controlled by maximum power point tracking unit of photovoltaic systems

    International Nuclear Information System (INIS)

    Fathabadi, Hassan

    2016-01-01

    Highlights: • Novel high accurate sensorless dual-axis solar tracker. • It has the advantages of both sensor based and sensorless solar trackers. • It does not have the disadvantages of sensor based and sensorless solar trackers. • Tracking error of only 0.11° that is less than the tracking errors of others. • An increase of 28.8–43.6% depending on the seasons in the energy efficiency. - Abstract: In this study, a novel high accurate sensorless dual-axis solar tracker controlled by the maximum power point tracking unit available in almost all photovoltaic systems is proposed. The maximum power point tracking controller continuously calculates the maximum output power of the photovoltaic module/panel/array, and uses the altitude and azimuth angles deviations to track the sun direction where the greatest value of the maximum output power is extracted. Unlike all other sensorless solar trackers, the proposed solar tracking system is a closed loop system which means it uses the actual direction of the sun at any time to track the sun direction, and this is the contribution of this work. The proposed solar tracker has the advantages of both sensor based and sensorless dual-axis solar trackers, but it does not have their disadvantages. Other sensorless solar trackers all are open loop, i.e., they use offline estimated data about the sun path in the sky obtained from solar map equations, so low exactness, cloudy sky, and requiring new data for new location are their problems. A photovoltaic system has been built, and it is experimentally verified that the proposed solar tracking system tracks the sun direction with the tracking error of 0.11° which is less than the tracking errors of other both sensor based and sensorless solar trackers. An increase of 28.8–43.6% depending on the seasons in the energy efficiency is the main advantage of utilizing the proposed solar tracking system.

  7. Hypersonic Vehicle Propulsion System Simplified Model Development

    Science.gov (United States)

    Stueber, Thomas J.; Raitano, Paul; Le, Dzu K.; Ouzts, Peter

    2007-01-01

    This document addresses the modeling task plan for the hypersonic GN&C GRC team members. The overall propulsion system modeling task plan is a multi-step process and the task plan identified in this document addresses the first steps (short term modeling goals). The procedures and tools produced from this effort will be useful for creating simplified dynamic models applicable to a hypersonic vehicle propulsion system. The document continues with the GRC short term modeling goal. Next, a general description of the desired simplified model is presented along with simulations that are available to varying degrees. The simulations may be available in electronic form (FORTRAN, CFD, MatLab,...) or in paper form in published documents. Finally, roadmaps outlining possible avenues towards realizing simplified model are presented.

  8. WIPP Transparency Project - container tracking and monitoring demonstration using the Authenticated Tracking and Monitoring System (ATMS)

    International Nuclear Information System (INIS)

    SCHOENEMAN, J. LEE; SMARTT, HEIDI ANNE; HOFER, DENNIS

    2000-01-01

    The Authenticated Tracking and Monitoring System (ATMS) is designed to answer the need for global monitoring of the status and location of proliferation-sensitive items on a worldwide basis, 24 hours a day. ATMS uses wireless sensor packs to monitor the status of the items within the shipment and surrounding environmental conditions. Receiver and processing units collect a variety of sensor event data that is integrated with GPS tracking data. The collected data are transmitted to the International Maritime Satellite (INMARSAT) communication system, which then sends the data to mobile ground stations. Authentication and encryption algorithms secure the data during communication activities. A typical ATMS application would be to track and monitor the stiety and security of a number of items in transit along a scheduled shipping route. The resulting tracking, timing, and status information could then be processed to ensure compliance with various agreements

  9. Renewable Energy Certificate (REC) Tracking Systems: Costs & Verification Issues (Presentation)

    Energy Technology Data Exchange (ETDEWEB)

    Heeter, J.

    2013-10-01

    This document provides information on REC tracking systems: how they are used in the voluntary REC market, a comparison of REC systems fees and information regarding how they treat environmental attributes.

  10. 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.

  11. 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

  12. Performance evaluation and design of flight vehicle control systems

    CERN Document Server

    Falangas, Eric T

    2015-01-01

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

  13. Yarr: A PCIe based readout system for semiconductor tracking systems

    Energy Technology Data Exchange (ETDEWEB)

    Heim, Timon [Bergische Universitaet Wuppertal, Wuppertal (Germany); CERN, Geneva (Switzerland); Maettig, Peter [Bergische Universitaet Wuppertal, Wuppertal (Germany); Pernegger, Heinz [CERN, Geneva (Switzerland)

    2015-07-01

    The Yarr readout system is a novel DAQ concept, using an FPGA board connected via PCIe to a computer, to read out semiconductor tracking systems. The system uses the FPGA as a reconfigurable IO interface which, in conjunction with the very high speed of the PCIe bus, enables a focus of processing the data stream coming from the pixel detector in software. Modern computer system could potentially make the need of custom signal processing hardware in readout systems obsolete and the Yarr readout system showcases this for FE-I4 chips, which are state-of-the-art readout chips used in the ATLAS Pixel Insertable B-Layer and developed for tracking in high multiplicity environments. The underlying concept of the Yarr readout system tries to move intelligence from hardware into the software without the loss of performance, which is made possible by modern multi-core processors. The FPGA board firmware acts like a buffer and does no further processing of the data stream, enabling rapid integration of new hardware due to minimal firmware minimisation.

  14. MICROCONTROLLER BASED SOLAR-TRACKING SYSTEM AND ITS IMPLEMENTATION

    Directory of Open Access Journals (Sweden)

    Okan BİNGÖL

    2006-02-01

    Full Text Available In this paper, a new micro-controller based solar-tracking system is proposed, implemented and tested. The scheme presented here can be operated as independent of the geographical location of the site of setting up. The system checks the position of the sun and controls the movement of a solar panel so that radiation of the sun comes normally to the surface of the solar panel. The developed-tracking system tracks the sun both in the azimuth as well as in the elevation plane. PC based system monitoring facility is also included in the design.

  15. Real-time resource allocation for tracking systems

    NARCIS (Netherlands)

    Satsangi, Y.; Whiteson, S.; Oliehoek, F.A.; Bouma, H.

    2017-01-01

    Automated tracking is key to many computer vision applications. However, many tracking systems struggle to perform in real-time due to the high computational cost of detecting people, especially in ultra high resolution images. We propose a new algorithm called PartiMax that greatly reduces this

  16. An Approach of Tracking Control for Chaotic Systems

    Directory of Open Access Journals (Sweden)

    Jin Xing

    2016-01-01

    Full Text Available Combining the ergodicity of chaos and the Jacobian matrix, we design a general tracking controller for continuous and discrete chaotic systems. The control scheme has the ability to track a bounded reference signal. We prove its globally asymptotic stability and extend it to generalized projective synchronization. Numerical simulations verify the effectiveness of the proposed scheme.

  17. Developing a multipurpose sun tracking system using fuzzy control

    Energy Technology Data Exchange (ETDEWEB)

    Alata, Mohanad [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan)]. E-mail: alata@just.edu.jo; Al-Nimr, M.A. [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan); Qaroush, Yousef [Department of Mechanical Engineering, Jordan University of Science and Technology (JUST), PO Box 3030, Irbid 22110 (Jordan)

    2005-05-01

    The present work demonstrates the design and simulation of time controlled step sun tracking systems that include: one axis sun tracking with the tilted aperture equal to the latitude angle, equatorial two axis sun tracking and azimuth/elevation sun tracking. The first order Sugeno fuzzy inference system is utilized for modeling and controller design. In addition, an estimation of the insolation incident on a two axis sun tracking system is determined by fuzzy IF-THEN rules. The approach starts by generating the input/output data. Then, the subtractive clustering algorithm, along with least square estimation (LSE), generates the fuzzy rules that describe the relationship between the input/output data of solar angles that change with time. The fuzzy rules are tuned by an adaptive neuro-fuzzy inference system (ANFIS). Finally, an open loop control system is designed for each of the previous types of sun tracking systems. The results are shown using simulation and virtual reality. The site of application is chosen at Amman, Jordan (32 deg. North, 36 deg. East), and the period of controlling and simulating each type of tracking system is the year 2003.

  18. Coupled Finite Element/Boundary Element Analysis of a Vehicle Moving Along a Railway Track

    DEFF Research Database (Denmark)

    Andersen, Lars; Nielsen, Søren R. K.

    2004-01-01

    Trains running in build-up areas are a source to ground-borne noise. A careful design of the track structure may be one way of minimizing the vibrations in the surroundings. For example, open or in-filled trenches may be constructed along the track, or the soil underneath the track may be improved...

  19. The Combat System Design and Test Criteria for Iguana TM Armored Vehicles

    National Research Council Canada - National Science Library

    Alper, Irfan

    1999-01-01

    ... acoustic/IR signatures. The Iguana(trademark), a tracked vehicle concept based on a recently patented suspension and track design, could deploy to hot spots world-wide on peacekeeping and combat missions which require extra flexibility to adapt...

  20. Development and Application of the Stereo Vision Tracking System with Virtual Reality

    Directory of Open Access Journals (Sweden)

    Chia-Sui Wang

    2015-01-01

    Full Text Available A virtual reality (VR driver tracking verification system is created, of which the application to stereo image tracking and positioning accuracy is researched in depth. In the research, the feature that the stereo vision system has image depth is utilized to improve the error rate of image tracking and image measurement. In a VR scenario, the function collecting behavioral data of driver was tested. By means of VR, racing operation is simulated and environmental (special weathers such as raining and snowing and artificial (such as sudden crossing road by pedestrians, appearing of vehicles from dead angles, roadblock variables are added as the base for system implementation. In addition, the implementation is performed with human factors engineered according to sudden conditions that may happen easily in driving. From experimental results, it proves that the stereo vision system created by the research has an image depth recognition error rate within 0.011%. The image tracking error rate may be smaller than 2.5%. In the research, the image recognition function of stereo vision is utilized to accomplish the data collection of driver tracking detection. In addition, the environmental conditions of different simulated real scenarios may also be created through VR.

  1. Detection, recognition, identification, and tracking of military vehicles using biomimetic intelligence

    Science.gov (United States)

    Pace, Paul W.; Sutherland, John

    2001-10-01

    This project is aimed at analyzing EO/IR images to provide automatic target detection/recognition/identification (ATR/D/I) of militarily relevant land targets. An increase in performance was accomplished using a biomimetic intelligence system functioning on low-cost, commercially available processing chips. Biomimetic intelligence has demonstrated advanced capabilities in the areas of hand- printed character recognition, real-time detection/identification of multiple faces in full 3D perspectives in cluttered environments, advanced capabilities in classification of ground-based military vehicles from SAR, and real-time ATR/D/I of ground-based military vehicles from EO/IR/HRR data in cluttered environments. The investigation applied these tools to real data sets and examined the parameters such as the minimum resolution for target recognition, the effect of target size, rotation, line-of-sight changes, contrast, partial obscuring, background clutter etc. The results demonstrated a real-time ATR/D/I capability against a subset of militarily relevant land targets operating in a realistic scenario. Typical results on the initial EO/IR data indicate probabilities of correct classification of resolved targets to be greater than 95 percent.

  2. An Orientation Sensor-Based Head Tracking System for Driver Behaviour Monitoring

    Directory of Open Access Journals (Sweden)

    Yifan Zhao

    2017-11-01

    Full Text Available Although at present legislation does not allow drivers in a Level 3 autonomous vehicle to engage in a secondary task, there may become a time when it does. Monitoring the behaviour of drivers engaging in various non-driving activities (NDAs is crucial to decide how well the driver will be able to take over control of the vehicle. One limitation of the commonly used face-based head tracking system, using cameras, is that sufficient features of the face must be visible, which limits the detectable angle of head movement and thereby measurable NDAs, unless multiple cameras are used. This paper proposes a novel orientation sensor based head tracking system that includes twin devices, one of which measures the movement of the vehicle while the other measures the absolute movement of the head. Measurement error in the shaking and nodding axes were less than 0.4°, while error in the rolling axis was less than 2°. Comparison with a camera-based system, through in-house tests and on-road tests, showed that the main advantage of the proposed system is the ability to detect angles larger than 20° in the shaking and nodding axes. Finally, a case study demonstrated that the measurement of the shaking and nodding angles, produced from the proposed system, can effectively characterise the drivers’ behaviour while engaged in the NDAs of chatting to a passenger and playing on a smartphone.

  3. Robust tracking control of uncertain Duffing-Holmes control systems

    International Nuclear Information System (INIS)

    Sun, Y.-J.

    2009-01-01

    In this paper, the notion of virtual stabilizability for dynamical systems is introduced and the virtual stabilizability of uncertain Duffing-Holmes control systems is investigated. Based on the time-domain approach with differential inequality, a tracking control is proposed such that the states of uncertain Duffing-Holmes control system track the desired trajectories with any pre-specified exponential decay rate and convergence radius. Moreover, we present an algorithm to find such a tracking control. Finally, a numerical example is provided to illustrate the use of the main results.

  4. Kinect-Based Moving Human Tracking System with Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Abdel Mehsen Ahmad

    2017-04-01

    Full Text Available This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET. This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

  5. DESIGN OF A REAL TIME REMOTE VEHICLE LOCATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Ahmet Emir DİRİK

    2004-02-01

    Full Text Available In this study, a low-cost, real-time vehicle location system is developed. The vehicle location system includes three main modules, i.e. positioning, wireless communication and digital map modules. The positioning module used in location systems computes position of the mobile vehicle. These vehicle location data are transmitted through a wireless communication system to host. The host has a capability to monitor a fleet of vehicles by analyzing data collected from wireless communication system. In this project, mobile vehicle location positions can be computed in a range of 10m position error and by using these position data, its possible to monitor the fleet of mobile vehicles on a digital map in the observation and control center. In this study, vehicle analog mobile radios are used to establish wireless communication system. Thus, there is no need to use satellite or GSM systems for communication and a low-cost and high-performance vehicle location system is realized.

  6. System analysis of vehicle active safety problem

    Science.gov (United States)

    Buznikov, S. E.

    2018-02-01

    The problem of the road transport safety affects the vital interests of the most of the population and is characterized by a global level of significance. The system analysis of problem of creation of competitive active vehicle safety systems is presented as an interrelated complex of tasks of multi-criterion optimization and dynamic stabilization of the state variables of a controlled object. Solving them requires generation of all possible variants of technical solutions within the software and hardware domains and synthesis of the control, which is close to optimum. For implementing the task of the system analysis the Zwicky “morphological box” method is used. Creation of comprehensive active safety systems involves solution of the problem of preventing typical collisions. For solving it, a structured set of collisions is introduced with its elements being generated also using the Zwicky “morphological box” method. The obstacle speed, the longitudinal acceleration of the controlled object and the unpredictable changes in its movement direction due to certain faults, the road surface condition and the control errors are taken as structure variables that characterize the conditions of collisions. The conditions for preventing typical collisions are presented as inequalities for physical variables that define the state vector of the object and its dynamic limits.

  7. Maximum-power-point tracking control of solar heating system

    KAUST Repository

    Huang, Bin-Juine

    2012-11-01

    The present study developed a maximum-power point tracking control (MPPT) technology for solar heating system to minimize the pumping power consumption at an optimal heat collection. The net solar energy gain Q net (=Q s-W p/η e) was experimentally found to be the cost function for MPPT with maximum point. The feedback tracking control system was developed to track the optimal Q net (denoted Q max). A tracking filter which was derived from the thermal analytical model of the solar heating system was used to determine the instantaneous tracking target Q max(t). The system transfer-function model of solar heating system was also derived experimentally using a step response test and used in the design of tracking feedback control system. The PI controller was designed for a tracking target Q max(t) with a quadratic time function. The MPPT control system was implemented using a microprocessor-based controller and the test results show good tracking performance with small tracking errors. It is seen that the average mass flow rate for the specific test periods in five different days is between 18.1 and 22.9kg/min with average pumping power between 77 and 140W, which is greatly reduced as compared to the standard flow rate at 31kg/min and pumping power 450W which is based on the flow rate 0.02kg/sm 2 defined in the ANSI/ASHRAE 93-1986 Standard and the total collector area 25.9m 2. The average net solar heat collected Q net is between 8.62 and 14.1kW depending on weather condition. The MPPT control of solar heating system has been verified to be able to minimize the pumping energy consumption with optimal solar heat collection. © 2012 Elsevier Ltd.

  8. 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

  9. Symmetry breaking of adjacent tracks in perpendicular recording system

    International Nuclear Information System (INIS)

    Xie Huang; Wei Dan

    2007-01-01

    The track density increase in a perpendicular magnetic recording system is limited by the adjacent-track interference (ATI). In this work, a composite micromagnetic simulation model of the read/write process is developed to analyse ATI by the symmetry of signal and noise in two adjacent W = 60 nm tracks with the track pitch of the order of 100 nm. Based on the two-dimensional medium noise distribution of dibit recording, it is found that the noise in the first and later recorded tracks start to be asymmetric when the track pitch is lower than 2 W; if the read width is limited within 2/3 of the write width, the asymmetry of noise appears when the track pitch is less than 1.5 W. At higher recording densities, the signal-to-noise ratio degradation is mainly due to the noise caused by the interference from the signal of the adjacent track. Side writing can be effectively eliminated by the use of a guard band whose width is at least half the track width

  10. Electromagnetic support and/or guide system for levitating vehicles. Elektromagnetisches Trag- und/oder Fuehrungssystem fuer Schwebefahrzeuge

    Energy Technology Data Exchange (ETDEWEB)

    Breitling, U; Simon, K

    1978-01-26

    The invention refers to an electromagnetic support and/or guide system for levitating vehicles (MAGLEV system). These levitating vehicles can move along tracks with at least one fixed branch-off. The parts of the system on the vehicle are arranged symmetrically to the vehicle's longitudinal axis above or below the vehicle body. There are 2 parallel rows of magnets provided for each longitudinal side of the vehicle, where only one magnet can act on the track outside the branch-off, and both magnets can act alternately on the track within the branch-off. The purpose of the invention is to develop such a system so that interference forces on the core parts are avoided. According to the invention this is achieved by the first row of each parallel longitudinal row of electromagnets and the armature rails allocated to the first row having a different pole spacing from the second row of electromagnets of the parallel row concerned and the armature rails of the associated second row.

  11. Systems and methods for vehicle speed management

    Science.gov (United States)

    Sujan, Vivek Anand; Vajapeyazula, Phani; Follen, Kenneth; Wu, An; Forst, Howard Robert

    2016-03-01

    Controlling a speed of a vehicle based on at least a portion of a route grade and a route distance divided into a plurality of route sections, each including at least one of a section grade and section length. Controlling the speed of the vehicle is further based on determining a cruise control speed mode for the vehicle for each of the plurality of route sections and determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed.

  12. Safety problems in vehicles with adaptive cruise control system

    Directory of Open Access Journals (Sweden)

    Yadav Arun K.

    2017-06-01

    Full Text Available In today’s world automotive industries are still putting efforts towards more autonomous vehicles (AVs. The main concern of introducing the autonomous technology is safety of driver. According to a survey 90% of accidents happen due to mistake of driver. The adaptive cruise control system (ACC is a system which combines cruise control with a collision avoidance system. The ACC system is based on laser and radar technologies. This system is capable of controlling the velocity of vehicle automatically to match the velocity of car, bus or truck in front of vehicle. If the lead vehicle gets slow down or accelerate, than ACC system automatically matches that velocity. The proposed paper is focusing on more accurate methods of detecting the preceding vehicle by using a radar and lidar sensors by considering the vehicle side slip and by controlling the distance between two vehicles. By using this approach i.e. logic for calculation of former vehicle distance and controlling the throttle valve of ACC equipped vehicle, an improvement in driving stability was achieved. The own contribution results with fuel efficient driving and with more safer and reliable driving system, but still some improvements are going on to make it more safe and reliable.

  13. Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

    Directory of Open Access Journals (Sweden)

    Yinsong Wang

    2012-01-01

    Full Text Available This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS. Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

  14. FLYWHEEL BASED KINETIC ENERGY RECOVERY SYSTEMS (KERS) INTEGRATED IN VEHICLES

    OpenAIRE

    THOMAS MATHEWS; NISHANTH D

    2013-01-01

    Today, many hybrid electric vehicles have been developed in order to reduce the consumption of fossil fuels; unfortunately these vehicles require electrochemical batteries to store energy, with high costs as well as poor conversion efficiencies. By integrating flywheel hybrid systems, these drawbacks can be overcome and can potentially replace battery powered hybrid vehicles cost effectively. The paper will explain the engineering, mechanics of the flywheel system and it’s working in detail. ...

  15. Remotely Accessed Vehicle Traffic Management System

    Science.gov (United States)

    Al-Alawi, Raida

    2010-06-01

    The ever increasing number of vehicles in most metropolitan cities around the world and the limitation in altering the transportation infrastructure, led to serious traffic congestion and an increase in the travelling time. In this work we exploit the emergence of novel technologies such as the internet, to design an intelligent Traffic Management System (TMS) that can remotely monitor and control a network of traffic light controllers located at different sites. The system is based on utilizing Embedded Web Servers (EWS) technology to design a web-based TMS. The EWS located at each intersection uses IP technology for communicating remotely with a Central Traffic Management Unit (CTMU) located at the traffic department authority. Friendly GUI software installed at the CTMU will be able to monitor the sequence of operation of the traffic lights and the presence of traffic at each intersection as well as remotely controlling the operation of the signals. The system has been validated by constructing a prototype that resembles the real application.

  16. Mobile Tracking Systems Using Meter Class Reflective Telescopes

    Science.gov (United States)

    Sturzenbecher, K.; Ehrhorn, B.

    This paper is a discussion on the use of large reflective telescopes on mobile tracking systems with modern instrument control systems. Large optics can be defined as reflective telescopes with an aperture of at least 20 inches in diameter. New carbon composite construction techniques allow for larger, stronger, and lighter telescopes ranging from 240 pounds for a 20 inch, to 800 pounds for a 32 inch, making them ideal for mobile tracking systems. These telescopes have better light gathering capability and produce larger images with greater detail at a longer range than conventional refractive lenses. In a mobile configuration these systems provide the ability to move the observation platform to the optimal location anywhere in the world. Mounting and systems integration - We will discuss how large telescopes can be physically fit to the mobile tracking system and the integration with the tracking systems' digital control system. We will highlight the remote control capabilities. We will discuss special calibration techniques available in a modern instrument control system such as star calibration, calibration of sensors. Tracking Performance - We will discuss the impact of using large telescopes on the performance of the mobile tracking system. We will highlight the capabilities for auto-tracking and sidereal rate tracking in a mobile mount. Large optics performance - We will discuss the advantages of two-mirror Ritchey-Chrétien reflective optics which offer in-focus imaging across the spectrum, from visible to Long Wave Infrared. These zero expansion optics won't lose figure or focus during temperature changes. And the carbon composite telescope tube is thermally inert. The primary mirror is a modern lightweight "dish" mirror for low thermal mass and is center supported/self balancing. Applications - We will discuss Visible - IR Imaging requirements, Optical Rangefinders, and capabilities for special filters to increase resolution in difficult conditions such as

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

    Science.gov (United States)

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

    2011-01-01

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

  18. Position and Orientation Tracking System graphical user interface. CRADA final report

    International Nuclear Information System (INIS)

    Barry, R.E.; Armstrong, G.A.; Burks, B.L.

    1997-01-01

    Under the Department of Energy's Robotics Technology Development Program (RTDP) Tank Waste Retrieval (TWR) program, a major effort is under way to develop technology for remediating the waste in underground storage tanks that contain radioactive and hazardous waste. A large part of the program's effort has gone towards development of remotely operable robotics equipment, including the Houdini Vehicle and the Position and Orientation Tracking System (POTS). Since planned operation of this equipment is to be completely remote, a significant effort is needed to ensure that operators have sufficient system information to operate the equipment efficiently and safely. ORNL developed POTS and RedZone Robotics, Inc. developed Houdini which can be operated together to provide both position and orientation descriptions of the Houdini vehicle, relative to a world reference frame, while operating inside an underground storage tank. The Houdini vehicle has been outfitted with an optical detection system that houses infrared detectors. The infrared detectors are part of the POTS tracking system. The sensors provide a set of timing pulses to the POTS control computer whenever a laser beam from one of the four POTS laser scanners strikes a detector. Using the pointing angle information from each POTS laser scanners, the POTS control computer is able to compute the pose of the Houdini vehicle at a rate of approximately 25 Hz. This information, along with the orientation of the Houdini's Schilling Titan II robot arm, is used to present the pose information to the operator in a 3-D graphical user interface using software that has been developed by this Cooperative Research and Development Agreement (CRADA). The graphical display presents the data to the operator in a format that is readily understood. The equipment operators are able to use the information in real-time to enhance the operator's ability to safely and efficiently control the remotely-operated vehicle

  19. Classification of Dynamic Vehicle Routing Systems

    DEFF Research Database (Denmark)

    Larsen, Allan; Madsen, Oli B.G.; Solomon, Marius M.

    2007-01-01

    This chapter discusses important characteristics seen within dynamic vehicle routing problems. We discuss the differences between the traditional static vehicle routing problems and its dynamic counterparts. We give an in-depth introduction to the degree of dynamism measure which can be used to c...

  20. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, Susan R.

    1995-01-01

    An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydrualic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control.

  1. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, S.R.

    1995-09-12

    An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydraulic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control. 10 figs.

  2. Wireless GPS fleet tracking system at the University of Albany.

    Science.gov (United States)

    2014-07-01

    This report provides an overview of the project undertaken at the University at Albany to make alternative transportation a more : viable option by implementing a GPS Tracking System on the University bus fleet and broadcasting the bus locations to c...

  3. Strategic Mobility 21: Integrated Tracking System Analysis and Concept Design

    National Research Council Canada - National Science Library

    Mallon, Lawrence G; Savacool, Edwin

    2007-01-01

    .... This design document supports the SM21 efforts in developing a dual-use multi-modal node at the Southern California Logistics Airport in Victorville, CA that will be supported by an Integrated Tracking System...

  4. Active Multimodal Sensor System for Target Recognition and Tracking.

    Science.gov (United States)

    Qu, Yufu; Zhang, Guirong; Zou, Zhaofan; Liu, Ziyue; Mao, Jiansen

    2017-06-28

    High accuracy target recognition and tracking systems using a single sensor or a passive multisensor set are susceptible to external interferences and exhibit environmental dependencies. These difficulties stem mainly from limitations to the available imaging frequency bands, and a general lack of coherent diversity of the available target-related data. This paper proposes an active multimodal sensor system for target recognition and tracking, consisting of a visible, an infrared, and a hyperspectral sensor. The system makes full use of its multisensor information collection abilities; furthermore, it can actively control different sensors to collect additional data, according to the needs of the real-time target recognition and tracking processes. This level of integration between hardware collection control and data processing is experimentally shown to effectively improve the accuracy and robustness of the target recognition and tracking system.

  5. Agency Secure Image And Storage Tracking System (ASIST)

    Data.gov (United States)

    US Agency for International Development — Agency Secure Image and Storage Tracking System (Missions): is a Documentum-based user interface developed and maintained by the USAID OCIO (formerly IRM) to improve...

  6. Privacy Impact Assessment for the Enforcement Superfund Tracking System

    Science.gov (United States)

    This Enforcement Superfund Tracking System (ESTS) collects publicly available information from the California Secretary of State on businesses. Learn how this data is collected, how it will be used, access to the data, and the purpose of data collection.

  7. Impact of emerging clean vehicle system on water stress

    International Nuclear Information System (INIS)

    Cai, Hua; Hu, Xiaojun; Xu, Ming

    2013-01-01

    Graphical abstract: Display Omitted - Highlights: • Clean vehicles may increase US water consumption up to 2810 billion gallons/year. • Large-scale clean vehicle adoption could lead to severe regional water stress. • Fuel choice for clean vehicle is crucial in minimizing regional water stress. • Regional optimization illustrated the importance of regional consideration. - Abstract: While clean vehicles (i.e., vehicles powered by alternative fuels other than fossil fuels) offer great potential to reduce greenhouse gas emissions from gasoline-based vehicles, the associated impact on water resources has not yet been fully assessed. This research provides a systematic evaluation of the impact of a fully implemented clean vehicle system on national and state-level water demand and water stress. On the national level, based on existing policies, transitioning the current gasoline-based transportation into one with clean vehicles will increase national annual water consumption by 1950–2810 billion gallons of water, depending on the market penetration of electric vehicles. On the state level, variances of water efficiency in producing different fuels are significant. The fuel choice for clean vehicle development is especially crucial for minimizing water stress increase in states with already high water stress, high travel demands, and significant variations in water efficiency in producing different alternative fuels. Current development of clean vehicle infrastructure, however, has not reflected these state-level variations. This study takes an optimization approach to further evaluate impacts on state-level water stress from a fully implemented clean vehicle system and identified potential roles (fuel producer or consumer) states may play in real world clean vehicle development scenario. With an objective of minimizing overall water stress impact, our optimization model aims to provide an analytical framework to better assess impacts on state-level water

  8. Developments for the outer tracking system of the LHCb experiment

    CERN Document Server

    Bachmann, S; Haas, T; Uwer, U; Walter, M; Wiedner, D

    2004-01-01

    The outer tracking system of the LHCb experiment is discussed. The outer tracking system (OT) is made of three stations and every station is made up of four detecting planes with a double layer of straw tubes. The straw tubes are mounted in detector module boxes made up of sandwich panels. The use of a counting gas with a high drift velocity is suggested to cope with high bunch crossing rate at the LHCb experiment. (Edited abstract) 3 Refs.

  9. Cluster-based localization and tracking in ubiquitous computing systems

    CERN Document Server

    Martínez-de Dios, José Ramiro; Torres-González, Arturo; Ollero, Anibal

    2017-01-01

    Localization and tracking are key functionalities in ubiquitous computing systems and techniques. In recent years a very high variety of approaches, sensors and techniques for indoor and GPS-denied environments have been developed. This book briefly summarizes the current state of the art in localization and tracking in ubiquitous computing systems focusing on cluster-based schemes. Additionally, existing techniques for measurement integration, node inclusion/exclusion and cluster head selection are also described in this book.

  10. Authenticated tracking and monitoring system (ATMS) tracking shipments from an Australian uranium mine

    International Nuclear Information System (INIS)

    Schoeneman, J.L.

    1998-01-01

    The Authenticated Tracking and Monitoring System (ATMS) answers the need for global monitoring of the status and location of sensitive items on a worldwide basis, 24 hours a day. ATMS uses wireless sensor packs to monitor the status of the items and environmental conditions. A receiver and processing unit collect a variety of sensor event data. The collected data are transmitted to the INMARSAT satellite communication system, which then sends the data to appropriate ground stations. Authentication and encryption algorithms secure the data during communication activities. A typical ATMS application would be to track and monitor the safety and security of a number of items in transit along a scheduled shipping route. The resulting tracking, timing, and status information could then be processed to ensure compliance with various agreements. Following discussions between the Australian Safeguards Office (ASO), the US Department of Energy (DOE), and Sandia National Laboratories (SNL) in early 1995, the parties mutually agreed to conduct and evaluate a field trial prototype ATMS to track and monitor shipments of uranium ore concentrate (UOC) from an operating uranium mine in Australia to a final destination in Rotterdam, the Netherlands, with numerous stops along the way. During the months of February and March 1998, the trial was conducted on a worldwide basis, with tracking and monitoring stations located at sites in both Australia and the US. This paper describes ATMS and the trial

  11. An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems.

    Science.gov (United States)

    Feng, Kaiqiang; Li, Jie; Zhang, Xi; Zhang, Xiaoming; Shen, Chong; Cao, Huiliang; Yang, Yanyu; Liu, Jun

    2018-06-12

    The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algorithm named improved strong tracking seventh-degree spherical simplex-radial cubature Kalman filter (IST-7thSSRCKF) is proposed in this paper. In the proposed algorithm, the effect of process uncertainty is mitigated by using the improved strong tracking Kalman filter technique, in which the hypothesis testing method is adopted to identify the process uncertainty and the prior state estimate covariance in the CKF is further modified online according to the change in vehicle dynamics. In addition, a new seventh-degree spherical simplex-radial rule is employed to further improve the estimation accuracy of the strong tracking cubature Kalman filter. In this way, the proposed comprehensive algorithm integrates the advantage of 7thSSRCKF’s high accuracy and strong tracking filter’s strong robustness against process uncertainties. The GPS/INS integrated navigation problem with significant dynamic model errors is utilized to validate the performance of proposed IST-7thSSRCKF. Results demonstrate that the improved strong tracking cubature Kalman filter can achieve higher accuracy than the existing CKF and ST-CKF, and is more robust for the GPS/INS integrated navigation system.

  12. A System for Fast Navigation of Autonomous Vehicles

    Science.gov (United States)

    1991-09-01

    AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

  13. A novel track imaging system as a range counter

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Z. [National Institute of Radiological Sciences (Japan); Matsufuji, N. [National Institute of Radiological Sciences (Japan); Tokyo Institute of Technology (Japan); Kanayama, S. [Chiba University (Japan); Ishida, A. [National Institute of Radiological Sciences (Japan); Tokyo Institute of Technology (Japan); Kohno, T. [Tokyo Institute of Technology (Japan); Koba, Y.; Sekiguchi, M.; Kitagawa, A.; Murakami, T. [National Institute of Radiological Sciences (Japan)

    2016-05-01

    An image-intensified, camera-based track imaging system has been developed to measure the tracks of ions in a scintillator block. To study the performance of the detector unit in the system, two types of scintillators, a dosimetrically tissue-equivalent plastic scintillator EJ-240 and a CsI(Tl) scintillator, were separately irradiated with carbon ion ({sup 12}C) beams of therapeutic energy from HIMAC at NIRS. The images of individual ion tracks in the scintillators were acquired by the newly developed track imaging system. The ranges reconstructed from the images are reported here. The range resolution of the measurements is 1.8 mm for 290 MeV/u carbon ions, which is considered a significant improvement on the energy resolution of the conventional ΔE/E method. The detector is compact and easy to handle, and it can fit inside treatment rooms for in-situ studies, as well as satisfy clinical quality assurance purposes.

  14. A semi-active control suspension system for railway vehicles with magnetorheological fluid dampers

    Science.gov (United States)

    Wei, Xiukun; Zhu, Ming; Jia, Limin

    2016-07-01

    The high-speed train has achieved great progress in the last decades. It is one of the most important modes of transportation between cities. With the rapid development of the high-speed train, its safety issue is paid much more attention than ever before. To improve the stability of the vehicle with high speed, extra dampers (i.e. anti-hunting damper) are used in the traditional bogies with passive suspension system. However, the curving performance of the vehicle is undermined due to the extra lateral force generated by the dampers. The active suspension systems proposed in the last decades attempt to solve the vehicle steering issue. However, the active suspension systems need extra actuators driven by electrical power or hydraulic power. There are some implementation and even safety issues which are not easy to be overcome. In this paper, an innovative semi-active controlled lateral suspension system for railway vehicles is proposed. Four magnetorheological fluid dampers are fixed to the primary suspension system of each bogie. They are controlled by online controllers for enhancing the running stability on the straight track line on the one hand and further improving the curving performance by controlling the damper force on the other hand. Two control strategies are proposed in the light of the pure rolling concept. The effectiveness of the proposed strategies is demonstrated by SIMPACK and Matlab co-simulation for a full railway vehicle with two conventional bogies.

  15. Automated tracking for advanced satellite laser ranging systems

    Science.gov (United States)

    McGarry, Jan F.; Degnan, John J.; Titterton, Paul J., Sr.; Sweeney, Harold E.; Conklin, Brion P.; Dunn, Peter J.

    1996-06-01

    NASA's Satellite Laser Ranging Network was originally developed during the 1970's to track satellites carrying corner cube reflectors. Today eight NASA systems, achieving millimeter ranging precision, are part of a global network of more than 40 stations that track 17 international satellites. To meet the tracking demands of a steadily growing satellite constellation within existing resources, NASA is embarking on a major automation program. While manpower on the current systems will be reduced to a single operator, the fully automated SLR2000 system is being designed to operate for months without human intervention. Because SLR2000 must be eyesafe and operate in daylight, tracking is often performed in a low probability of detection and high noise environment. The goal is to automatically select the satellite, setup the tracking and ranging hardware, verify acquisition, and close the tracking loop to optimize data yield. TO accomplish the autotracking tasks, we are investigating (1) improved satellite force models, (2) more frequent updates of orbital ephemerides, (3) lunar laser ranging data processing techniques to distinguish satellite returns from noise, and (4) angular detection and search techniques to acquire the satellite. A Monte Carlo simulator has been developed to allow optimization of the autotracking algorithms by modeling the relevant system errors and then checking performance against system truth. A combination of simulator and preliminary field results will be presented.

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

    Science.gov (United States)

    Kiencke, Uwe; Nielsen, Lars

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

  17. Alignment of the ALICE Inner Tracking System with cosmic-ray tracks

    NARCIS (Netherlands)

    Aamodt, K.; Chojnacki, M.; Christakoglou, P.; de Haas, A.P.; de Rooij, R. S.; Grelli, A.|info:eu-repo/dai/nl/326052577; Ivan, C.G.|info:eu-repo/dai/nl/304847747; Kamermans, R.|info:eu-repo/dai/nl/073698733; Mischke, A.|info:eu-repo/dai/nl/325781435; Nooren, G.J.L.|info:eu-repo/dai/nl/07051349X; Oskamp, C.J.; Peitzmann, T.|info:eu-repo/dai/nl/304833959; Simili, E.; van den Brink, A.; van Leeuwen, M.|info:eu-repo/dai/nl/250599171; Verweij, M.|info:eu-repo/dai/nl/330542133

    2010-01-01

    ALICE (A Large Ion Collider Experiment) is the LHC (Large Hadron Collider) experiment devoted to investigating the strongly interacting matter created in nucleus-nucleus collisions at the LHC energies. The ALICE ITS, Inner Tracking System, consists of six cylindrical layers of silicon detectors with

  18. A review of dynamic characteristics of magnetically levitated vehicle systems

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Y.; Chen, S.S.

    1995-11-01

    The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, while vehicle stability is an important safety-related element. To design a guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore, the trade-off between guideway smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which reviews various aspects of the dynamic characteristics, experiments and analysis, and design guidelines for maglev systems, discusses vehicle stability, motion dependent magnetic force components, guideway characteristics, vehicle/ guideway interaction, ride quality, suspension control laws, aerodynamic loads and other excitations, and research needs.

  19. Light armoured reconnaissance vehicle system S-LOV-CBRN

    International Nuclear Information System (INIS)

    Tomek, M.; Kare, J.; Cuda, P.; Fisera, O.; Res, B

    2014-01-01

    Light armoured reconnaissance vehicle system S-LOV-CBRN is intended mainly for CBRN reconnaissance and CBRN monitoring of areas of interest. The vehicle is designed to fulfil the missions according to military CBRN scenarios and to support effectively the first responders' teams during their response to the extent CBRN incident.The vehicle is equipped with a chemical (C) and a biological (B) detection system, as well as with a radiation and nuclear (RN) detection system consisting of the control unit with an internal dosimetric probe and of two external ones which are mounted on the right and left side of the vehicle. In this abstract the vehicle system S-LOV-CBRN is shortly described. (authors)

  20. 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.

  1. Intelligent Materials Tracking System for Construction Projects Management

    Directory of Open Access Journals (Sweden)

    Narimah Kasim

    2015-05-01

    Full Text Available An essential factor adversely affecting the performance of construction projects is the improper handling of materials during site activities. In addition, paper-based reports are mostly used to record and exchange information related to the material components within the supply chain, which is problematic and inefficient. Generally, technologies (such as wireless systems and RFID are not being adequately used to overcome human errors and are not well integrated with project management systems to make tracking and management of materials easier and faster. Findings from a literature review and surveys showed that there is a lack of positive examples of such tools having been used effectively. Therefore, this research focused on the development of a materials tracking system that integrates RFID-based materials management with resources modelling to improve on-site materials tracking. Rapid prototyping was used to develop the system and testing of the system was carried out to examine the functionality and working appropriately. The proposed system is intended to promote the employment of RFID for automatic materials tracking with integration of resource modelling (Microsoft (R Office Project in the project management system in order to establish which of the tagged components are required resources for certain project tasks. In conclusion, the system provides an automatic and easy tracking method for managing materials during materials delivery and inventory management processes in construction projects.

  2. Two axes sun tracking system with PLC control

    International Nuclear Information System (INIS)

    Abdallah, Salah; Nijmeh, Salem

    2004-01-01

    In this paper, an electromechanical, two axes sun tracking system is designed and constructed. The programming method of control with an open loop system is employed where the programmable logic controller is used to control the motion of the sun tracking surface. An experimental study was performed to investigate the effect of using two axes tracking on the solar energy collected. The collected energy was measured and compared with that on a fixed surface tilted at 32 deg. towards the south. The results indicate that the measured collected solar energy on the moving surface was significantly larger than that on a fixed surface. The two axes tracking surface showed a better performance with an increase in the collected energy of up to 41.34% compared with the fixed surface

  3. Video-based Chinese Input System via Fingertip Tracking

    Directory of Open Access Journals (Sweden)

    Chih-Chang Yu

    2012-10-01

    Full Text Available In this paper, we propose a system to detect and track fingertips online and recognize Mandarin Phonetic Symbol (MPS for user-friendly Chinese input purposes. Using fingertips and cameras to replace pens and touch panels as input devices could reduce the cost and improve the ease-of-use and comfort of computer-human interface. In the proposed framework, particle filters with enhanced appearance models are applied for robust fingertip tracking. Afterwards, MPS combination recognition is performed on the tracked fingertip trajectories using Hidden Markov Models. In the proposed system, the fingertips of the users could be robustly tracked. Also, the challenges of entering, leaving and virtual strokes caused by video-based fingertip input can be overcome. Experimental results have shown the feasibility and effectiveness of the proposed work.

  4. Review on Automotive Power Generation System on Plug-in Hybrid Electric Vehicles & Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Leong Yap Wee

    2016-01-01

    Full Text Available Regenerative braking is a function to recharge power bank on the Plug-in electric vehicles (PHEV and electric vehicles (EV. The weakness of this system is, it can only perform its function when the vehicle is slowing down or by stepping the brake foot pedal. In other words, the electricity recharging system is inconsistent, non-continuous and geography dependent. To overcome the weakness of the regenerative braking system, it is suggested that to apply another generator which is going to be parallel with the regenerative braking system so that continuous charging can be achieved. Since the ironless electricity generator has a less counter electromotive force (CEMF comparing to an ironcored electricity generator and no cogging torque. Applying the ironless electricity generator parallel to the regenerative braking system is seen one of the options which creates sustainable charging system compared to cored electricity generator.

  5. Remote gaze tracking system for 3D environments.

    Science.gov (United States)

    Congcong Liu; Herrup, Karl; Shi, Bertram E

    2017-07-01

    Eye tracking systems are typically divided into two categories: remote and mobile. Remote systems, where the eye tracker is located near the object being viewed by the subject, have the advantage of being less intrusive, but are typically used for tracking gaze points on fixed two dimensional (2D) computer screens. Mobile systems such as eye tracking glasses, where the eye tracker are attached to the subject, are more intrusive, but are better suited for cases where subjects are viewing objects in the three dimensional (3D) environment. In this paper, we describe how remote gaze tracking systems developed for 2D computer screens can be used to track gaze points in a 3D environment. The system is non-intrusive. It compensates for small head movements by the user, so that the head need not be stabilized by a chin rest or bite bar. The system maps the 3D gaze points of the user onto 2D images from a scene camera and is also located remotely from the subject. Measurement results from this system indicate that it is able to estimate gaze points in the scene camera to within one degree over a wide range of head positions.

  6. Effects of electric vehicles on power systems in Northern Europe

    DEFF Research Database (Denmark)

    Hedegaard, Karsten; Ravn, Hans; Juul, Nina

    2012-01-01

    In this study, it is analysed how a large-scale implementation of plug-in hybrid electric vehicles and battery electric vehicles towards 2030 would influence the power systems of five Northern European countries, Denmark, Finland, Germany, Norway, and Sweden. Increasing shares of electric vehicles...... (EVs) are assumed; comprising 2.5%, 15%, 34%, and 53% of the private passenger vehicle fleet in 2015, 2020, 2025, and 2030, respectively. Results show that when charged/discharged intelligently, EVs can facilitate significantly increased wind power investments already at low vehicle fleet shares....... Moreover, due to vehicle-to-grid capability, EVs can reduce the need for new coal/natural gas power capacities. Wind power can be expected to provide a large share of the electricity for EVs in several of the countries. However, if EVs are not followed up by economic support for renewable energy...

  7. Inductively coupled power systems for electric vehicles: a fourth dimension

    Energy Technology Data Exchange (ETDEWEB)

    Bolger, J G

    1980-09-01

    There are three traditional methods of supplying energy to electric vehicles. The inductively coupled roadway power system is a fourth method that adds important new dimensions to electric-vehicle capabilities. It efficiently transfers power to moving vehicles without physical contact, freeing the electric vehicle from most of the applicational constraints imposed by the other three methods. The single power conductor in the roadway carries several hundred amperes of alternating current. The current causes a weak magnetic flux to circulate through the air above it when a vehicle's power pickup is not present. When a vehicle's pickup is suported over the inductor, a more intense flux circulates through the steel cores in the road and in the pickup. Applications, electrical safety, and present status of the technology are discussed in the paper presented at the St. Louis EXPO '80.

  8. A New Algorithm for ABS/GPS Integration Based on Fuzzy-Logic in Vehicle Navigation System

    Directory of Open Access Journals (Sweden)

    Ali Amin Zadeh

    2011-10-01

    Full Text Available GPS based vehicle navigation systems have difficulties in tracking vehicles in urban canyons due to poor satellite availability. ABS (Antilock Brake System Navigation System consists of self-contained optical encoders mounted on vehicle wheels that can continuously provide accurate short-term positioning information. In this paper, a new concept regarding GPS/ABS integration, based on Fuzzy Logic is presented. The proposed algorithm is used to identify GPS position accuracy based on environment and vehicle dynamic knowledge. The GPS is used as reference during the time it is in a good condition and replaced by ABS positioning system when GPS information is unreliable. We compare our proposed algorithm with other common algorithm in real environment. Our results show that the proposed algorithm can significantly improve the stability and reliability of ABS/GPS navigation system.

  9. Sand and Dust Testing of Wheeled and Tracked Vehicles and Stationary Equipment

    Science.gov (United States)

    2009-11-18

    Vacuum pump Flow meter Measurement of dust mass ±2 percent ±4 percent ±0.0005 g Weight of air cleaner element ±0.5 percent (Total estimated error...samplers should be set to a flow rate that is isokinetic ) on the front of the vehicle, in the center of the grill or windshield, or the center of...3) Record the test bed vehicle odometer and hour meter reading. (4) Document the condition of the vehicle interior, exterior, and all

  10. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    International Nuclear Information System (INIS)

    Gering, Stefan; Adamy, Jürgen

    2014-01-01

    Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis

  11. Photovoltaic System with Smart Tracking of the Optimal Working Point

    Directory of Open Access Journals (Sweden)

    PATARAU, T.

    2010-08-01

    Full Text Available A photovoltaic (PV system, based on a Maximum Power Point Tracking (MPPT controller that extracts the maximum possible output power from the solar panel is described. Output efficiency of a PV energy system can be achieved only if the system working point is brought near the maximum power point (MPP. The proposed system, making use of several MPPT control algorithms (Perturb and Observe, Incremental conductance, Fuzzy Logic, demonstrates in simulations as well as in real experiments good tracking of the optimal working point.

  12. Reconfigurable materials handling system incorporating part tracking, routing and scheduling

    CSIR Research Space (South Africa)

    Naidu, P

    2006-07-01

    Full Text Available . Transmission range of 10m-30m indoors is common. RFID is a commonly available system which uses either low-cost passive Radio tags, or higher cost active tags, that an RF receiver can then read. An RFID system comprises of a reader, its associated antenna...]. 3. Proposed Tracking System The proposed tracking system consists of a two phases. In the first phase a passive radio frequency (RF) tag is read by a RF reader. In the second phase the information obtained from the reader is wirelessly...

  13. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    Science.gov (United States)

    Gering, Stefan; Adamy, Jürgen

    2014-12-01

    Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.

  14. Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

    Directory of Open Access Journals (Sweden)

    Daisuke Endo

    2017-01-01

    Full Text Available In search-and-rescue missions, multi-degrees-of-freedom (DOF tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

  15. Tracking strategy for photovoltaic solar systems in high latitudes

    International Nuclear Information System (INIS)

    Quesada, Guillermo; Guillon, Laura; Rousse, Daniel R.; Mehrtash, Mostafa; Dutil, Yvan; Paradis, Pierre-Luc

    2015-01-01

    Highlights: • In cloudy conditions tracking the sun is ineffective. • A methodology to estimate a theoretical threshold for solar tracking was developed. • A tracking strategy to maximize electricity production was proposed. - Abstract: Several studies show that from about 20% to 50% more solar energy can be recovered by using photovoltaic systems that track the sun rather than systems set at a fixed angle. For overcast or cloudy days, recent studies propose the use of a set position in which each photovoltaic panel faces toward the zenith (horizontal position). Compared to a panel that follows the sun’s path, this approach claims that a horizontal panel increases the amount of solar radiation captured and subsequently the quantity of electricity produced. The present work assesses a solar tracking photovoltaic panel hourly and seasonally in high latitudes. A theoretical method based on an isotropic sky model was formulated, implemented, and used in a case study analysis of a grid-connected photovoltaic system in Montreal, Canada. The results obtained, based on the definition of a critical hourly global solar radiation, were validated numerically and experimentally. The study confirmed that a zenith-set sun tracking strategy for overcast or mostly cloudy days in summer is not advantageous

  16. Ride performance of a high speed rail vehicle using controlled semi active suspension system

    Science.gov (United States)

    Sharma, Sunil Kumar; Kumar, Anil

    2017-05-01

    The rail-wheel interaction in a rail vehicle running at high speed results in large amplitude vibration of carbody that deteriorates the ride comfort of travellers. The role of suspension system is crucial to provide an acceptable level of ride performance. In this context, an existing rail vehicle is modelled in vertical, pitch and roll motions of carbody and bogies. Additionally, nonlinear stiffness and damping parameters of passive suspension system are defined based on experimental data. In the secondary vertical suspension system, a magneto-rheological (MR) damper is included to improve the ride quality and comfort. The parameters of MR damper depend on the current, amplitude and frequency of excitations. At different running speeds, three semi-active suspension strategies with MR damper are analysed for periodic track irregularity and the resulting performance indices are juxtaposed with the nonlinear passive suspension system. The disturbance rejection and force tracking damper controller algorithms are applied to control the desired force of MR damper. This study reveals that the vertical vibrations of a vehicle can be reduced significantly by using the proposed semi-active suspension strategies. Moreover, it naturally results in improved ride quality and passenger’s comfort in comparison to the existing passive system.

  17. Accurate Vehicle Location System Using RFID, an Internet of Things Approach

    Science.gov (United States)

    Prinsloo, Jaco; Malekian, Reza

    2016-01-01

    Modern infrastructure, such as dense urban areas and underground tunnels, can effectively block all GPS signals, which implies that effective position triangulation will not be achieved. The main problem that is addressed in this project is the design and implementation of an accurate vehicle location system using radio-frequency identification (RFID) technology in combination with GPS and the Global system for Mobile communication (GSM) technology, in order to provide a solution to the limitation discussed above. In essence, autonomous vehicle tracking will be facilitated with the use of RFID technology where GPS signals are non-existent. The design of the system and the results are reflected in this paper. An extensive literature study was done on the field known as the Internet of Things, as well as various topics that covered the integration of independent technology in order to address a specific challenge. The proposed system is then designed and implemented. An RFID transponder was successfully designed and a read range of approximately 31 cm was obtained in the low frequency communication range (125 kHz to 134 kHz). The proposed system was designed, implemented, and field tested and it was found that a vehicle could be accurately located and tracked. It is also found that the antenna size of both the RFID reader unit and RFID transponder plays a critical role in the maximum communication range that can be achieved. PMID:27271638

  18. Accurate Vehicle Location System Using RFID, an Internet of Things Approach.

    Science.gov (United States)

    Prinsloo, Jaco; Malekian, Reza

    2016-06-04

    Modern infrastructure, such as dense urban areas and underground tunnels, can effectively block all GPS signals, which implies that effective position triangulation will not be achieved. The main problem that is addressed in this project is the design and implementation of an accurate vehicle location system using radio-frequency identification (RFID) technology in combination with GPS and the Global system for Mobile communication (GSM) technology, in order to provide a solution to the limitation discussed above. In essence, autonomous vehicle tracking will be facilitated with the use of RFID technology where GPS signals are non-existent. The design of the system and the results are reflected in this paper. An extensive literature study was done on the field known as the Internet of Things, as well as various topics that covered the integration of independent technology in order to address a specific challenge. The proposed system is then designed and implemented. An RFID transponder was successfully designed and a read range of approximately 31 cm was obtained in the low frequency communication range (125 kHz to 134 kHz). The proposed system was designed, implemented, and field tested and it was found that a vehicle could be accurately located and tracked. It is also found that the antenna size of both the RFID reader unit and RFID transponder plays a critical role in the maximum communication range that can be achieved.

  19. Accurate Vehicle Location System Using RFID, an Internet of Things Approach

    Directory of Open Access Journals (Sweden)

    Jaco Prinsloo

    2016-06-01

    Full Text Available Modern infrastructure, such as dense urban areas and underground tunnels, can effectively block all GPS signals, which implies that effective position triangulation will not be achieved. The main problem that is addressed in this project is the design and implementation of an accurate vehicle location system using radio-frequency identification (RFID technology in combination with GPS and the Global system for Mobile communication (GSM technology, in order to provide a solution to the limitation discussed above. In essence, autonomous vehicle tracking will be facilitated with the use of RFID technology where GPS signals are non-existent. The design of the system and the results are reflected in this paper. An extensive literature study was done on the field known as the Internet of Things, as well as various topics that covered the integration of independent technology in order to address a specific challenge. The proposed system is then designed and implemented. An RFID transponder was successfully designed and a read range of approximately 31 cm was obtained in the low frequency communication range (125 kHz to 134 kHz. The proposed system was designed, implemented, and field tested and it was found that a vehicle could be accurately located and tracked. It is also found that the antenna size of both the RFID reader unit and RFID transponder plays a critical role in the maximum communication range that can be achieved.

  20. GPS-based tracking system for TOPEX orbit determination

    Science.gov (United States)

    Melbourne, W. G.

    1984-01-01

    A tracking system concept is discussed that is based on the utilization of the constellation of Navstar satellites in the Global Positioning System (GPS). The concept involves simultaneous and continuous metric tracking of the signals from all visible Navstar satellites by approximately six globally distributed ground terminals and by the TOPEX spacecraft at 1300-km altitude. Error studies indicate that this system could be capable of obtaining decimeter position accuracies and, most importantly, around 5 cm in the radial component which is key to exploiting the full accuracy potential of the altimetric measurements for ocean topography. Topics covered include: background of the GPS, the precision mode for utilization of the system, past JPL research for using the GPS in precision applications, the present tracking system concept for high accuracy satellite positioning, and results from a proof-of-concept demonstration.

  1. Wireless IR Image Transfer System for Autonomous Vehicles

    Science.gov (United States)

    2003-12-01

    the camera can operate between 0 and 500 C; this uniquely suites it for employment on autonomous vehicles in rugged environments. The camera is...system is suitable for used on autonomous vehicles under varying antenna orientations. • The third is the use of MDS transceivers allows the received

  2. NGSI: Function Requirements for a Cylinder Tracking System

    International Nuclear Information System (INIS)

    Branney, S.

    2012-01-01

    While nuclear suppliers currently track uranium hexafluoride (UF 6 ) cylinders in various ways, for their own purposes, industry practices vary significantly. The NNSA Office of Nonproliferation and International Security's Next Generation Safeguards Initiative (NGSI) has begun a 5-year program to investigate the concept of a global monitoring scheme that uniquely identifies and tracks UF 6 cylinders. As part of this effort, NGSI's multi-laboratory team has documented the 'life of a UF 6 cylinder' and reviewed IAEA practices related to UF 6 cylinders. Based on this foundation, this paper examines the functional requirements of a system that would uniquely identify and track UF 6 cylinders. There are many considerations for establishing a potential tracking system. Some of these factors include the environmental conditions a cylinder may be expected to be exposed to, where cylinders may be particularly vulnerable to diversion, how such a system may be integrated into the existing flow of commerce, how proprietary data generated in the process may be protected, what a system may require in terms of the existing standard for UF 6 cylinder manufacture or modifications to it and what the limiting technology factors may be. It is desirable that a tracking system should provide benefit to industry while imposing as few additional constraints as possible and still meeting IAEA safeguards objectives. This paper includes recommendations for this system and the analysis that generated them.

  3. Simulation of an advanced small aperture track system

    Science.gov (United States)

    Williams, Tommy J.; Crockett, Gregg A.; Brunson, Richard L.; Beatty, Brad; Zahirniak, Daniel R.; Deuto, Bernard G.

    2001-08-01

    Simulation development for EO Systems has progressed to new levels with the advent of COTS software tools such as Matlab/Simulink. These tools allow rapid reuse of simulation library routines. We have applied these tools to newly emerging Acquisition Tracking and Pointing (ATP) systems using many routines developed through a legacy to High Energy Laser programs such as AirBorne Laser, Space Based Laser, Tactical High Energy Laser, and The Air Force Research Laboratory projects associated with the Starfire Optical Range. The simulation architecture allows ease in testing various track algorithms under simulated scenes with the ability to rapidly vary system hardware parameters such as track sensor and track loop control systems. The atmospheric turbulence environment and associated optical distortion is simulated to high fidelity levels through the application of an atmospheric phase screen model to produce scintillation of the laser illuminator uplink. The particular ATP system simulated is a small transportable system for tracking satellites in a daytime environment and projects a low power laser and receives laser return from retro-reflector equipped satellites. The primary application of the ATP system (and therefore the simulation) is the determination of the illuminator beam profile, jitter, and scintillation of the low power laser at the satellite. The ATP system will serve as a test bed for satellite tracking in a high background during daytime. Of particular interest in this simulation is the ability to emulate the hardware modelogic within the simulation to test and refine system states and mode change decisions. Additionally, the simulation allows data from the hardware system tests to be imported into Matlab and to thereby drive the simulation or to be easily compared to simulation results.

  4. AFSC/ABL: Autonomous underwater vehicle for tracking acoustically-tagged fish 2010

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Autonomous underwater vehicles (AUVs) are increasingly being used to collect physical, chemical, and biological information in the marine environment. Recent efforts...

  5. Vehicle recognition and tracking using a generic multi-sensor and multi-algorithm fusion approach

    OpenAIRE

    Nashashibi , Fawzi; Khammari , Ayoub; Laurgeau , Claude

    2008-01-01

    International audience; This paper tackles the problem of improving the robustness of vehicle detection for Adaptive Cruise Control (ACC) applications. Our approach is based on a multisensor and a multialgorithms data fusion for vehicle detection and recognition. Our architecture combines two sensors: a frontal camera and a laser scanner. The improvement of the robustness stems from two aspects. First, we addressed the vision-based detection by developing an original approach based on fine gr...

  6. Desain Kontrol Tracking Underactuated Autonomous Underwater Vehicle (AUV dengan Pengaruh Gangguan Arus Laut

    Directory of Open Access Journals (Sweden)

    Ilmi Rizki I

    2016-11-01

    Full Text Available Paper ini membahas masalah gerak AUV pada bidang horizontal yang dipengaruhi oleh arah sudut yaw. Arah sudut yaw merupakan ukuran utama dalam mengatur gerak horizontal pada AUV. Pengaturan gerak pada AUV berupa perubahan arah sudut yaw merupakan permasalahan kontrol tracking AUV. Kontrol tracking pada paper ini digunakan untuk kebutuhan heading control. Heading control tersebut digunakan untuk mengatur arah sudut yaw AUV agar sesuai dengan sinyal referensi yaw yang diberikan. Kompleksitas dalam mendesain heading control akibat karakteristik-karakteristik dari dinamika AUV yang high nonlinear dan uncertainty parameter yang ditentukan oleh hydrodynamic forces dan environmental forces berupa gangguan ocean current menjadi permasalahan yang tidak mudah dipecahkan. Oleh karena itu dibutuhkan sebuah metode untuk mengatasi permasalahan tersebut, yaitu menggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT. Algoritma ini menghitung perubahan permasalahan tracking pada sudut yaw dan dapat mengatasi gangguan ocean current melalui perhitungan perubahan parameter dari AUV secara online melalui algebraic Riccati equation.sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri, termasuk perubahan parameter akibat gangguan berupa ocean current. Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan mampu membawa sudut yaw pada nilai yang diharapkan dan gangguan arus dapat diatasi dengan memberikan nilai sinyal kontrol yang baru secara online, sehingga AUV dapat melakukan  tracking secara otomatis pada kondisi ada atau tanpa gangguan ocean current dengan dengan nilai error steady state . Kata kunci — AUV, Tracking Control, SDRE-LQT, Ocean Current Disturbance

  7. A PEMFC hybrid electric vehicle real time control system

    Science.gov (United States)

    Sun, Hongqiao

    In recent years, environmental friendly technologies and alternative energy solutions have drawn a lot of public attentions due to global energy crisis and pollution issues. Fuel cell (FC), a technology invented almost at the same time as the internal combustion (IC) engine, is now the focus of the automotive industry again. The fuel cell vehicle (FCV) has zero emission and its efficiency is significantly higher than the conventional IC engine power vehicles. Among a variety of FCV technologies, proton exchange membrane (PEM) FC vehicle appears to be far more attractive and mature. The prototype PEMFC vehicle has been developed and demonstrated to the public by nearly all the major automotive manufacturers in recent years. However, to the interest of the public research, publications and documentations on the PEMFC vehicle technology are rarely available due to its proprietary nature, which essentially makes it a secured technology. This dissertation demonstrates a real world application of a PEMFC hybrid electric vehicle. Through presenting the vehicle design concept, developing the real time control system and generating generic operation principles, this dissertation targets at establishing the public knowledge base on this new technology. A complete PEMFC hybrid electric vehicle design, including vehicle components layout, process flow diagram, real time control system architecture, subsystem structures and control algorithms, is presented in order to help understand the whole vehicle system. The design concept is validated through the vehicle demonstration. Generic operating principles are established along with the validation process, which helps populate this emerging technology. Thereafter, further improvements and future research directions are discussed.

  8. Advanced Range Safety System for High Energy Vehicles

    Science.gov (United States)

    Claxton, Jeffrey S.; Linton, Donald F.

    2002-01-01

    The advanced range safety system project is a collaboration between the National Aeronautics and Space Administration and the United States Air Force to develop systems that would reduce costs and schedule for safety approval for new classes of unmanned high-energy vehicles. The mission-planning feature for this system would yield flight profiles that satisfy the mission requirements for the user while providing an increased quality of risk assessment, enhancing public safety. By improving the speed and accuracy of predicting risks to the public, mission planners would be able to expand flight envelopes significantly. Once in place, this system is expected to offer the flexibility of handling real-time risk management for the high-energy capabilities of hypersonic vehicles including autonomous return-from-orbit vehicles and extended flight profiles over land. Users of this system would include mission planners of Space Launch Initiative vehicles, space planes, and other high-energy vehicles. The real-time features of the system could make extended flight of a malfunctioning vehicle possible, in lieu of an immediate terminate decision. With this improved capability, the user would have more time for anomaly resolution and potential recovery of a malfunctioning vehicle.

  9. 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.

  10. 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.

  11. The Siegen automatic measuring system for track detectors: new developments

    International Nuclear Information System (INIS)

    Rusch, G.; Winkel, E.; Noll, A.; Heinrich, W.

    1991-01-01

    Starting twelve years ago we have developed completely automatic scanning and measuring systems for nuclear track detectors. The hardware and software of these systems have continuously been improved. They were used in different heavy ion and cosmic ray experiments. In this paper we describe methods for high resolution REL measurements in plastic nuclear track detectors and methods to scan and measure nuclear disintegration stars in AgCl detectors using an automatic measuring technique. The system uses a stepping motor driven microscope stage, a video camera and an image analysis computer based on a MC68020 microprocessor. (author)

  12. Developing an electronic system to manage and track emergency medications.

    Science.gov (United States)

    Hamm, Mark W; Calabrese, Samuel V; Knoer, Scott J; Duty, Ashley M

    2018-03-01

    The development of a Web-based program to track and manage emergency medications with radio frequency identification (RFID) is described. At the Cleveland Clinic, medication kit restocking records and dispense locations were historically documented using a paper record-keeping system. The Cleveland Clinic investigated options to replace the paper-based tracking logs with a Web-based program that could track the real-time location and inventory of emergency medication kits. Vendor collaboration with a board of pharmacy (BOP) compliance inspector and pharmacy personnel resulted in the creation of a dual barcoding system using medication and pocket labels. The Web-based program was integrated with a Cleveland Clinic-developed asset tracking system using active RFID tags to give the real-time location of the medication kit. The Web-based program and the asset tracking system allowed identification of kits nearing expiration or containing recalled medications. Conversion from a paper-based system to a Web-based program began in October 2013. After 119 days, data were evaluated to assess the success of the conversion. Pharmacists spent an average of 27 minutes per day approving medication kits during the postimplementation period versus 102 minutes daily using the paper-based system, representing a 74% decrease in pharmacist time spent on this task. Prospective reports are generated monthly to allow the manager to assess the expected workload and adjust staffing for the next month. Implementation of a BOP-approved Web-based system for managing and tracking emergency medications with RFID integration decreased pharmacist review time, minimized compliance risk, and increased access to real-time data. Copyright © 2018 by the American Society of Health-System Pharmacists, Inc. All rights reserved.

  13. Thinking tracks for multidisciplinary system design

    NARCIS (Netherlands)

    Bonnema, Gerrit Maarten; Broenink, Johannes F.

    2016-01-01

    Systems engineering is, for a large part, a process description of how to bring new systems to existence. It is valuable as it directs the development effort. Tools exist that can be used in this process. System analysis investigates existing and/or desired situations. However, how to create a

  14. Influence of slab length on dynamic characteristics of subway train-steel spring floating slab track-tunnel coupled system

    Directory of Open Access Journals (Sweden)

    Qing-yuan Xu

    Full Text Available A subway train-steel spring floating slab track-tunnel coupling dynamic model, considering short and middle-long wavelength random track irregularities, and longitudinal connection between adjacent slabs of steel spring floating slab track, was developed. And the influence of slab length on dynamic characteristics of the system under different track conditions and train speeds are theoretically studied. The calculated results show: (1 In general, the acceleration of each component of the coupled system decreases with the increase of slab length under the perfectly smooth track condition; (2 Slab length has different influence laws on acceleration of each component of subway train-steel spring floating slab track-tunnel coupled system under random irregularity of track condition. The lower the dominant frequency distribution of vibration acceleration is, the higher influence slab length has; (3 With the increase of slab length, the force of rail, fastener and steel spring also decreases significantly, which helps to lengthen the service life of these components; (4 With the increase of slab length, the longitudinal bending moment of slab increases sharply at first, then it begins to drop slightly. When slab length exceeds the distance between two bogies of a vehicle, the longitudinal bending moment of slab changes little; (5 Slab length has significant influence on the dynamic force and displacement of the coupled system when train speed is higher.

  15. Knowledge-based fault diagnosis system for refuse collection vehicle

    International Nuclear Information System (INIS)

    Tan, CheeFai; Juffrizal, K.; Khalil, S. N.; Nidzamuddin, M. Y.

    2015-01-01

    The refuse collection vehicle is manufactured by local vehicle body manufacturer. Currently; the company supplied six model of the waste compactor truck to the local authority as well as waste management company. The company is facing difficulty to acquire the knowledge from the expert when the expert is absence. To solve the problem, the knowledge from the expert can be stored in the expert system. The expert system is able to provide necessary support to the company when the expert is not available. The implementation of the process and tool is able to be standardize and more accurate. The knowledge that input to the expert system is based on design guidelines and experience from the expert. This project highlighted another application on knowledge-based system (KBS) approached in trouble shooting of the refuse collection vehicle production process. The main aim of the research is to develop a novel expert fault diagnosis system framework for the refuse collection vehicle

  16. Knowledge-based fault diagnosis system for refuse collection vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Tan, CheeFai; Juffrizal, K.; Khalil, S. N.; Nidzamuddin, M. Y. [Centre of Advanced Research on Energy, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka (Malaysia)

    2015-05-15

    The refuse collection vehicle is manufactured by local vehicle body manufacturer. Currently; the company supplied six model of the waste compactor truck to the local authority as well as waste management company. The company is facing difficulty to acquire the knowledge from the expert when the expert is absence. To solve the problem, the knowledge from the expert can be stored in the expert system. The expert system is able to provide necessary support to the company when the expert is not available. The implementation of the process and tool is able to be standardize and more accurate. The knowledge that input to the expert system is based on design guidelines and experience from the expert. This project highlighted another application on knowledge-based system (KBS) approached in trouble shooting of the refuse collection vehicle production process. The main aim of the research is to develop a novel expert fault diagnosis system framework for the refuse collection vehicle.

  17. Vehicle Remote Health Monitoring and Prognostic Maintenance System

    Directory of Open Access Journals (Sweden)

    Uferah Shafi

    2018-01-01

    Full Text Available In many industries inclusive of automotive vehicle industry, predictive maintenance has become more important. It is hard to diagnose failure in advance in the vehicle industry because of the limited availability of sensors and some of the designing exertions. However with the great development in automotive industry, it looks feasible today to analyze sensor’s data along with machine learning techniques for failure prediction. In this article, an approach is presented for fault prediction of four main subsystems of vehicle, fuel system, ignition system, exhaust system, and cooling system. Sensor is collected when vehicle is on the move, both in faulty condition (when any failure in specific system has occurred and in normal condition. The data is transmitted to the server which analyzes the data. Interesting patterns are learned using four classifiers, Decision Tree, Support Vector Machine, K Nearest Neighbor, and Random Forest. These patterns are later used to detect future failures in other vehicles which show the similar behavior. The approach is produced with the end goal of expanding vehicle up-time and was demonstrated on 70 vehicles of Toyota Corolla type. Accuracy comparison of all classifiers is performed on the basis of Receiver Operating Characteristics (ROC curves.

  18. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

    Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

    2001-01-01

    A vehicle system controller (20) is presented for a LSR parallel hybrid electric vehicle having an engine (10), a motor (12), wheels (14), a transmission (16) and a battery (18). The vehicle system controller (20) has a state machine having a plurality of predefined states (22-32) that represent operating modes for the vehicle. A set of rules is defined for controlling the transition between any two states in the state machine. The states (22-32) are prioritized according to driver demands, energy management concerns and system fault occurrences. The vehicle system controller (20) controls the transitions from a lower priority state to a higher priority state based on the set of rules. In addition, the vehicle system controller (20) will control a transition to a lower state from a higher state when the conditions no longer warrant staying in the current state. A unique set of output commands is defined for each state for the purpose of controlling lower level subsystem controllers. These commands serve to achieve the desire vehicle functionality within each state and insure smooth transitions between states.

  19. Alignment of the ALICE Inner Tracking System with cosmic-ray tracks

    CERN Document Server

    Aamodt, K; Abeysekara, U; Abrahantes Quintana, A; Adamová, D; Aggarwal, M M; Aglieri Rinella, G; Agocs, A G; Aguilar Salazar, S; Ahammed, Z; Ahmad, A; Ahmad, N; Ahn, S U; Akimoto, R; Akindinov, A; Aleksandrov, D; Alessandro, B; Alfaro Molina, R; Alici, A; Almaráz Aviña, E; Alme, J; Altini, V; Altinpinar, S; Alt, T; Andrei, C; Andronic, A; Anelli, G; Angelov, V; Anson, C; Anticic, T; Antinori, F; Antinori, S; Antipin, K; Antonczyk, D; Antonioli, P; Anzo, A; Aphecetche, L; Appelshäuser, H; Arcelli, S; Arceo, R; Arend, A; Armesto, N; Arnaldi, R; Aronsson, T; Arsene, I C; Asryan, A; Augustinus, A; Averbeck, R; Awes, T C; Äystö, J; Azmi, M D; Bablok, S; Bach, M; Badalà, A; Baek, Y W; Bagnasco, S; Bailhache, R; Bala, R; Baldisseri, A; Baldit, A; Bán, J; Barbera, R; Barile, F; Barnaföldi, G G; Barnby, L; Barret, V; Bartke, J; Basile, M; Basmanov, V; Bastid, N; Bathen, B; Batigne, G; Batyunya, B; Baumann, C; Bearden, I G; Becker, B; Belikov, I; Bellwied, R; Belmont-Moreno, E; Belogianni, A; Benhabib, L; Beolé, S; Berceanu, I; Bercuci, A; Berdermann, E; Berdnikov, Y; Betev, L; Bhasin, A; Bhati, A K; Bianchi, L; Bianchin, C; Bianchi, N; Bielcík, J; Bielcíková, J; Bilandzic, A; Bimbot, L; Biolcati, E; Blanc, A; Blanco, F; Blanco, F; Blau, D; Blume, C; Boccioli, M; Bock, N; Bogdanov, A; Bøggild, H; Bogolyubsky, M; Bohm, J; Boldizsár, L; Bombara, M; Bombonati, C; Bondila, M; Borel, H; Borshchov, V; Bortolin, C; Bose, S; Bosisio, L; Bossú, F; Botje, M; Böttger, S; Bourdaud, G; Boyer, B; Braun, M; Braun-Munzinger, P; Bravina, L; Bregant, M; Breitner, T; Bruckner, G; Bruna, E; Bruno, G E; Brun, R; Budnikov, D; Buesching, H; Bugaev, K; Buncic, P; Busch, O; Buthelezi, Z; Caffarri, D; Caines, H; Cai, X; Camacho, E; Camerini, P; Campbell, M; Canoa Roman, V; Capitani, G P; Cara Romeo, G; Carena, F; Carena, W; Carminati, F; Casanova Díaz, A; Caselle, M; Castillo Castellanos, J; Castillo Hernandez, J F; Catanescu, V; Cattaruzza, E; Cavicchioli, C; Cerello, P; Chambert, V; Chang, B; Chapeland, S; Charpy, A; Charvet, J L; Chattopadhyay, S; Chattopadhyay, S; Cherney, M; Cheshkov, C; Cheynis, B; Chiavassa, E; Chibante Barroso, V; Chinellato, D D; Chochula, P; Choi, K; Chojnacki, M; Christakoglou, P; Christensen, C H; Christiansen, P; Chujo, T; Chuman, F; Cicalo, C; Cifarelli, L; Cindolo, F; Cleymans, J; Cobanoglu, O; Coffin, J P; Coli, S; Colla, A; Conesa Balbastre, G; Conesa del Valle, Z; Conner, E S; Constantin, P; Contin, G; Contreras, J G; Cormier, T M; Corrales Morales, Y; Cortese, P; Cortés Maldonado, I; Cosentino, M R; Costa, F; Cotallo, M E; Crescio, E; Crochet, P; Cuautle, E; Cunqueiro, L; Cussonneau, J; Dainese, A; Dalsgaard, H H; Danu, A; Dash, A; Dash, S; Das, I; Das, S; de Barros, G O V; De Caro, A; de Cataldo, G; de Cuveland, J; De Falco, A; De Gaspari, M; de Groot, J; De Gruttola, D; de Haas, A P; De Marco, N; De Pasquale, S; De Remigis, R; de Rooij, R; de Vaux, G; Delagrange, H; Dellacasa, G; Deloff, A; Demanov, V; Dénes, E; Deppman, A; D'Erasmo, G; Derkach, D; Devaux, A; Di Bari, D; Di Giglio, C; Di Liberto, S; Di Mauro, A; Di Nezza, P; Dialinas, M; Díaz, L; Díaz, R; Dietel, T; Ding, H; Divià, R; Djuvsland, Ø; do Amaral Valdiviesso, G; Dobretsov, V; Dobrin, A; Dobrowolski, T; Dönigus, B; Domínguez, I; Dordic, O; Dubey, A K; Dubuisson, J; Ducroux, L; Dupieux, P; Dutta Majumdar, A K; Dutta Majumdar, M R; Elia, D; Emschermann, D; Enokizono, A; Espagnon, B; Estienne, M; Evans, D; Evrard, S; Eyyubova, G; Fabjan, C W; Fabris, D; Faivre, J; Falchieri, D; Fantoni, A; Fasel, M; Fearick, R; Fedunov, A; Fehlker, D; Fekete, V; Felea, D; Fenton-Olsen, B; Feofilov, G; Fernández Téllez, A; Ferreiro, E G; Ferretti, A; Ferretti, R; Figueredo, M A S; Filchagin, S; Fini, R; Fionda, F M; Fiore, E M; Floris, M; Fodor, Z; Foertsch, S; Foka, P; Fokin, S; Formenti, F; Fragiacomo, E; Fragkiadakis, M; Frankenfeld, U; Frolov, A; Fuchs, U; Furano, F; Furget, C; Fusco Girard, M; Gaardhøje, J J; Gadrat, S; Gagliardi, M; Gago, A; Gallio, M; Ganoti, P; Ganti, M S; Garabatos, C; García Trapaga, C; Gebelein, J; Gemme, R; Germain, M; Gheata, A; Gheata, M; Ghidini, B; Ghosh, P; Giraudo, G; Giubellino, P; Gladysz-Dziadus, E; Glasow, R; Glässel, P; Glenn, A; Gomez, R; González Santos, H; González-Trueba, L H; González-Zamora, P; Gorbunov, S; Gorbunov, Y; Gotovac, S; Gottschlag, H; Grabski, V; Grajcarek, R; Grelli, A; Grigoras, A; Grigoras, C; Grigoriev, V; Grigoryan, A; Grinyov, B; Grion, N; Gros, P; Grosse-Oetringhaus, J F; Grossiord, J Y; Grosso, R; Guarnaccia, C; Guber, F; Guernane, R; Guerzoni, B; Gulbrandsen, K; Gulkanyan, H; Gunji, T; Gupta, A; Gupta, R; Gustafsson, H A; Gutbrod, H; Haaland, Ø; Hadjidakis, C; Haiduc, M; Hamagaki, H; Hamar, G; Hamblen, J; Han, B H; Harris, J W; Hartig, M; Harutyunyan, A; Hasch, D; Hasegan, D; Hatzifotiadou, D; Hayrapetyan, A; Heide, M; Heinz, M; Helstrup, H; Herghelegiu, A; Hernández, C; Herrera Corral, G; Herrmann, N; Hetland, K F; Hicks, B; Hiei, A; Hille, P T; Hippolyte, B; Horaguchi, T; Hori, Y; Hristov, P; Hrivnácová, I; Huber, S; Humanic, T J; Hu, S; Hutter, D; Hwang, D S; Ichou, R; Ilkaev, R; Ilkiv, I; Innocenti, P G; Ippolitov, M; Irfan, M; Ivan, C; Ivanov, A; Ivanov, M; Ivanov, V; Iwasaki, T; Jachokowski, A; Jacobs, P; Jancurová, L; Jangal, S; Janik, R; Jayananda, K; Jena, C; Jena, S; Jirden, L; Jones, G T; Jones, P G; Jovanovic, P; Jung, H; Jung, W; Jusko, A; Kaidalov, A B; Kalcher, S; Kalinák, P; Kalliokoski, T; Kalweit, A; Kamal, A; Kamermans, R; Kanaki, K; Kang, E; Kang, J H; Kapitan, J; Kaplin, V; Kapusta, S; Karavicheva, T; Karpechev, E; Kazantsev, A; Kebschull, U; Keidel, R; Khan, M M; Khan, S A; Khanzadeev, A; Kharlov, Y; Kikola, D; Kileng, B; Kim, D J; Kim, D S; Kim, D W; Kim, H N; Kim, J H; Kim, J; Kim, J S; Kim, M; Kim, M; Kim, S H; Kim, S; Kim, Y; Kirsch, S; Kiselev, S; Kisel, I; Kisiel, A; Klay, J L; Klein-Bösing, C; Klein, J; Kliemant, M; Klovning, A; Kluge, A; Kniege, S; Koch, K; Kolevatov, R; Kolojvari, A; Kondratiev, V; Kondratyeva, N; Konevskih, A; Kornas, E; Kour, R; Kowalski, M; Kox, S; Kozlov, K; Králik, I; Kral, J; Kramer, F; Kraus, I; Kravcáková, A; Krawutschke, T; Krivda, M; Krumbhorn, D; Krus, M; Kryshen, E; Krzewicki, M; Kucheriaev, Y; Kuhn, C; Kuijer, P G; Kumar, L; Kumar, N; Kupczak, R; Kurashvili, P; Kurepin, A; Kurepin, A N; Kuryakin, A; Kushpil, S; Kushpil, V; Kutouski, M; Kvaerno, H; Kweon, M J; Kwon, Y; Lackner, F; Ladrón de Guevara, P; Lafage, V; Lal, C; Lara, C; La Rocca, P; Larsen, D T; Laurenti, G; Lazzeroni, C; Le Bornec, Y; Le Bris, N; Lee, H; Lee, K S; Lee, S C; Lefèvre, F; Lehnert, J; Leistam, L; Lenhardt, M; Lenti, V; León, H; León Monzón, I; León Vargas, H; Lévai, P; Lietava, R; Lindal, S; Lindenstruth, V; Lippmann, C; Lisa, M A; Listratenko, O; Liu, L; Li, Y; Loginov, V; Lohn, S; López Noriega, M; López-Ramírez, R; López Torres, E; Lopez, X; Løvhøiden, G; Lozea Feijo Soares, A; Lunardon, M; Luparello, G; Luquin, L; Lu, S; Lutz, J R; Luvisetto, M; Madagodahettige-Don, D M; Maevskaya, A; Mager, M; Mahajan, A; Mahapatra, D P; Maire, A; Makhlyueva, I; Ma, K; Malaev, M; Maldonado Cervantes, I; Malek, M; Mal'Kevich, D; Malkiewicz, T; Malzacher, P; Mamonov, A; Manceau, L; Mangotra, L; Manko, V; Manso, F; Manzari, V; Mao, Y; Mares, J; Margagliotti, G V; Margotti, A; Marín, A; Martashvili, I; Martinengo, P; Martínez Davalos, A; Martínez García, G; Martínez, M I; Maruyama, Y; Ma, R; Marzari Chiesa, A; Masciocchi, S; Masera, M; Masetti, M; Masoni, A; Massacrier, L; Mastromarco, M; Mastroserio, A; Matthews, Z L; Mattos Tavares, B; Matyja, A; Mayani, D; Mazza, G; Mazzoni, M A; Meddi, F; Menchaca-Rocha, A; Mendez Lorenzo, P; Meoni, M; Mercado Pérez, J; Mereu, P; Miake, Y; Michalon, A; Miftakhov, N; Milosevic, J; Minafra, F; Mischke, A; Miskowiec, D; Mitu, C; Mizoguchi, K; Mlynarz, J; Mohanty, B; Molnar, L; Mondal, M M; Montaño Zetina, L; Monteno, M; Montes, E; Morando, M; Moretto, S; Morsch, A; Moukhanova, T; Muccifora, V; Mudnic, E; Muhuri, S; Müller, H; Munhoz, M G; Munoz, J; Musa, L; Musso, A; Nandi, B K; Nania, R; Nappi, E; Navach, F; Navin, S; Nayak, T K; 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Zbroszczyk, H; Zelnicek, P; Zenin, A; Zepeda, A; Zgura, I; Zhalov, M; Zhang, X; Zhou, D; Zhou, S; Zhu, J; Zichichi, A; Zinchenko, A; Zinovjev, G; Zinovjev, M; Zoccarato, Y; Zychácek, V

    2010-01-01

    ALICE (A Large Ion Collider Experiment) is the LHC (Large Hadron Collider) experiment devoted to investigating the strongly interacting matter created in nucleus-nucleus collisions at the LHC energies. The ALICE ITS, Inner Tracking System, consists of six cylindrical layers of silicon detectors with three different technologies; in the outward direction: two layers of pixel detectors, two layers each of drift, and strip detectors. The number of parameters to be determined in the spatial alignment of the 2198 sensor modules of the ITS is about 13,000. The target alignment precision is well below 10 micron in some cases (pixels). The sources of alignment information include survey measurements, and the reconstructed tracks from cosmic rays and from proton-proton collisions. The main track-based alignment method uses the Millepede global approach. An iterative local method was developed and used as well. We present the results obtained for the ITS alignment using about 10^5 charged tracks from cosmic rays that h...

  20. An operating system for future aerospace vehicle computer systems

    Science.gov (United States)

    Foudriat, E. C.; Berman, W. J.; Will, R. W.; Bynum, W. L.

    1984-01-01

    The requirements for future aerospace vehicle computer operating systems are examined in this paper. The computer architecture is assumed to be distributed with a local area network connecting the nodes. Each node is assumed to provide a specific functionality. The network provides for communication so that the overall tasks of the vehicle are accomplished. The O/S structure is based upon the concept of objects. The mechanisms for integrating node unique objects with node common objects in order to implement both the autonomy and the cooperation between nodes is developed. The requirements for time critical performance and reliability and recovery are discussed. Time critical performance impacts all parts of the distributed operating system; e.g., its structure, the functional design of its objects, the language structure, etc. Throughout the paper the tradeoffs - concurrency, language structure, object recovery, binding, file structure, communication protocol, programmer freedom, etc. - are considered to arrive at a feasible, maximum performance design. Reliability of the network system is considered. A parallel multipath bus structure is proposed for the control of delivery time for time critical messages. The architecture also supports immediate recovery for the time critical message system after a communication failure.