Impedance matching is a novel approach to executing model-in-the-loop (MIL) simulations. The concept, key features, and sample applications of this approach have been described in a series of publications. This paper ...
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Impedance matching is a novel approach to executing model-in-the-loop (MIL) simulations. The concept, key features, and sample applications of this approach have been described in a series of publications. This paper advances theory and implementation for impedance-matching MIL by: (1) developing a feedback linearization technique for implementing MIL for nonlinear virtual systems, (2) systematically characterizing MIL performance-stability tradeoffs using three design-oriented criteria-performance: defined as closeness of the controlled-actuator impedance to the virtual-boundary impedance;control effort: low controller response at high frequencies to reduce sensitivity to measurement noise and uncertainties in the actuator model;and stability: pursued using passivity of the controlled actuator system, and (3) assessing, through experimentation, the robustness of two ways to estimate feedback reaction force from the test article. These fundamental advancements to MIL are described using a one-dimensional configuration consisting of a fluid-filled cylindrical vessel as the physical test article and a uniaxial hydraulic shake table controlled to imitate different seismic isolation systems at the base of the vessel.
This study developed four different power management system (PMS) prototypes based on the most popular mission computers used for offboard mission operation by the PX4 (open-source UAV flight controller software platf...
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This study developed four different power management system (PMS) prototypes based on the most popular mission computers used for offboard mission operation by the PX4 (open-source UAV flight controller software platform) user community for a photovoltaic (PV)-powered unmanned aerial vehicle (UAV). The four PMS prototypes were compared in terms of operational performance through an analysis of data obtained from a model-in-the-loop simulation and hardware-in-the-loopsimulation using charging and discharging current patterns, saved from an outdoor PV panel power generation and multirotor UAV flight tests, respectively, under varying environmental temperature. Two types of simulations were performed, depending upon the additional placement of a supercapacitor in parallel with a Li-ion battery pack, to verify the effectiveness of the Li-ion battery pack life extension through high current shock mitigation. simulation results demonstrated that the application of a supercapacitor in parallel with a Li-ion battery pack resulted in poor performance indicated by in-flow current fluctuation deviation measurements during the end of the constant current and constant voltage charging process. Moreover, this behavior was confirmed to be mainly because of the inherent high C-rate performance capability of the Li-ion battery pack compared to the supercapacitor. Among the four PMS candidates, under 25 degrees C without supercapacitor, Jetson TX2 was found to exhibit the best functionality in terms of power management (0.41 W of power fluctuation deviation), whereas AMega yielded the best functionality in terms of energy management (1165.4 s of flight time).
The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loopsimulation and limited proving ground use, followed by public road d...
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The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loopsimulation and limited proving ground use, followed by public road deployment of the beta version of software and technology. The rest of the road users are involuntarily forced into taking part in the development and evaluation of these connected and autonomous driving functions in this approach. This is an unsafe, costly and inefficient method. Motivated by these shortcomings, this paper introduces the Vehicle-in-Virtual-Environment (VVE) method of safe, efficient and low-cost connected and autonomous driving function development, evaluation and demonstration. The VVE method is compared to the existing state-of-the-art. Its basic implementation for a path-following task is used to explain the method where the actual autonomous vehicle operates in a large empty area with its sensor feeds being replaced by realistic sensor feeds corresponding to its location and pose in the virtual environment. It is possible to easily change the development virtual environment and inject rare and difficult events which can be tested very safely. Vehicle-to-Pedestrian (V2P) communication-based pedestrian safety is chosen as the application use case for the VVE in this paper, and corresponding experimental results are presented and discussed. A no-line-of-sight pedestrian and vehicle moving towards each other on intersecting paths with different speeds are used in the experiments. Their time-to-collision risk zone values are compared for determining severity levels. The severity levels are used to slow down or brake the vehicle. The results show that V2P communication of pedestrian location and heading can be used successfully to avoid possible collisions. It is noted that actual pedestrians and other vulnerable road users can be used very safely in this approach.
Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control , a team of distinguished researchers delivers a practical and insightful ex...
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ISBN:
(数字)9781119747970
ISBN:
(纸本)9781119747949
Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control , a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loopsimulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulationmodels, and hardware-in-the-loopmodels Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
The ePHASORsim tool offers real-time phasor domain simulations for large-scale power systems. Applications include contingency studies, testing control devices, operator training, and SCADA system tests. This paper de...
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ISBN:
(纸本)9781479923991
The ePHASORsim tool offers real-time phasor domain simulations for large-scale power systems. Applications include contingency studies, testing control devices, operator training, and SCADA system tests. This paper describes a new application of this tool for model-in-the-loop simulations. Two test experiments are shown in this paper to demonstrate the accuracy and advantages of utilizing ePHASORsim for this purpose. The Matlab SimPowerSystems (R) toolbox is used to validate the results.
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