Search results for "Vehicle"
showing 10 items of 634 documents
Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs.
2010
A new closed loop fuzzy motion control system including on-line Kalman's filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine envi…
Output-feedback-based H∞ control for vehicle suspension systems with control delay
2014
This paper deals with the problem of output-feedback H∞ control for a class of active quarter-car suspension systems with control delay. The dynamic system of the suspension systems is first formed in terms of the control objectives, i.e., ride comfort, road holding, suspension deflection, and maximum actuator control force. Then, the objective is to the design of the dynamic output-feedback H∞ controller in order to ensure asymptotic stability of the closed-loop system with H∞ disturbance attenuation level and the output constraints. Furthermore, using Lyapunov theory and linear matrix inequality (LMI) approach, the existence of admissible controllers is formulated in terms of LMIs. With t…
Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort
2008
This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees lo…
Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV
2010
A new hierarchical closed loop fuzzy control system for horizontal plane trajectory tracking of underactuated Autonomous Underwater Vehicles (AUV) is presented. A model for the AUV is formulated introducing a polar coordinates transformation for the velocities in the body fixed frame. It is employed to control the unactuated sway direction, the longitudinal position and the yaw by using the surge force and the yaw torque only. The highest level control is developed by employing a fuzzy inference system for obtaining the guidance control laws. The properties of the fuzzy system ensure forward surge velocity, fast convergence and Lyapunov's stability of the motion errors. A new low level kine…
A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints
2005
Abstract In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller sy…
An Efficient and Secure Energy Trading Approach with Machine Learning Technique and Consortium Blockchain
2022
In this paper, a secure energy trading mechanism based on blockchain technology is proposed. The proposed model deals with energy trading problems such as insecure energy trading and inefficient charging mechanisms for electric vehicles (EVs) in a vehicular energy network (VEN). EVs face two major problems: finding an optimal charging station and calculating the exact amount of energy required to reach the selected charging station. Moreover, in traditional trading approaches, centralized parties are involved in energy trading, which leads to various issues such as increased computational cost, increased computational delay, data tempering and a single point of failure. Furthermore, EVs fac…
Electric-Motion in Romania - Overview - Study on Machining Parameters of EV Charging Station Mechanical Components
2016
This paper presents some relevant aspects of charging infrastructure for electric vehicles in Romania. It evidences the charging station and fast charging stations designed and installed by the first Romanian company dedicated 100% to e-mobility, E-Motion Electric. Also, a study on machining (milling) parameters of some mechanical components of electric vehicle (EV) charging station is done and, finally, the regression model for these parameters is determined. This model would be further used for machining process optimization.
Childhood leukaemia risk and residential proximity to busy roads
2018
BACKGROUND: Current evidence suggests that childhood leukaemia can be associated with residential traffic exposure; nevertheless, more results are needed to support this conclusion. OBJECTIVES: To ascertain the possible effects of residential proximity to road traffic on childhood leukaemia, taking into account traffic density, road proximity and the type of leukaemia (acute lymphoid leukaemia or acute myeloid leukaemia). METHODS: We conducted a population-based case-control study of childhood leukaemia in Spain, covering the period 1990-2011. It included 1061 incidence cases gathered from the Spanish National Childhood Cancer Registry and those Autonomous Regions with 100% coverage, and 64…
Impact of Busy Roads on Breeding Success in Pied Flycatchers Ficedula hypoleuca
2002
The impact of dense traffic on the breeding success in pied flycatchers (Ficedula hypoleuca) was studied using roadside nest-boxes. Nest site selection and breeding success of flycatchers were observed in relation to the distance from the road. The number of occupied territories was no higher closer to the road than it was deeper inside the forest. The distance to the road had no effect on the laying date, clutch size, or brood size. However, nests closer to the road were more likely to fail at the chick stage. The number of broods that were closer to roads and were lost completely was significantly higher than those further away. As a consequence, the number of fledglings per breeding atte…
Work Environment, Stress, and Driving Anger: A Structural Equation Model for Predicting Traffic Sanctions of Public Transport Drivers.
2018
Public transport is an effective and sustainable alternative to private vehicle usage, also helping to reduce the environmental impact of driving. However, the work environment of public transport operators is full of adverse conditions, which, together with their high mileage, may increase the occurrence of negative safety outcomes such as traffic accidents, often preceded by risky road behaviors enhanced by stress, anger, and difficult operating conditions. The aims of this study were, first, to determine the association between work-related psychosocial factors and individual characteristics of public transport drivers and the rate of traffic sanctions they are subject to; and second, to…