Study of the steering of a wide span vehicle controlled by a local positioning system

Controlled traffic farming allows to minimize traffic-induced soil compaction by a permanent separation of the crop zone from the traffic lanes used by wide span tractors. The Authors developed an agricultural wide span vehicle equipped with a skid equipment for turning and an automatic driving system prototype based on a laser beam. The aim of this work was to study the kinematic conditions that control the steering of this machine. Furthermore, the accuracy and the maximum delay time of the signal transmission by the automatic driving system of the set-up was also assessed. In comparison with crawler tractors, the turning of the agricultural wide span vehicle needs a smaller difference in the moments applied to its right- and left-side wheels. For the predetermined accuracy of the beam position relative to the plant rows, ±ds = ±0.025 m, the accuracy of the direction of the laser beam at a distance S=200 m should not be more than ±0.07° and ±0.0014°, considering a run length of 1000 m. Furthermore, at a speed V=2.5 m s–1 a trajectory deviation φ≤5° requires a topmost delay time of the control signal of Δtmax=0.11 s is required.

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Laboratory Measurements of Light Scattering by Dust Particles

International Astronomical Union Colloquium ◽

10.1017/s0252921100501948 ◽

1996 ◽

Vol 150 ◽

pp. 409-413

Author(s):

Patrick P. Combet ◽

Philippe L. Lamy

Keyword(s):

Light Scattering ◽

Laser Beam ◽

Mie Theory ◽

Spherical Particles ◽

Dust Particles ◽

Laboratory Measurements ◽

Scattering Function ◽

Hene Laser ◽

Set Up ◽

Good Agreement

AbstractWe have set up an experimental device to optically study the scattering properties of dust particles. Measurements over the 8 — 174° interval of scattering angles are performed on a continuously flowing dust loaded jet illuminated by a polarized red HeNe laser beam. The scattering is averaged over the population of the dust particles in the jet, which can be determined independently, and give the “volume scattering function” for the two directions of polarization directly. While results for spherical particles are in good agreement with Mie theory, those for arbitrary particles show conspicuous deviations.

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Level-wise driving knowledge induction for embedded automatic train driving system

Journal of Vibration and Control ◽

10.1177/10775463211003395 ◽

2021 ◽

pp. 107754632110033

Author(s):

Gang Xiao ◽

Qinwen Yang ◽

Fan Yang ◽

Tao Liu ◽

Tao Li ◽

...

Keyword(s):

Embedded System ◽

Fuzzy Rule ◽

Operating Efficiency ◽

Driving Experience ◽

Driving System ◽

Automatic Driving ◽

Energy Consumption Reduction ◽

Experience Levels ◽

Consumption Reduction ◽

Regression Learning

Automatic driving of trains can significantly reduce the energy cost and enhance the operating efficiency and safety. The automatic train driving system has to be an embedded system that can run onboard with low power, which necessitates an efficient inference model. In this article, a level-wise driving knowledge induction approach is proposed for embedded automatic train driving systems. The coincident driving patterns in the records of drivers with different experience levels suggest the suitability of a driving experience knowledge rule induction approach. We design a two-level learning approach to obtain both the driving experience pattern in fuzzy rule-based knowledge form and the detailed parameters of velocity and gear by regression learning methods. With 8.93% energy consumption reduction compared with average human drivers, the experiments indicate the effectiveness of our approach.

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Oscillating Contractions in Protoplasmic Strands of Physarum: Mechanical and Thermal Methods of Phase Shifting for Studying the Nature of the Synchronizing Factor and its Transmission

Journal of Experimental Biology ◽

10.1242/jeb.85.1.21 ◽

1980 ◽

Vol 85 (1) ◽

pp. 21-31

Author(s):

U. ACHENBACH ◽

K. E. WOHLFARTH-BOTTERMANN

Keyword(s):

Contractile Activity ◽

Signal Transmission ◽

Rapid Change ◽

Isometric Tension ◽

The Other ◽

Rapid Phase ◽

Thermal Methods ◽

Original Length ◽

Set Up ◽

Rhythmic Contractile Activity

A new experimental investigation chamber was used to analyse the control of rhythmic contractile activity in Physarum. A strand was mounted in such a way that isometric tension measurements of contraction forces could be made on two regions independently, the two regions remaining connected. It was possible to disturb one region experimentally and to compare its behaviour with the other. A short time after being set up in the apparatus, the isometric contraction cycles in the two regions became synchronous. Stretching one region by 50% of its original length induced a phase delay relative to the other. A brief unilateral cold shock (Δt = 5舑15 °C) had a similar phase-retarding effect. Synchrony was subsequently reattained, unless the connecting region was cut or, for example, treated with 30 mM benzamide. In approximately 25% of the investigated strands, a rapid change to a higher temperature (Δt = 2舑5 °C) caused the warmed side to be phase-advanced. However, 75% of the strands did not show a phase shift, suggesting that a rapid phase regulation is supported by increased temperature. The described experimental assay is suitable for analysing the pathway and the nature of signal transmission in plasmodial strands. Note: Partly presented at the International Titisee-Conference on Cellular Oscillators, 22舑24 March 1979 (see J. exp. Biol. (1979)).

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Automatic driving system of plant protection robot based on differential GPS

Automatic Control, Mechatronics and Industrial Engineering ◽

10.1201/9780429468605-4 ◽

2019 ◽

pp. 23-29

Author(s):

X.M. Xia ◽

C.S. Ai ◽

Y.C. Du

Keyword(s):

Plant Protection ◽

Differential Gps ◽

Driving System ◽

Automatic Driving

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Robotic Control by Teleoperation and Delay Time Issues Using the Internet

Proceedings of Engineering and Technology Innovation ◽

10.46604/peti.2020.3931 ◽

2020 ◽

Vol 14 ◽

pp. 01-08

Author(s):

Anuntachai Machim ◽

Murray John Lawn ◽

Ikuo Yamamoto

Keyword(s):

Delay Time ◽

Virtual Private Network ◽

Critical Systems ◽

Robotic Control ◽

Daily Lives ◽

Average Transmission ◽

Set Up ◽

Point To Point ◽

Private Network ◽

Internet Networks

Internet usage has become an essential part of our daily lives, it has become universal. The aim of this research is to consider existing Internet-based networks with regard to their support for the remote operation of robotic technology, in particular, looking at transmission speed and delay time as it relates to teleoperation. Currently dedicated connections are typically used when a high Quality of Service (QoS) is required for mission critical services or safety-critical systems (SCS), however such connections are very expensive to set up and maintain. Therefore, this study focuses on modifying existing internet networks in a manner to provide a better QoS with little additional cost. Using a number of microcontrollers, computers, and routers, two different protocols were used to control a robotic device remotely. Use of the Point-to-Point Tunnelling Protocol (PPTP) used for implementing a Virtual Private Network (VPN) was found to provide higher average transmission speeds compared to the using a Uniform Resource Locator (URL) which is a regular internet connection.

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Research on Automatic Train Driving Based on Fuzzy Proportion Integration Differentiation Iterative Control

E3S Web of Conferences ◽

10.1051/e3sconf/202128302021 ◽

2021 ◽

Vol 283 ◽

pp. 02021

Author(s):

Zhengsheng Qi ◽

Bohong Liu ◽

Mengmeng Wang

Keyword(s):

High Speed ◽

Convergence Condition ◽

Vital Role ◽

Fuzzy Pid ◽

Parameter Uncertainties ◽

Efficient Operation ◽

Transportation Services ◽

Driving System ◽

Automatic Driving ◽

Iterative Control

Automatic train driving system is an important subsystem of train operation control system, which can provide passengers with punctual, accurate, efficient and fast transportation services. At the same time, the accurate stop, comfort and stability of the train is an important index to measure the control performance of the train automatic driving system, and the accurate stop plays a vital role in the efficient operation of the train. Based on the characteristics of high-speed train parking, an accurate parking algorithm based on fuzzy PID iterative control was proposed to solve the problem of low parking accuracy caused by frequent switching of control output. On the basis of solving the differential equation of the train braking model, the gradient of the system is obtained, and then the learning parameters of the convergence condition are obtained to overcome the repeated uncertainty in the stopping stage. The simulation results show that the fuzzy PID iterative control for asymptotic stability is an effective method to realize the precise parking of trains, and has strong robustness against the train parameter uncertainties and external disturbances.

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Influences of Single-Lane Automatic Driving Systems on Traffic Efficiency and CO2 Emissions on China’s Motorways

Applied Sciences ◽

10.3390/app112211032 ◽

2021 ◽

Vol 11 (22) ◽

pp. 11032

Author(s):

Haokun Song ◽

Fuquan Zhao ◽

Zongwei Liu

Keyword(s):

Co2 Emissions ◽

Penetration Rate ◽

Connected Vehicles ◽

Driving System ◽

Traffic Efficiency ◽

Automatic Driving ◽

Driving Behaviors ◽

Road Capacity ◽

Long Time ◽

Carbon Dioxide Co2

There are big differences between the driving behaviors of intelligent connected vehicles (ICVs) and traditional human-driven vehicles (HVs). ICVs will be mixed with HVs on roads for a long time in the future. Different intelligent functions and different driving styles will affect the condition of traffic flow, thereby changing traffic efficiency and emissions. In this paper, we focus on China’s expressways and secondary motorways, and the impacts of the ‘single-lane automatic driving system’ (SLADS) on traffic delay, road capacity and carbon dioxide (CO2) emissions were studied under different ICV penetration rates. Driving styles were regarded as important factors for scenario analysis. We found that with higher volume input, SLADS has an optimizing effect on traffic efficiency and CO2 emissions generally, which will be more significant as the ICV penetration rate increases. Additionally, enhancing the aggressiveness of driving behavior appropriately is an effective way to amplify the benefits of SLADS.

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