scholarly journals Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021 ◽  
Vol 11 (22) ◽  
pp. 10634
Author(s):  
Abdullah Aldughaiyem ◽  
Yasser Bin Salamah ◽  
Irfan Ahmad
Keyword(s):  
Control Design ◽  
Path Tracking ◽  
The Other ◽  
Successful Implementation ◽  
Potential Reduction ◽  
Articulated Vehicle ◽  
Tracking Controller ◽  
Lateral Distance ◽  
Shipping Cost ◽  
The Stability

In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.

scholarly journals Driverless Bus Path Tracking Based on Fuzzy Pure Pursuit Control with a Front Axle Reference

2019 ◽  
Vol 10 (1) ◽  
pp. 230 ◽  
Author(s):  
Lingli Yu ◽  
Xiaoxin Yan ◽  
Zongxu Kuang ◽  
Baifan Chen ◽  
Yuqian Zhao
Keyword(s):  
Feedforward Control ◽  
Forward Direction ◽  
Front Axle ◽  
Path Tracking ◽  
Tuning Method ◽  
Tracking Controller ◽  
Pursuit Control ◽  
Pure Pursuit ◽  
The Stability ◽  
Fuzzy Parameter

Currently, since the model of a driverless bus is not clear, it is difficult for most traditional path tracking methods to achieve a trade-off between accuracy and stability, especially in the case of driverless buses. In terms of solving this problem, a path-tracking controller based on a Fuzzy Pure Pursuit Control with a Front Axle Reference (FPPC-FAR) is proposed in this paper. Firstly, the reference point of Pure Pursuit is moved from the rear axle to the front axle. It relieves the influence caused by the ignorance of the bus’s lateral dynamic characteristics and improves the stability of Pure Pursuit. Secondly, a fuzzy parameter self-tuning method is applied to improve the accuracy and robustness of the path-tracking controller. Thirdly, a feedback-feedforward control algorithm is devised for velocity control, which enhances the velocity tracking efficiency. The proportional-integral (PI) controller is indicated for feedback control, and the gravity acceleration component in the car’s forward direction is used in feedforward control. Finally, a series of experiments is conducted to illustrate the excellent performances of proposed methods.

Uniformity of Magnification from Different Electron Microscopes

1967 ◽  
Vol 25 ◽  
pp. 32-33
Author(s):  
Godfrey C. Hoskins ◽  
V. Williams ◽  
V. Allison
Keyword(s):  
Diffraction Grating ◽  
The Other ◽  
Carbon Replica ◽  
Electron Microscopes ◽  
The Stability

The method demonstrated is an adaptation of a proven procedure for accurately determining the magnification of light photomicrographs. Because of the stability of modern electrical lenses, the method is shown to be directly applicable for providing precise reproducibility of magnification in various models of electron microscopes.A readily recognizable area of a carbon replica of a crossed-line diffraction grating is used as a standard. The same area of the standard was photographed in Phillips EM 200, Hitachi HU-11B2, and RCA EMU 3F electron microscopes at taps representative of the range of magnification of each. Negatives from one microscope were selected as guides and printed at convenient magnifications; then negatives from each of the other microscopes were projected to register with these prints. By deferring measurement to the print rather than comparing negatives, correspondence of magnification of the specimen in the three microscopes could be brought to within 2%.

scholarly journals Black Hole Algorithm for Sustainable Design of Counterfort Retaining Walls

2020 ◽  
Vol 12 (7) ◽  
pp. 2767 ◽  
Author(s):  
Víctor Yepes ◽  
José V. Martí ◽  
José García
Keyword(s):  
Black Hole ◽  
Sustainable Design ◽  
Retaining Walls ◽  
The Other ◽  
Trade Off ◽  
Construction Company ◽  
Geometric Variables ◽  
The Stability ◽  
The Cost ◽  
Black Hole Algorithm

The optimization of the cost and CO 2 emissions in earth-retaining walls is of relevance, since these structures are often used in civil engineering. The optimization of costs is essential for the competitiveness of the construction company, and the optimization of emissions is relevant in the environmental impact of construction. To address the optimization, black hole metaheuristics were used, along with a discretization mechanism based on min–max normalization. The stability of the algorithm was evaluated with respect to the solutions obtained; the steel and concrete values obtained in both optimizations were analyzed. Additionally, the geometric variables of the structure were compared. Finally, the results obtained were compared with another algorithm that solved the problem. The results show that there is a trade-off between the use of steel and concrete. The solutions that minimize CO 2 emissions prefer the use of concrete instead of those that optimize the cost. On the other hand, when comparing the geometric variables, it is seen that most remain similar in both optimizations except for the distance between buttresses. When comparing with another algorithm, the results show a good performance in optimization using the black hole algorithm.

scholarly journals A Fractional SAIDR Model in the Frame of Atangana–Baleanu Derivative

2021 ◽  
Vol 5 (2) ◽  
pp. 32
Author(s):  
Esmehan Uçar ◽  
Sümeyra Uçar ◽  
Fırat Evirgen ◽  
Necati Özdemir
Keyword(s):  
Existence And Uniqueness ◽  
Laplace Transformation ◽  
Cell Phones ◽  
Mobile Network ◽  
The Other ◽  
Banach Fixed Point Theorem ◽  
Propagation Models ◽  
Computer Worms ◽  
Computer Viruses ◽  
The Stability

It is possible to produce mobile phone worms, which are computer viruses with the ability to command the running of cell phones by taking advantage of their flaws, to be transmitted from one device to the other with increasing numbers. In our day, one of the services to gain currency for circulating these malignant worms is SMS. The distinctions of computers from mobile devices render the existing propagation models of computer worms unable to start operating instantaneously in the mobile network, and this is particularly valid for the SMS framework. The susceptible–affected–infectious–suspended–recovered model with a classical derivative (abbreviated as SAIDR) was coined by Xiao et al., (2017) in order to correctly estimate the spread of worms by means of SMS. This study is the first to implement an Atangana–Baleanu (AB) derivative in association with the fractional SAIDR model, depending upon the SAIDR model. The existence and uniqueness of the drinking model solutions together with the stability analysis are shown through the Banach fixed point theorem. The special solution of the model is investigated using the Laplace transformation and then we present a set of numeric graphics by varying the fractional-order θ with the intention of showing the effectiveness of the fractional derivative.

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

scholarly journals Competing Conventions with Costly Information Acquisition

Games ◽  
2021 ◽  
Vol 12 (3) ◽  
pp. 53
Author(s):  
Roberto Rozzi
Keyword(s):  
Information Acquisition ◽  
Evolutionary Model ◽  
Equilibrium Selection ◽  
The Other ◽  
Group Interactions ◽  
Social Coordination ◽  
Long Run ◽  
Stochastic Stability Analysis ◽  
The Stability ◽  
The Cost

We consider an evolutionary model of social coordination in a 2 × 2 game where two groups of players prefer to coordinate on different actions. Players can pay a cost to learn their opponent’s group: if they pay it, they can condition their actions concerning the groups. We assess the stability of outcomes in the long run using stochastic stability analysis. We find that three elements matter for the equilibrium selection: the group size, the strength of preferences, and the information’s cost. If the cost is too high, players never learn the group of their opponents in the long run. If one group is stronger in preferences for its favorite action than the other, or its size is sufficiently large compared to the other group, every player plays that group’s favorite action. If both groups are strong enough in preferences, or if none of the groups’ sizes is large enough, players play their favorite actions and miscoordinate in inter-group interactions. Lower levels of the cost favor coordination. Indeed, when the cost is low, in inside-group interactions, players always coordinate on their favorite action, while in inter-group interactions, they coordinate on the favorite action of the group that is stronger in preferences or large enough.

A Multi-Cylinder HCCI Engine Model for Control

2004 ◽  
Author(s):  
Jason S. Souder ◽  
Parag Mehresh ◽  
J. Karl Hedrick ◽  
Robert W. Dibble
Keyword(s):  
Design Process ◽  
Control Design ◽  
The Other ◽  
Variable Valve Timing ◽  
Valve Timing ◽  
Coupling Effects ◽  
Hcci Engine ◽  
Engine Model ◽  
Hcci Engines ◽  
Variable Valve

Homogeneous charge compression ignition (HCCI) engines are a promising engine technology due to their low emissions and high efficiencies. Controlling the combustion timing is one of the significant challenges to practical HCCI engine implementations. In a spark-ignited engine, the combustion timing is controlled by the spark timing. In a Diesel engine, the timing of the direct fuel injection controls the combustion timing. HCCI engines lack such direct in-cylinder mechanisms. Many actuation methods for affecting the combustion timing have been proposed. These include intake air heating, variable valve timing, variable compression ratios, and exhaust throttling. On a multi-cylinder engine, the combustion timing may have to be adjusted on each cylinder independently. However, the cylinders are coupled through the intake and exhaust manifolds. For some of the proposed actuation methods, affecting the combustion timing on one cylinder influences the combustion timing of the other cylinders. In order to implement one of these actuation methods on a multi-cylinder engine, the engine controller must account for the cylinder-to-cylinder coupling effects. A multi-cylinder HCCI engine model for use in the control design process is presented. The model is comprehensive enough to capture the cylinder-to-cylinder coupling effects, yet simple enough for the rapid simulations required by the control design process. Although the model could be used for controller synthesis, the model is most useful as a starting point for generating a reduced-order model, or as a plant model for evaluating potential controllers. Specifically, the model includes the dynamics for affecting the combustion timing through exhaust throttling. The model is readily applicable to many of the other actuation methods, such as variable valve timing. Experimental results validating the model are also presented.

A Biomechanical Evaluation of Three Forms of Internal Fixation Used in Ankle Arthrodesis

1994 ◽  
Vol 15 (6) ◽  
pp. 297-300 ◽  
Author(s):  
Michael P. Dohm ◽  
James B. Benjamin ◽  
Jeffrey Harrison ◽  
John A. Szivek
Keyword(s):  
Internal Fixation ◽  
Plate Fixation ◽  
Ankle Arthrodesis ◽  
Biomechanical Study ◽  
The Other ◽  
Fixation Failure ◽  
Plate Group ◽  
Biomechanical Evaluation ◽  
The Stability ◽  
Fibular Strut

A biomechanical study was undertaken to evaluate the relative stability of three types of internal fixation used for ankle arthrodesis. Crossed screw fixation, RAF fibular strut fixation, and T-plate fixation were tested in 30 cadaver ankles using an MTS machine. T-plate fixation consistantly provided the stiffest construct when compared with the other types of fixation. Failure occurred by distraction of bony surfaces, posterior to the plane of fixation, in the crossed screw and RAF groups. In contrast, failure in the T-plate group occurred through compression of bone anterior to the midcoronal plane of the tibia. Although the stability of fixation is only one factor in determining the success or failure of ankle arthrodesis, the results of this study would support T-plate fixation over the other forms tested.

scholarly journals Tetracycline Induces Stabilization of mRNA in Bacillus subtilis

2002 ◽  
Vol 184 (4) ◽  
pp. 889-894 ◽  
Author(s):  
Yi Wei ◽  
David H. Bechhofer
Keyword(s):  
Bacillus Subtilis ◽  
Mrna Stability ◽  
The Other ◽  
Leader Region ◽  
Subinhibitory Concentration ◽  
Coding Sequence ◽  
Mrna Stabilization ◽  
Threefold Increase ◽  
The Stability

ABSTRACT The tet(L) gene of Bacillus subtilis confers low-level tetracycline (Tc) resistance. Previous work examining the >20-fold-inducible expression of tet(L) by Tc demonstrated a 12-fold translational induction. Here we show that the other component of tet(L) induction is at the level of mRNA stabilization. Addition of a subinhibitory concentration of Tc results in a two- to threefold increase in tet(L) mRNA stability. Using a plasmid-borne derivative of tet(L) with a large in-frame deletion of the coding sequence, the mechanism of Tc-induced stability was explored by measuring the decay of tet(L) mRNAs carrying specific mutations in the leader region. The results of these experiments, as well as experiments with a B. subtilis strain that is resistant to Tc due to a mutation in the ribosomal S10 protein, suggest different mechanisms for the effects of Tc on translation and on mRNA stability. The key role of the 5" end in determining mRNA stability was confirmed in these experiments. Surprisingly, the stability of several other B. subtilis mRNAs was also induced by Tc, which indicates that addition of Tc may result in a general stabilization of mRNA.

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