Navigation, Guidance, Control, and Dynamics Commons^™

A Novel All Wheel Drive Torque Vectoring Control System Applied To Four Wheel Independent Drive Electric Motor Vehicles Utilizing Super Twisting And Linear Quadratic Regulator Methods, Kenneth Daniel Schmutz

Master's Theses

This thesis contains the design and simulation test results for the implementation of a new all-wheel drive (AWD) torque vectoring (TV) control system. A separate algorithm using standard control methods is included in this study for a comparison. The proposed controller was designed to be applied to an AWD independent drive electric vehicle, however the main concepts can be re-purposed for other vehicle drive train configurations. The purpose of the control system is to assist the driver in achieving a desired vehicle trajectory whilst also maintaining stability and control of the vehicle. This is accomplished by measuring various real time …

Hand Motion Tracking System Using Inertial Measurement Units And Infrared Cameras, Nonnarit O-Larnnithipong

FIU Electronic Theses and Dissertations

This dissertation presents a novel approach to develop a system for real-time tracking of the position and orientation of the human hand in three-dimensional space, using MEMS inertial measurement units (IMUs) and infrared cameras. This research focuses on the study and implementation of an algorithm to correct the gyroscope drift, which is a major problem in orientation tracking using commercial-grade IMUs. An algorithm to improve the orientation estimation is proposed. It consists of: 1.) Prediction of the bias offset error while the sensor is static, 2.) Estimation of a quaternion orientation from the unbiased angular velocity, 3.) Correction of the …

Dscr Based Sensor-Pooling Protocol For Connected Vehicles In Future Smart Cities, Mostafa El-Said, Samah Mansour, Vijay Bhuse

Peer-Reviewed Publications

Smart cities are racing to create a more connected Intelligent Transportation Systems (ITS) that rely on collecting data from every possible sensor such as a smart utility meter or a smart parking meter. The use of more sensors resulted in generating a lot of information that maps the smart city environment conditions to more real time data points that needed to be shared and analyzed among smart city nodes. One possibility, to carry and share the collected data, is in autonomous vehicles systems, which use the Dedicated Short Range Communications (DSRC) technology. For example, in a Car-to-Parking-Meter or a Vehicle-to-Vehicle …

Does Length Of Ride, Gender Or Nationality Affect Willingness To Ride In A Driverless Ambulance?, Stephen Rice, Scott R. Winter, Rian Mehta, Joseph R. Keebler, Bradley S. Baugh, Emily C. Anania, Mattie N. Milner

Publications

Due to the frequent lack of ambulances and personnel, the purpose of this study was to examine consumers’ willingness-to-ride in an ambulance that was either driven by a human driver or completely automated (with no human driver) based on the gender of the participant and their nationality, either Indian or American. A two-study experimental design was utilized using over 1,000 participants. In Study 1, the length of the ride and the type of driver were manipulated while in Study 2, the length of the ride was manipulated across genders and nationality. Study 2 also collected affect measures to complete a …

An Improved Control Algorithm For Ship Course Keeping Based On Nonlinear Feedback And Decoration, Xiaxiao Yao

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

Assessing The Competing Characteristics Of Privacy And Safety Within Vehicular Ad Hoc Networks, Jacob W. Connors

Theses and Dissertations

The introduction of Vehicle-to-Vehicle (V2V) communication has the promise of decreasing vehicle collisions, congestion, and emissions. However, this technology places safety and privacy at odds; an increase of safety applications will likely result in the decrease of consumer privacy. The National Highway Traffic Safety Administration (NHTSA) has proposed the Security Credential Management System (SCMS) as the back end infrastructure for maintaining, distributing, and revoking vehicle certificates attached to every Basic Safety Message (BSM). This Public Key Infrastructure (PKI) scheme is designed around the philosophy of maintaining user privacy through the separation of functions to prevent any one subcomponent from identifying …

Vehicle-To-Barrier Communication During Real-World Vehicle Crash Tests, Samil Temel, Mehmet C. Vuran, Mohammad M.R. Lunar, Zhongyuan Zhao, Abdul Salam, Ronald K. Faller, Cody S. Stolle

School of Computing: Faculty Publications

Vehicle-to-barrier (V2B) communication is expected to facilitate wireless interactions between vehicles and roadside barriers in next-generation intelligent transportation systems. V2B systems will help mitigate single-vehicle, run-off-road crashes, which account for more than 50% of roadside crash fatalities. In this work, the characteristics of the wireless channel prior to and during a crash are analyzed using orthogonal frequency division multiplexing (OFDM) techniques, which has been used in existing vehicular communication systems. More specifically, the performance of OFDM-based V2B links are measured in real-world crash tests for the first time. Three crash tests conducted at the Midwest Roadside Safety Facility, Lincoln, Nebraska, …

An Empirical Study To Investigate The Effect Of Air Density Changes On The Dsrc Performance, Mostafa El-Said, Vijay Bhuse, Alexander Arendsen

Peer-Reviewed Publications

The primary role of Intelligent Transportation Systems (ITS) system is to implement Advanced Driver Assistance Services (ADAS) such as pedestrian detection, fog detection and collisions avoidance. These services rely on detecting and communicating the environment conditions such as heavy rain or snow with nearby vehicles to improve the driver's visibility. ITS systems rely on DSRC to communicate this information via a Vehicle-to-Vehicle (V2V) or Vehicle-to-Infrastructure (V2I) communications architectures. DSCR performance may be susceptible to environmental changes such as air density, gravitation (gravitational acceleration), air temperature, atmospheric pressure, humidity, and precipitation.

The goal of this research is to investigate whether the …

Optimizing Jets For Wake Control Of Ground Vehicles, Domenic Barsotti, Sandra Boetcher

Publications

A system of wake control for a ground vehicle to help promote increased fuel efficiencies of the ground vehicle by modifying an air flow wake generated during the movement of the vehicle in a forward direction. The system includes at least one slot jet configured to be located along a rear profile portion of the ground vehicle. The at least one slot jet is configured to provide a continuous flow of air at a non-zero velocity when the ground vehicle is moving in a forward direction, the non-zero velocity being at least partially directed in a rearward direction with an …

Utilizing Ground-Based Lidar Measurements To Aid Autonomous Airdrop Systems, Martin Cacan, Edward Scheuermann, Michael Ward, Mark Costello, Nathan Slegers

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Uncertainty in atmospheric winds represents one of the primary sources of landing error in airdrop systems. In this work, a ground-based LIDAR system samples the wind field at discrete points above the target and transmits real-time data to approaching autonomous airdrop systems. In simulation and experimentation, the inclusion of a light detection and ranging (LIDAR) system showed a maximum of 40% improvement over unaided autonomous airdrop systems. Wind information nearest ground level has the largest impact on improving accuracy.

Development Of A Test Level 3 Transition Between Guardrail And Portable Concrete Barriers, Robert W. Bielenberg, David Gutierrez, Ronald K. Faller, John D. Reid, Phil Tenhulzen

Department of Civil and Environmental Engineering: Faculty Publications

Road construction often requires that work zones be created and shielded by portable concrete barriers (PCBs) to protect workers and equipment from errant vehicles as well as to prevent motorists from striking other roadside hazards. For an existing W-beam guardrail system installed adjacent to the roadway and near the work zone, guardrail sections are removed so a PCB system can be placed. A study was done to develop a crashworthy transition between W-beam guardrail and PCB systems. Design concepts were developed and refined through computer simulation with LS-DYNA. Additionally, a study of critical impact points was conducted to determine impact …

Calibrating The Robertson’S Platoon Dispersion Model On A Coordinated Corridor With Advance Warning Flashers, Zhao Li, Laurence Rilett, Ernest Tufuor

Department of Civil and Environmental Engineering: Faculty Publications

Platoon dispersion (PD) is the foundation of traffic signal coordination in an urban traffic network. PD describes the phenomenon by which vehicles depart from an upstream intersection as a platoon and begin to disperse before they arrive at the downstream intersection. Recently, advance warning flashers (AWFs) have been applied in many high-speed corridors. There is a need to update the traditional PD model to include the effect of AWFs. This paper examines the traffic flow dispersion patterns when an AWF is present and tests the hypothesis that the AWF will affect PD on a coordinated signal corridor. Platoon vehicles, which …

Application Of Uav In Maritime Search And Rescue Activities, Xiaojie Wang

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.

Coded Aperture Aided Navigation And Geolocation Systems, Jamie R. Morrison, John F. Raquet, Michael J. Veth

AFIT Patents

A micro air vehicle having a navigation system with a single camera to determine position and attitude of the vehicle using changes the direction to the observed features. The difference between the expected directions to the observed features versus the measured direction to the observed features is used to correct a navigation solution.

Mode And Implementation Of A Hybrid Control System For A 2-Mode Hybrid Electric Vehicle, Zhenhua Zhu

Graduate Theses, Dissertations, and Problem Reports

Automotive transportation consumes more than 71% of the world's total petroleum energy. The vehicle will have to use less because it will take less than 30 years to consume the rest of the proven conventional oil reservoir if the fuel consumption keeps the current trend. One of the methods to improve the vehicle efficiency is to develop Hybrid Electric Vehicle (HEV). An HEV combines an internal combustion engine (ICE) and electric motor(s) powered by batteries or capacitors to achieve better fuel economy. Among the HEVs, 2-Mode HEV combines an ICE and two electric motors with two planetary gear sets and …

Marine Buoy Detection Using Circular Hough Transform, Loc Tran, Justin Selfridge, Gene Hou, Jiang Li

Electrical & Computer Engineering Faculty Publications

A low cost method for buoy detection in maritime settings is presented using inexpensive digital cameras. In this method, the circular Hough transform is applied to an edge image to circular objects in the image. The center of these circles will signify the locations of each buoy. The known color information of the buoys is also used to enhance the performance by removing false detections. The algorithm is compared to an approach that locates buoys purely on color information. In order to validate the method, we test the approach synthetically and also with real images captured from a small surface …