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The paper presents a possible method to diagnose a mechanical fault of an automotive system. Several experimental tests have been developed aiming at determining the actual performances of a military vehicle's braking system. During data processing procedures, some unusual but also systematic noises occurred. As a main issue at this point, the source of the noise should have been identified and filtered...
Various computer simulations are used to illustrate the performance of a particular protocol. However, the number of parameters and logical layers considered is the key to getting accurate results. We extend our previous work of Complete Transmission Acknowledgement Scheme (CTAS) by running the proposed model on top of the physical layer. Effect of noise and the standard Orthogonal Frequency Division...
Simulating the time-variance of vehicular channels correctly remains a challenging topic. We are interested in parsimonious mathematical channel models, in which only significant groups of multipath components (MPCs) are included. The MPCs are grouped in the delay-Doppler domain, which enables the development of cluster-based channel models. However, the characterization of time-variant vehicular...
This paper presents a study and implementation of vehicle brake test system based on CompactRIO, increasing multi-channel data acquisition of brake vibration and noise based on slowly changing signals and realizing the NVH signals test and analysis functions of the brake system. With the self-development data analysis module and hardware architecture composed of CompactRIO acquisition system, pc and...
A decentralized fault diagnosis and accommodation scheme in discrete time for teams of cooperative mobile robots is presented. Each vehicle estimates, via a local observer, the overall state of the team, which is used to compute its local control input and a set of residual vectors. Each residual is sensible to a fault occurring on a single teammate, even not in direct communication, and the fault...
In this paper, we proposed an improved method based on optical flow to help a low-cost quadrotor avoid obstacles. The method is consist of improved balanced strategy and fast Time-to-Collision (TTC). The improved balanced strategy is designed for the quadrotor to achieve 6 degree of freedom movement. We use a learning method based on optical flow data when the vehicle can avoid the obstacle successfully...
Electric vehicles are complex systems in which EMC must be approached in a significantly different way to the one in conventional cars. The presence of high power supplies assembled in a very small room together with signalling, control and communications devices brings about new issues related to EM disturbances and noise coupling that must be addressed in order to ensure a good performance of the...
To address the safety issues in human robot interactions (HRI), a safe set algorithm (SSA) was developed previously. However, during HRI, the uncertainty levels are changing in different phases of the interaction, which is not captured by SSA. A safe exploration algorithm (SEA) is proposed in this paper to address the uncertainty levels in the robot control. To estimate the uncertainty levels online,...
In this paper, nonlinear controllers are designed for an accurate path-following of a track vehicle towing an active implement, which is steered and driven, in off-road terrains like farms where longitudinal and lateral slips at front tracks and rear steerable wheels are inevitable. These controllers are based on path offset values and a partial dynamic model. The controller is designed to minimize...
We consider the control of two UAVs tracking an evasive moving ground vehicle. The UAVs are small fixed-wing aircraft equipped with gimbaled cameras and must coordinate their control actions so that at least one UAV is always close to the target. The control actions of the UAVs are computed based on noisy measurements of the UAVs' current state and vision-based measurements of the target's position...
Combining multiple synthetic aperture radar (SAR) images taken at different times of the same scene produces coherent change detection (CCD) images that can detect small surface changes such as tire tracks. The resulting CCD images can be used in an automated approach to identify and label tracks. Existing techniques have limited success due to the noisy nature of these CCD images. In particular,...
In this paper, a novel state-of-charge (SOC) estimation method is proposed for lithium-ion battery packs of electric vehicles. An equivalent circuit model, which comprises an open circuit voltage source and a resistance-capacitance network connected in series, is built for each cell to characterize its dynamic and static performance. Then, the EKF is applied to calculate each cell's SOC. By calculating...
The rail transit is one kind of urban track traffic systems. The paper focused on the new built rail transit system, Rail Transit Line 1, in Zhuhai, China. The following three kinds of benefits are analyzed. First, the economic benefits, which include the passenger time-saving benefit and the land value-added benefit, have been studied. Second, the social benefits, which have been analyzed according...
Estimating vehicle sideslip is challenging as well as important for vehicle safety systems such as Electronic Stability Control. In this work, a Kalman filter is proposed to estimate vehicle sideslip using tyre force measurements. Most of the vehicle sideslip estimators do not use tyre force measurements and are based on tyre force model. Because of the tyre force model nonlinearities and uncertainties,...
We demonstrate trajectory control of the tip of an inverted pendulum atop a small unmanned aerial vehicle. In this paper we discuss how exploiting the differential flatness of combined systems provides a realization of adequate control. A differential flatness controller is derived for trajectory control of a pendulum tip. Simulation results are presented for tip trajectory tracking with and without...
Towards safe autonomous vehicle navigation the problem of lane detection and classification is highly important in the development of advanced driver assistance system (ADAS). This paper proposes a new method to detect the road lane marking for safe autonomous navigation purpose. It focuses on unconventional methods of identifying lane markings on a road surface through Laser Measurement System (LMS)...
Motor vehicle collisions are the leading cause of death in the Unites States. Rear-end crashes alone occur approximately 1.6 million times each year [1]. These statistics demonstrate the obvious need to reduce the number of vehicle collisions and save lives. In response, the government, automobile industry, and academia have conducted intensive research in an effort to enhance the safety in the U...
In this paper, the equivalent circuit model of the return paths of common mode electromagnetic interference (EMI) noise currents from the motor drive system (MDS) in hybrid electric vehicle (HEV) is proposed. The proposed model includes three kinds of the return current paths: braided shield of three-phase cable, metallic vehicle body and the parasitic capacitance between the vehicle components. In...
The Anti-lock braking system has been a subject of constant research since its inception. Numerous control strategies have been developed for the same but the effect of measurement noise on the system is often neglected. This paper aims to discuss use of an Extended Kalman Filter for sensor noise elimination. Conventional control strategies in conjunction with this filtering technique are used to...
Novel sensor fusion architecture is proposed to provide complete navigational solution for micro aerial vehicles (MAV) using low cost sensors and micro controller. The approach uses a nonlinear complementary filter (NCF) to estimate direction cosine matrix (DCM), the estimated attitude and heading from DCM are used in turn to predict MAV position in North and East direction and a two state extended...
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