A novel platoon topology and performance analysis with cloud brain control center for multi-functional unmanned ground vehicle

2021 ◽  
pp. 095440702110407
Author(s):  
Yue Zhao ◽  
Jun Ni ◽  
Jibin Hu
Keyword(s):  
Intelligent Transportation System ◽  
Controller Design ◽  
Stable Operation ◽  
Ground Vehicles ◽  
Control Center ◽  
Ground Vehicle ◽  
Controller Gain ◽  
Simulation Based ◽  
And Performance ◽  
The Given

Unmanned ground vehicles (UGVs) are of great significance to the development of Intelligent Transportation System (ITS). The UGVs are supposed to serve a large number of missions with multiple functions in civilian use. Therefore, it requires UGV to be grouped as a platoon to complete the given missions. A novel platoon topology, Vehicle-Cloud Bidirectional Leader (VCBDL), is proposed in this paper to provide the basement for the group control of multi-functional UGVs. The VCBDL topology takes consideration of a cloud brain control center, which is capable of analyzing and making autonomous decisions for the UGVs. In order to realize the stable operation of the platoon with VCBDL topology, this paper analyzes the design of the platoon controller based on the graph theory method and obtains the range of controller gain. The robustness of the running platoon is analyzed and the convergence range of the platoon robustness index is defined. The above conclusions are verified by simulation based on the control of the police-used patrol UGV. The simulation results demonstrate the effectiveness of controller design, and the robustness performance is investigated by simulated random platoon disturbance. In addition, the experiments with real shuttle UGVs testbeds platoon are performed to verify the performance of the proposed controller.

The Use of Modeling and Simulation in Ground Vehicle Analysis

2001 ◽  
Author(s):  
Michael D. Letherwood ◽  
David D. Gunter
Keyword(s):  
Life Cycle ◽  
Modeling And Simulation ◽  
Dynamic Performance ◽  
Ground Vehicles ◽  
Reform Initiatives ◽  
Ground Vehicle ◽  
Acquisition Strategies ◽  
Simulation Based ◽  
Acquisition Reform ◽  
And Performance

Abstract In support of Department of Defense (DOD) mandated acquisition reform initiatives to reduce vehicle related life cycle costs and timelines, the Tank-automotive and Armaments Research, Development and Engineering Center (TARDEC) is using simulation-based acquisition strategies to investigate the dynamic performance of wheeled and tracked ground vehicles. These strategies are used throughout the vehicle development, testing, and fielding life cycle process. The paper will describe how modeling and simulation (M&S) is applied to answer a wide variety of design and performance evaluation questions. It will also depict a series of simulation-based engineering projects that build on the Army’s simulation investments as a tool to investigate and answer real-world vehicle design, acquisition, and engineering support questions.

scholarly journals Privacy-Preserving Smart Road-Pricing System with Trustworthiness Evaluation in VANETs

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3658
Author(s):  
Qingfeng Zhu ◽  
Sai Ji ◽  
Jian Shen ◽  
Yongjun Ren
Keyword(s):  
Traffic Control ◽  
Traffic Management ◽  
Location Privacy ◽  
Vehicular Ad Hoc Networks ◽  
Intelligent Transportation System ◽  
Smart Cities ◽  
Security Analysis ◽  
Geographical Location ◽  
Experimental Simulation ◽  
Control Center

With the advanced development of the intelligent transportation system, vehicular ad hoc networks have been observed as an excellent technology for the development of intelligent traffic management in smart cities. Recently, researchers and industries have paid great attention to the smart road-tolling system. However, it is still a challenging task to ensure geographical location privacy of vehicles and prevent improper behavior of drivers at the same time. In this paper, a reliable road-tolling system with trustworthiness evaluation is proposed, which guarantees that vehicle location privacy is secure and prevents malicious vehicles from tolling violations at the same time. Vehicle route privacy information is encrypted and uploaded to nearby roadside units, which then forward it to the traffic control center for tolling. The traffic control center can compare data collected by roadside units and video surveillance cameras to analyze whether malicious vehicles have behaved incorrectly. Moreover, a trustworthiness evaluation is applied to comprehensively evaluate the multiple attributes of the vehicle to prevent improper behavior. Finally, security analysis and experimental simulation results show that the proposed scheme has better robustness compared with existing approaches.

scholarly journals Correlations between the Type of Aggregates in the Bulk Phase and the Functionality and Safety of All-Purpose Cleaners

2021 ◽  
Vol 22 (12) ◽  
pp. 6592
Author(s):  
Artur Seweryn ◽  
Tomasz Wasilewski ◽  
Anita Bocho-Janiszewska
Keyword(s):  
Sodium Chloride ◽  
Magnesium Chloride ◽  
Foam Stability ◽  
Bulk Phase ◽  
Magnesium Salt ◽  
Foaming Properties ◽  
Performance Properties ◽  
Salt Addition ◽  
And Performance ◽  
The Given

The article shows that the type and concentration of inorganic salt can be translated into the structure of the bulk phase and the performance properties of ecological all-purpose cleaners (APC). A base APC formulation was developed. Thereafter, two types of salt (sodium chloride and magnesium chloride) were added at various concentrations to obtain different structures in the bulk phase. The salt addition resulted in the formation of spherical micelles and—upon addition of more electrolyte—of aggregates having a lamellar structure. The formulations had constant viscosities (ab. 500 mPa·s), comparable to those of commercial products. Essential physical-chemical and performance properties of the four formulations varying in salt types and concentrations were evaluated. It was found that the addition of magnesium salt resulted in more favorable characteristics due to the surface activity of the formulations, which translated into adequately high wettability of the investigated hydrophobic surfaces, and their ability to emulsify fat. A decreasing relationship was observed in foaming properties: higher salt concentrations lead to worse foaming properties and foam stability of the solutions. For the magnesium chloride composition, the effect was significantly more pronounced, as compared to the sodium chloride-based formulations. As far as safety of use is concerned, the formulations in which magnesium salt was used caused a much lesser irritation compared with the other investigated formulations. The zein value was observed to decrease with increasing concentrations of the given type of salt in the composition.

Box–Jenkins model LQG controller: design and performance

2001 ◽  
Vol 148 (5) ◽  
pp. 419-429 ◽  
Author(s):  
K.M. Vu ◽  
P. Tessier ◽  
G.A. Dumont
Keyword(s):  
Controller Design ◽  
And Performance

Automatic Parametric Modeling From Non-Feature Based Designs for Additive Manufacturing

2021 ◽  
Author(s):  
Xinyi Xiao ◽  
Byeong-Min Roh
Keyword(s):  
Additive Manufacturing ◽  
3D Models ◽  
Parametric Modeling ◽  
Parametric Models ◽  
Performance Simulation ◽  
Cad Modeling ◽  
3D Cad ◽  
Feature Based ◽  
And Performance ◽  
The Given

Abstract The integration of Topology optimization (TO) and Generative Design (GD) with additive manufacturing (AM) is becoming advent methods to lightweight parts while maintaining performance under the same loading conditions. However, these models from TO or GD are not in a form that they can be easily edited in a 3D CAD modeling system. These geometries are generally in a form with no surface/plane information, thus having non-editable features. Direct fabricate these non-feature-based designs and their inherent characteristics would lead to non-desired part qualities in terms of shape, GD&T, and mechanical properties. Current commercial software always requires a significant amount of manual work by experienced CAD users to generate a feature-based CAD model from non-feature-based designs for AM and performance simulation. This paper presents fully automated shaping algorithms for building parametric feature-based 3D models from non-feature-based designs for AM. Starting from automatically decomposing the given geometry into “formable” volumes, which is defined as a sweeping feature in the CAD modeling system, each decomposed volume will be described with 2D profiles and sweeping directions for modeling. The Boolean of modeled components will be the final parametric shape. The volumetric difference between the final parametric form and the original geometry is also provided to prove the effectiveness and efficiency of this automatic shaping methodology. Besides, the performance of the parametric models is being simulated to testify the functionality.

A Perception-Based Fuzzy Route Planing Algorithm for Autonomous Unmanned Ground Vehicles

2018 ◽  
Vol 06 (04) ◽  
pp. 251-266
Author(s):  
Phillip J. Durst ◽  
Christopher T. Goodin ◽  
Cindy L. Bethel ◽  
Derek T. Anderson ◽  
Daniel W. Carruth ◽  
...  
Keyword(s):  
Path Planning ◽  
Urban Area ◽  
Route Planning ◽  
Unmanned Ground Vehicles ◽  
Membership Functions ◽  
Ground Vehicles ◽  
Ground Vehicle ◽  
Sensor Error ◽  
Planning Algorithm ◽  
Error Costs

Path planning plays an integral role in mission planning for ground vehicle operations in urban areas. Determining the optimum path through an urban area is a well-understood problem for traditional ground vehicles; however, in the case of autonomous unmanned ground vehicles (UGVs), additional factors must be considered. For an autonomous UGV, perception algorithms rather than platform mobility will be the limiting factor in operational capabilities. For this study, perception was incorporated into the path planning process by associating sensor error costs with traveling through nodes within an urban road network. Three common perception sensors were used for this study: GPS, LIDAR, and IMU. Multiple set aggregation operators were used to blend the sensor error costs into a single cost, and the effects of choice of aggregation operator on the chosen path were observed. To provide a robust path planning ability, a fuzzy route planning algorithm was developed using membership functions and fuzzy rules to allow for qualitative route planning in the case of generalized UGV performance. The fuzzy membership functions were then applied to several paths through the urban area to determine what sensors were optimized in each path to provide a measure of the UGV’s performance capabilities. The research presented in this paper shows the impacts that sensing/perception has on ground vehicle route planning by demonstrating a fuzzy route planning algorithm constructed by using a robust rule set that quantifies these impacts.

scholarly journals The Impact of Organizational Culture and Performance Work System on Employees’ Performance

2018 ◽  
Vol 11 (6) ◽  
pp. 199 ◽  
Author(s):  
Amirreza Salehipour ◽  
Abdollah Ah mand
Keyword(s):  
Organizational Culture ◽  
High Performance ◽  
Ministry Of Education ◽  
Work System ◽  
Strong Relation ◽  
High Performance Work System ◽  
Research Questions ◽  
And Performance ◽  
The Impact ◽  
The Given

Necessity of improving employees’ performance in ministry of education in Iran was the reason of conducting this research. Authors are focused on the impact of High Performance Work System (HPWS) and the culture of organization on employees’ performance in Iran ministry of education. By conducting specified study based on distributed survey questionnaire to 162 members of ministry of education in Iran, this study aims to provide answer to the given research questions of study. The outcome of hypotheses testing illustrate HPWS significantly effects ministry members’ performance and shows strong relation between variables. Likewise, organizational culture demonstrates significant affirmative impact on Iran ministry of education members and employees’ performance. Findings of current research indicate that the ministry of education in Iran requires immediate action toward improving performance of members to obtain desired outcome. Accordingly, to the result of present study, current research attempts to provide practical concepts and illustrate limitations, suggestions for improvement of ministry and future study in this field.

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