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Research on discontinuous guidance and hardware-in-the-loop simulation for unmanned underwater vehicle

CLUSTER COMPUTING-THE JOURNAL OF NETWORKS SOFTWARE TOOLS AND APPLICATIONS 2019年第4-Sup期22卷 S7975-S7982页

作者： Shao, Zhiyu Feng, Shunshan Beijing Inst Technol State Key Lab Explos Sci & Technol Beijing 100081 Peoples R China

Based on the application of important water area blockade, a new discontinuous guidance approach of an unmanned underwater vehicle (UUV) perpendicularly towards side of surface ship is proposed, and a hardware-in-the-loop simulation (HILS) system is established to demonstrate this guidance approach. This approach can be described as follows: a near-surface straight trajectory which is perpendicular to the predicted ship trajectory is figured out by detection device of UUV which is hidden underwater after the ship target is located. When the horizontal distance between UUV and the ship target meets start-up condition, UUV climbs to a certain depth near the sea surface and then runs along the horizontal straight trajectory. During its motion, UUV periodically measures the sight line between the UUV and ship target. In order to restrain the horizontal rotation of the sight line, a discontinuous guidance approach is proposed by using the deviation of the two adjacent sight lines and the distance between the UUV and the ship target to adjust the UUV's velocity. After certain times of adjustment of the UUV's velocity, UUV impacts the side of ship target perpendicularly with required accuracy. This near-surface discontinuous guidance approach makes it possible for UUV to be guided through optical or radar detection. Further discussions are made including miss distance caused by this proposed guidance approach, cycle of sight line detection, UUV's non-attack zone and UUV start-up condition. Finally, a set of HILS is carried out to demonstrate the performance of the discontinuous guidance approach on an experimentally validated UUV model.

关键词： Discontinuous guidance approach Unmanned underwater vehicle hardware-in-the-loop simulation

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A holistic concurrent design approach to robotics using hardware-in-the-loop simulation

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MECHATRONICS 2013年第3期23卷 335-345页

作者： Chhabra, Robin Emami, M. Reza Univ Toronto Inst Aerosp Studies Toronto ON M3H 5T6 Canada

This paper discusses a practical approach to the concurrent design of robot manipulators, which is based on an alternative design methodology, namely Holistic Concurrent Design (HCD), as well as the utilization of a modular hardware-in-the-loop simulation. Holistic concurrent design is a systematic design methodology for mechatronic systems that formalizes subjective notions of design, resulting in the simplification of the multi-objective constrained optimization process. Its premise is to enhance the communication between designers with various backgrounds and customers, and to consider numerous design variables with different natures concurrently. The methodology redefines the ultimate goal of design based on the qualitative notion of satisfaction, and formalizes the effect of designer's subjective attitude in the process. The hardware-in-the-loop platform involves physical joint modules and the control unit of a manipulator in addition to the software simulation to reduce modeling complexities and to take into account physical phenomena that are hard to be captured mathematically. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance supercriterion during the design process. The resulting architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Concurrent design hardware-in-the-loop simulation Robot manipulator Multidisciplinary systems Mechatronics

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Comparison of Emergency Vehicle Preemption methods using a hardware-in-the-loop simulation

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KSCE JOURNAL OF CIVIL ENGINEERING 2012年第6期16卷 1057-1063页

作者： Yun, Ilsoo Park, Byungkyu Brian Lee, Choul Ki Oh, Young Tae Ajou Univ Div Environm Civil & Transportat Engn Suwon 443749 South Korea Univ Virginia Dept Civil & Environm Engn Charlottesville VA 22904 USA

Modern traffic signal control systems provide Emergency Vehicle Preemption (EVP), which provides the right-of-way to emergency vehicles in preference to other vehicles. Traffic engineers should select the best coordination recovery strategy at the end of the preemption in order to minimize any resulting disruptions. This paper compares the various EVP methods available with a controller used in the USA. The comparison was conducted in an urban corridor including four coordinated-actuated signals using a hardware-in-the-loop simulation (HILS), which consisted of a well-calibrated VISSIM microscopic simulation model and four Type 170 controllers. The examined preemption strategies included shortway and dwell with different numbers of cycles for transition completion. The results of the comparison indicated that the resulting impact on the network-wide and intersection-specific performances varied with the selected EVP method. The results also indicated that the EVP function using a shortway transition method with two or three cycles worked the best, as it could minimize the impacts of EVP.

关键词： emergency vehicle preemption transition hardware-in-the-loop simulation shortway dwell

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Real-Time Raw-Signal simulation Algorithm for InSAR hardware-in-the-loop simulation Applications

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IEEE GEOSCIENCE AND REMOTE SENSING LETTERS 2012年第1期9卷 134-138页

作者： He, Zhihua He, Feng Dong, Zhen Liang, Diannong Natl Univ Def Technol Sch Elect Sci & Engn Changsha 410073 Hunan Peoples R China

To address the new requirements for InSAR raw-signal simulation for hardware-in-the-loop simulation application, a real-time raw-signal simulation algorithm with high accuracy is proposed. The raw signal is expressed as the convolution of the transmitting signal and the scene modulation signal (SMS), and the convolution is then implemented using the fast Fourier transform. The SMS is calculated by the position approximation in the time domain, and an interpolation technique is used to maintain the accuracy of the fast approximation algorithm. The SMS is filtered to the radar sampling frequency for real-time implementation. The approximation error of the fast algorithm is analyzed quantitatively to obtain the minimum interpolation factor. Ground-based hardware-in-the-loop simulation results are provided to validate the algorithm.

关键词： Fast algorithm hardware-in-the-loop simulation interferometric synthetic aperture radar (InSAR) raw signal real-time simulation

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The compensation of actuator delay for hardware-in-the-loop simulation of a jet engine fuel control unit

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simulation-TRANSACTIONS OF THE SOCIETY FOR MODELING AND simulation INTERNATIONAL 2014年第6期90卷 745-755页

作者： Hashemi, S. R. Montazeri, M. Nasiri, M. IUST Syst Simulat & Control Lab Dept Mech Engn Tehran 168461311 Iran

hardware-in-the-loop (HIL) is a type of real-time simulation test that is different from a pure real-time simulation test due to a real component added to the loop. Since HIL includes numerical and physical components, a transfer system is required to link these parts. The transfer system typically consists of a set of actuators and sensors. In order to get accurate test results, the transfer system dynamic effects need to be mitigated. The fuel control unit (FCU) is an electrohydraulic component of the fuel control system in gas turbine engines. Investigation of FCU performance through HIL technique requires the numerical model of other related parts, such as the jet engine and the designed electronic control unit. In addition, a transfer system is employed to link the FCU hardware and the numerical model. The objective of this study was to implement the HIL simulation of the FCU. To get accurate simulation results, the inverse and polynomial compensation techniques were proposed to compensate time delays resulting from inherent dynamics of the transfer system. Finally, the results obtained by applying both of the methods were compared.

关键词： Time-delay compensation inverse polynomial hardware-in-the-loop simulation fuel control unit

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Design and implementation of a hardware-in-the-loop simulation system for small-scale UAV helicopters

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MECHATRONICS 2009年第7期19卷 1057-1066页

作者： Cai, Guowei Chen, Ben M. Lee, Tong H. Dong, Miaobo Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

We present in the paper the design of a hardware-in-the-loop simulation framework and its actual implementation on our custom constructed unmanned-aerial-vehicle (UAV) helicopter systems. Real-time hardware-in-the-loop simulation is one of the most effective methods for the verification of the overall control performance and safety of the UAVs before conducting actual flight tests. In our proposed framework, four modules, which include onboard hardware, flight control, ground station and software, are integrated together to realize the hardware-in-the-loop simulation. This design is successfully utilized for simulating several flight tests including basic flight motions, full-envelope flight and multiple UAV formation flight. Results obtained show that the constructed hardware-in-the-loop simulation system is highly effective and useful. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： hardware-in-the-loop simulation UAV Helicopter Flight control

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Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space

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ACTA ASTRONAUTICA 2016年 128卷 295-303页

作者： Qi, Chenkun Zhao, Xianchao Gao, Feng Ren, Anye Hu, Yan Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Inst Aerosp Syst Engn Shanghai Shanghai 201108 Peoples R China

The hardware-in-the-loop (HIL) contact simulation for flying objects in space is challenging due to the divergence caused by the time delay. In this study, a divergence compensation approach is proposed for the stiffness-varying discrete contact. The dynamic response delay of the motion simulator and the force measurement delay are considered. For the force measurement delay, a phase lead based force compensation approach is used. For the dynamic response delay of the motion simulator, a response error based force compensation approach is used, where the compensation force is obtained from the real-time identified contact stiffness and real-time measured position response error. The dynamic response model of the motion simulator is not required. The simulations and experiments show that the simulation divergence can be compensated effectively and satisfactorily by using the proposed approach. (C) 2016 IAA. Published by Elsevier Ltd. All rights reserved.

关键词： hardware-in-the-loop simulation Space contact Divergence compensation Delay compensation Discrete contact

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An agent-based hardware-in-the-loop simulation framework for building controls

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ENERGY AND BUILDINGS 2018年 181卷 26-37页

作者： Huang, Sen Wang, Weimin Brambley, Michael R. Goyal, Siddhartha Zuo, Wangda Pacific Northwest Natl Lab Richland WA USA Univ North Carolina Charlotte Charlotte NC 28223 USA Johnson Controls Inc Milwaukee WI USA Univ Colorado Boulder CO 80309 USA

In general, a hardware-in-the-loop (HIL) building simulation has lower cost and fewer practical limitations (e.g., scheduling issues) than field tests in occupied buildings, while also overcoming limitations of simulations alone by capturing the full behavior of some physical systems, equipment, and components. However, the implementation of an HIL can be difficult due to the scarcity of appropriate tools. This paper presents an agent-based framework for HIL simulation. It can be used for investigation of controller performance via controller-in-the-loop simulations and also HIL for system synthesis. In the latter case, both controllers and major equipment participate in tests to ensure that dynamics of equipment operation are correctly captured in addition to controller performance. The HIL simulation framework presented allows such actual physical parts to be included in the framework while representing others for which behaviors are better known and modeled in simulation models. The mechanism implemented in the framework to synchronize simulations in software with real-time operation of physical equipment is described. As an example, use of the HIL simulation framework is illustrated through a brief study of speed control of the supply fan in the air handling unit of a variable-air-volume building heating, ventilating and air-conditioning system. (C) 2018 Elsevier B.V. All rights reserved.

关键词： hardware-in-the-loop simulation VOLTTRON Modelica Building controls Multi-agent systems

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Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

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ACTA ASTRONAUTICA 2012年第1期81卷 335-347页

作者： Ma, Ou Flores-Abad, Angel Boge, Toralf New Mexico State Univ Dept Mech & Aerosp Engn Las Cruces NM 88003 USA German Aerosp Ctr DLR German Space Operat Ctr D-81241 Wessling Germany

One of the most challenging and risky operations for spacecraft is to perform rendezvous and docking autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-the-loop (HIL) rendezvous and docking simulation facility that uses two industrial robots to physically simulate the 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within a 25-meter range and the entire docking/capturing process for a satellite on-orbit servicing mission. The key difficulties of using industrial robots for high-fidelity HIL contact dynamics simulation were found and different solution techniques were investigated in the presented project. An admittance control method was proposed to achieve the goal of making the robots in the HIL simulation process match the impedance of the two docking satellites. simulation study showed the effectiveness and performance of the proposed solution method. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Rendezvous and docking Contact dynamics hardware-in-the-loop simulation On-orbit servicing Robotics Admittance control

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Safety Benefits of Stability Control Systems for Tractor-Semitrailers Estimated with hardware-in-the-loop simulation

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TRANSPORTATION RESEARCH RECORD 2012年第2281期2281卷 99-108页

作者： Park, Sangjun Donoughe, Kelly Rakha, Hesham A. Virginia Polytech Inst & State Univ Charles E Via Jr Dept Civil & Environm Engn Blacksburg VA 24061 USA Virginia Polytech Inst & State Univ Virginia Tech Transportat Inst Ctr Sustainable Mobil Blacksburg VA 24061 USA

This research estimated the safety benefits of electronic stability control systems for tractor-semitrailers by using hardware-in-the-loop (HiL) simulation. The HiL system used in this study consisted of a pneumatic tractor-semitrailer braking system and a truck simulation engine, TruckSim. Additionally, the Bendix electronic stability control system was integrated with the HiL system for the evaluation. The study evaluated the performance of the stability control system by using the HiL platform for a portion of the rollover and loss-of-control crashes selected from the database of the Large Truck Crash Causation Study. Subsequently, the evaluated performance was combined with the effectiveness rated by the expert panel at the University of Michigan Transportation Research Institute to calculate the total crash prevention ratios. Finally, this study estimated crash reductions and cost benefits. It provides lessons learned to researchers and practitioners through the course of evaluation procedures.

关键词： hardware-in-the-loop simulation

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