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Implementation and evaluation of cooperative adaptive cruise control functionalities

IET INTELLIGENT TRANSPORT SYSTEMS 2018年第9期12卷 1110-1115页

作者： Meier, Jan-Niklas Kailas, Aravind Adla, Rawa Bitar, George Moradi-Pari, Ehsan Abuchaar, Oubada Ali, Mahdi Abubakr, Maher Deering, Richard Ibrahim, Umair Kelkar, Paritosh Kumar, Vivek Vijaya Parikh, Jay Rajab, Samer Sakakida, Masafumi Yamamoto, Masashi Volkswagen Grp Amer 3800 Hamlin Rd Auburn Hills MI 48326 USA Volvo Grp North Amer 7900 Natl Serv Rd Greensboro NC 27409 USA Ford Motor Co 27220 Haggerty RdSuite D-1 Farmington Hills MI 48331 USA Honda R&D Amer Inc 1000 Town CtrSuite 2400 Southfield MI 48075 USA 24648 Millcreek Dr Farmington Hills MI 48336 USA Hyundai Kia America Tech Ctr Inc 6800 Geddes Rd Superior Township MI 48198 USA SUBARU Res & Dev Inc 3995 Res Pk Dr Ann Arbor MI 48108 USA CAMP LLC 27220 Haggerty RdSuite D-1 Farmington Hills MI 48331 USA Gen Motors 30500 Mound Rd Warren MI 48092 USA Mazda North Amer Operat 46976 Magellan Dr Wixom MI 48393 USA

This study summarises the implementation of software system architecture and relevant modules to enable cooperative adaptive cruise control (CACC) functionalities as an extension of adaptive cruise control (ACC), thereby leveraging the lessons learned from prototype ACC vehicle testing as well as ideas from prior research. These activities were conducted in the United States under a cooperative agreement between the Crash Avoidance Metrics Partners, LLC and the Federal Highway Administration. A key outcome of this project was to understand the implementation of advanced capabilities for the CACC algorithm in a very structured manner. With the introduction of each CACC module, the impacts on the behaviours of vehicles following in a string (or string stability) were quantified to establish potential performance enhancements to automated following systems.

关键词： road vehicles adaptive control road safety traffic engineering computing software architecture control engineering computing velocity control software system architecture United States Crash Avoidance Metrics Partners Federal Highway Administration CACC cooperative adaptive cruise control adaptive cruise control ACC vehicle testing

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Advanced orthogonal opposition-based learning-driven dynamic salp swarm algorithm: Framework and case studies

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IET control THEORY AND APPLICATIONS 2022年第10期16卷 945-971页

作者： Wang, Zongshan Ding, Hongwei Yang, Jingjing Wang, Jie Li, Bo Yang, Zhijun Hou, Peng Yunnan Univ Sch Informat Sci & Engn Kunming 650500 Yunnan Peoples R China Zhengzhou Univ Sch Mech & Power Engn Zhengzhou Peoples R China Yunnan Educ Dept Kunming Yunnan Peoples R China Fudan Univ Sch Comp Sci Shanghai 200433 Peoples R China

Salp swarm algorithm (SSA) is a relatively new bio-inspired meta-heuristic optimization algorithm that mimics the navigating and foraging behavior of salps in oceans. This paper presents an orthogonal quasi-opposition-based learning-driven dynamic SSA (OBDSSA) for solving global optimization problems. The proposed methodology integrates orthogonal quasi-opposition-based learning (OQOBL) tactic and dynamic learning (DL) strategy with SSA to improve its performance. The OQOBL technique is used to enrich the exploration and development capability of the canonical SSA to help the salp chain jump out of local optimum, while the DL mechanism is applied to the basic approach to expand the neighborhood searching capabilities of the search agents. To investigate the proposed operators and OBDSSA algorithm, 18 widely used benchmark functions and parameter extraction problem of photovoltaic (PV) model have been experimented upon. The comparisons reveal that OBDSSA outperforms all competitors, including the standard SSA, SSA variants, and other state-of-the-art algorithms. Finally, the developed approach is applied to path planning and obstacle avoidance (PPOA) tasks in autonomous mobile robots (AMR) and satisfactory results are obtained.

关键词： canonical SSA global optimization problems OBDSSA algorithm quasiopposition-based learning driven dynamic SSA path planning parameter extraction problem salp chain jump optimisation collision avoidance search problems bioinspired meta heuristic optimization algorithm metaheuristics mobile robots standard SSA control engineering computing advanced orthogonal opposition based learning driven dynamic salp swarm algorithm learning (artificial intelligence)

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Seamless Virtualized controller Migration for Drone Applications

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IEEE INTERNET computing 2019年第2期23卷 51-58页

作者： An, Namwon Yoon, Seunghyun Ha, Taejin Kim, Yohan Lim, Hyuk Gwangju Inst Sci & Technol Sch Elect Engn & Comp Sci Gwangju South Korea LG Elect Seoul South Korea

We consider a virtualized edge-computing infrastructure for drone applications, in which a virtualized container running on an edge node controls drones, and a software-defined network provides a network connectivity between the drones and their virtualized controllers. We propose a seamless migration scheme that migrates a virtualized drone controller to an edge node that is close to its associated drone without suspending the drone control in the edge-computing infrastructure.

关键词： Autonomous Aerial Vehicles control engineering computing Software Defined Networking Virtual Machines Virtualisation Associated Drone Virtualized Drone controller Seamless Migration Scheme Network Connectivity Software Defined Network Edge Node Virtualized Container Virtualized Edge computing Infrastructure Drone Applications Seamless Virtualized controller Migration Drones Edge computing Cloud computing Virtualization Servers Process control

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DESIGN OF COMPENSATION SCHEMES FOR A NONMINIMUM-PHASE MULTIVARIABLE PLANT

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1985年第2期132卷 75-85页

作者： KIDD, PT MUNRO, N WINTERBONE, DE Department of Mechanical Engineering UMIST Manchester UK Control Systems Centre UMIST Manchester UK

The design of analogue and digital controllers for a gas-turbine-powered, controllable pitch propeller marine propulsion plant, which displays nonminimum phase characteristics, is considered. Rosenbrock's multi-variable system theory is used to guide the development of control schemes that do not aggravate the non-minimum phase problems of the system.

关键词： digital controllers multivariable plant Rosenbrock's multivariable system theory marine systems multivariable control systems Multivariable control systems nonminimum phase characteristics controllable pitch propeller marine propulsion plant gas turbines digital control control system synthesis analogue controllers control of heat systems control engineering computing compensation Marine system control propulsion control system analysis and synthesis methods

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Modelling of real-time constraints using SOL for embedded systems design

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computing & control engineering JOURNAL 2002年第4期13卷 189-196页

作者： Alkhodre, A Babau, JP Schwarz, JJ Inst Natl Sci Appl Lab L3I F-69621 Villeurbanne France

The use of SDL has arisen as a promising way of dealing with the increasing complexity of embedded real-time systems. However, SDL does not take into account non-functional aspects, such as the time requirements, that are especially important in the context of real-time systems. Furthermore, the associated code generators do not integrate the management of temporal constraints. A real-time semantic extension to SDL for real-time systems modelling is proposed. The real time profile is added to SDL in order to prepare the real-time code generation. To illustrate the proposal, an example of a speed regulator is presented.

关键词： Compilers, interpreters and other processors formal specification real-time profile velocity control program compilers temporal constraint management Specification and Description Language speed regulator specification languages embedded systems Velocity, acceleration and rotation control real-time systems nonfunctional aspects constraint theory real-time constraint modelling time requirements Formal methods SDL control engineering computing real-time semantic extension real-time code generation computerised control embedded systems design code generators modelling

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Artificial neural network for modelling of the correlation between lateral acceleration and head movement in a motion sickness study

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IET INTELLIGENT TRANSPORT SYSTEMS 2019年第2期13卷 340-346页

作者： Saruchi, Sarah 'Atifah Ariff, Mohd Hatta Mohammed Zamzuri, Hairi Hassan, Nurhaffizah Wahid, Nurbaiti Univ Teknol Malaysia Malaysia Japan Int Inst Technol Kuala Lumpur 54100 Malaysia Univ Teknol Mara Fac Elect Engn Dungun 23000 Terengganu Malaysia

Motion sickness (MS) usually occurs when travelling in a moving vehicle, and especially experienced by the passengers compared to the driver. The difference in their head movements with respect to the direction of lateral acceleration affects the MS severity level. When experiencing curvature, the passengers normally tilt their head in the same direction as the lateral acceleration, while the driver tilts his/her head against it. This study proposes a correlation model between the lateral acceleration of the vehicle and the head movements of the driver and a passenger via an artificial neural network. Experimental datasets were used in the modelling process. The influence of the number of hidden neurons with respect to the model accuracy has also been investigated. Then, the correlation from the model was expressed as a mathematical equation. This mathematical representation model can be beneficial in the design of vehicle motion control systems in order to mitigate the MS effect.

关键词： health care mechanical engineering computing neural nets acceleration motion control vehicle dynamics control engineering computing artificial neural network lateral acceleration head movement motion sickness study moving vehicle MS severity level correlation model modelling process hidden neurons mathematical equation mathematical representation model vehicle motion control systems MS effect mitigation

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Intelligent mechatronics

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computing & control engineering JOURNAL 1998年第6期9卷 257-264页

作者： Roberts, G Univ Coll Wales Mechatron Res Ctr Newport NP9 5XR Gwent Wales

Over the last decade there has been an exponential growth in mechatronics and intelligent systems activity, a growth which has led to the development of exciting new products which are in everyday use. This Chairman's Address traces the origins of mechatronics and demonstrates how the concept has grown from its beginnings in Japanese manufacturing industry to become universally accepted as an important enabling methodology for improved product design and profitability. The parallel development of the intelligent systems paradigms of fuzzy logic, artificial neural networks and genetic algorithms will also be discussed and it will be shown how the two subjects have become inexorably linked. The overall aim of the Address is to demonstrate how the synergistic combination of these two areas has provided the driving force for innovative applications ranging from cameras and domestic washing machines to motor vehicles, ships and industrial processes.

关键词： synergistic combination motor vehicles domestic washing machines enabling methodology product design Robotics Japanese manufacturing industry profitability Optimisation knowledge based systems intelligent mechatronics Expert systems and other AI software and techniques ships cameras artificial neural networks industrial processes Civil and mechanical engineering computing control technology and theory genetic algorithms Actuating and final control devices neural nets control engineering computing innovative applications Optimisation techniques Neural computing techniques intelligent systems fuzzy logic mechatronics

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EVOLUTION OF AUTOMATIC DEVICES IN CONJUNCTION WITH SIGNALING ON THE SNCF

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IEE PROCEEDINGS-B ELECTRIC POWER APPLICATIONS 1987年第3期134卷 159-166页

作者： RETIVEAU, R Département de la Signalisation (VZ1) Société Nationale des Chemins de Fer Francais Direction de l'Equipement Paris France

Computerised installations linked to the signalling in French Railways bring computer techniques to signal boxes as operational aids. The first installation, in 1977, was that in the Versailles Chantiers signal box, near Paris. This signal box manages many routes in a complicated area. The second installation, at about the same time, was that involving the traffic management on two 50 km double track sections with sidings and cross-overs. The third installation was at the Paris Invalides signal box, in 1979, on heavily used suburban lines. These three installations used mini computers. But now, with microprocessors and microcomputers, French manufacturers and French Railways (SNCF) have studied new structures with a modular approach. The main differ ence between the systems now being built and the former ones is that it is easier, with the ‘modules’, to have decentralised systems, and thus, less development for each installation and a larger facility for building the systems. Moreover, systems managing functions which are not strictly involved in safety in signal boxes have been studied, and fail-safe signalling function design is now in progress. The first French solid-state interlocking signal box put into service has been at Chateauroux.

关键词： transport computer control control engineering computing railways signalling computerised installations Transportation train management system SNCF automatic train announcing system and describer decentralised systems Rail-traffic system control solid-state interlocking system control applications in remote signalling, dispatching and safety devices

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DISCRETE-TIME APPROXIMATION OF MULTIVARIABLE CONTINUOUS-TIME SYSTEMS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1983年第3期130卷 103-110页

作者： SINHA, NK ZHOU, QJ S CHINA INST TECHNOL DEPT AUTOMAT CONTROLGUANGZHOUPEOPLES R CHINA

Five different methods for obtaining discrete-time approximations of multivariable continuous-time systems are discussed. Three of these have been proposed by the authors. A comparison between the methods is presented through numerical examples. The results should be valuable for the digital simulation of multivaiiable systems as well as for computer control.

关键词： control system analysis and synthesis methods control engineering computing transfer functions computerised control continuous-time systems computer control multivariable control systems discrete-time approximations Multivariable control systems Interpolation and function approximation (numerical analysis) Numerical analysis approximation theory digital simulation

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Active power dynamic interval control based on operation data mining for wind farms to improve regulation performance in AGC

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IET GENERATION TRANSMISSION & DISTRIBUTION 2020年第25期14卷 6207-6219页

作者： Liu, Yushan Wang, Lingmei Chen, Liming Meng, Enlong Jia, Huming Jia, Chengzhen Guo, Dongjie Yin, Shaoping Shanxi Univ Sch Comp & Informat Technol Taiyuan Peoples R China Wind Turbine Monitoring & Diag NTRC Shanxi Prov Taiyuan Peoples R China Ulster Univ Sch Comp Belfast Antrim North Ireland Qinghai Green Power Operat & Maintenance Technol Xining Peoples R China SPIC Shanxi New Energy Co LTD Taiyuan Peoples R China

With the real-time changes of wind speed and operating conditions, it is a challenge to fully tap the active power regulation ability and improve the control performance of automatic generation control (AGC) in a wind farm (WF). The essence of tapping the active power regulation ability is to realise the coordination and complementarity of each wind turbine's (WT's) dynamic adjustment performance (DAP). To address this, a novel data mining method is developed to derive the internal relations between WTs' output power and pitch angle, impeller speed and pitch angle during the power adjustment process, and a unified mechanism model is established to describe DAP of WTs. Based on the discovered relationship between WTs' DAP and its operating states, an active power distribution algorithm and a dynamic interval control method are proposed. Then, an active power dynamic interval control strategy that has been implemented using Java script in MyEclipse for WFs is further developed. The control strategy has been tested and applied in a 50MW WF in northwest China. The preliminary results showed that the control strategy has improved the rapidity and accuracy of AGC in the WF.

关键词： data mining wind power plants power generation control Java wind turbines authoring languages impellers power distribution control control engineering computing power engineering computing operation data mining wind farm regulation performance AGC wind speed active power regulation automatic generation control wind turbine dynamic adjustment performance pitch angle power adjustment process active power distribution active power dynamic interval control impeller speed MyEclipse JavaScript power 50 0 MW

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