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IEEE Intelligent Vehicles symposium (IV)

作者： Garate, Virginia Ruiz Bours, Roy Kietlinski, Kajetan TASS Germany GmbH Kreuzberger Ring 7a D-65205 Wiesbaden Germany TNO Automot Safety Solut Einsteinlaan 6 NL-2289 CC Rijswijk Netherlands

ISBN: (纸本)9781467321181

The protection of vulnerable road users (VRU) remains one of the most challenging problems for our society and several governmental and consumer organization has set targets to reduce the VRU fatality and injury rates. The automotive industry is, therefore, developing pedestrian and cyclist detection systems that combine pre-crash sensing, risk estimation and vehicle dynamics control (braking, steering) with the objective to meet the challenging VRU accident reduction targets set by various governments. The complexity of VRU detection makes the development process of these systems a complicated and time-consuming activity. Simulation software can help to overcome these difficulties by providing an efficient and safe environment for designing and evaluating VRU safety systems. This paper outlines the use of a software packages that provide the ability to cover all critical aspects of VRU safety design. It focuses on the sensing and control systems, as well as the evaluation of these systems for a range of different traffic scenarios. The presented system model uses fused information from radar model for collision estimation and vision sensor model for object classification, to deploy autonomous braking and thus mitigate the effect of collision with VRUs.

关键词： Vulnerable Road Users radar Consumer Organizations Software packages process DEVELOPMENT vision sensors Vehicle dynamics Pedestrians Collisions Braking

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SPHERICAL MODELING AND NONLINEAR MODEL PREDICTIVE control OF ELECTROPORATION

SPHERICAL MODELING AND NONLINEAR MODEL PREDICTIVE CONTROL OF...

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ASME Dynamic systems and control Conference / Bath/ASME symposium on Fluid Power and Motion control

作者： Yi, Jingang Li, Jianbo Lin, Hao Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

ISBN: (纸本)9780791854761

Electroporation is an effective means to deliver molecules into the cellular cytoplasm, and has been widely applied in both biological research and clinical applications. The process however suffers from low viability and efficiency. In this work, we present a multi-pulse feedback control scheme for enhancing viability and efficiency of electroporation process. We first present a spherical model for cell transmembrane potential (TMP) dynamics to describe the spatial distribution of electric potential on cell membrane. Then we analyze the models and discuss the bifurcation property of the system. Based on the dynamic models, we design a nonlinear model predictive controller (NMPC) to track pore size profiles in electroporation. We demonstrate that by using NMPC, the pore size can be precisely regulated to targeted values for drug delivery applications. The control design is illustrated through simulation examples.

关键词： Pore size

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Model reduction of a batch drum granulator by proper orthogonal decomposition

Model reduction of a batch drum granulator by proper orthogo...

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8th International symposium on Advanced control of Chemical processes, ADCHEM 2012

作者： Mangold, Michael Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstr. 1 39106 Magdeburg Germany

ISBN: (纸本)9783902823052

Particle processes with agglomeration or breakage are often described by population balances. This leads to mathematical models containing partial integro differential equations. It is quite challenging to solve such equations numerically and to apply them to process control tasks. Reduced models for agglomeration and breakage processes are desirable. In this contribution, the use of proper orthogonal decomposition is suggested as a method to derive such reduced models. The reduction method is applied to a batch granulator. A low order model is formulated and found to be in good agreement with the reference model. The usefulness of the low order model is demonstrated by applying it to an optimal control problem. Keywords: particulate processing;distributed parameter systems;nonlinear systems;model reduction;optimal control;population balance system;proper orthogonal decomposition;granulation. © 2012 IFAC.

关键词： Agglomeration

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COMBUSTION PHASING VARIATION REDUCTION FOR LATE-PHASING HCCI THROUGH CYCLE-TO-CYCLE PILOT INJECTION TIMING control

COMBUSTION PHASING VARIATION REDUCTION FOR LATE-PHASING HCCI...

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ASME Dynamic systems and control Conference / Bath/ASME symposium on Fluid Power and Motion control

作者： Jungkunz, Adam F. Ravi, Nikhil Liao, Hsien-Hsin Gerdes, J. Christian Stanford Univ Dept Mech Engn Dynam Design Lab Stanford CA 94305 USA

ISBN: (纸本)9780791854761

Late-phasing homogeneous charge compression ignition (HCCI) operating conditions have the potential to expand the useful operating range of HCCI. However, these conditions exhibit significant variation in combustion timing and work output from one cycle to the next. Cyclic variations in the combustion timing of HCCI combustion at late-phasing operating conditions can be removed through the use of cycle-to-cycle control of pilot fuel injection timing. A nonlinear, discrete-time model of the recompression HCCI process captures the oscillations in late-phasing HCCI;when this model is linearized, it represents these dynamics as a pole on the negative real-axis. A simple lag compensator eliminates the oscillations in combustion phasing and drastically improves the operability of late-phasing HCCI. in both simulation and experiment.

关键词： Timing circuits

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Studies of particulate system dynamics in rotating drums using markov chains

Studies of particulate system dynamics in rotating drums usi...

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8th International symposium on Advanced control of Chemical processes, ADCHEM 2012

作者： Tjakra, Javan D. Bao, Jie Hudon, Nicolas Yang, Runyu School of Chemical Engineering University of New South Wales Sydney NSW 2052 Australia School of Materials Science and Engineering University of New South Wales Sydney NSW 2052 Australia

ISBN: (纸本)9783902823052

This work aims to develop an approach to study and capture the collective dynamics of particulate systems, which are important for operation of those processes. The collective dynamics of particles in a horizontal rotating drum are modeled based on a stochastic approach, using the Markov chains operators developed from DEM simulations. Quantitative analysis of the features of collective dynamics, namely dynamic modes of oscillatory behavior and spatial particle distribution of particle movement, are performed based on eigenvalues and singular values analysis of Markov chains operator, respectively. Furthermore, the quantitative measures are shown that it can be linked to the qualitative flow regimes of particulate systems in a horizontal rotating drum. © 2012 IFAC.

关键词： Finite difference method

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A parity space-based fault detection on LPV systems: Approach for vehicle lateral dynamics control system

A parity space-based fault detection on LPV systems: Approac...

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8th IFAC symposium on Fault Detection, Supervision and Safety of Technical processes, SAFEprocess 2012

作者： Varrier, Sébastien Koenig, Damien Martinez, John J. Gipsa-Lab. 38402 Saint Martin d'Hères Cedex France

ISBN: (纸本)9783902823090

In this paper, a Fault Detection (FD) procedure for Linear Parameter Varying (LPV) systems via analytical redundancy is presented. The motivation to develop this work is to generalize the parity space approach for dynamic LPV systems. The main contribution lies in the design of robust residuals face to time varying parameters with a perfect decoupled parity matrix. The proposed scheme is performed for discrete time systems, but can easily be adapted to continuous time systems by the reader. An illustrative example is presented to detect a sensor fault on a vehicle lateral dynamics system. © 2012 IFAC.

关键词： Fault detection

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Motion planning under uncertainty using iterative local optimization in belief space

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2012年第11期31卷 1263-1278页

作者： van den Berg, Jur Patil, Sachin Alterovitz, Ron Univ Utah Sch Comp Salt Lake City UT 84112 USA Univ N Carolina Dept Comp Sci Chapel Hill NC USA

We present a new approach to motion planning under sensing and motion uncertainty by computing a locally optimal solution to a continuous partially observable Markov decision process (POMDP). Our approach represents beliefs (the distributions of the robot's state estimate) by Gaussian distributions and is applicable to robot systems with non-linear dynamics and observation models. The method follows the general POMDP solution framework in which we approximate the belief dynamics using an extended Kalman filter and represent the value function by a quadratic function that is valid in the vicinity of a nominal trajectory through belief space. Using a belief space variant of iterative LQG (iLQG), our approach iterates with second-order convergence towards a linear control policy over the belief space that is locally optimal with respect to a user-defined cost function. Unlike previous work, our approach does not assume maximum-likelihood observations, does not assume fixed estimator or control gains, takes into account obstacles in the environment, and does not require discretization of the state and action spaces. The running time of the algorithm is polynomial (O[n(6)]) in the dimension n of the state space. We demonstrate the potential of our approach in simulation for holonomic and non-holonomic robots maneuvering through environments with obstacles with noisy and partial sensing and with non-linear dynamics and observation models.

关键词： Motion planning under uncertainty non-holonomic motion planning belief space planning partially observable Markov decision process (POMDP) integrated planning and control

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Time-trajectory based Active Fault-Tolerant control

Time-trajectory based Active Fault-Tolerant Control

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8th IFAC symposium on Fault Detection, Supervision and Safety of Technical processes, SAFEprocess 2012

作者： Jain, Tushar Yame, Joseph J. Sauter, Dominique CNRS UMR 7039 Universite de Lorraine Vandoeuvre-les-Nancy 54500 France

ISBN: (纸本)9783902823090

In this note, we present a model-free approach to solve an active fault-tolerant control problem in the behavioral framework. In our control structure, we do not require an explicit fault diagnosis module that identifies the complete fault information. Instead, a new controller is designed based only on the measurements generated by the system in real-time. The interconnection between two dynamical systems plays a significant role within this approach. In our setting, we consider any occurring fault is the cause of undesired dynamics occurring in the closed-loop. To compensate these dynamics, the controller is reconfigured on-line without using a model of the plant. © 2012 IFAC.

关键词： Linear systems

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Detecting model-plant mismatch of nonlinear multivariate systems using mutual information

Detecting model-plant mismatch of nonlinear multivariate sys...

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8th International symposium on Advanced control of Chemical processes, ADCHEM 2012

作者： Gao, Xukai Chen, Gui Xie, Lei Su, Hongye Wang, Shuqing State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang China

ISBN: (纸本)9783902823052

For model based control systems, such as MPC, the model plays a key role in controller design and tuning. For linear systems, many different approaches have been well developed for MPM detection while nonlinearity was not considered. This article describes mutual information (MI) as a general correlation measure to detect model-plant mismatch (MPM) in nonlinear systems. First, MI between dithering signals and model residuals is estimated to reveal process MPM regardless of change in disturbance dynamics. Then for MIMO systems, we propose a method to locate the sub-sets of mismatch so that only sub-systems will be perturbed for model updating. The validity of the proposed method for nonlinear systems is illustrated through a numerical example and an industrial polypropylene(PP) process. © 2012 IFAC.

关键词： Nonlinear systems

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OPTIMAL control OF ENGINE-STARTS FOR DRIVABILITY OF PARALLEL HYBRID ELECTRIC VEHICLES

OPTIMAL CONTROL OF ENGINE-STARTS FOR DRIVABILITY OF PARALLEL...

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ASME Dynamic systems and control Conference / Bath/ASME symposium on Fluid Power and Motion control

作者： Kum, Dongsuk Peng, Huei Bucknor, Norman Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA

ISBN: (纸本)9780791854761

The parallel hybrid electric vehicle (HEV) with a single pre-transmission electric motor (the P2 configuration) has a challenging drivability issue during engine-starts because the motor must simultaneously provide the propulsion torque demand and start the engine. The goal of this study is to present a design process to achieve optimal balance between these two conflicting goals. We first develop a control-oriented HEV powertrain model to accurately predict the engine, clutch, and vehicle dynamics. Assuming that the clutch torque can be accurately estimated and perfectly cancelled, an optimal engine-start control problem is formulated to minimize engine-start time while accurately supplying the driver torque demand simultaneously. This nonlinear constrained optimal control problem is solved numerically using Dynamic Programming (DP). DP results show that a proper constant clutch pressure level, which leads to constant torque disturbance that is easy to cancel out using the motor, can achieve near-optimal performance. Furthermore, the DP control policy is found to be time-invariant, and thus can be directly implemented in the form of a full state feedback controller

关键词： Dynamic programming

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