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A three dimension trajectory generation and tracking for an autonomous quadrotor is studied in this paper. The vehicle is represented as one point which is its center of gravity, and only the kinematic equations are considered for trajectory generation problem. The model is derived using Newton's second law. The proposed trajectory generation method allows the computation of a time optimal trajectory...
This paper proposes a new control strategy and design for auxiliary power source using in Battery Hybrid Electric Vehicle (BHEV) based on acceleration power. The control strategy takes actual speed, acceleration and terminal voltage of supercapacitors (SCs) into account for controlling the energy and power demanded. The detail design of the auxiliary power source and its dynamic control are demonstrated...
In this work, we present a low-cost, flying research MAV, comparable to common quadcopter platforms. We propose a flyer with only two moving parts (a rotor and a stator) and a single actuator that is capable of hovering flight without active attitude control. The passive stability is analyzed and reduced to two mechanisms that are a function of the relative offset of the center of pressure and center...
This paper investigates the vehicle routing problem (VRP) under multi-objective constraints. More specifically, we consider the distance, fixed cost, time, together with risk simultaneously. To get a quicker and more accurate solution, several improvements are proposed in applying GA for optimization search. Practical test confirms the effectiveness of the proposed method.
This paper studies the multi-trip vehicle scheduling problem with time window in the pickup and delivery service to airport. The collaboration and multi-trip approaches are used to improve the vehicle scheduling scheme' performance and effectiveness. Firstly, the multi-trip optimal cost model with collaborations is presented to describe the vehicle scheduling problem in such a service. Then a heuristic...
This paper studies the collaboration-based vehicle routing problem with appointment time window aiming at the pickup and delivery service to airport. After defining the satisfaction degree under appointment time window, a heuristic approach is proposed to find the globally optimal vehicle routing scheme. By modeling the pickup and delivery service to airport with and without collaborations, the corresponding...
In this paper, the load uncertainty for solving Security constrained unit commitment (SCUC) problem in presence of plug-in electric vehicle is studied. SCUC is one of the most important research areas in power systems which enables commitment scheduling table of the generation unit commitment in order to maximize the security and minimize the cost, beside satisfaction of the constraints of the system...
We address the problem of shock wave formation in uncoordinated highway traffic. First, we identify the combination of heavy traffic and small traffic perturbations or unexpected driver actions as the main causes of highway traffic jams. Then we introduce a novel distributed communication protocol that enables us to eliminate upstream shock wave formation even with low system penetration rates. Based...
Autonomous Underwater Vehicles (AUVs) are Unmanned Underwater Vehicles (UUVs) that are able to function without direct control from a human operator. Consequently, they have a wide range of applications from scientific research of the oceans to military applications such as maritime surveillance. However, there is now the demand for AUVs to be operated within a multi-vehicle scenario to allow large...
The AUV Guanay II is a vehicle developed by SARTI research group of Universitat Politècnica de Catalunya with the objective of providing a platform for measuring oceanographic variables, such as the temperature and salinity of the water column. In the vertical dive is important not to disturb the environment to avoid influencing in the measurements. For this reason a variable buoyancy (VB) system...
A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track...
The Mars Science Laboratory entry capsule is used as an example to demonstrate how a blunt body of revolution must be treated as asymmetric in some respects when flying at a non-zero trim angle of attack. A brief description of the axisymmetric moment equations are provided before solving a system of equations describing the lateral-directional moment equations for a blunt body trimming at an angle...
The Drowsiness is the risk to fall asleep for one moment with the closed eyes, it is an intermediate state between the awake and the sleep. This state is involuntary and it is accompanied by a fall of vigilance. Consequently, the development of a system for the automatic control of driver tiredness, to prevent the driver in advance of the accidents, received an interest growing of research mediums...
The vehicle radars should be able to detect all stationary or moving objects inside the observation area with short measurement time, high range and velocity resolution, and cost efficiency. To achieve this, an improved model called Double-SFPW based on SFPW is described, it transmits two stepped frequency pulses with a frequency shift and a time difference, its performance is better than conventional...
This paper presents the control system of energy management for electric vehicle (EV) applications, based on the actual speed of the vehicle and the terminal voltage of supercapacitors (SCs). The cascade control of voltage and current were implemented on SCs for tracking the energy during acceleration and braking. The performances of SCs concerning the dynamic power were examined. A reliable power...
Precise landing, range modification and high speed control are the main features of the skip entry trajectory. To fulfill these features some boundary conditions are needed to be known, pull-up and exit point are one of them. These have the applications in guidance, control and telecommunication. Feasibility analysis for the calculations of parameters at these conditions using the analytical method...
Safety applications in VANET use two types of messages (a)periodical messages/beacons: they are broadcast several times per second to exchange information with neighbors; and (b) warning (event driven) messages: they are generated when an event occurs (e.g., a car accident) and are disseminated in the network to notify nodes of interest. Although warning messages have higher priority, beacons are...
This paper presents a self-balancing controller using Wavelet Fuzzy CMAC (WFCMAC) technology for uncertain omnidirectional ball-driven vehicle. The vehicle is designed to self-balancing and motion control by following the rider's inclination angles in both two axes (x-z and y-z axis). The backstepping technique with WFCMAC for nonlinear model will be designed to overcome significant system uncertainties...
Yaw stability control is the most popular topics in automotive field. Several of studies have been done in searching the effective method in controlling yaw moment so that the vehicle will be in safe condition in certain cornering maneuvers. The main controller to control this is by using Composite nonlinear Feedback (CNF) which is very good in producing an output signal with a quick response and...
Time delay control (TDC) is selected, designed and implemented in the bi-directional DC-DC converter system to supply stable DC link power to the load side. In compared with PID results, TDC can offer better performance in charging the battery or in supplying the required power without significant power loss. NEDC load profile is used to analyze the battery SOC in real-time. LabVIEW system is selected...
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