scholarly journals Physics-Based Vehicle Simulation Using PD Servo

2019 ◽  
Vol 9 (22) ◽  
pp. 4949
Author(s):  
Daeun Kang ◽  
Jinuk Jeong ◽  
Seung-wook Ko ◽  
Taesoo Kwon ◽  
Yejin Kim
Keyword(s):  
Search Method ◽  
Curve Shape ◽  
Iterative Search ◽  
Vehicle Simulation ◽  
Simulation Calculation ◽  
Multiple Vehicles ◽  
Simulation Results ◽  
External Forces ◽  
The Given ◽  
Real Vehicle

In this paper, we introduce a novel system for physics-based vehicle simulation from input trajectory. The proposed system approximates the physical movements of a real vehicle using a proportional derivative (PD) servo which estimates proper torques for wheels and controls a vehicle’s acceleration based on the conditions of the given trajectory. To avoid expensive simulation calculation, the input trajectory is segmented and compared to the optimized trajectories stored in a path library. Based on the similarity of the curve shape between the input and simulated trajectories, an iterative search method is introduced to generate a physically derivable trajectory for convincing simulation results. For an interaction with other objects in the virtual environment, the surface of the vehicle is subdivided into several parts and deformed individually from external forces. As demonstrated in the experimental results, the proposed system can create diverse traffic scenes with multiple vehicles in a fully automated way.

An Improved Initial Alignment Method of Strap-Down Inertial Navigation System on a Swaying Base

2013 ◽  
Vol 415 ◽  
pp. 143-148
Author(s):  
Li Hua Zhu ◽  
Xiang Hong Cheng
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Alignment Algorithm ◽  
Alignment Method ◽  
Initial Alignment ◽  
Vehicle Simulation ◽  
Robust Property ◽  
Simulation Results ◽  
Lever Arm Effect ◽  
The Impact

The design of an improved alignment method of SINS on a swaying base is presented in this paper. FIR filter is taken to decrease the impact caused by the lever arm effect. And the system also encompasses the online estimation of gyroscopes’ drift with Kalman filter in order to do the compensation, and the inertial freezing alignment algorithm which helps to resolve the attitude matrix with respect to its fast and robust property to provide the mathematical platform for the vehicle. Simulation results show that the proposed method is efficient for the initial alignment of the swaying base navigation system.

Development of Advanced CNC Interpolation Algorithm With Consideration of Command and Dynamic Errors

2015 ◽  
Author(s):  
Meng-Shiun Tsai ◽  
Ying-Che Huang
Keyword(s):  
The Other ◽  
Contour Error ◽  
Interpolation Algorithm ◽  
Interpolation Scheme ◽  
Error Equation ◽  
The Past ◽  
Cnc Interpolation ◽  
Dynamic Errors ◽  
Simulation Results ◽  
The Given

In this paper, an integrated acceleration/deceleration with dynamics interpolation scheme is proposed to confine the maximum contour error at the junction of linear junction. The dynamic contour error equation is derived analytically and then it is utilized for the interpolation design. Based on the derived formulations which could predict the command and dynamic errors, the advanced interpolation design could adjust the connecting velocity of the two blocks to confine the overall contour errors under the given tolerance. Simulation results validate the proposed algorithm can achieve higher accurate trajectory as compared to the other interpolation algorithm proposed in the past.

scholarly journals Economic Environmental Dispatch of Wind Integrated Thermal Power System

2020 ◽  
Vol 8 (6) ◽  
pp. 5186-5192
Keyword(s):  
Genetic Algorithm ◽  
Power Plant ◽  
Thermal Power ◽  
Nsga Ii ◽  
Strength Pareto Evolutionary Algorithm ◽  
Experimental Constraint ◽  
Thermal Power System ◽  
Power Plant Operation ◽  
Simulation Results ◽  
The Given

In electric power plant operation, Economic Environmental Dispatch (EED) of a thermal-wind is a significant chore to involve allocation of production amongst the running units so the price, NOx extraction status and SO2 extraction status are enhanced concurrently whilst gratifying each and every experimental constraint. This is an exceedingly controlled multiobjective optimizing issue concerning contradictory objectives having Primary and Secondary constraints. For the given work, a Non-dominated Sorting Genetic Algorithm-II (NSGA-II) is recommended for taking care of EED issue. In simulation results that are obtained by applying the two test systems on the proposed scheme have been evaluated against Strength Pareto Evolutionary Algorithm 2 (SPEA 2).

scholarly journals Improving COVID-19 Testing Efficiency using Guided Agglomerative Sampling

2020 ◽  
Author(s):  
Fayyaz Minhas ◽  
Dimitris Grammatopoulos ◽  
Lawrence Young ◽  
Imran Amin ◽  
David Snead ◽  
...  
Keyword(s):  
Large Scale ◽  
Resource Constraints ◽  
Large Population ◽  
Sampling Strategy ◽  
Population Surveillance ◽  
Large Scale Testing ◽  
Scale Population ◽  
Simulation Results ◽  
The Given ◽  
Test Outcomes

AbstractOne of the challenges in the current COVID-19 crisis is the time and cost of performing tests especially for large-scale population surveillance. Since, the probability of testing positive in large population studies is expected to be small (<15%), therefore, most of the test outcomes will be negative. Here, we propose the use of agglomerative sampling which can prune out multiple negative cases in a single test by intelligently combining samples from different individuals. The proposed scheme builds on the assumption that samples from the population may not be independent of each other. Our simulation results show that the proposed sampling strategy can significantly increase testing capacity under resource constraints: on average, a saving of ~40% tests can be expected assuming a positive test probability of 10% across the given samples. The proposed scheme can also be used in conjunction with heuristic or Machine Learning guided clustering for improving the efficiency of large-scale testing further. The code for generating the simulation results for this work is available here: https://github.com/foxtrotmike/AS.

scholarly journals A New Decentralized Approach of Multiagent Cooperative Pursuit Based on the Iterated Elimination of Dominated Strategies Model

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Mohammed El Habib Souidi ◽  
Songhao Piao
Keyword(s):  
Game Theory ◽  
Coalition Formation ◽  
Decision Process ◽  
Pursuit Evasion ◽  
Dominated Strategies ◽  
Markov Decision ◽  
Simulation Results ◽  
The Given ◽  
Dynamic Formation ◽  
Motion Strategy

Game Theory is a promising approach to acquire coalition formations in multiagent systems. This paper is focused on the importance of the distributed computation and the dynamic formation and reformation of pursuit groups in pursuit-evasion problems. In order to address this task, we propose a decentralized coalition formation algorithm based on the Iterated Elimination of Dominated Strategies (IEDS). This Game Theory process is common to solve problems requiring the withdrawal of dominated strategies iteratively. Furthermore, we have used the Markov Decision Process (MDP) principles to control the motion strategy of the agents in the environment. The simulation results demonstrate the feasibility and the validity of the given approach in comparison with different decentralized methods.

Simulation of a Hydropneumatic Suspension for Agricultural Working Vehicles

2021 ◽  
pp. 268-287
Author(s):  
Nicola Bosso ◽  
Nicolò Zampieri ◽  
Aurelio Somà ◽  
Francesco Mocera ◽  
Emanuele Conte
Keyword(s):  
Kinematic Model ◽  
Suspension System ◽  
Vehicle Performance ◽  
Vehicle Simulation ◽  
Complete Vehicle ◽  
Simulation Results

The chapter shows the study and simulation of a hydropneumatic suspension to be adopted for a telescopic handler vehicle. The hydropneumatic suspension system with independent wheels and with quadrilateral architecture has been studied to improve comfort and productivity of the existing vehicle, which has a suspended rigid axle on the front and a rigid axle on the rear, limiting the comfort and the grip. After the choice of the architecture and the kind of suspension, the chapter shows the design of the suspension kinematics. The optimization of the characteristic angles of the suspension has been performed using Adams/Car and Adams/Insight. The kinematic model optimized is subsequently reproduced in Adams/View to simulate the dynamics of the complete vehicle. Simulation results are used to evaluate vehicle performance in terms of comfort and stability according to the methods proposed by the standards.

scholarly journals Optimized Combination of Local Beams for Wireless Sensor Networks

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 633
Author(s):  
Semyoung Oh ◽  
Young-Dam Kim ◽  
Daejin Park
Keyword(s):  
Signal To Noise Ratio ◽  
Wireless Sensor ◽  
Linear Arrays ◽  
Wave Channel ◽  
Average Improvement ◽  
Simulation Results ◽  
Noise Ratio ◽  
The Given ◽  
Single Objective ◽  
Average Interference

This paper proposes an optimization algorithm to determine the optimal coherent combination candidates of distributed local beams in a wireless sensor network. The beams are generated from analog uniform linear arrays of nodes and headed toward the random directions due to the irregular surface where the nodes are mounted. Our algorithm is based on one of the meta-heuristic schemes (i.e., the single-objective simulated annealing) and designed to solve the objective of minimizing the average interference-to-noise ratio (INR) under the millimeter wave channel, which leads to the reduction of sidelobes. The simulation results show that synthesizing the beams on the given system can form a deterministic mainlobe with considerable and unpredictable sidelobes in undesired directions, and the proposed algorithm can decrease the average INR (i.e., the average improvement of 12.2 dB and 3.1 dB are observed in the directions of π 6 and 2 π 3 , respectively) significantly without the severe loss of signal-to-noise ratio (SNR) in the desired direction.

Iterated Cubature Kalman Filter for State Estimation of Maneuver Reentry Vehicle

2012 ◽  
Vol 466-467 ◽  
pp. 1329-1333
Author(s):  
Jing Mu ◽  
Chang Yuan Wang
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Unscented Kalman Filter ◽  
High Accuracy ◽  
Estimation Accuracy ◽  
Reentry Vehicle ◽  
Vehicle Simulation ◽  
Cubature Kalman Filter ◽  
Simulation Results ◽  
Iterate Process

We present the new filters named iterated cubature Kalman filter (ICKF). The ICKF is implemented easily and involves the iterate process for fully exploiting the latest measurement in the measurement update so as to achieve the high accuracy of state estimation We apply the ICKF to state estimation for maneuver reentry vehicle. Simulation results indicate ICKF outperforms over the unscented Kalman filter and square root cubature Kalman filter in state estimation accuracy.

Curve Shape Modification and Fairness Evaluation

2007 ◽  
Author(s):  
Tetsuzo Kuragano ◽  
Akira Yamaguchi
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Curvature Vector ◽  
Radius Of Curvature ◽  
Curve Shape ◽  
Linear Quadratic ◽  
Nurbs Curve ◽  
First Derivative ◽  
Curvature Distribution ◽  
The Given

A method to generate a quintic NURBS curve which passes through the given points is described. In this case, there are four more equations than there are positions of the control points. Therefore, four gradients which are the first derivative of a NURBS equation are assigned to the given points. In addition to this method, another method to generate a quintic NURBS curve which passes through the given points and which has the first derivative at these given points is described. In this case, a linear system will be underdetermined, determined or overdetermined depending on the number of given points with gradients. A method to modify NURBS curve shape according to the specified radius of curvature distribution to realize an aesthetically pleasing freeform curve is described. The differences between the NURBS curve radius of curvature and the specified radius of curvature is minimized by introducing the least-squares method. A criterion for a fair curve is proposed. Evaluation whether the designed curve is fair or not is accomplished by a comparison of the designed curve to a curve whose radius of curvature is monotone. The radius of curvature is specified by linear, quadratic, and cubic function using the least-squares method. A curve whose radius of curvature is reshaped by one of these algebraic functions is considered as a fair curve. The curvature vector of the curve is used to evaluate the fairness. The comparison of unit curvature vectors is used to evaluate the directional similarity of the curve. The comparison of the curvature is used to evaluate the similarity of the magnitude of curvature vectors. If the directional similarity of the designed curve is close to the fair curve, and also the similarity of the curvature is close to the fair curve, the designed curve can be judged as a fair curve.

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