Abstract: In this paper, we present the design of the
super-ellipsoidal potential function (SEPF), that can be used for
autonomous collision avoidance of an unmanned aerial vehicle (UAV)
in a 3-dimensional space. In the design of SEPF, we have the
full control over the shape and size of the potential function. In
particular, we can adjust the length, width, height, and the amount
of flattening at the tips of the potential function so that the collision
avoidance motion vector generated from the potential function can
be adjusted accordingly. Based on the idea of the SEPF, we also
propose an approach for the local autonomy of a UAV for its collision
avoidance when the UAV is teleoperated by a human operator. In
our proposed approach, a teleoperated UAV can not only avoid
collision autonomously with other surrounding objects but also track
the operator’s control input as closely as possible. As a result, an
operator can always be in control of the UAV for his/her high-level
guidance and navigation task without worrying too much about
the UAVs collision avoidance while it is being teleoperated. The
effectiveness of the proposed approach is demonstrated through a
human-in-the-loop simulation of quadrotor UAV teleoperation using
virtual robot experimentation platform (v-rep) and Matlab programs.
Abstract: The layered structure LiNi1/3Co1/3Mn1/3-xAlxO2 (x = 0 ~
0.04) series cathode materials were synthesized by a carbonate
co-precipitation method, followed by a high temperature calcination
process. The influence of Al substitution on the microstructure and
electrochemical performances of the prepared materials was
investigated by X-Ray diffraction (XRD), scanning electron
microscopy (SEM), and galvanostatic charge/discharge test. The
results show that the LiNi1/3Co1/3Mn1/3-xAlxO2 has a well-ordered
hexagonal α-NaFeO2 structure. Although the discharge capacity of
Al-doped samples decreases as x increases,
LiNi1/3Co1/3Mn1/3-0.02Al0.02O2 exhibits superior capacity retention at
high voltage (4.6 V). Therefore, LiNi1/3Co1/3Mn1/3-0.02Al0.02O2 is a
promising material for “green” vehicles.
Abstract: In this paper, it is aimed to improve autonomous flight
performance of a load-carrying (payload: 3 kg and total: 6kg)
unmanned aerial vehicle (UAV) through active wing and horizontal
tail active morphing and also integrated autopilot system parameters
(i.e. P, I, D gains) and UAV parameters (i.e. extension ratios of wing
and horizontal tail during flight) design. For this purpose, a loadcarrying
UAV (i.e. ZANKA-II) is manufactured in Erciyes
University, College of Aviation, Model Aircraft Laboratory is
benefited. Optimum values of UAV parameters and autopilot
parameters are obtained using a stochastic optimization method.
Using this approach autonomous flight performance of UAV is
substantially improved and also in some adverse weather conditions
an opportunity for safe flight is satisfied. Active morphing and
integrated design approach gives confidence, high performance and
easy-utility request of UAV users.
Abstract: This paper presents the strategic development plan of
winged rockets WIRES (WInged REusable Sounding rocket) aiming
at unmanned suborbital winged rocket for demonstrating future fully
reusable space transportation technologies, such as aerodynamics,
Navigation, Guidance and Control (NGC), composite structure,
propulsion system, and cryogenic tanks etc., by universities in
collaboration with government and industries, as well as the past and
current flight test results.
Abstract: Open jet testing is a valuable testing technique which
provides the desired results with reasonable accuracy. It has been
used in past for the airships and now has recently been applied for the
hybrid ones, having more non-buoyant force coming from the wings,
empennage and the fuselage. In the present review work, an effort
has been done to review the challenges involved in open jet testing.
In order to shed light on the application of this technique, the
experimental results of two different configurations are presented.
Although, the aerodynamic results of such vehicles are unique to its
own design; however, it will provide a starting point for planning any
future testing. Few important testing areas which need more attention
are also highlighted. Most of the hybrid buoyant aerial vehicles are
unconventional in shape and there experimental data is generated,
which is unique to its own design.
Abstract: The cities of Johannesburg and Pretoria both located in the Gauteng province are separated by a distance of 58 km. The traffic queues on the Ben Schoeman freeway which connects these two cities can stretch for almost 1.5 km. Vehicle traffic congestion impacts negatively on the business and the commuter’s quality of life. The goal of this paper is to identify variables that influence the flow of traffic and to design a vehicle traffic prediction model, which will predict the traffic flow pattern in advance. The model will unable motorist to be able to make appropriate travel decisions ahead of time. The data used was collected by Mikro’s Traffic Monitoring (MTM). Multi-Layer perceptron (MLP) was used individually to construct the model and the MLP was also combined with Bagging ensemble method to training the data. The cross—validation method was used for evaluating the models. The results obtained from the techniques were compared using predictive and prediction costs. The cost was computed using combination of the loss matrix and the confusion matrix. The predicted models designed shows that the status of the traffic flow on the freeway can be predicted using the following parameters travel time, average speed, traffic volume and day of month. The implications of this work is that commuters will be able to spend less time travelling on the route and spend time with their families. The logistics industry will save more than twice what they are currently spending.
Abstract: Recently, traffic monitoring has attracted the attention
of computer vision researchers. Many algorithms have been
developed to detect and track moving vehicles. In fact, vehicle
tracking in daytime and in nighttime cannot be approached with the
same techniques, due to the extreme different illumination conditions.
Consequently, traffic-monitoring systems are in need of having a
component to differentiate between daytime and nighttime scenes. In
this paper, a HSV-based day/night detector is proposed for traffic
monitoring scenes. The detector employs the hue-histogram and the
value-histogram on the top half of the image frame. Experimental
results show that the extraction of the brightness features along with
the color features within the top region of the image is effective for
classifying traffic scenes. In addition, the detector achieves high
precision and recall rates along with it is feasible for real time
applications.
Abstract: The simulation in wind tunnel is used thoroughly to model real situations of drainages of air. Besides the automotive industry, a great number of applications can be numbered: dispersion of pollutant, studies of pedestrians’ comfort, and dispersion of particles. This work had the objective of visualizing the characteristics aerodynamics of two automobiles in different ways. To accomplish that drainage of air a fan that generated a speed exists (measured with anemometer of hot thread) of 4,1m/s and 4,95m/s. To visualize the path of the air through the cars, in the wind tunnel, smoke was used, obtained with it burns of vegetable oil. For “to do smoke” vegetable oil was used, that was burned for a tension of 20V generated by a thread of 2,5mm. The cars were placed inside of the wind tunnel with the drainage of “air-smoke” and photographed, registering like this the path lines around them, in the 3 different speeds.
Abstract: In this work, by replacing the traditional solid spokes with colloidal spokes, a vehicle wheel with a built-in suspension structure is proposed. Following the background and description of the wheel system, firstly, a vibration model of the wheel equipped with colloidal spokes is proposed, and based on such model the equivalent damping coefficients and spring constants are identified. Then, a modified model of a quarter-vehicle moving on a rough pavement is proposed in order to estimate the transmissibility of vibration from the road roughness to vehicle body. In the end, the optimal design of the colloidal spokes and the optimum number of colloidal spokes are decided in order to minimize the transmissibility of vibration, i.e., to maximize the ride comfort of the vehicle.
Abstract: In this paper, a prototype PEM fuel cell vehicle
integrated with a 1 kW air-blowing proton exchange membrane fuel
cell (PEMFC) stack as a main power sources has been developed for
a lightweight cruising vehicle. The test vehicle is equipped with a
PEM fuel cell system that provides electric power to a brushed DC
motor. This vehicle was designed to compete with industrial
lightweight vehicle with the target of consuming least amount of
energy and high performance. Individual variations in driving style
have a significant impact on vehicle energy efficiency and it is well
established from the literature. The primary aim of this study was to
assesses the power and fuel consumption of a hydrogen fuel cell
vehicle operating at three difference driving technique (i.e. 25 km/h
constant speed, 22-28 km/h speed range, 20-30 km/h speed range).
The goal is to develop the best driving strategy to maximize
performance and minimize fuel consumption for the vehicle system.
The relationship between power demand and hydrogen consumption
has also been discussed. All the techniques can be evaluated and
compared on broadly similar terms. Automatic intelligent controller
for driving prototype fuel cell vehicle on different obstacle while
maintaining all systems at maximum efficiency was used. The result
showed that 25 km/h constant speed was identified for optimal
driving with less fuel consumption.
Abstract: Bezier curves have useful properties for path
generation problem, for instance, it can generate the reference
trajectory for vehicles to satisfy the path constraints. Both algorithms
join cubic Bezier curve segment smoothly to generate the path. Some
of the useful properties of Bezier are curvature. In mathematics,
curvature is the amount by which a geometric object deviates from
being flat, or straight in the case of a line. Another extrinsic example
of curvature is a circle, where the curvature is equal to the reciprocal
of its radius at any point on the circle. The smaller the radius, the
higher the curvature thus the vehicle needs to bend sharply. In this
study, we use Bezier curve to fit highway-like curve. We use
different approach to find the best approximation for the curve so that
it will resembles highway-like curve. We compute curvature value by
analytical differentiation of the Bezier Curve. We will then compute
the maximum speed for driving using the curvature information
obtained. Our research works on some assumptions; first, the Bezier
curve estimates the real shape of the curve which can be verified
visually. Even though, fitting process of Bezier curve does not
interpolate exactly on the curve of interest, we believe that the
estimation of speed are acceptable. We verified our result with the
manual calculation of the curvature from the map.
Abstract: In this paper, a learning algorithm using neuronal networks to improve the roll stability and prevent the rollover in a single unit heavy vehicle is proposed. First, LQR control to keep balanced normalized rollovers, between front and rear axles, below the unity, then a data collected from this controller is used as a training basis of a neuronal regulator. The ANN controller is thereafter applied for the nonlinear side force model, and gives satisfactory results than the LQR one.
Abstract: In the past years electric mobility became part of a
public discussion. The trend to fully electrified vehicles instead of
vehicles fueled with fossil energy has notably gained momentum.
Today nearly every big car manufacturer produces and sells fully
electrified vehicles, but electrified vehicles are still not as competitive
as conventional powered vehicles. As the traction battery states the
largest cost driver, lowering its price is a crucial objective. In
addition to improvements in product and production processes a nonnegligible,
but widely underestimated cost driver of production can
be found in logistics, since the production technology is not
continuous yet and neither are the logistics systems. This paper presents an approach to evaluate cost factors on
different designs of load carrier systems. Due to numerous
interdependencies, the combination of costs factors for a particular
scenario is not transparent. This is effecting actions for cost reduction
negatively, but still cost reduction is one of the major goals for
simultaneous engineering processes. Therefore a concurrent and
phase appropriate cost valuation method is necessary to serve cost
transparency. In this paper the four phases of this cost valuation
method are defined and explained, which based upon a new approach
integrating the logistics development process in to the integrated
product and process development.
Abstract: This study investigates how the site specific traffic
data differs from the Mechanistic Empirical Pavement Design
Software default values. Two Weigh-in-Motion (WIM) stations were
installed in Interstate-40 (I-40) and Interstate-25 (I-25) to developed
site specific data. A computer program named WIM Data Analysis
Software (WIMDAS) was developed using Microsoft C-Sharp (.Net)
for quality checking and processing of raw WIM data. A complete
year data from November 2013 to October 2014 was analyzed using
the developed WIM Data Analysis Program. After that, the vehicle
class distribution, directional distribution, lane distribution, monthly
adjustment factor, hourly distribution, axle load spectra, average
number of axle per vehicle, axle spacing, lateral wander distribution,
and wheelbase distribution were calculated. Then a comparative
study was done between measured data and AASHTOWare default
values. It was found that the measured general traffic inputs for I-40
and I-25 significantly differ from the default values.
Abstract: The power electronic components within Electric Vehicles (EV) need to operate in several important modes. Some modes directly influence safety, while others influence vehicle performance. Given the variety of functions and operational modes required of the power electronics, it needs to meet efficiency requirements to minimize power losses. Another challenge in the control and construction of such systems is the ability to support bidirectional power flow. This paper considers the construction, operation, and feasibility of available converters for electric vehicles with feasible configurations of electrical buses and loads. This paper describes logic and control signals for the converters for different operations conditions based on the efficiency and energy usage bases.
Abstract: Finding the optimal 3D path of an aerial vehicle under
flight mechanics constraints is a major challenge, especially when
the algorithm has to produce real time results in flight. Kinematics
models and Pythagorian Hodograph curves have been widely used
in mobile robotics to solve this problematic. The level of difficulty
is mainly driven by the number of constraints to be saturated at the
same time while minimizing the total length of the path. In this paper,
we suggest a pragmatic algorithm capable of saturating at the same
time most of dimensioning helicopter 3D trajectories’ constraints
like: curvature, curvature derivative, torsion, torsion derivative, climb
angle, climb angle derivative, positions. The trajectories generation
algorithm is able to generate versatile complex 3D motion primitives
feasible by a helicopter with parameterization of the curvature and the
climb angle. An upper ”motion primitives’ concatenation” algorithm
is presented based. In this article we introduce a new way of designing
three-dimensional trajectories based on what we call the ”Dubins
gliding symmetry conjecture”. This extremely performing algorithm
will be soon integrated to a real-time decisional system dealing with
inflight safety issues.
Abstract: The paper discusses the problem of load transport
using farm tractors and road tractor units. This type of carriage of
goods is often done with farm vehicles. The tests were performed
with the PEMS equipment (Portable Emission Measurement System)
under actual traffic conditions. The vehicles carried a load of 20000
kg. This research method is one of the most desired because it
provides reliable information on the actual vehicle emissions and fuel
consumption (carbon balance method). For the tests, a route was
selected that simulated a trip from a small town to a food-processing
facility located in a city. The analysis of the obtained results gave a
clear answer as to what vehicles need to be used for carriage of this
type of cargo in terms of exhaust emissions and fuel consumption.
Abstract: Various nanomaterials can be used as a drug delivery
vehicles in nanomedicine, called nanocarriers. They can either be
organic or inorganic, synthetic or natural-based. Although synthetic
nanocarriers are easier to produce, they can often be toxic for the
organism and thus not suitable for use in treatment. From naturalbased
nanocarriers, the most commonly used are protein cages or
viral capsids. In this work, virus bacteriophage λ was used for
delivery of different cytotoxic drugs (cisplatin, carboplatin,
oxaliplatin and doxorubicin). Large quantities of phage λ were
obtained from phage λ-producing strain of E. coli cultivated in
medium with 0.2% maltose. After killing of E. coli with chloroform
and its removal by centrifugation, the phage was concentrated by
ultracentrifugation at 130 000×g and 4°C for 3 h. The encapsulation
of the drugs was performed by infusion method and four different
concentrations of the drugs were encapsulated (200; 100; 50; 25
μg·mL-1). Free drug molecules were removed by filtration. The
encapsulation was verified using the absorbance for doxorubicin and
atomic absorption spectrometry for platinum cytostatics. The amount
of encapsulated drug linearly increased with the increasing
concentration of applied drug with the determination coefficient
R2=0.989 for doxorubicin; R2=0.967 for cisplatin; R2=0.989 for
carboplatin and R2=0.996 for oxaliplatin. The overall encapsulation
efficiency was calculated as 50% for doxorubicin; 8% for cisplatin;
6% for carboplatin and 10% for oxaliplatin.
Abstract: This paper addresses the problem of offline path
planning for Unmanned Aerial Vehicles (UAVs) in complex threedimensional
environment with obstacles, which is modelled by 3D
Cartesian grid system. Path planning for UAVs require the
computational intelligence methods to move aerial vehicles along the
flight path effectively to target while avoiding obstacles. In this paper
Modified Particle Swarm Optimization (MPSO) algorithm is applied
to generate the optimal collision free 3D flight path for UAV. The
simulations results clearly demonstrate effectiveness of the proposed
algorithm in guiding UAV to the final destination by providing
optimal feasible path quickly and effectively.
Abstract: Paper deals with the modeling and simulation of energy consumption and GHG production of two different modes of regional passenger transport – road and railway. These two transport modes use the same type of fuel – diesel. Modeling and simulation of the energy consumption in transport is often used due to calculation satisfactory accuracy and cost efficiency. Paper deals with the calculation based on EN standards and information collected from technical information from vehicle producers and characteristics of tracks. Calculation included maximal theoretical capacity of bus and train and real passenger’s measurement from operation. Final energy consumption and GHG production is calculated by using software simulation. In evaluation of the simulation is used system “well to wheel”.