Navigation, Guidance, Control, and Dynamics Commons^™

Bv2trs Appraiser Model: Enforcing Bharat Version2 In Tree Soft Modelling For Appraising E-Mobility Hurdles, Mona Mohamed, Florentin Smarandache, Michael Gr. Voskoglou

Branch Mathematics and Statistics Faculty and Staff Publications

Electric vehicles (EVs) are being introduced to lessen greenhouse gas (GHG) emissions, air pollution, and reliance on fossil fuels. As a result of the government's aggressive promotion of EVs and rising environmental consciousness, EVs are quickly rising to the top of the low-carbon transportation market. Several viewpoints suggested that shifting to electric vehicles has been seen as a potential way to achieve sustainable mobility. Nevertheless, many studies discussed the obstacles and hurdles that obstruct the embracing of various electric-mobility (E-mobility) as EVs and electric-scooters (E-scooters) as eco-friendly means. Herein, we discussed these hurdles and determined them through surveys for prior …

Development Of A Solidworks Api, Andrew Magyar

Williams Honors College, Honors Research Projects

With the current advancements in CAD software, and precision of modern motors, we believe that a new way to communicate from hardware to software is possible. This report details the steps we have taken to attempt just that. The essential idea behind this is that modern controls for robotics are not as user friendly as they can be. The general action taken is to create an API for SolidWorks that connects it to the other necessary controller software and makes it so that a robot, and its exact current position, can be changed simply and intuitively from SolidWorks. Furthermore, the …

Adjustable Load On Cvt Driven Project, Elijah Saxton, Colin Mcconnell, Trent Bolek, Caleb Malboeuf, Alexander Rawson

Williams Honors College, Honors Research Projects

SAE Baja, also known as Baja SAE (Society of Automotive Engineers Baja), is a series of collegiate design competitions organized by the Society of Automotive Engineers (SAE). These competitions challenge teams of students to design, build, and race off-road vehicles that can withstand rough terrain and perform in various dynamic events. The objective of this Senior Design Project is to design, manufacture, and test an adjustable driven Continuous Variable Transmission (CVT) pulley to adjust the preload on the spring. This will allow easier adjustment on the CVT preload at smaller increments. This design could be used for future Zips Baja …

Extending Trailer, Alex Grove

Williams Honors College, Honors Research Projects

The goal of this research project is to revolutionize the convenience in towable transportation. This innovative design aims to enhance the versatility of pull-behind trailers by incorporating an extendable feature, allowing users to effortlessly adjust the length according to their specific needs. Whether navigating tight spaces or accommodating extra cargo, our trailer adapts to diverse situations, providing unmatched flexibility. In addition to its adjustable length, the trailer is engineered to be compactable, addressing the storage constraints often faced by users with limited space. The collapsible design ensures easy storage without compromising on functionality, making it an ideal solution for individuals …

Adaptive Traction, Power And Torque Control Strategies And Optimization In An All-Electric Powertrain, Aymane Hidara

Theses and Dissertations

Electric and hybrid-electric vehicles lean heavily on intricate control algorithms to provide smooth, reliable, and secure operations under any driving conditions. Three distinct supervisory control strategies have been developed, each aiming to improve reliability and vehicle performance of a dual-motor electric vehicle equipped with an all-wheel-drive, fully electric powertrain. These algorithms are adept at dynamically modulating and constraining the torque provided to the wheels, leveraging two autonomous permanent magnet electric drive units. This study utilizes a vehicle model jointly provided by MathWorks and General Motors in partnership with industry sponsors. The these strategies were implemented in the model and enhanced …

Traffic Light Detection And V2i Communications Of An Autonomous Vehicle With The Traffic Light For An Effective Intersection Navigation Using Mavs Simulation, Mahfuzur Rahman

Theses and Dissertations

Intersection Navigation plays a significant role in autonomous vehicle operation. This paper focuses on enhancing autonomous vehicle intersection navigation through advanced computer vision and Vehicle-to-Infrastructure (V2I) communication systems. The research unfolds in two phases. In the first phase, an approach utilizing YOLOv8s is proposed for precise traffic light detection and recognition, trained on the Small-Scale Traffic Light Dataset (S2TLD). The second phase establishes seamless connectivity between autonomous vehicles and traffic lights in a simulated Mississippi State University Autonomous Vehicle Simulation (MAVS) environment resembling a small city with multiple intersections. This V2I system enables the transmission of Signal Phase and Timing …

Comparison Of Methods For Estimating Instantaneous Turn Radius Of Ackermann Steering Vehicles, Kenneth Gennaro Stutts

Doctoral Dissertations and Master's Theses

The instantaneous turn radius of an Ackermann steering vehicle is the distance to a point in space about which the vehicle will travel in an arc during a turn. There are at least six ways to estimate instantaneous turn radius and each method uses different inputs and has distinct advantages and disadvantages. In this thesis, six different methods will be used to estimate the instantaneous turn radius of a vehicle traveling on a closed circuit. This testing will clarify similarities and differences between the methods. This thesis clarifies which method will be the most appropriate for a given set of …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

All Dissertations

Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Building An Application Model For Efficient Ride Booking In Ride-Hailing Industry, Nikunjkumar Butani

Electronic Theses, Projects, and Dissertations

The purpose of this study is to develop an efficient ride booking application in the ride-hailing sector. The objective of the research is to provide users with an easy way to book rides at reasonable prices and convenient times. This project helps to promote the ride-hailing industry by providing guidance for the creation of real-time applications. This project answered three questions. 1. What are the technology and infrastructure requirements for developing a consolidated online application for centralized ride sharing? 2. What are other examples of application aggregators in other industries than transportation and how do they work? 3. What are …

Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng

All Theses

Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …

Av Operation And Energy Efficiency Improved Through The Evaluation And Demonstration Of Av Sensor Technology, Nicholas Brown

Dissertations

The majority of states have passed legislation or have signed an executive order enacting safe testing, development, and deployment of level 4 and level 5 autonomous vehicles (AVs) in accordance with SAE standard J3016, which has led to an increase in the frequency of AV testing. The major driving force behind the push for AVs on public roads appears to be the increases the number of AVs on the road to decrease the chances of fatalities from distracted drivers. There are reports of disengagement from companies, which are required to report them to operate within California. The continuance of disengagements …

Mathematical Model Of An Industrial Robot Built On The Basis Of Linear Motion Mechatron Modules, Matyokubov Nurbek Rustamovich, Rakhimov Temurbek Omonboyevich

Chemical Technology, Control and Management

The use of Industry 4.0 technologies in modern production serves to increase production efficiency. Robots and robotic complexes with innovative intelligent control are widely used in industrial production. However, studying their mechanical part, linear motion mechatronic modules and control system is a complex object. The variety and complexity of control methods and operating modes negatively affects the operator's working time and production productivity. In such cases, it is necessary to improve control methods and develop technologies used in industry, including robots and robotic manipulators, which allow to perform short movements with high accuracy and speed. In the article, the mathematical …

Virtual Prototyping And Validation For Autonomous Assistive Mobility, Amogh Venkataramana Reddy

All Theses

Physical disability in humans is something that no one has control over. It is catastrophic for people to experience it, and sometimes hinders them from enjoying the essence of life. Though disability is something people have no control over, they do have control on how they can go forward and make life beautiful and meaningful. Wheelchairs have helped people with disabilities in mobility, allowing them to move around with the help of others or sometimes on their own. This research will focus on development of an autonomous assistive mobility robot to help the disabled using virtual prototyping tools for development …

Energy-Aware Coordination Of Automated Vehicles, Nathan Goulet

All Dissertations

Energy is an inherently limited resource for two reasons: the sources utilized to obtain energy are limited; and the methods used most often to convert energy also generate pollutants that the planet has a limited capacity to absorb or compensate for without adverse effects. Efficiently utilizing energy is, therefore, an important topic. As around 16% of the energy consumed in the United States is by light vehicles, a significant impact can be made if vehicle energy consumption is reduced. The advent of connected and automated vehicles offers unprecedented opportunities to optimize their behavior with respect to energy consumption through trajectory …

Improved Vehicle-Bridge Interaction Modeling And Automation Of Bridge System Identification Techniques, Omar Abuodeh

All Dissertations

The Federal Highway Administration (FHWA) recognizes the necessity for cost-effective and practical system identification (SI) techniques within structural health monitoring (SHM) frameworks for asset management applications. Indirect health monitoring (IHM), a promising SHM approach, utilizes accelerometer-equipped vehicles to measure bridge modal properties (e.g., natural frequencies, damping ratios, mode shapes) through bridge vibration data to assess the bridge's condition. However, engineers and researchers often encounter noise from road roughness, environmental factors, and vehicular components in collected vehicle signals. This noise contaminates the vehicle signal with spurious modes corresponding to stochastic frequencies, impacting damage monitoring assessments. Thus, an efficient and reliable SI …

Integrated Energy-Aware Motion Planning And Charge Scheduling Of Unmanned Aerial Vehicles, Hayleyesus Alemayehu

All Theses

The growing demand for unmanned aerial vehicles (UAVs) is driven by their operational convenience, cost-effectiveness, availability, and adaptability to various scenarios. In energy-constrained environments, optimizing energy consumption and ensuring a continuous power supply for UAVs is crucial for mission success. The objective of this thesis is to address this issue by integrating energy-aware motion planning and charge scheduling for UAVs by utilizing a charger hosted on an unmanned ground vehicle (UGV), whose rendezvous locations and routes are jointly computed to minimize overall energy consumption.

This thesis proposes a hierarchical trajectory and control framework comprising local and global planners for each …

Topological Interpolation Method For Modeling Dynamic Systems, Isamiddin Xakimovich Siddikov, Dilnoza Maxamadjanovna Umurzakova

Chemical Technology, Control and Management

The method of simulation structural-complex continuous-discrete control systems is discussed. For simulation and calculation of dynamic processes in continuous-discrete systems topological interpolation method is proposed, based on application of hybrid methods of space of state variables and interpolation of signals. The essence of the method is that the dynamics of the investigated system, considered at the final interval, is broken down into subintervals, on each of which the processes are described by linear ordinary system differential equations. The computational efficiency of the proposed method was evaluated by comparison with standard methods such as the Runge-Kutta-Merson method. The use of this …

Sensor Updates For Bigheaded Carp-Tracking Autonomous Boat, Jordan Kaufmann

Honors College Theses

Bigheaded carp are an invasive species that overpopulate and compete with the native species of Kentucky Lake as well as many other North American aquatic ecosystems. The movement patterns of Bigheaded carp are being studied nationwide by the United States Geological Survey and multiple universities. These studies ultimately seek to control their spread and reduce or reverse the ecosystem destabilization caused by this invasive species. Such studies are currently conducted manually on Kentucky Lake by graduate students affiliated with the Murray State University (MSU) Biology Department and Hancock Biological Station, and these manual studies are an arduous and time-consuming effort. …

Risk Assessments And Modeling Of Driver By Using Risk Potential Theory, Riku Kikuta

Theses and Dissertations

Recently, various self-driving and driving assistance systems such as Advanced Driver Assistance System (ADAS) have been developed with the intent to reduce the number of motor vehicle accidents. While self-driving systems have been proven to reduce traffic accidents, the systems sometimes make other drivers confused because of their mechanical behavior. To avoid confusion and possible error, it is necessary to construct self-driving systems that exhibit human-like behaviors. Risk Potential theory has been used to construct models that successfully represent driver behavior, especially expert behavior. This project uses Risk Potential theory to construct and evaluate a collision avoidance driver model which …

Deep Reinforcement Learning And Game Theoretic Monte Carlo Decision Process For Safe And Efficient Lane Change Maneuver And Speed Management, Shahab Karimi

All Dissertations

Predicting the states of the surrounding traffic is one of the major problems in automated driving. Maneuvers such as lane change, merge, and exit management could pose challenges in the absence of intervehicular communication and can benefit from driver behavior prediction. Predicting the motion of surrounding vehicles and trajectory planning need to be computationally efficient for real-time implementation. This dissertation presents a decision process model for real-time automated lane change and speed management in highway and urban traffic. In lane change and merge maneuvers, it is important to know how neighboring vehicles will act in the imminent future. Human driver …