Search results for: autonomous vehicle control

Authors: Kaan Karaoglu, Raif Bayir

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In this study, a cartesian robot is developed to improve the performance and efficiency of wireless charging of electric vehicles. The cartesian robot has three axes, each of which moves linearly. Magnetic positioning is used to align the cartesian robot transmitter charging pad. There are two different wireless charging methods, static and dynamic, for charging electric vehicles. The current state of charge information (SOC State of Charge) and location information are received wirelessly from the electric vehicle. Based on this information, the power to be transmitted is determined, and the transmitter and receiver charging pads are aligned for maximum efficiency. With this study, a fully automated cartesian robot structure will be used to charge electric vehicles with the highest possible efficiency. With the wireless communication established between the electric vehicle and the charging station, the charging status will be monitored in real-time. The cartesian robot developed in this study is a fully automatic system that can be easily used in static wireless charging systems with vehicle-machine communication.

Keywords: electric vehicle, wireless charging systems, energy efficiency, cartesian robot, location detection, trajectory planning

Procedia PDF Downloads 72

Authors: Arne Hitzmann, Philipp Wentscher, Alexander Gabel, Reinhard Gerndt

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Autonomous mobile robots can be found in a wide field of applications. Their types range from household robots over workshop robots to autonomous cars and many more. All of them undergo a number of testing steps during development, production and maintenance. This paper describes an approach to improve testing of robot behavior. It was inspired by the RoboCup @work competition that itself reflects a robotics benchmark for industrial robotics. There, scaled down versions of mobile industrial robots have to navigate through a workshop-like environment or operation area and have to perform tasks of manipulating and transporting work pieces. This paper will introduce an approach of automated vision-based testing of the behavior of the so called youBot robot, which is the most widely used robot platform in the RoboCup @work competition. The proposed system allows automated testing of multiple tries of the robot to perform a specific missions and it allows for the flexibility of the robot, e.g. selecting different paths between two tasks within a mission. The approach is based on a multi-camera setup using, off the shelf cameras and optical markers. It has been applied for test-driven development (TDD) and maintenance-like verification of the robot behavior and performance.

Keywords: supervisory control, testing, markers, mono vision, automation

Procedia PDF Downloads 375

Authors: Chia-Yi Liu, Bo-Bin Xiao, Wen-Bin Lin, Hsiang-Ning Wu, Liang-Hsun Huang

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In order to reduce the risk of radiation damage that personnel may suffer during operations in the radiation environment, the use of automated guided vehicles to assist or replace on-site personnel in the radiation environment has become a key technology and has become an important trend. In this paper, we demonstrate our proof of concept for autonomous self-learning radiation source searcher in an unknown environment without a map. The research uses GPU version of Asynchronous Advantage Actor-Critic network (GA3C) of deep reinforcement learning to search for radiation sources. The searcher network, based on GA3C architecture, has self-directed learned and improved how search the anomalous radiation source by training 1 million episodes under three simulation environments. In each episode of training, the radiation source position, the radiation source intensity, starting position, are all set randomly in one simulation environment. The input for searcher network is the fused data from a 2D laser scanner and a RGB-D camera as well as the value of the radiation detector. The output actions are the linear and angular velocities. The searcher network is trained in a simulation environment to accelerate the learning process. The well-performance searcher network is deployed to the real unmanned vehicle, Dashgo E2, which mounts LIDAR of YDLIDAR G4, RGB-D camera of Intel D455, and radiation detector made by Institute of Nuclear Energy Research. In the field experiment, the unmanned vehicle is enable to search out the radiation source of the 18.5MBq Na-22 by itself and avoid obstacles simultaneously without human interference.

Keywords: deep reinforcement learning, GA3C, source searching, source detection

Procedia PDF Downloads 113

Authors: Kivilcim Ersoy, Cansu Yazganarikan

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In recent years, composite materials are more frequently utilized not only in aviation but also in automotive industry due to its high strength to weight ratio, fatigue and corrosion resistances as well as better performances in specific environments. The market demand also favors lightweight design for wheeled and tracked armored vehicles due to the increased demand for land and amphibious mobility features. This study represents the current application areas and trends in automotive, bus and armored land vehicles industries. In addition, potential utilization areas of fiber composite and hybrid material concepts are being addressed. This work starts with a survey of current applications and patent trends of composite materials in automotive and land vehicle industries. An intensive investigation is conducted to determine the potential of these materials for application in land vehicle industry, where small series production dominates and challenging requirements are concerned. In the end, potential utilization areas for combat land vehicle systems are offered. By implementing these light weight solutions with alternative materials and design concepts, it is possible to achieve drastic weight reduction, which will enable both land and amphibious mobility without unyielding stiffness and survivability capabilities.

Keywords: land vehicle, composite, light-weight design, armored vehicle

Procedia PDF Downloads 463

Authors: Amor Jnifene, Cedric Cocaud

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One of the most constraining problems facing the development of autonomous vehicles is the limitations of current technologies. Guidance and navigation controllers need to be faster and more robust. Communication data links need to be more reliable and secure. For an Unmanned Aerial Vehicles (UAV) to be useful, and fully autonomous, one important feature that needs to be an integral part of the navigation system is autonomous trajectory planning. The work discussed in this paper presents a method for on-line trajectory planning for UAV’s. This method takes into account various constraints of different types including specific vectors of approach close to target points, multiple objectives, and other constraints related to speed, altitude, and obstacle avoidance. The trajectory produced by the proposed method ensures a smooth transition between different segments, satisfies the minimum curvature imposed by the dynamics of the UAV, and finds the optimum velocity based on available atmospheric conditions. Given a set of objective points and waypoints a skeleton of the trajectory is constructed first by linking all waypoints with straight segments based on the order in which they are encountered in the path. Secondly, vectors of approach (VoA) are assigned to objective waypoints and their preceding transitional waypoint if any. Thirdly, the straight segments are replaced by 3D curvilinear trajectories taking into account the aircraft dynamics. In summary, this work presents a method for on-line 3D trajectory generation (TG) of Unmanned Aerial Vehicles (UAVs). The method takes as inputs a series of waypoints and an optional vector of approach for each of the waypoints. Using a dynamic model based on the performance equations of fixed wing aircrafts, the TG computes a set of 3D parametric curves establishing a course between every pair of waypoints, and assembling these sets of curves to construct a complete trajectory. The algorithm ensures geometric continuity at each connection point between two sets of curves. The geometry of the trajectory is optimized according to the dynamic characteristics of the aircraft such that the result translates into a series of dynamically feasible maneuvers. In summary, this work presents a method for on-line 3D trajectory generation (TG) of Unmanned Aerial Vehicles (UAVs). The method takes as inputs a series of waypoints and an optional vector of approach for each of the waypoints. Using a dynamic model based on the performance equations of fixed wing aircraft, the TG computes a set of 3D parametric curves establishing a course between every pair of waypoints, and assembling these sets of curves to construct a complete trajectory. The algorithm ensures geometric continuity at each connection point between two sets of curves. The geometry of the trajectory is optimized according to the dynamic characteristics of the aircraft such that the result translates into a series of dynamically feasible maneuvers.

Keywords: trajectory planning, unmanned autonomous air vehicle, vector of approach, waypoints

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Authors: Cheng-Chi Yu, Yu-Shiue Wang, Kei-Lin Kuo

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Active Independent Front Steering system is a steering system which can according to vehicle driving situation adjusts the relation of steering angle between inner wheel and outer wheel. In low-speed cornering, AIFS sets the steering angles of inner and outer wheel into Ackerman steering geometry to make vehicle has less cornering radius. Besides, AIFS changes the steering geometry to parallel or even anti-Ackerman steering geometry to keep vehicle stability in high-speed cornering. Therefore, based on the analysis of the vehicle steering behavior from different steering geometries, this study develops a new screw type of active independent front steering system to make vehicles best cornering performance at any speeds. The screw type of active independent front steering system keeps the pinion and separates the rack into main rack and second rack. Two racks connect by a screw. Extra screw rotated motion powered by assistant motor through coupler makes second rack move relative to main rack, which can adjust both steering ratio and steering geometry. First of all, this study distinguishes the steering geometry by using Ackerman percentage and utilizes the software of ADAMS/Car to construct diverse steering geometry models. The different steering geometries are compared at low-speed and high-speed cornering, and then control strategies of the active independent front steering systems could be formulated. Secondly, this study applies closed loop equation to analyze tire steering angles and carries out optimization calculations to make the steering geometry from traditional rack and pinion steering system near to Ackerman steering geometry. Steering characteristics of the optimum steering mechanism and motion characteristics of vehicle installed the steering mechanism are verified by ADAMS/Car models of front suspension and full vehicle respectively. By adding dual auxiliary rack and dual motor to the optimum steering mechanism, the active independent front steering system could be developed to achieve the functions of variable steering ratio and variable steering geometry. At last, this study uses ADAMS/Car and Matlab/Simulink to co-simulate the cornering motion of vehicles confirms the vehicle installed the Active Independent Front Steering (AIFS) system has better handling performance than that with Active Independent Steering (AFS) system or with Electric Power Steering (EPS) system. At low-speed cornering, the vehicles with AIFS system and with AFS system have better maneuverability, less cornering radius, than the traditional vehicle with EPS system because that AIFS and AFS systems both provide function of variable steering ratio. However, there is a slight penalty in the motor(s) power consumption. In addition, because of the capability of variable steering geometry, the vehicle with AIFS system has better high-speed cornering stability, trajectory keeping, and even less motor(s) power consumption than that with EPS system and also with AFS system.

Keywords: active front steering system, active independent front steering system, steering geometry, steering ratio

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Authors: Ferit Çakıcı, M. Kemal Leblebicioğlu

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In this study, characteristics and flight test analysis of a fixed-wing unmanned aerial vehicle (UAV) with hover capability is analyzed. The base platform is chosen as a conventional airplane with throttle, ailerons, elevator and rudder control surfaces, that inherently allows level flight. Then this aircraft is mechanically modified by the integration of vertical propellers as in multi rotors in order to provide hover capability. The aircraft is modeled using basic aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. Flight characteristics are analyzed by benefiting from linear control theory’s state space approach. Distinctive features of the aircraft are discussed based on analysis results with comparison to conventional aircraft platform types. A hybrid control system is proposed in order to reveal unique flight characteristics. The main approach includes design of different controllers for different modes of operation and a hand-over logic that makes flight in an enlarged flight envelope viable. Simulation tests are performed on mathematical models that verify asserted algorithms. Flight tests conducted in real world revealed the applicability of the proposed methods in exploiting fixed-wing and rotary wing characteristics of the aircraft, which provide agility, survivability and functionality.

Keywords: flight test, flight characteristics, hybrid aircraft, unmanned aerial vehicle

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Authors: Ammar Younas

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This paper is an attempt to explore the legal progression in procedural laws related to “intellectual property protection for the autonomous output of artificial intelligence” in Post-Colonial, Post-Communist and Socialist Countries. An in-depth study of legal progression in Pakistan (Common Law), Uzbekistan (Post-Soviet Civil Law) and China (Socialist Law) has been conducted. A holistic attempt has been made to explore that how the ideological context of the legal systems can impact, not only on substantive components but on the procedural components of the formal laws related to IP Protection of autonomous output of Artificial Intelligence. Moreover, we have tried to shed a light on the prospective IP laws and AI Policy in the countries, which are planning to incorporate the concept of “Digital Personality” in their legal systems. This paper will also address the question: “How far IP of autonomous output of AI can be protected with the introduction of “Non-Human Legal Personality” in legislation?” By using the examples of China, Pakistan and Uzbekistan, a case has been built to highlight the legal progression in General Provisions of Civil Law, Artificial Intelligence Policy of the country and Intellectual Property laws. We have used a range of multi-disciplinary concepts and examined them on the bases of three criteria: accuracy of legal/philosophical presumption, applying to the real time situations and testing on rational falsification tests. It has been observed that the procedural laws are designed in a way that they can be seen correlating with the ideological contexts of these countries.

Keywords: intellectual property, artificial intelligence, digital personality, legal progression

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Authors: Rajasekar Elangopandian, Anand Shanmugam

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In order to reduce the cost of launching satellite and payloads to the orbit this project envisages some immense combined technology. This new technology in space odyssey contains literally four concepts. The first mode in this innovation is flight mission characteristics which, says how the mission will induct. The conventional technique of magnetic levitation will help us to produce the initial thrust. The name states reusable launch vehicle shows its viability of reuseness. The flight consists miniature rocket which produces the required thrust and the two JATO (jet assisted takeoff) boosters which gives the initial boost for the vehicle. The vehicle ostensibly looks like an airplane design and will be located on the super conducting rail track. When the high power electric current given to the rail track, the vehicle starts floating as per the principle of magnetic levitation. If the flight reaches the particular takeoff distance the two boosters gets starts and will give the 48KN thrust each. Obviously it`ll follow the vertical path up to the atmosphere end/start to space. As soon as it gets its speed the two boosters will cutoff. Once it reaches the space the inbuilt spacecraft keep the satellite in the desired orbit. When the work finishes, the apogee motors gives the initial kick to the vehicle to come in to the earth’s atmosphere with 22N thrust and automatically comes to the ground by following the free fall, the help of gravitational force. After the flying region it makes the spiral flight mode then gets landing where the super conducting levitated rail track located. It will catch up the vehicle and keep it by changing the poles of magnets and varying the current. Initial cost for making this vehicle might be high but for the frequent usage this will reduce the launch cost exactly half than the now-a-days technology. The incorporation of such a mechanism gives `hybrid` and the reusability gives `reusable launch vehicle` and ultimately Hybrid reusable launch vehicle.

Keywords: the two JATO (jet assisted takeoff) boosters, magnetic levitation, 48KN thrust each, 22N thrust and automatically comes to the ground

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Authors: Jelili Kunle Adedeji, Toeb Akorede Akinbola

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The problem of vehicle mishap as a result of miscalculation, recklessness, or malfunction of some part in a vehicle is acknowledged to be a global issue. In most of the cases, it results into death or life injuries, all over the world; the issue becomes a nightmare to the stakeholders on how to curb mishaps on our roads due to these endemic factors. Hence this research typically examined the design of a device, specifically for learners that can lead to a society of intelligent vehicles (traffic) without withdrawing the driving authority from them, unlike pre-existing systems. Though ILASS shears a lot of principle with existing advance drivers assistance systems, yet there are two fundamental differences between ILASS system and existing systems. Firstly ILASS is meant to accept continuous input from the throttle at all time such that the devices will not constraint the driving process unnecessarily and ensure a change of speed at any point in time. Secondly, it made use of a variable threshold distance between the host vehicle and front vehicle which can be set by the host driver under the constraint of road maintenance agency, who communicates the minimum possible threshold for a different lane to the host vehicle. The results obtained from the simulation of the ILASS system concluded that ILASS is a good solution to road accidents, particularly road accident which occurs as a result of driving at high speed.

Keywords: front-vehicle, host-speed, threshold-distance, ILASS

Procedia PDF Downloads 179

Authors: H. İmrek, O. Corumluoglu, B. Akdemir, I. Sanlioglu

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It is important to be able to determine the heading direction of a moving vehicle with respect to a distant location. Additionally, it is important to be able to direct a rotating platform on a moving vehicle towards a distant position or location on the earth surface, especially for applications such as determination of the Kaaba direction for daily Muslim prayers. GNNS offers some reasonable solutions. In this study, a functional model of such a directing system supported by GNNS is discussed, and an appropriate system is designed for these purposes. An application for directing system is done by using RTK and DGNSS. Accuracy estimations are given for this system.

Keywords: GNNS, orientation of rotating platform, vehicle orientation, prayer aid device

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Authors: Sivanandan Balakrishnan, Sara Moridpour, Richard Tay

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Heavy vehicles make a significant contribution to many developed economies, including Australia, because they are a major means of transporting goods within these countries. With the increase in road freight, there will be an increase in the heavy vehicle traffic proportion, and consequently, an increase in the possibility of collisions involving heavy vehicles. Crashes involving heavy vehicles are a major road safety concern because of the higher likelihood of fatal and serious injury, especially to any small vehicle occupant involved. The primary objective of this research is to identify the factors influencing injury severity to occupants in vehicle collisions involving heavy vehicle at T- intersection using a binary logit model in Victoria, Australia. Our results show that the factors influencing injury severity include occupants' gender, age and restraint use. Also, vehicles' type, movement, point-of-impact and damage, time-of-day, day-of-week and season, higher percentage of trucks in traffic volume, hit pedestrians, number of occupants involved and type of collisions are associated with severe injury.

Keywords: binary logit model, heavy vehicle, injury severity, T-intersections

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Authors: Michael Moeti, Khuliso Sigama, Thapelo Samuel Matlala

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One of the principal challenges that the world is confronted with is insecurity. The crime rate is increasing exponentially, and protecting our physical assets especially in the motorist industry, is becoming impossible when applying our own strength. The need to develop technological solutions that detect and report theft without any human interference is inevitable. This is critical, especially for vehicle owners, to ensure theft detection and speedy identification towards recovery efforts in cases where a vehicle is missing or attempted theft is taking place. The vehicle theft detection system uses Convolutional Neural Network (CNN) to recognize the driver's face captured using an installed mobile phone device. The location identification function uses a Global Positioning System (GPS) to determine the real-time location of the vehicle. Upon identification of the location, Global System for Mobile Communications (GSM) technology is used to report or notify the vehicle owner about the whereabouts of the vehicle. The installed mobile app was implemented by making use of python as it is undoubtedly the best choice in machine learning. It allows easy access to machine learning algorithms through its widely developed library ecosystem. The graphical user interface was developed by making use of JAVA as it is better suited for mobile development. Google's online database (Firebase) was used as a means of storage for the application. The system integration test was performed using a simple percentage analysis. Sixty (60) vehicle owners participated in this study as a sample, and questionnaires were used in order to establish the acceptability of the system developed. The result indicates the efficiency of the proposed system, and consequently, the paper proposes the use of the system can effectively monitor the vehicle at any given place, even if it is driven outside its normal jurisdiction. More so, the system can be used as a database to detect, locate and report missing vehicles to different security agencies.

Keywords: CNN, location identification, tracking, GPS, GSM

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Authors: Norbert Szulc, Jakub Wilk, Franciszek Górski

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This paper presents an approach for simulating and testing robotic systems based on PX4, using a local Kubernetes cluster. The approach leverages modern cloud-native tools and runs on single-board computers. Additionally, this solution enables the creation of datasets for computer vision and the evaluation of control system algorithms in an end-to-end manner. This paper compares this approach to method commonly used Docker based approach. This approach was used to develop simulation environment for an unmanned surface vehicle (USV) for RoboBoat 2023 by running a containerized configuration of the PX4 Open-source Autopilot connected to ROS and the Gazebo simulation environment.

Keywords: cloud computing, Kubernetes, single board computers, simulation, ROS

Procedia PDF Downloads 74

Authors: Elmo Thiago Lins Cöuras Ford, Valentina Alessandra Carvalho do Vale, José Ubiragi de Lima Mendes

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In elapsing of the years it elaborates automobile it is developing automobiles more and more modern that, every year, the vehicles recently of the assembly lines, practically they push for the past produced models there is very little time. Those innovations didn't also pass unperceived in 0respect the safety of the vehicles. It is in this development apprenticeship the brakes systems equipped more and more with resources sophisticated. In that way, before of that context, this research tried to project a brake system for a vehicle off-road and to analyze your acting as the brakes efficiency: distances traveled and time, concluding with possible improvements in the system.

Keywords: brakes system, off-road, vehicle acting, automotive and mechanical engineering

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Authors: Michael C. Barbecho, Romeo B. Morcilla

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This study focused on the development of a solar powered front wheel drive electric trike for personal use and short distance travel, utilizing solar power and a variable speed transmission to adapt in places where varying road grades and unavailability of plug-in charging stations are of great problems. The actual performance of the vehicle was measured in terms of duration of charging using solar power, distance travel and battery power duration, top speed developed at full power, and load capacity. This project followed the research and development process which involved planning, designing, construction, and testing. Solar charging tests revealed that the vehicle requires 6 to 8 hours sunlight exposure to fully charge the batteries. At full charge, the vehicle can travel 35 km utilizing battery power down to 42%. Vehicle showed top speed of 25 kph at 0 to 3% road grade carrying a maximum load of 122 kg. The maximum climbing grade was 23% with the vehicle carrying a maximum load of 122 kg. Technically the project was feasible and can be a potential model for possible conversion of traditional Philippine made “pedicabs” and gasoline engine powered tricycle into modern electric vehicles. Moreover, it has several technical features and advantages over a commercialized electric vehicle such as the use solar charging system and variable speed power transmission and front drive power train for adaptability in any road gradient.

Keywords: electric vehicle, solar vehicles, front drive, solar, solar power

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Authors: Sherif Keddis, Mohamed Azzam, Norbert Schwesinger

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Harvesting mechanical energy from footsteps or other impacts is a possibility to enable wireless autonomous sensor nodes. These can be used for a highly efficient control of connected devices such as lights, security systems, air conditioning systems or other smart home applications. They can also be used for accurate location or occupancy monitoring. Converting the mechanical energy into useful electrical energy can be achieved using the piezoelectric effect offering simple harvesting setups and low deflections. The challenge facing piezoelectric transducers is the achievable amount of energy per impact in the lower mJ range and the management of such low energies. Simple setups for energy extraction such as a full wave bridge connected directly to a capacitor are problematic due to the mismatch between high impedance sources and low impedance storage elements. Efficient energy circuits for piezoelectric harvesters are commonly designed for vibration harvesters and require periodic input energies with predictable frequencies. Due to the sporadic nature of impact harvesters, such circuits are not well suited. This paper presents a self-powered circuit that avoids the impedance mismatch during energy extraction by disconnecting the load until the source reaches its charge peak. The switch is implemented with passive components and works independent from the input frequency. Therefore, this circuit is suited for impact harvesting and sporadic inputs. For the same input energy, this circuit stores 150% of the energy in comparison to a directly connected capacitor to a bridge rectifier. The total efficiency, defined as the ratio of stored energy on a capacitor to available energy measured across a matched resistive load, is 63%. Although the resulting energy is already sufficient to power certain autonomous applications, further optimization of the circuit are still under investigation in order to improve the overall efficiency.

Keywords: autonomous sensors, circuit design, energy harvesting, energy management, impact harvester, piezoelectricity

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Authors: Muhammad Faizan Rehman Qureshi, Ahmed Al-Kaisy

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Accurate estimation of traffic loads is critical for pavement and bridge design, among other transportation applications. Given the disproportional impact of heavier axle loads on pavement and bridge structures, truck and heavy vehicle traffic is expected to be a major determinant of traffic load estimation. Further, heavy vehicle traffic is also a major input in transportation planning and economic studies. The traditional method for estimating heavy vehicle traffic primarily relies on AADT estimation using Monthly Day of the Week (MDOW) adjustment factors as well as the percent heavy vehicles observed using statewide data collection programs. The MDOW factors are developed using daily and seasonal (or monthly) variation patterns for total traffic, consisting predominantly of passenger cars and other smaller vehicles. Therefore, while using these factors may yield reasonable estimates for total traffic (AADT), such estimates may involve a great deal of approximation when applied to heavy vehicle traffic. This research aims at assessing the approximation involved in estimating heavy vehicle traffic using MDOW adjustment factors for total traffic (conventional approach) along with three other methods of using MDOW adjustment factors for total trucks (class 5-13), combination-unit trucks (class 8-13), as well as adjustment factors for each vehicle class separately. Results clearly indicate that the conventional method was outperformed by the other three methods by a large margin. Further, using the most detailed and data intensive method (class-specific adjustment factors) does not necessarily yield a more accurate estimation of heavy vehicle traffic.

Keywords: traffic loads, heavy vehicles, truck traffic, adjustment factors, traffic data collection

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Authors: Haluk Eren, Mucahit Karaduman

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This paper presents 15-year trends for scientific studies in a scientific database considering 3D and vehicle words. Two words are selected to find their associated publications in IEEE scholar database. Both of keywords are entered individually for the years 2002, 2012, and 2016 on the database to identify the preferred subjects of researchers in same years. We have classified closer research fields after searching and listing. Three years (2002, 2012, and 2016) have been investigated to figure out progress in specified time intervals. The first one is assumed as the initial progress in between 2002-2012, and the second one is in 2012-2016 that is fast development duration. We have found very interesting and beneficial results to understand the scholars’ research field preferences for a decade. This information will be highly desirable in smart city-based research purposes consisting of 3D and vehicle-related issues.

Keywords: Vehicle, three-dimensional, smart city, scholarly search, semantic

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Authors: P. Vanichkobchinda

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The Logistics Transportation techniques, Open Vehicle Routing (OVR) is an approach toward transportation cost reduction, especially for long distance pickup and delivery nodes. The outstanding characteristic of OVR is that the route starting node and ending node are not necessary the same as in typical vehicle routing problems. This advantage enables the routing to flow continuously and the vehicle does not always return to its home base. This research aims to develop a heuristic for the open vehicle routing problem with pickup and delivery under time window and loading capacity constraints to minimize the total distance. The proposed heuristic is developed based on the Insertion method, which is a simple method and suitable for the rapid calculation that allows insertion of the new additional transportation requirements along the original paths. According to the heuristic analysis, cost comparisons between the proposed heuristic and companies are using method, nearest neighbor method show that the insertion heuristic. Moreover, the proposed heuristic gave superior solutions in all types of test problems. In conclusion, the proposed heuristic can effectively and efficiently solve the open vehicle routing. The research indicates that the improvement of new transport's calculation and the open vehicle routing with "Insertion Heuristic" represent a better outcome with 34.3 percent in average. in cost savings. Moreover, the proposed heuristic gave superior solutions in all types of test problems. In conclusion, the proposed heuristic can effectively and efficiently solve the open vehicle routing.

Keywords: business competitiveness, cost reduction, SMEs, logistics transportation, VRP

Procedia PDF Downloads 683

Authors: Aref M. A. Soliman, Mahmoud A. Hassan

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In all vehicle suspension, there is a dry friction. One of the various active suspensions, which have been shown to have considerable practical potential, is a switchable damper suspension system. In this paper, vehicle ride comfort for the passive and switchable damper suspension systems as affected by the value of frictional force generated in springs is discussed. A mathematical model of a quarter vehicle model for two setting switchable damper suspension system with dry friction force is developed to evaluate vehicle ride comfort in terms of suspension performance criteria. The vehicle itself is treated as a rigid body undergoing vertical motions. Comparisons between passive and switchable damper suspensions systems with dry friction force in terms of ride performance are also discussed. The results showed that the ride comfort for the passive and switchable damper suspension systems was deteriorated due to dry friction occurring in the suspensions. The two setting switchable damper with and without dry friction force gives better ride improvements compared with the passive suspension system. Also, the obtained results show an optimum value of damping ratio of the passive suspension system.

Keywords: ride comfort, dry friction, switchable damper, passive suspension

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Authors: Feng-Tsai Weng, Dong- Syuan Cai, Tsochu-Lin

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A vehicle gasoline engine converts gasoline into power so that the car can move, and lubricants are important for engines and also gear boxes. Manufacturers have produced numbers of engine oils, and gear oils for engines and gear boxes to SAE International Standards. Some products not only can improve the lubrication of both the engine and gear box but also can raise power of vehicle this can be easily seen in the advertisement declared by the manufacturers. To observe the lubrication performance, a multi-leveled (heavy duty) gear oil was added to a gasoline engine as the oil in the vehicle. The oil was checked at about every 10,000 kilometers. The engine was detailed disassembled, cleaned, and parts were measured. The wear of components of the engine parts were checked and recorded finally. Based on the experiment results, some gear oil seems possible to be used as engine oil in particular vehicles. Vehicle owners should change oil periodically in about every 6,000 miles (or 10,000 kilometers). Used car owners may change engine oil in even longer distance.

Keywords: multi-level gear oil, engine oil, viscosity, abrasion

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Authors: Barenten Suciu, Ryoichi Kinoshita

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In this paper, an experimental and theoretical study on the bogie pseudo-hunting motion of a reduced-scale model railway vehicle, running on double-curved rails, is presented. Since the actual bogie hunting motion, occurring for real railway vehicles running on straight rails at high travelling speeds, cannot be obtained in laboratory conditions, due to the speed and wavelength limitations, a pseudo- hunting motion was induced by employing double-curved rails. Firstly, the test rig and the experimental procedure are described. Then, a geometrical model of the double-curved rails is presented. Based on such model, the variation of the carriage rotation angle relative to the bogies and the working conditions of the yaw damper are clarified. Vibration spectra recorded during vehicle travelling, on straight and double-curved rails, are presented and interpreted based on a simple vibration model of the railway vehicle. Ride comfort of the vehicle is evaluated according to the ISO 2631 standard, and also by using some particular frequency weightings, which account for the discomfort perceived during the reading and writing activities. Results obtained in this work are useful for the adequate design of the yaw dampers, which are used to attenuate the lateral vibration of the train car bodies.

Keywords: double-curved rail, octave analysis, vibration model, ride comfort, railway vehicle

Procedia PDF Downloads 314

Authors: Soufiane Benoumhani, Nadia Saifi, Boubekeur Dokkar, Mohamed Cherif Benzid

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This work presents the design and simulation of electric equipment for a hybrid solar vehicle. The new drive train of this vehicle is a parallel hybrid system which means a vehicle driven by a great percentage of an internal combustion engine with 49.35 kW as maximal power and electric motor only as assistance when is needed. This assistance is carried out on the rear axle by a single electric motor of 7.22 kW as nominal power. The motor is driven by 12 batteries connecting in series, which are charged by three PV panels (300 W) installed on the roof and hood of the vehicle. The individual components are modeled and simulated by using the Matlab Simulink environment. The whole system is examined under different load conditions. The reduction of CO₂ emission is obtained by reducing fuel consumption. With the use of this hybrid system, fuel consumption can be reduced from 6.74 kg/h to 5.56 kg/h when the electric motor works at 100 % of its power. The net benefit of the system reaches 1.18 kg/h as fuel reduction at high values of power and torque.

Keywords: light car, hybrid system, PV panel, electric motor

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Authors: Amal G. Kurian

Abstract:

The use of mathematical modeling has seen a considerable boost in recent times with the development of many advanced algorithms and mathematical modeling capabilities. The advantages this method has over other methods are that they are much closer to standard physics theories and thus represent a better theoretical model. They take lesser solving time and have the ability to change various parameters for optimization, which is a big advantage, especially in automotive industry. This thesis work focuses on a thorough investigation of the effects of vehicle speed and road roughness on a heavy commercial vehicle ride and structural dynamic responses. Since commercial vehicles are kept in operation continuously for longer periods of time, it is important to study effects of various physical conditions on the vehicle and its user. For this purpose, various experimental as well as simulation methodologies, are adopted ranging from experimental transfer path analysis to various road scenario simulations. To effectively investigate and eliminate several causes of unwanted responses, an efficient and robust technique is needed. Carrying forward this motivation, the present work focuses on the development of a mathematical model of a 4-axle configuration heavy commercial vehicle (HCV) capable of calculating responses of the vehicle on different road PSD inputs and vehicle speeds. Outputs from the model will include response transfer functions and PSDs and wheel forces experienced. A MATLAB code will be developed to implement the objectives in a robust and flexible manner which can be exploited further in a study of responses due to various suspension parameters, loading conditions as well as vehicle dimensions. The thesis work resulted in quantifying the effect of various physical conditions on ride comfort of the vehicle. An increase in discomfort is seen with velocity increase; also the effect of road profiles has a considerable effect on comfort of the driver. Details of dominant modes at each frequency are analysed and mentioned in work. The reduction in ride height or deflection of tire and suspension with loading along with load on each axle is analysed and it is seen that the front axle supports a greater portion of vehicle weight while more of payload weight comes on fourth and third axles. The deflection of the vehicle is seen to be well inside acceptable limits.

Keywords: mathematical modeling, HCV, suspension, ride analysis

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Authors: C. B. Masera, M. Imprialou, L. Budd, C. Morton

Abstract:

Even though signalised intersections are necessary for urban road traffic management, they can act as bottlenecks and disrupt traffic operations. Interrupted traffic flow causes congestion, delays, stop-and-go conditions (i.e. excessive acceleration/deceleration) and longer journey times. Vehicle and infrastructure connectivity offers the potential to provide improved new services with additional functions of assisting drivers. This paper focuses on one of the applications of vehicle-to-infrastructure communication namely Green Light Optimal Speed Advisory (GLOSA). To assess the effectiveness of GLOSA in the urban road network, an integrated microscopic traffic simulation framework is built into VISSIM software. Vehicle movements and vehicle-infrastructure communications are simulated through the interface of External Driver Model. A control algorithm is developed for recommending an optimal speed that is continuously updated in every time step for all vehicles approaching a signal-controlled point. This algorithm allows vehicles to pass a traffic signal without stopping or to minimise stopping times at a red phase. This study is performed with all connected vehicles at 100% penetration rate. Conventional vehicles are also simulated in the same network as a reference. A straight road segment composed of two opposite directions with two traffic lights per lane is studied. The simulation is implemented under 150 vehicles per hour and 200 per hour traffic volume conditions to identify how different traffic densities influence the benefits of GLOSA. The results indicate that traffic flow is improved by the application of GLOSA. According to this study, vehicles passed through the traffic lights more smoothly, and waiting times were reduced by up to 28 seconds. Average delays decreased for the entire network by 86.46% and 83.84% under traffic densities of 150 vehicles per hour per lane and 200 vehicles per hour per lane, respectively.

Keywords: connected vehicles, GLOSA, intelligent transport systems, vehicle-to-infrastructure communication

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Authors: Feleke Tsegaye

Abstract:

The work in this thesis mainly focuses on trajectory tracking of fixed wing unmanned aerial vehicle (FWUAV) by using fuzzy based sliding mode controller(FSMC) for surveillance applications. Unmanned Aerial Vehicles (UAVs) are general-purpose aircraft built to fly autonomously. This technology is applied in a variety of sectors, including the military, to improve defense, surveillance, and logistics. The model of FWUAV is complex due to its high non-linearity and coupling effect. In this thesis, input decoupling is done through extracting the dominant inputs during the design of the controller and considering the remaining inputs as uncertainty. The proper and steady flight maneuvering of UAVs under uncertain and unstable circumstances is the most critical problem for researchers studying UAVs. A FSMC technique was suggested to tackle the complexity of FWUAV systems. The trajectory tracking control algorithm primarily uses the sliding-mode (SM) variable structure control method to address the system’s control issue. In the SM control, a fuzzy logic control(FLC) algorithm is utilized in place of the discontinuous phase of the SM controller to reduce the chattering impact. In the reaching and sliding stages of SM control, Lyapunov theory is used to assure finite-time convergence. A comparison between the conventional SM controller and the suggested controller is done in relation to the chattering effect as well as tracking performance. It is evident that the chattering is effectively reduced, the suggested controller provides a quick response with a minimum steady-state error, and the controller is robust in the face of unknown disturbances. The designed control strategy is simulated with the nonlinear model of FWUAV using the MATLAB® / Simulink® environments. The simulation result shows the suggested controller operates effectively, maintains an aircraft’s stability, and will hold the aircraft’s targeted flight path despite the presence of uncertainty and disturbances.

Keywords: fixed-wing UAVs, sliding mode controller, fuzzy logic controller, chattering, coupling effect, surveillance, finite-time convergence, Lyapunov theory, flight path

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Authors: Anukriti Kumar, Tanmay Singh, Dinesh Kumar Vishwakarma

Abstract:

Traffic control has been one of the most common and irritating problems since the time automobiles have hit the roads. Problems like traffic congestion have led to a significant time burden around the world and one significant solution to these problems can be the proper implementation of the Intelligent Transport System (ITS). It involves the integration of various tools like smart sensors, artificial intelligence, position technologies and mobile data services to manage traffic flow, reduce congestion and enhance driver's ability to avoid accidents during adverse weather. Road and traffic signs’ recognition is an emerging field of research in ITS. Classification problem of traffic signs needs to be solved as it is a major step in our journey towards building semi-autonomous/autonomous driving systems. The purpose of this work focuses on implementing an approach to solve the problem of traffic sign classification by developing a Convolutional Neural Network (CNN) classifier using the GTSRB (German Traffic Sign Recognition Benchmark) dataset. Rather than using hand-crafted features, our model addresses the concern of exploding huge parameters and data method augmentations. Our model achieved an accuracy of around 97.6% which is comparable to various state-of-the-art architectures.

Keywords: multiclass classification, convolution neural network, OpenCV

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Authors: Vikram Prabhu, Mohammad Shikh Bahaei

Abstract:

This paper depicts the implementation of a new infallible technique to protect an Unmanned Aerial Vehicle from cyber-attacks. An Unmanned Aerial Vehicle (UAV) could be vulnerable to cyber-attacks because of jammers or eavesdroppers over the network which pose as a threat to the security of the UAV. In the field of network security, there are quite a few protocols which can be used to establish a secure connection between UAVs and their Operators. In this paper, we discuss how the Interlock Protocol could be implemented to foil the Man-in-the-Middle Attack. In this case, Wireshark has been used as the sniffer (man-in-the-middle). This paper also shows a comparison between the Interlock Protocol and the TCP Protocols using cryptcat and netcat and at the same time highlights why the Interlock Protocol is the most efficient security protocol to prevent eavesdropping over the communication channel.

Keywords: interlock protocol, Diffie-Hellman algorithm, unmanned aerial vehicles, control station, man-in-the-middle attack, Wireshark

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Authors: Priyanka Verma, Vijaya Dixit, Rishabh Bajpai

Abstract:

This research paper is aimed at selecting appropriate material handling equipment among the given choices so that the automation level in material handling can be enhanced. This work is a practical case scenario of material handling systems in consumer electronic appliances manufacturing organization. The choices of material handling equipment among which the decision has to be made are Automated Guided Vehicle’s (AGV), Autonomous Mobile Robots (AMR), Overhead Conveyer’s (OC) and Battery Operated Trucks/Vehicle’s (BOT). There is a need of attaining a certain level of automation in order to reduce human interventions in the organization. This requirement of achieving certain degree of automation can be attained by material handling equipment’s mentioned above. The main motive for selecting above equipment’s for study was solely based on corporate financial strategy of investment and return obtained through that investment made in stipulated time framework. Since the low cost automation with respect to material handling devices has to be achieved hence these equipment’s were selected. Investment to be done on each unit of this equipment is less than 20 lakh rupees (INR) and the recovery period is less than that of five years. Fuzzy analytic hierarchic process (FAHP) is applied here for selecting equipment where the four choices are evaluated on basis of four major criteria’s and 13 sub criteria’s, and are prioritized on the basis of weight obtained. The FAHP used here make use of triangular fuzzy numbers (TFN). The inability of the traditional AHP in order to deal with the subjectiveness and impreciseness in the pair-wise comparison process has been improved in the FAHP. The range of values for general rating purposes for all decision making parameters is kept between 0 and 1 on the basis of expert opinions captured on shop floor. These experts were familiar with operating environment and shop floor activity control. Instead of generating exact value the FAHP generates the ranges of values to accommodate the uncertainty in decision-making process. The four major criteria’s selected for the evaluation of choices of material handling equipment’s available are materials, technical capabilities, cost and other features. The thirteen sub criteria’s listed under these following four major criteria’s are weighing capacity, load per hour, material compatibility, capital cost, operating cost and maintenance cost, speed, distance moved, space required, frequency of trips, control required, safety and reliability issues. The key finding shows that among the four major criteria selected, cost is emerged as the most important criteria and is one of the key decision making aspect on the basis of which material equipment selection is based on. While further evaluating the choices of equipment available for each sub criteria it is found that AGV scores the highest weight in most of the sub-criteria’s. On carrying out complete analysis the research shows that AGV is the best material handling equipment suiting all decision criteria’s selected in FAHP and therefore it is beneficial for the organization to carry out automated material handling in the facility using AGV’s.

Keywords: fuzzy analytic hierarchy process (FAHP), material handling equipment, subjectiveness, triangular fuzzy number (TFN)

Procedia PDF Downloads 433