# Navigation, Guidance, Control, and Dynamics Commons™

## All Articles in Navigation, Guidance, Control, and Dynamics

77 full-text articles. Page 1 of 4.

Local Climate Action Planning As A Tool To Harness The Greenhouse Gas Emissions Mitigation And Equity Potential Of Autonomous Vehicles And On-Demand Mobility, 2021 San Jose State University

#### Local Climate Action Planning As A Tool To Harness The Greenhouse Gas Emissions Mitigation And Equity Potential Of Autonomous Vehicles And On-Demand Mobility, Serena Alexander, Asha Weinstein Agrawal, Benjamin Y. Clark

##### Mineta Transportation Institute Publications

This report focuses on how cities can use climate action plans (CAPs) to ensure that on-demand mobility and autonomous vehicles (AVs) help reduce, rather than increase, green-house gas (GHG) emissions and inequitable impacts from the transportation system. We employed a three-pronged research strategy involving: (1) an analysis of the current literature on on-demand mobility and AVs; (2) a systematic content analysis of 23 CAPs and general plans developed by municipalities in California; and (3) a comparison of findings from the literature and content analysis of plans to identify opportunities for GHG emissions reduction and mobility equity.

Findings indicate that maximizing ...

Control Of Mr Damper Using Anfis And Pid Controller For Optimum Vehicle Ride Comfort, 2020 Eng., Faculty of Engineering, Beirut Arab University, Beirut, Lebanon

#### Control Of Mr Damper Using Anfis And Pid Controller For Optimum Vehicle Ride Comfort, Mohammad Faisal Yakhni, Mohamad Ali, Mohamed El-Gohary

##### BAU Journal - Science and Technology

Suspension system design is an important challenging duty that facing car manufacturers, so the challenge has become to design the best system in terms of providing ride comfort and handling ability under all driving situations. The goal of this paper is to provide assistance in enhancing the effectiveness of the suspension system. A full car model with eight Degrees Of Freedom (DOF) was developed using MATLAB/Simulink. Validation of the Simulink model was obtained. The model was assumed to travel over a speed hump that has a half sine wave shape and amplitude that changing from 0.01 to 0 ...

Modeling Intangible Assets Of A Logistic Organization, 2020 Termez branch of Tashkent State Technical University named after Islam Karimov

#### Modeling Intangible Assets Of A Logistic Organization, S. Yadgarov Nomozovich Yadgarov

##### Acta of Turin Polytechnic University in Tashkent

Abstract—The article presents the results of It will be relevant to ﬁll this gap, presumably arising from insufﬁcient elaboration of ap- proaches to the assessment of scientiﬁc knowledge, which, along with managerial knowledge and practical competencies of manage- ment in the ﬁeld of logistics, generates intangible assets. In other words, it is required to show that the "science intensity" of the lo- gistics business is a capitalized asset.

2020 California State University - Northridge

#### As The Role Of The Driver Changes With Autonomous Vehicle Technology, So, Too, Must The Law Change, Nanci K. Carr

##### St. Mary's Law Journal

Getting a driver’s license is a highly anticipated rite of passage for most teenagers. Being alone behind the wheel, in control of a 3,000-pound machine, is an honor, a privilege, and a sign of adult responsibility. How will that change when driver’s licenses become licenses “to cause technology to engage” with the increased use of autonomous cars? Will driver’s education courses, with their focus on safety rules and defensive driving techniques, be eliminated if all a vehicle operator needs to do is push a button and the vehicle does the rest? While arguably autonomous cars are ...

Performance Testing Of Aero-Naut Camfolding Propellers, 2020 Technical University of Munich

#### Performance Testing Of Aero-Naut Camfolding Propellers, Or D. Dantsker, Robert W. Deters, Marco Caccamo, Michael S. Selig

##### Publications

The increase in popularity of unmanned aerial vehicles (UAVs) has been driven by their use in civilian, education, government, and military applications. However, limited on-board energy storage significantly limits flight time and ultimately usability. The propulsion system plays a critical part in the overall energy consumption of the UAV; therefore, it is necessary to determine the most optimal combination of possible propulsion system components for a given mission profile, i.e. propellers, motors, and electronic speed controllers (ESC). Hundreds of options are available for the different components with little performance specifications available for most of them. By examining a variety ...

Conducted And Radiated Emi Measurements Of Parallel Buck Converters Under Varying Spread Spectrum Parameters, 2020 California Polytechnic State University, San Luis Obispo

#### Conducted And Radiated Emi Measurements Of Parallel Buck Converters Under Varying Spread Spectrum Parameters, Elena Postupalskaya, Nathan Wang

##### Electrical Engineering

The Conducted and Radiated EMI Measurements with Parallel Buck Converters Under Varying Spread Spectrum Parameters research senior project aims to explore the effects from Spread Spectrum Frequency Modulation (SSFM) on the input electromagnetic interference (EMI) or noise of a switching power supply, specifically with LM53601MAEVM hardware. The input EMI is important as the main input bus needs to be clean to provide a reliable source for other sensitive devices connected to it. SSFM can replace a conventional EMI filter and save weight, space, and cost. This project provides a basis in terms of the impacts of variable SSFM in simulation ...

2020 Western Michigan University

#### Optimized System For On-Route Charging Of Battery Electric Buses And High-Fidelity Modelling And Simulation Of In-Motion Wireless Power Transfer, Yogesh Bappasaheb Jagdale

##### Master's Theses

Electrifying cars, buses and trucks is an attractive means to reduce energy use and emissions, because it involves minimal restructuring of the transportation network. Transit buses drive fixed routes, minimizing driver range anxiety by properly sizing energy storage system but the major challenge to fully electrifying transit buses, is the amount of energy they consume in a day of driving. To enable a full day of operation, batteries need to be large, which is expensive and heavy. This work utilizes real-world transit bus data fed to a battery electric drive-train model to co-optimize charger locations, charger power levels, and vehicle ...

2020 University of Connecticut

#### Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah

##### Honors Scholar Theses

Many current algorithms and approaches in autonomous driving attempt to solve the "trajectory generation" or "trajectory following” problems: given a target behavior (e.g. stay in the current lane at the speed limit or change lane), what trajectory should the vehicle follow, and what inputs should the driving agent apply to the throttle and brake to achieve this trajectory? In this work, we instead focus on the “behavior planning” problem—specifically, should an autonomous vehicle change lane or keep lane given the current state of the system?

In addition, current theory mainly focuses on single-vehicle systems, where vehicles do not ...

2020 Southern Methodist University

#### Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib

##### Mechanical Engineering Research Theses and Dissertations

In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales ...

2020 Liberty University

#### Hardware Security Of The Controller Area Network (Can Bus), David Satagaj

##### Senior Honors Theses

The CAN bus is a multi-master network messaging protocol that is a standard across the vehicular industry to provide intra-vehicular communications. Electronics Control Units within vehicles use this network to exchange critical information to operate the car. With the advent of the internet nearly three decades ago, and an increasingly inter-connected world, it is vital that the security of the CAN bus be addressed and built up to withstand physical and non-physical intrusions with malicious intent. Specifically, this paper looks at the concept of node identifiers and how they allow the strengths of the CAN bus to shine while also ...

2020 Western Michigan University

#### Comparison Of Optimal Energy Management Strategies Using Dynamic Programming, Model Predictive Control, And Constant Velocity Prediction, Amol Arvind Patil

##### Master's Theses

Due to the recent advancements in autonomous vehicle technology, future vehicle velocity predictions are becoming more robust which allows fuel economy (FE) improvements in hybrid electric vehicles through optimal energy management strategies (EMS). A real-world highway drive cycle (DC) and a controls-oriented 2017 Toyota Prius Prime model are used to study potential FE improvements. We proposed three important metrics for comparison: (1) perfect full drive cycle prediction using dynamic programming, (2) 10-second prediction horizon model predictive control (MPC), and (3) 10-second constant velocity prediction. These different velocity predictions are put into an optimal EMS derivation algorithm to derive optimal engine ...

2020 Western Michigan University

#### Vehicle Velocity Prediction Using Artificial Neural Networks And Effect Of Real-World Signals On Prediction Window, Tushar Dnyaneshwar Gaikwad

##### Master's Theses

Prediction of vehicle velocity is essential since it can realize improvements in the fuel economy/energy efficiency, drivability, and safety. Many publications address velocity prediction problems, yet there is a need for the understanding effect of different signals for the prediction. There are numerous new sensor and signal technologies like vehicle-to-vehicle and vehicle-to-infrastructure communication that can be used to obtain comprehensive datasets. Several references considered deterministic and stochastic approaches that use the datasets as input to determine future operation predictions. These approaches include different traffic models and artificial neural networks such as Markov chain, nonlinear autoregressive model, Gaussian function, and ...

2020 Western Michigan University

#### Vehicle Performance Analysis Of An Autonomous Electric Shuttle Modified For Wheelchair Accessibility, Johan Fanas Rojas

##### Master's Theses

Autonomous vehicles (AV) have the potential to vastly improve independent, safe, and cost-effective mobility options for individuals with disabilities. However, accessibility considerations are often overlooked in the early stages of design, resulting in AVs that are inaccessible to people with disabilities. The needs of wheeled mobility device users can cause significant vehicle design changes due to requirements for stepless ingress/egress and increased space for onboard circulation and securement. Vehicles serving people with disabilities typically require costly aftermarket modifications for accessibility, which may have unforeseen impacts on vehicle performance and safety, particularly in the case of automated vehicles. In this ...

Simulation And Design Tool For Supermileage Vehicle (Smv) Club Final Design Report, 2020 California Polytechnic State University, San Luis Obispo

#### Simulation And Design Tool For Supermileage Vehicle (Smv) Club Final Design Report, Kimberly Kodama, Sung Ho An, Justice Aragon

##### Mechanical Engineering

The purpose of this project is to create a sensitivities tool and start an optimization tool to assist the Cal Poly SMV Team in designing their vehicle, developing a driving strategy for competition, and becoming a contender in endurance events. The development of a user-friendly vehicle simulation and design tool was proposed by Professor Joseph Mello who is the club’s advisor. The SMV Team competes in endurance events such as the Supermileage competition or the Shell Eco-marathon with the goal of achieving the best mileage possible.

This report will present the research that has been conducted to understand and ...

2020 Air Force Institute of Technology

#### Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis

##### Theses and Dissertations

The objective of this thesis is to explore the improvements achieved through using classical filtering methods with Artificial Neural Network (ANN) for pedestrian navigation techniques. ANN have been improving dramatically in their ability to approximate various functions. These neural network solutions have been able to surpass many classical navigation techniques. However, research using ANN to solve problems appears to be solely focused on the ability of neural networks alone. The combination of ANN with classical filtering methods has the potential to bring beneficial aspects of both techniques to increase accuracy in many different applications. Pedestrian navigation is used as a ...

Techniques To Solve Decision-Making Problems, 2020 Scientific and Innovation Center of Information and Communication Technologies at Tashkent University of Information Technologies named after Muhammad al-Khwarizmi, Address: Amir Temurstreet, 108, 100200, Tashkent city, Republic of Uzbekistan, Phone:+998-95-195-47-52

#### Techniques To Solve Decision-Making Problems, Dilnoz Tulkunovna Muhamediyeva, Bekmuratov Fayzievich Tulkun

##### Chemical Technology, Control and Management

Solving decision-making problems in poorly formalized systems only with the help of deterministic and probabilistic methods is insufficient. To do this, it is necessary to widely apply the methods of hybrid intelligent systems and, especially, the methods of “soft” calculations (SoftCalculation, SoftComputing) and the directions of ComputationalIntelligence — intelligent computing technologies that are emerging on this theoretical and methodological base. An immune - fuzzy algorithm for the synthesis of fuzzy inference systems (FIS) is proposed. A two-stage adaptive FIS synthesis algorithm is described. At the first stage, the initial fuzzy parameters are clustered in order to reduce the number of input parameters ...

2020 The University of Western Ontario

#### Geometric State Observers For Autonomous Navigation Systems, Miaomiao Wang

##### Electronic Thesis and Dissertation Repository

The development of reliable state estimation algorithms for autonomous navigation systems is of great interest in the control and robotics communities. This thesis studies the state estimation problem for autonomous navigation systems. The first part of this thesis is devoted to the pose estimation on the Special Euclidean group $\SE(3)$. A generic globally exponentially stable hybrid estimation scheme for pose (orientation and position) and velocity-bias estimation on $\SE(3)\times \mathbb{R}^6$ is proposed. Moreover, an explicit hybrid observer, using inertial and landmark position measurements, is provided.

The second part of this thesis is devoted to the problem ...

2020 Michigan Technological University

#### Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

##### Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro ...

2020 Michigan Technological University

#### Development Of An Eco Approach And Departure Application To Improve Energy Consumption Of A Plug-In Hybrid Vehicle In Charge Depleting Mode, Brandon Narodzonek

##### Dissertations, Master's Theses and Master's Reports

A recent study at Michigan Technological University as part of the NEXTCAR DOE APRA-E Project was conducted to determine the potential energy savings of a plug-in hybrid electric vehicle (PHEV) equipped with various Connected and Automated Vehicle (CAV) Technologies. One aspect of this study focused on the development of an Eco Approach and Departure (Eco AnD) Application that would further reduce the energy consumed around a signalized intersection.

Many modern intersections are equipped with traffic signals that can broadcast Basic Safety (BSM), MAP, and Signal Phase and Timing (SPaT) message sets that contain intersection ID, location, current phase, and cyclic ...

2020 University of Kentucky

#### Filtered-Dynamic-Inversion Control For Unknown Minimum-Phase Systems With Unknown Relative Degree, Sumit Suryakant Kamat

##### Theses and Dissertations--Mechanical Engineering

We present filtered-dynamic-inversion (FDI) control for unknown linear time-invariant systems that are multi-input multi-output and minimum phase with unknown-but-bounded relative degree. This FDI controller requires limited model information, specifically, knowledge of an upper bound on the relative degree and knowledge of the first nonzero Markov parameter. The FDI controller is a single-parameter high-parameter-stabilizing controller that is robust to uncertainty in the relative degree. We characterize the stability of the closed-loop system. We present numerical examples, where the FDI controller is implemented in feedback with mathematical and physical systems. The numerical examples demonstrate that the FDI controller for unknown relative degree ...