scholarly journals Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

Algorithms ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 108 ◽  
Author(s):  
Natalia Alekseeva ◽  
Ivan Tanev ◽  
Katsunori Shimohara

The most important characteristics of autonomous vehicles are their safety and their ability to adapt to various traffic situations and road conditions. In our research, we focused on the development of controllers for automated steering of a realistically simulated car in slippery road conditions. We comparatively investigated three implementations of such controllers: a proportional-derivative (PD) controller built in accordance with the canonical servo-control model of steering, a PID controller as an extension of the servo-control, and a controller designed heuristically via the most versatile evolutionary computing paradigm: genetic programming (GP). The experimental results suggest that the controller evolved via GP offers the best quality of control of the car in all of the tested slippery (rainy, snowy, and icy) road conditions.

Algorithms ◽  
2020 ◽  
Vol 13 (2) ◽  
pp. 48 ◽  
Author(s):  
Natalia Alekseeva ◽  
Ivan Tanev ◽  
Katsunori Shimohara

Among the most important characteristics of autonomous vehicles are the safety and robustness in various traffic situations and road conditions. In this paper, we focus on the development and analysis of the extended version of the canonical proportional-derivative PD controllers that are known to provide a good quality of steering on non-slippery (dry) roads. However, on slippery roads, due to the poor yaw controllability of the vehicle (suffering from understeering and oversteering), the quality of control of such controllers deteriorates. The proposed predicted PD controller (PPD controller) overcomes the main drawback of PD controllers, namely, the reactiveness of their steering behavior. The latter implies that steering output is a direct result of the currently perceived lateral- and angular deviation of the vehicle from its intended, ideal trajectory, which is the center of the lane. This reactiveness, combined with the tardiness of the yaw control of the vehicle on slippery roads, results in a significant lag in the control loop that could not be compensated completely by the predictive (derivative) component of these controllers. In our approach, keeping the controller efforts at the same level as in PD controllers by avoiding (i) complex computations and (ii) adding additional variables, the PPD controller shows better quality of steering than that of the evolved (via genetic programming) models.


Author(s):  
Khac-Khiem Nguyen ◽  
Trong-Thang Nguyen

<p>This research aims to propose an algorithm for controlling the speed of the Direct Current (DC) motor in the absence of the sensor of speed. Based on the initial mathematical model of DC motor, the authors build the dynamic state equation of DC motor, and then build an estimation model to determine the speed of the DC motor without a sensor. The advantages of the proposed method are demonstrated through the closed-loop control model using the PID controller. In order for the results to be objective, we assume that the parameters of the DC motor in the estimation model are not known correctly. The results show that the quality of control in the absence of a sensor is equivalent to the case with the sensor.</p>


2016 ◽  
Vol 78 (8) ◽  
Author(s):  
Jia En Foo ◽  
Shin Horng Chong ◽  
Wai Keat Hee ◽  
Ser Lee Loh ◽  
Norhaslinda Hashim

Ball screw mechanisms are widely applied in different industries due to their capability in achieving precise positioning performance as well as its long travel range for positioning, travelling and contouring actions. However, this mechanism exhibits nonlinearities in micro movement. In this paper, a disturbance observer and PD controller (PDDO) is proposed in ball screw mechanism to achieve fast and precise positioning performance. A macrodynamic mathematical model of the mechanism is derived. PDDO controller is designed to achieve fast positioning in micro travel range. The robustness of the controller against mass is examined. The experimental results demonstrated that the PDDO controller achieves better performance in fast tracking (3 Hz) with working range at 100 μm, 1 mm and 3 mm as compared to the PID controller. Besides that, the PDDO controller also demonstrated its robustness in the presence of mass changes.


2012 ◽  
Vol 220-223 ◽  
pp. 1345-1349
Author(s):  
Qi Ji

This article introduces a dynamic target simulation device to evaluate dynamic image quality of the aerial camera. The device simulated the positional relationship of the sky and ground in the laboratory when aerial camera flies at high altitude. And it can be used to inspect camera image quality of aerial camera flying at high altitude in laboratory. At a same time, the article focuses on this servo control system of device, building a control model, and giving control strategy. The servo control system was proved stably and reliably after experimental verification. And it provides a strong guarantee for the test of the dynamic image.


2021 ◽  
pp. 201-205
Author(s):  
С.А. Гордин ◽  
И.В. Зайченко ◽  
К.Д. Хряпенко ◽  
В.В. Бажеряну

В статье рассмотрен вопрос повышения точности и качества управления приводом сетевых насосов в составе судовых тепловых установок в системе отопления судна путем применения адаптивной системы автоматического управления. При использовании классических систем управления на основе ПИД-регуляторов для управления мощностью электродвигателя по критерию обеспечения заданного давления в системе теплоснабжения в условиях резкопеременных тепловых нагрузок могут возникать ситуации разрегулирования системы вследствии возникновения дополнительного давления в тепловой установке при термическом расширении теплоносителя. Для обеспечения надежности и безаварийности работы судовых тепловых установок при резкоперменных нагрузках авторами рассматривается возможность использования для управления мощностью электропривода адаптивной системы управления. В статье рассмотрена схема управления с адаптацией коэффициентов ПИД-регулятора на базе нейронной сети (нейросетевой оптимизатор). Нейросетевой оптимизатор был применен как надстройка над ПИД-регулятором в схеме управления мощностью сетевого насоса в составе судовой тепловой установки. Рассмотрены зависимости характеристик систем управления от структуры и параметров модифицированных критериев точности и качества управления. Адаптация параметров регулирования позволяет обеспечить достижение желаемых параметров с меньшими затратами мощности при сохранении уровня надежности и исключить разрегулирование системы управления при резкопеременных тепловых нагрузках. The article discusses the issue of improving the accuracy and quality of control of the drive of network pumps as part of ship thermal installations in the ship's heating system by using an adaptive automatic control system. When using classical control systems based on PID regulators to control the power of the electric motor according to the criterion of providing a given pressure in the heat supply system under conditions of sharply varying thermal loads, situations of system maladjustment may occur due to the appearance of additional pressure in the thermal installation during thermal expansion of the coolant. To ensure the reliability and trouble-free operation of ship thermal installations under abruptly variable loads, the authors consider the possibility of using an adaptive control system to control the power of an electric drive. The article describes a control scheme with adaptation of the PID controller coefficients based on a neural network (neural network optimizer). The neural network optimizer was used as a superstructure over the PID controller in the power control circuit of a network pump as part of a ship's thermal installation. The dependences of the characteristics of control systems on the structure and parameters of the modified criteria for the accuracy and quality of control are considered. Adaptation of control parameters allows achieving the desired parameters with lower power consumption while maintaining the level of reliability and eliminating deregulation of the control system at abruptly varying thermal loads.


2010 ◽  
Vol 37-38 ◽  
pp. 919-922
Author(s):  
Tian Hao Peng ◽  
Jia Dong Liu ◽  
Xiao Song Hao ◽  
Mei Sheng Yang

An integrated hydraulic speed control platform including fuzzy self-tuning PID controller is developed using LabVIEW. The pump-control-motor variable speed throttle combined speed governing experimental system is tested under the different speed governing control model. Experimental results show that, the complex speed control can be regulated to maintain a desired response and the fuzzy control technology enables better control characteristics.


1993 ◽  
Vol 28 (11-12) ◽  
pp. 257-261
Author(s):  
M. Truett Garrett ◽  
Zaki Ahmad ◽  
Shelly Young

The recent requirements by U.S.E.P.A. for dechlorination and biomonitoring have increased the importance of automatic control of effluent chlorination in wastewater treatment plants. Difficulties with the Ziegler-Nichols controller tuning procedure were reported at the Kyoto Workshop, 1990. Problems are caused by the noise of incomplete mixing, a long time constant, and the disturbances of changing flow and chlorine demand. The Astrom-Hagglund relay feedback procedure provides acceptable control while data is logged to determine the controller constants. Experiences in using the procedure in existing facilities (not redesigning the mixing point) and the quality of control are presented.


Author(s):  
Simar Preet Singh ◽  
Rajesh Kumar ◽  
Anju Sharma ◽  
S. Raji Reddy ◽  
Priyanka Vashisht

Background: Fog computing paradigm has recently emerged and gained higher attention in present era of Internet of Things. The growth of large number of devices all around, leads to the situation of flow of packets everywhere on the Internet. To overcome this situation and to provide computations at network edge, fog computing is the need of present time that enhances traffic management and avoids critical situations of jam, congestion etc. Methods: For research purposes, there are many methods to implement the scenarios of fog computing i.e. real-time implementation, implementation using emulators, implementation using simulators etc. The present study aims to describe the various simulation and emulation tools for implementing fog computing scenarios. Results: Review shows that iFogSim is the simulator that most of the researchers use in their research work. Among emulators, EmuFog is being used at higher pace than other available emulators. This might be due to ease of implementation and user-friendly nature of these tools and language these tools are based upon. The use of such tools enhance better research experience and leads to improved quality of service parameters (like bandwidth, network, security etc.). Conclusion: There are many fog computing simulators/emulators based on many different platforms that uses different programming languages. The paper concludes that the two main simulation and emulation tools in the area of fog computing are iFogSim and EmuFog. Accessibility of these simulation/emulation tools enhance better research experience and leads to improved quality of service parameters along with the ease of their usage.


2021 ◽  
Vol 40 (5) ◽  
pp. 9361-9382 ◽  
Author(s):  
Naeem Iqbal ◽  
Rashid Ahmad ◽  
Faisal Jamil ◽  
Do-Hyeun Kim

Quality prediction plays an essential role in the business outcome of the product. Due to the business interest of the concept, it has extensively been studied in the last few years. Advancement in machine learning (ML) techniques and with the advent of robust and sophisticated ML algorithms, it is required to analyze the factors influencing the success of the movies. This paper presents a hybrid features prediction model based on pre-released and social media data features using multiple ML techniques to predict the quality of the pre-released movies for effective business resource planning. This study aims to integrate pre-released and social media data features to form a hybrid features-based movie quality prediction (MQP) model. The proposed model comprises of two different experimental models; (i) predict movies quality using the original set of features and (ii) develop a subset of features based on principle component analysis technique to predict movies success class. This work employ and implement different ML-based classification models, such as Decision Tree (DT), Support Vector Machines with the linear and quadratic kernel (L-SVM and Q-SVM), Logistic Regression (LR), Bagged Tree (BT) and Boosted Tree (BOT), to predict the quality of the movies. Different performance measures are utilized to evaluate the performance of the proposed ML-based classification models, such as Accuracy (AC), Precision (PR), Recall (RE), and F-Measure (FM). The experimental results reveal that BT and BOT classifiers performed accurately and produced high accuracy compared to other classifiers, such as DT, LR, LSVM, and Q-SVM. The BT and BOT classifiers achieved an accuracy of 90.1% and 89.7%, which shows an efficiency of the proposed MQP model compared to other state-of-art- techniques. The proposed work is also compared with existing prediction models, and experimental results indicate that the proposed MQP model performed slightly better compared to other models. The experimental results will help the movies industry to formulate business resources effectively, such as investment, number of screens, and release date planning, etc.


Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 673
Author(s):  
Augustyn Wójcik ◽  
Piotr Bilski ◽  
Robert Łukaszewski ◽  
Krzysztof Dowalla ◽  
Ryszard Kowalik

The paper presents the novel HF-GEN method for determining the characteristics of Electrical Appliance (EA) operating in the end-user environment. The method includes a measurement system that uses a pulse signal generator to improve the quality of EA identification. Its structure and the principles of operation are presented. A method for determining the characteristics of the current signals’ transients using the cross-correlation is described. Its result is the appliance signature with a set of features characterizing its state of operation. The quality of the obtained signature is evaluated in the standard classification task with the aim of identifying the particular appliance’s state based on the analysis of features by three independent algorithms. Experimental results for 15 EAs categories show the usefulness of the proposed approach.


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