An Integrated Hardware and Software Platform for Control of Automatic Ground Vehicles

Abstract With the development of factory automation, intelligent manufacturing system technology, and three-dimensional automated warehouses, an automatic ground vehicle (AGV) became an essential part of controlling the discrete logistics management system within a facility. The scope of the AGV application and technical capability have been rapidly developed in recent years. However, it is highly time-consuming and resource-intensive to develop a comprehensive AGV platform in both industrial setting and academic environment to design and control of an AGV system. This paper introduces a platform for conducting AGV research and deployment, which consists of the hardware prototyping and entire software system development. By using this platform, users can readily develop customized AGV systems or verify their self-developed algorithms.

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Effect of Rear Wing on Time-Averaged Ground Vehicle Wake With Variable Slant Angle

Journal of Fluids Engineering ◽

10.1115/1.4050373 ◽

2021 ◽

Vol 143 (7) ◽

Author(s):

Md. Shehab Uddin ◽

Fazlur Rashid

Keyword(s):

Separation Bubble ◽

Flow Property ◽

Navier Stokes ◽

Ground Vehicles ◽

Slant Angle ◽

Ground Vehicle ◽

Rear Wing ◽

Horseshoe Vortices ◽

And Control ◽

Ahmed Body

Abstract The slant angle plays a crucial role in the flow property of hatchback ground vehicles. An optimum slant angle is obligatory for better handling the ground vehicles when fitted with a rear wing. In this regard, the variation of time-averaged flow properties around a wing-attached hatchback ground vehicle (Ahmed body) due to a variable slant angle is accessed by this paper. The design includes a scaled Ahmed body as a reference ground vehicle and a rear wing with NACA 0018 profile. The computational studies are executed with Reynolds-averaged Navier–Stokes based k-epsilon turbulence model with nonequilibrium wall function. The vehicle's model is scaled to 75% of the actual model, and analyses are conducted with Reynolds number 2.7 × 106. After the study, it is observed that a 15 deg slant angle is the critical angle for the wing attached state in which the drag coefficient is maximum. After this angle, a sudden reduction of coefficients is observed, where 25 deg is critical for without wing condition. Besides this, the two counter-rotating horseshoe vortices in the separation bubble and side edge c-pillar vortices also behave differently due to the wing's presence. The turbulent kinetic energy variation and the variation in coefficients of surface pressure are also affected by the rear wing attachment. This paper will assist in finding the optimum slant angle for hatchback ground vehicles in the presence of a rear wing. Thus the study will help in increasing stability and control for hatchback ground vehicles.

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Road-Feature-Based Multiparameter Road Complexity Calculation Model of Off-Road Environment

Mathematical Problems in Engineering ◽

10.1155/2018/1952792 ◽

2018 ◽

Vol 2018 ◽

pp. 1-12

Author(s):

Yanan Zhao ◽

Zhiwei Li ◽

Li Gao ◽

Jian Xiong

Keyword(s):

Three Dimensional ◽

Calculation Model ◽

Test Method ◽

Ground Vehicles ◽

Analytic Hierarchy ◽

Ground Vehicle ◽

Road Roughness ◽

Feature Based ◽

Vehicle Technologies ◽

Road Data

To promote the development of unmanned ground vehicle technologies, it is necessary to design a scientific and reasonable test method. Road is an important part of test environmental elements, and different road conditions can examine the adaptability of unmanned ground vehicles to the environment. Therefore, the scientific calculation of road complexity is of great importance. Previous studies on road are mainly based on the concept of road roughness; however due to the unicity of road feature indicators, road complexity can only be reflected to a certain extent. This paper proposes a new road-feature-based multiparameter road complexity calculation model of off-road environment to show the complexity of road more comprehensively. First, a multi-sensor-based data acquisition mobile platform is established to obtain more complete road data. Then, based on the analysis of road feature, road indicators like three-dimensional scale, average slope, and adhesion characteristics of travelable area are obtained. According to the analysis methods of road roughness, the principle of analytic hierarchy process, and the data collected from off-road environment, the calculation model of road complexity is determined. Finally, by calculating complexities of several cross-country roads, the feasibility of this model is verified, which provides a theoretical support for the scientific calculation and quantitative analysis of different road complexities.

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VAL-II, a language for hierarchical control of a robot-based automated factory

Robotica ◽

10.1017/s026357470000237x ◽

1985 ◽

Vol 3 (4) ◽

pp. 265-272 ◽

Cited By ~ 3

Author(s):

C. A. J. Braganca ◽

P. Sholl

Keyword(s):

System Development ◽

Hierarchical Control ◽

Shop Floor ◽

Planning And Control ◽

Control Functions ◽

Robot Systems ◽

General Production ◽

Automated Warehouses ◽

Level 3 ◽

And Control

SUMMARYThe goal of manufacturing system development today is the integration of basic production elements to suit a variety of industrial and shop floor requirements. This may seem an awesome goal, but the authors suggest that careful assessment of requirement at each level and an appreciation of the true level of complexity needed at each level for control purposes, systematic integration will be possible as products become commercially available.Six levels of integration can be defined for robot-based applications: Level 1 - the single robot application level Level 2 - the system with robots working in teams Level 3 - the combination of different robot systems Level 4 - the combination of feeding work automatically to islands of automation from fully automated warehouses. Level 5 - the integration of planning and control functions Level 6 - the integration of CAD based design functions.The approach to integration and the level to which it extends will to a large extent be determined by a company's objective, present computer capacity, general production capability and availability of appropriate flexible automation products and systems for use in a given industrial environment. This paper examines the global needs of hierarchical integration, the level of control needed and the implication of VAL-II to this end.

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The Threats of Ukraine Financial Security: Identification and Systemization

ЕКОНОМІКА І РЕГІОН Науковий вісник ◽

10.26906/eir.2019.2(73).1629 ◽

2019 ◽

pp. 73-80

Author(s):

Oleksandra Maslii ◽

Andrii Maksymenko ◽

Svitlana Onyshchenko

Keyword(s):

Financial Stability ◽

System Development ◽

Financial System ◽

Economic Security ◽

The State ◽

Financial Security ◽

Monitoring And Control ◽

Development Indicators ◽

Security Indicators ◽

And Control

Place of monitoring and control of risks of financial stability of the state in the system of ensuring financial security of the state was substantiated. Methods of identifying threats to Ukraine's financial security through the current and strategic analysis of financial system development indicators were considered. Tendencies of economic development of Ukraine in the context of revealing sources of threats to financial stability of the state were analyzed. Dynamic analysis of the actual values of the financial security indicators of Ukraine as a whole and its separate components had been carried out. Threats to Ukraine's financial security were identified based on comparative and trend analysis. Reasons for the critical state of debt, banking and monetary security in the financial structure and the preconditions for the emergence of systemic threats had been investigated. Systematization of risks and threats to Ukraine's financial security by its components had been carried out. Influence of systemic threats in the financial sphere on the economic security of the state was generalized. International experience of monitoring financial stability of the state was analyzed. Additional risks to the national financial system are associated with the globalization and digitization of the state financial system that are not taken into account by valid methodological recommendations for calculating the level of economic security of Ukraine were highlighted.

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