Experimental Study on Application of DGPS-based Position Information to Automatic Driving Control

2001 ◽  
Vol 13 (4) ◽  
pp. 340-351 ◽  
Author(s):  
Manabu Omae ◽  
◽  
Takehiko Fujioka ◽  
Keyword(s):  
Control System ◽  
Experimental Studies ◽  
Time Estimation ◽  
Position Measurement ◽  
Absolute Position ◽  
Position Information ◽  
Automatic Driving ◽  
Automatic Steering ◽  
The Absolute ◽  
Estimation And Control

Experimental studies are conducted for investigating the possibility of automatic driving control systems based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. In this paper, an accurate and real-time estimation of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. Automatic steering controller, automatic evasive controller, and a method of relative position measurement of neighboring vehicles are also proposed as application of position information to automatic driving control. Experiments are conducted using sedan-type vehicles. Experimental results validate the proposed estimation and control system, and provide the perspective of enhancing the automatic driving control system by use of the absolute position information.

scholarly journals Position Estimation of Vehicle Based on Magnetic Marker: Time-Division Position Correction

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8274
Author(s):  
Yeun Sub Byun ◽  
Rag Gyo Jeong
Keyword(s):  
Correction Method ◽  
Position Estimation ◽  
Position Error ◽  
Absolute Position ◽  
Position Information ◽  
Magnetic Marker ◽  
Position Correction ◽  
The Absolute ◽  
Magnetic Markers ◽  
Time Division

During the automatic driving of a vehicle, the vehicle’s positional information is important for vehicle driving control. If fixed-point land markers such as magnetic markers are used, the vehicle’s current position error can be calculated only when a marker is detected while driving, and this error can be used to correct the estimation position. Therefore, correction information is used irregularly and intermittently according to the installation intervals of the magnetic markers and the driving speed. If the detected errors are corrected all at once using the position correction method, discontinuity of the position information can occur. This problem causes instability in the vehicle’s route guidance control because the position error fluctuates as the vehicle’s speed increases. We devised a time-division position correction method that calculates the error using the absolute position of the magnetic marker, which is estimated when the magnetic marker is detected, along with the absolute position information from the magnetic marker database. Instead of correcting the error at once when the position and heading errors are corrected, the correction is performed by dividing the errors multiple times until the next magnetic marker is detected. This prevents sudden discontinuity of the vehicle position information, and the calculated correction amount is used without loss to obtain stable and continuous position information. We conducted driving tests to compare the performances of the proposed algorithm and conventional methods. We compared the continuity of the position information and the mean error and confirmed the superiority of the proposed method in terms of these aspects.

scholarly journals Pseudorandom position encoder with improved zero position adjustment

2012 ◽  
Vol 25 (2) ◽  
pp. 113-120
Author(s):  
Dragan Denic ◽  
Goran Miljkovic ◽  
Jelena Lukic ◽  
Miodrag Arsic
Keyword(s):  
Adjustment Process ◽  
Motor Shaft ◽  
Position Measurement ◽  
Absolute Position ◽  
Motion Direction ◽  
Sensor Head ◽  
Functional Algorithm ◽  
Zero Position ◽  
Reliable Procedure ◽  
The Absolute

Pseudorandom position encoder, which employs two code tracks for absolute position measurement, represents one of the latest trends in the development of the absolute position encoders. One sensor head is used for pseudorandom code reading and two additional sensor heads are used for generating synchronization pulses and motion direction determination. Special attention is devoted to the zero position adjustment after the installation of the encoder on the motor shaft. A novel solution for the improved zero position adjustment incorporated in the functional algorithm of the encoder is presented in this paper. The presented solution offers a reliable procedure for the zero position adjustment, taking into account possible motion direction changes during the zero position adjustment process. The algorithm for the zero position adjustment executes only once and does not participate further in the absolute position measurement process. The functioning of the proposed algorithm is described in more details considering one concrete example of the encoder.

АКУСТИЧНА ПОМІТНІСТЬ БЕЗПІЛОТНИХ ЛІТАЛЬНИХ АПАРАТІВ З СИЛОВИМИ УСТАНОВКАМИ НА БАЗІ ПОРШНЕВИХ ДВИГУНІВ

2020 ◽  
pp. 62-80
Author(s):  
В. В. Руденко ◽  
И. В. Калужинов ◽  
Н. А. Андрущенко
Keyword(s):  
Control System ◽  
Internal Combustion Engine ◽  
Power Plants ◽  
Combustion Engine ◽  
Spectral Characteristics ◽  
Experimental Studies ◽  
Internal Combustion ◽  
Detection Range ◽  
Acoustic Signature ◽  
Static Conditions

The presence in operation of many prototypes of UAVs with propeller propellers, the use of such devices at relatively low altitudes and flight speeds makes the problem of noise reduction from UAVs urgent both from the point of view of acoustic imperceptibility and ecology.The aim of the work is to determine a set of methods that help to reduce the visibility of UAVs in the acoustic range. It is shown that the main source of noise from the UAV on the ground is the power plant, which includes the engine and the propeller. The parameters of the power plants influencing the processes that determine the acoustic signature of the UAV were investigated. A comprehensive analysis of the factors affecting visibility was carried out. The power plants include two-stroke and four-stroke engines, internal combustion and two-blade propellers. The use of silencers on the exhaust of the internal combustion engine was considered. The spectral characteristics of the acoustic fields of the propeller-driven power plants for the operating sample of the UAV "Eco" were obtained. The measurements were carried out in one-third octave and 1/48 octave frequency bands under static conditions. The venue is the KhAI airfield. Note that the propellers that were part of the power plants operated at Reynolds numbers (Re0,75<2*105), which can significantly affect its aerodynamic and acoustic characteristics. It is shown that when choosing a UAV control system, one should take into account the fact that two-stroke piston engines are the dominant source in the noise of propeller-driven control systems in the absence of a hood and mufflers in the intake and exhaust tracts. The use of a four-stroke internal combustion engine significantly reduces the noise of the control system. In the general case, the position of the boundaries of the zone of acoustic visibility of a UAV at the location of the observer is determined by the ratio between the intensity of acoustic radiation perceived by the observer from the UAV and the intensity of sound corresponding to the natural acoustic background and depends on the degree of manifestation of acoustic effects accompanying the propagation of sound in a turbulent atmosphere - the refraction of sound waves. Absorption and dissipation of acoustic energy. The calculation and comparison of the UAV detection range was carried out taking into account the existing natural maskers.The results of experimental studies are presented that allow assessing the degree of acoustic signature of the UAV. A set of measures aimed at reducing the intensity of the acoustic signature of the UAV in various regions of the radiation spectrum has been determined.

scholarly journals A Study on Vision-Based Backstepping Control for a Target Tracking System

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 105
Author(s):  
Thinh Huynh ◽  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Visual Servoing ◽  
Tracking System ◽  
Experimental Studies ◽  
Imaging Geometry ◽  
Control Scheme ◽  
Decoupled Control ◽  
Control Configuration ◽  
A New Technique ◽  
Pointing Control

This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.

scholarly journals Optical Inspection Systems for Axisymmetric Parts with Spatial 2D Resolution

Symmetry ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 1218
Author(s):  
Aleksandr Kulchitskiy
Keyword(s):  
Control System ◽  
Optical System ◽  
Measurement Accuracy ◽  
Experimental Studies ◽  
Digital Camera ◽  
Digital Cameras ◽  
Bodies Of Revolution ◽  
Optical Inspection ◽  
Inspection Systems ◽  
Projection Error

The article proposes a solution to the problem of increasing the accuracy of determining the main shaping dimensions of axisymmetric parts through a control system that implements the optical method of spatial resolution. The influence of the projection error of a passive optical system for controlling the geometric parameters of bodies of revolution from the image of its sections, obtained by a digital camera with non-telecentric optics, on the measurement accuracy is shown. Analytical dependencies are derived that describe the features of the transmission of measuring information of a system with non-telecentric optics in order to estimate the projection error. On the basis of the obtained dependences, a method for compensating the projection error of the systems for controlling the geometry of the main shaping surfaces of bodies of revolution has been developed, which makes it possible to increase the accuracy of determining dimensions when using digital cameras with a resolution of 5 megapixels or more, equipped with short-focus lenses. The possibility of implementing the proposed technique is confirmed by the results of experimental studies.

scholarly journals Joint structure for the real-time estimation and control of automotive dry clutch engagement

2018 ◽  
Vol 51 (15) ◽  
pp. 1062-1067 ◽  
Author(s):  
Mojtaba Sharifzadeh ◽  
Mario Pisaturo ◽  
Arash Farnam ◽  
Adolfo Senatore
Keyword(s):  
Real Time ◽  
Time Estimation ◽  
The Real ◽  
Joint Structure ◽  
Clutch Engagement ◽  
Real Time Estimation ◽  
Dry Clutch ◽  
Estimation And Control ◽  
And Control

scholarly journals Collective Losses of Low Power Cage Induction Motors—A New Approach

Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1749
Author(s):  
Elzbieta Szychta ◽  
Leszek Szychta
Keyword(s):  
Control System ◽  
Experimental Studies ◽  
Complex Problem ◽  
Accurate Estimation ◽  
New Approach ◽  
Water Pumping ◽  
Efficiency Control ◽  
Interacting Systems ◽  
Cage Induction Motor ◽  
Selection Of

Energy efficiency of systems of water pumping is a complex problem since efficiency of two distinct interacting systems needs to be combined: water and power supply. This paper introduces a non-intrusive method of calculating the so-called “collective losses” of a cage induction motor. The term “collective losses”, which the authors define, allows for accurate estimation of motor efficiency. Control system of a pump determines operating point of a pumping station, and thus its efficiency. General estimated performance characteristics of a motor, components of a control system, are assumed to serve selection of a range of pumping speed variations. Rotational speed has a direct effect on motor load torque, pump power and head, and thus on motor performance. Hellwig’s statistical method was used to specify characteristics of estimated collective losses on the basis of experimental studies of 21 motors rated at up to 2.2 kW. The results of simulations and experiments are used to verify validity and efficiency of the suggested method. The method is non-intrusive, simple to use, and requires minimum data.

Design of the Automatic Guided Vehicle Control System Applied to Automotive Logistics

2014 ◽  
Vol 644-650 ◽  
pp. 381-384
Author(s):  
Xin Zhang ◽  
Hao Zhou ◽  
Guo Song Liu
Keyword(s):  
Control System ◽  
Absolute Error ◽  
Vehicle Control ◽  
Test Results ◽  
Circuit Performance ◽  
Automatic Driving ◽  
Automatic Guided Vehicle ◽  
Distribution Logistics ◽  
Auto Parts ◽  
The Cost

In order to improve the efficiency of auto parts distribution logistics, to lower the cost of auto production in transportation logistics, and to reduce accidents, in this paper it is designed that an automatic guided vehicle control system to replace the manned tractors in the distribution sites. The system is equipped with an infrared homing device that can ensure the automated guided vehicle (AGV) along a predetermined route automatic driving at a given distribution information, without the needs to manually guided. Test results show that the circuit performance of AGV control system is stable to ensure the accuracy of the tracking in the practical application, and the mean absolute error of the tracking is less than 0.04m.

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