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A systematic approach to parameter-dependent control synthesis of a candidate High-Speed Supercavitation Vehicle (HSSV) is presented. The aim of the control design is to provide robust reference tracking properties across a large flight envelope, while directly accounting for the interaction of liquid and gas phases with the vehicle. A Linear Parameter Varying (LPV) controller is synthesized for the...
Suppression of unnecessary vibration is an important aspect in control system design. Passive, semi active, and active suspension systems are used in vehicles to suppress vibrations and theoretically active suspension systems provide superior performance than the prior two types. This paper proposes a novel method to suppress vibrations using internal motor sensing method. The proposed active vibration...
To assist drivers and prevent collisions, we propose a system called OmniView that extends driver's vision in all directions, using cameras of multiple collaborating smartphones in the surrounding vehicles. OmniView provides a driver with a traffic map about the relative positions of surrounding vehicles. Under OmniView, each vehicle detects other vehicles in its view, estimates their relative positions,...
We present a TLD-based vehicle tracking method, which uses HOG that is precomputed in the detection process, and an online SVM re-detector. We perform HOG-based tracking in EHMI. When the tracking fails, the system performs redetection for neighboring regions. Tracked vehicles are reused as positive data for re-learning. Therefore, the proposed system performs robust tracking without additional computation.
In this paper, we study a joint inventory and routing problem (IRP) for the food supply chain and we investigate the impact of customer satisfaction level under the optimization of the total expected cost. We propose a new bi-objective mathematical model by taking into account multi capacitated vehicles for perishable products from one supplier to many customers by considering total traveling time...
Recent advances in wireless communications have led to the development of vehicular ad hoc networks (VANETs). It has attracted the interest of both industrial and academic communities due to its potential in reducing accidents and saving lives. In VANETs, vehicles can communicate with each other to exchange traffic and road information. One of the challenges in VANETs is to determine the location...
Pedestrian Protection System (PPS) has become an active research area aimed to protect pedestrians by assisting inattentive drivers. Despite the enormous number of research works, most current systems are designed to recognize near-scale pedestrians. However, they perform poorly in mid-scale and fail in far-scale. In this paper, a new hardware-based architecture that detects pedestrians in near-,...
This paper addresses the problem of stabilizing and trajectory tracking control of a remotely operated vehicle (ROV-Observer) in the vertical plane. The underwater vehicle is not actuated in the pitch direction and cannot be locally asymptotically stabilized by continuous feedbacks which are functions of the state only. In the present note, exponential convergence is obtained by considering time-varying...
In underwater network, it is very important to know the location of unmanned underwater vehicle (UUV). The unknown position of UUV considered as an unknown node that can be determined from the known node locations through underwater acoustic network. The known node locations considered here as fixed positioned node. The range data is measured between unknown node and known nodes. By exploiting these...
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system...
In the paper an idea to apply evolutionary computation method with dedicated fitness function in dynamic system simulation and positioning is presented. Dedicated evolutionary system's efficiency in simulation, optimization and positioning of examined object is discussed. Presented experiments show common duty as well as extensive, overloading and dangerous situations at work. Research results are...
The proposed work describes a distribution-based approach for recognizing people in images. The methodology involves pattern classification using first and second order statistics in Principal Component Analysis (PCA) - based clustering framework. Unknown distributions of pedestrian and non-pedestrian patterns are approximated by learning the first and second order statistics of the sample images...
Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
Because of the increasing number of vehicles, traffic congestion has become a significant problem for many big cities. Numeric representations of traffic congestion cause deep concern in the population, and existing indices of traffic congestion are difficult to understand. In this paper, we propose a new concept of a traffic congestion score (TCS) that is computed by using an approximation of the...
In this paper a Dual Ratio change detection method is proposed. This method involves taking two ratios for both real color and false color imagery in order to maximize detected changes and minimize false alarms. The proposed Dual Ratio method outperforms other methods tested in terms of Area Under the Curve (AUC) performance by an average of 18 percent at low false alarm rates and an average of 10...
Ridesharing concerns people that are willing to intelligently ride in order to save money and protect environment. The idea is based on a better use of private car. More precisely, it aims to bring together individuals that share, even partially, a trip. In the recurring ridesharing problem, when an offer is matched with a demand, the driver picks-up the rider at his starting location, drops him off...
Considerable attention had previously been given to the single-vendor single-customer integrated inventory problem, but there had been very little work on the integrated single-vendor multi-customer and multi-product consideration. Here, we develop a generalized single-vendor multi-customer with multi-product consideration supply chain model with one transporter available to deliver the products from...
In this research, Auto-parking path planning system for an autonomous vehicle is developed. Reeds-Shepp curve algorithm make shortest path with the vehicle minimum turning radius and straight line from start point to goal point. In Reeds-Shepp curve algorithm total 48 path formulas are existed but these formulas are limited in actual parking lot. Because Reeds-Shepp curve path are valid in open environment,...
Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor...
A mathematical model for lift generation on a doughnut-shaped Coandă micro air vehicle is developed and an analysis on the lift generation due to Coandă effect is carried out utilizing basic principles. A degenerate two-dimensional case is also developed. The results are discussed in view of related analytical and experimental work in the literature.
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