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In this paper, a novel dynamic wireless power transfer system is designed for roadway EV powering application. Multiple LCL resonators are parallel connected in a high-power inverter and are turned on/off through vehicle positioning result. Compared to the conventional long-rail manner, firstly, the miniaturized transmitter can greatly reduce the electromagnetic radiation. Secondly, construction costs...
This paper introduces the method of detecting a route space for an industrial indoor vehicle. The vehicles work in many industrial fields, e.g., a semiconductor production and a car assembly factory. The detection of the route space under illuminant disturbance is an important problem for the industrial vehicle robot. The industrial vehicle has to move to the same areas in a factory. For these works,...
Recently, there has been significant research focus on smart cities and how to use resources efficiently. Parking space, in particular, is scarce in most metropolitan areas and intelligent systems are required to coordinate parking. This paper presents a wireless system for locating parking spots remotely via a smartphone, and a wireless sensor node which determines if parking spots are vacant or...
This paper proposes an energy management for fuel cell electric vehicle taking into account the fuel cell degradation during its lifetime. The aim of the study is to design a control strategy which manage a power converter in order to use the fuel cell system as a range extender by preventing the batteries state of charge to drop too quickly. The presented controller use both batteries state of charge...
This paper discusses the vehicle dynamics control system of an all-wheel-drive electric vehicle with four on-board motors. Each driveline is characterized by complex torsional dynamics caused by the gearbox and the half-shaft located between the electric motor and the wheel. Such a drivetrain configuration can benefit from a specific controller, i.e., the active vibration controller (AVC), which increases...
Flight tests of prototype UAV systems can be restricted by spatial constraints and they may bring risks of damage due to failures. Motivated by these, we presented a simulation approach based on Robot Operating System (ROS) and Gazebo. Unlike other state-of-the-art quadrotor simulators, we implemented the dynamics model of the UAV in ROS to achieve high fidelity behavior of the UAV. A hierarchical...
Steer-by-wire (SBW) system, which is characterized by variable gear ratio, better active safety, unmanned drive, has been widely studied to realize a distinctive driving experience. Control strategy acts as a key part of SBW system to achieve the goal. In this paper, a control strategy by bilateral control structure for steer-by-wire system is proposed. To make SBW system has the same function of...
One serious problem in autonomous mobile robot is the accurate and effective following of an unknown path traced in the environment in compliance with the kinematic limits of the vehicle, i.e., bounded linear and angular velocities and accelerations. In this case, the motion planning must be implemented in realtime and must be robust with respect to the geometric characteristics of the unknown path...
A battery-ultracapacitor Hybrid Energy Storage System (HESS) combines the advantages of both Li-ion batteries and ultracapacitors. Li-ion batteries sustain a relatively long electric only driving range but degrade if exposed to high C-rates and large number of cycles. Ultracapacitors are robust, have a quasi infinite cycle life and can sustain highly dynamic power profiles. This paper proposes a HESS...
Wayside supercapacitor based energy storage system (ESS) for urban rail transit can reuse the braking energy and reduce energy consumption. Most ESSs switch over from charging to discharging states based on voltage of DC bus. But open circuit voltage of DC power supply in subway system always changes, which would influence the normal operation of ESS. This paper will show the output characteristic...
In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-link voltage, which restricts the vehicle speed and acceleration. Therefore the fundamental component of the motor voltage should be increased by operating inverter in the six-step mode at high speeds. Although hysteresis based direct torque control (DTC) is a straightforward approach and has several advantages,...
In hospitals and care facilities, the care workers have to take care of many patients riding on a wheelchair for a stroll. The welfare vehicles like electric wheelchairs will take important roles not only to improve the quality of life of patients but also to reduce the load of care workers. The platoon driving of the wheelchair systems may become one of the effective leading methods of patients....
Electric Vehicles (EVs) are deemed as an appealing and practical solution for environmental and energy problems. The mileage per charge of EVs, however, is shorter than the mileage of Internal Combustion Engine Vehicles (ICEVs). In this paper, Range Extension Autonomous Driving (READ) system considering road gradient information is proposed. The proposed system optimizes the velocity trajectory and...
Recently, Intelligent Transport Systems (ITS) technology have been intensively studied to solve environmental and energy problems by improving traffic flow. Along with the development of ITS and autonomous driving technologies, vehicle velocity control has to be considered for energy efficiency. In this paper, a minimum time autonomous driving (MTAD) system, which minimizes the traveling time considering...
This study investigates limitations of driver's compensation under visual field contraction. Two types are distinguished for the compensation: (A) reducing the vehicle speed, and (B) looking around frequently. An experiment using a driving simulator is conducted to evaluate to what extent accidents can be avoided by compensation. The participants are healthy drivers wearing eyeglasses that contract...
This paper evaluates different inverter topologies and modulations, which use hard switching techniques applied to an electric powertrain to reduce inverter losses. Three inverter topologies and three modulation techniques are evaluated through a simulation. Some inverter configurations are in research level and not used commercially on powertrains yet, but are studied to contrast its energy-efficiency...
The present work advances the use of the Nomadic Agent (NA) concept for supporting electro-mobility through the provision of location based information in an urban environment. In the envisaged system, each NA periodically broadcasts relevant data to other mobile nodes representing electric vehicles (EVs) inside its target area. At the same time, it is considered that multiple NAs are deployed to...
Coverage path planning determines a path that guides an autonomous vehicle to pass every part of a workspace completely and efficiently. Since turns are often costly for autonomous vehicles, minimizing the number of turns usually produces more working efficiency. This paper presents an optimization approach to minimize the number of turns of autonomous vehicles in coverage path planning. For complex...
It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming years. Considering cars are parked over 92% of the time, the excess batteries capacity of EVs could be used to support power grid, while they are plugged into the grid. Although this technology, which is called vehicle to grid (V2G), has several benefit, vehicle to building (V2B) systems have a higher...
Aggregators in smart grid are business operators providing services to aggregate and visualize electricity information, balance demand and supply, reduce energy consumption, and do the other activities with Energy Management Systems (EMSs). An aggregator for Apartment Building Energy Management Systems (Apartment-BEMSs) balances demand and supply considering all households in its building. The buildings...
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