Download or read book Motion planning and feedback control techniques with applications to long tractor trailer vehicles written by Oskar Ljungqvist and published by Linköping University Electronic Press. This book was released on 2020-04-20 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. At the same time, there has been a growing demand within the transportation sector to increase efficiency and to reduce the environmental impact related to transportation of people and goods. Therefore, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed environments, such as mines, harbors, loading and offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, tractor-trailer vehicles are frequently used for transportation. These vehicles are composed of several interconnected vehicle segments, and are therefore large, complex and unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control techniques for such systems. The contributions of this thesis are within the area of motion planning and feedback control for long tractor-trailer combinations operating at low-speeds in closed and unstructured environments. It includes development of motion planning and feedback control frameworks, structured design tools for guaranteeing closed-loop stability and experimental validation of the proposed solutions through simulations, lab and field experiments. Even though the primary application in this work is tractor-trailer vehicles, many of the proposed approaches can with some adjustments also be used for other systems, such as drones and ships. The developed sampling-based motion planning algorithms are based upon the probabilistic closed-loop rapidly exploring random tree (CL-RRT) algorithm and the deterministic lattice-based motion planning algorithm. It is also proposed to use numerical optimal control offline for precomputing libraries of optimized maneuvers as well as during online planning in the form of a warm-started optimization step. To follow the motion plan, several predictive path-following control approaches are proposed with different computational complexity and performance. Common for these approaches are that they use a path-following error model of the vehicle for future predictions and are tailored to operate in series with a motion planner that computes feasible paths. The design strategies for the path-following approaches include linear quadratic (LQ) control and several advanced model predictive control (MPC) techniques to account for physical and sensing limitations. To strengthen the practical value of the developed techniques, several of the proposed approaches have been implemented and successfully demonstrated in field experiments on a full-scale test platform. To estimate the vehicle states needed for control, a novel nonlinear observer is evaluated on the full-scale test vehicle. It is designed to only utilize information from sensors that are mounted on the tractor, making the system independent of any sensor mounted on the trailer. Under de senaste årtiondena har utvecklingen av sensor- och hårdvaruteknik gått i en snabb takt, samtidigt som nya metoder och algoritmer har introducerats. Samtidigt ställs det stora krav på transportsektorn att öka effektiviteten och minska miljöpåverkan vid transporter av både människor och varor. Som en följd av detta har många ledande fordonstillverkare och teknikföretag börjat satsat på att utveckla avancerade förarstödsystem och självkörande fordon. Även forskningen inom autonoma fordon har under de senaste årtiondena kraftig ökat då en rad tekniska problem återstår att lösas. Förarlösa fordon förväntas få sitt första stora genombrott i slutna miljöer, såsom gruvor, hamnar, lastnings- och lossningsplatser. I sådana områden är lagstiftningen mindre hård jämfört med stadsområden och omgivningen är mer kontrollerad och förutsägbar. Några av de förväntade positiva effekterna är ökad produktivitet och säkerhet, minskade utsläpp och möjligheten att avlasta människor från att utföra svåra eller farliga uppgifter. Inom dessa platser används ofta lastbilar med olika släpvagnskombinationer för att transportera material. En sådan fordonskombination är uppbyggd av flera ihopkopplade moduler och är således utmanande att backa då systemet är instabilt. Detta gör det svårt att utforma ramverk för att styra sådana system vid exempelvis autonom backning. Självkörande fordon är mycket komplexa system som består av en rad olika komponenter vilka är designade för att lösa separata delproblem. Två viktiga komponenter i ett självkörande fordon är dels rörelseplaneraren som har i uppgift att planera hur fordonet ska röra sig för att på ett säkert sätt nå ett överordnat mål, och dels den banföljande regulatorn vars uppgift är att se till att den planerade manövern faktiskt utförs i praktiken trots störningar och modellfel. I denna avhandling presenteras flera olika algoritmer för att planera och utföra komplexa manövrar för lastbilar med olika typer av släpvagnskombinationer. De presenterade algoritmerna är avsedda att användas som avancerade förarstödsystem eller som komponenter i ett helt autonomt system. Även om den primära applikationen i denna avhandling är lastbilar med släp, kan många av de förslagna algoritmerna även användas för en rad andra system, så som drönare och båtar. Experimentell validering är viktigt för att motivera att en föreslagen algoritm är användbar i praktiken. I denna avhandling har flera av de föreslagna planerings- och reglerstrategierna implementerats på en småskalig testplattform och utvärderats i en kontrollerad labbmiljö. Utöver detta har även flera av de föreslagna ramverken implementerats och utvärderats i fältexperiment på en fullskalig test-plattform som har utvecklats i samarbete med Scania CV. Här utvärderas även en ny metod för att skatta släpvagnens beteende genom att endast utnyttja information från sensorer monterade på lastbilen, vilket gör det föreslagna ramverket oberoende av sensorer monterade på släpvagnen.

Download or read book Strong Motion Program Report January December 1985 written by and published by . This book was released on 1989 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book On motion planning and control for truck and trailer systems written by Oskar Ljungqvist and published by Linköping University Electronic Press. This book was released on 2019-01-22 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. Thanks to this technology enhancement, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems (ADAS) and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed areas, such as mines, harbors and loading/offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, different truck and trailer systems are used to transport materials. These systems are composed of several interconnected modules, and are thus large and highly unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control frameworks for such systems. First, a cascade controller for a reversing truck with a dolly-steered trailer is presented. The unstable modes of the system is stabilized around circular equilibrium configurations using a gain-scheduled linear quadratic (LQ) controller together with a higher-level pure pursuit controller to enable path following of piecewise linear reference paths. The cascade controller is then used within a rapidly-exploring random tree (RRT) framework and the complete motion planning and control framework is demonstrated on a small-scale test vehicle. Second, a path following controller for a reversing truck with a dolly-steered trailer is proposed for the case when the obtained motion plan is kinematically feasible. The control errors of the system are modeled in terms of their deviation from the nominal path and a stabilizing LQ controller with feedforward action is designed based on the linearization of the control error model. Stability of the closed-loop system is proven by combining global optimization, theory from linear differential inclusions and linear matrix inequality techniques. Third, a systematic framework is presented for analyzing stability of the closed-loop system consisting of a controlled vehicle and a feedback controller, executing a motion plan computed by a lattice planner. When this motion planner is considered, it is shown that the closed-loop system can be modeled as a nonlinear hybrid system. Based on this, a novel method is presented for analyzing the behavior of the tracking error, how to design the feedback controller and how to potentially impose constraints on the motion planner in order to guarantee that the tracking error is bounded and decays towards zero. Fourth, a complete motion planning and control solution for a truck with a dolly-steered trailer is presented. A lattice-based motion planner is proposed, where a novel parametrization of the vehicle’s state-space is proposed to improve online planning time. A time-symmetry result is established that enhance the numerical stability of the numerical optimal control solver used for generating the motion primitives. Moreover, a nonlinear observer for state estimation is developed which only utilizes information from sensors that are mounted on the truck, making the system independent of additional trailer sensors. The proposed framework is implemented on a full-scale truck with a dolly-steered trailer and results from a series of field experiments are presented.

Download or read book Quantum Psychics Scientifically Understand Control and Enhance Your Psychic Ability 2nd Edition written by Dr. Theresa M. Kelly and published by QPPResearch. This book was released on 2009-01-05 with total page 331 pages. Available in PDF, EPUB and Kindle. Book excerpt: This groundbreaking book, written by Metaphysicst Dr. Theresa M. Kelly, utilizes an extensive list of scientific studies and laws to reveal how the laws of physics do not have to be rewritten to explain how psychic abilities work. The author exposes that psychic abilities are possible due to wirelessly transmitted data and commands weakly emitted through the mind and bodies own natural electromagnetic radiation. The book includes several exercises and techniques enabling the reader to learn how to control and enhance their psychic or psychokinetic abilities including using scientific means of performance and measurement and artificial, but safe, means of enhancement. With over fourteen years of hands on experience in her field, Dr. Theresa M. Kelly bridges the gap between physics and metaphysics in a manner easily comprehendible to the layperson and easily appreciated by professionals.

Download or read book 102 Motion Pictures on Democracy written by Seerley Reid and published by . This book was released on 1950 with total page 1246 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion and Vibration Control written by Heinz Ulbrich and published by Springer Science & Business Media. This book was released on 2008-12-23 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion and vibration control is a fundamental technology for the development of advanced mechanical systems such as mechatronics, vehicle systems, robots, spacecraft, and rotating machinery. Often the implementation of high performance, low power consumption designs is only possible with the use of this technology. It is also vital to the mitigation of natural hazards for large structures such as high-rise buildings and tall bridges, and to the application of flexible structures such as space stations and satellites. Recent innovations in relevant hardware, sensors, actuators, and software have facilitated new research in this area. This book deals with the interdisciplinary aspects of emerging technologies of motion and vibration control for mechanical, civil and aerospace systems. It covers a broad range of applications (e.g. vehicle dynamics, actuators, rotor dynamics, biologically inspired mechanics, humanoid robot dynamics and control, etc.) and also provides advances in the field of fundamental research e.g. control of fluid/structure integration, nonlinear control theory, etc. Each of the contributors is a recognised specialist in his field, and this gives the book relevance and authority in a wide range of areas.

Download or read book The Control of Water written by Philip A. Morley Parker and published by . This book was released on 1913 with total page 1104 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Dynamic Vision for Perception and Control of Motion written by Ernst Dieter Dickmanns and published by Springer Science & Business Media. This book was released on 2007-06-02 with total page 490 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book on autonomous road-following vehicles brings together twenty years of innovation in the field. The book uniquely details an approach to real-time machine vision for the understanding of dynamic scenes, viewed from a moving platform that begins with spatio-temporal representations of motion for hypothesized objects whose parameters are adjusted by well-known prediction error feedback and recursive estimation techniques.

Download or read book Knowledge in Motion written by Andrew P. Roddick and published by University of Arizona Press. This book was released on 2016-05-12 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: Spirit mediums of East Africa. Healers and fishermen of the Amazon River Basin. Potters of the American Southwest. People contending with climate change long ago. All share “knowledge in motion,” a process of drawing on experiences past and present while engaging in daily practice in relation to contexts of time, place, and power. In the last twenty-five years, scholars from a number of disciplines have explored “situated learning,” specifically investigating how learning relates to social reproduction and daily life. In Knowledge in Motion, contributors focus on learning through time and at a variety of scales, particularly as they relate to power and politics, with implications for emergent communities and constellations of practice. This volume brings together archaeologists, historians, and cultural anthropologists to examine communities engaged in a range of learning practices around the globe, from Africa to the Americas. Contributors draw on the growing interdisciplinary scholarship on situated learning to explore those processes in relation to power and broader forces that shape knowledge during times of turbulent change. Enriching the diversity of regions and disciplines, Knowledge in Motion focuses on how learning, knowledge transmission, and the emergent qualities of communities and constellations of practice are shaped by changing spheres of interaction or other unstable events and influences. The contributions forge productive theories and methodologies for exploring situated learning and its broad-ranging outcomes.

Download or read book A General Theory of Fluid Mechanics written by Peiqing Liu and published by Springer Nature. This book was released on 2021-04-01 with total page 659 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a general introduction to fluid mechanics in the form of biographies and popular science. Based on the author’s extensive teaching experience, it combines natural science and human history, knowledge inheritance and cognition law to replace abstract concepts of fluid mechanics with intuitive and understandable physical concepts. In seven chapters, it describes the development of fluid mechanics, aerodynamics, hydrodynamics, computational fluid dynamics, experimental fluid dynamics, wind tunnel and water tunnel equipment, the mystery of flight and aerodynamic principles, and leading figures in fluid mechanics in order to spark beginners’ interest and allow them to gain a comprehensive understanding of the field’s development. It also provides a list of references for further study.

Download or read book Controlled Nanoscale Motion written by Heiner Linke and published by Springer. This book was released on 2007-04-11 with total page 421 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume provides an introduction to the state-of-the-art of controlled nanoscale motion in biological and artificial systems. Coverage includes the control and function of protein motors, the physics of non-equilibrium Brownian motion, and the physics and fabrication of synthetic molecular motors. The chapters in this book are based on selected contributions on the 2005 Nobel Symposium on Controlled Nanoscale Motion.

Download or read book Image Understanding Workshop written by and published by . This book was released on 1987 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Structure from Motion in the Geosciences written by Jonathan L. Carrivick and published by John Wiley & Sons. This book was released on 2016-07-15 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Structure from Motion with Multi View Stereo provides hyperscale landform models using images acquired from standard compact cameras and a network of ground control points. The technique is not limited in temporal frequency and can provide point cloud data comparable in density and accuracy to those generated by terrestrial and airborne laser scanning at a fraction of the cost. It therefore offers exciting opportunities to characterise surface topography in unprecedented detail and, with multi-temporal data, to detect elevation, position and volumetric changes that are symptomatic of earth surface processes. This book firstly places Structure from Motion in the context of other digital surveying methods and details the Structure from Motion workflow including available software packages and assessments of uncertainty and accuracy. It then critically reviews current usage of Structure from Motion in the geosciences, provides a synthesis of recent validation studies and looks to the future by highlighting opportunities arising from developments in allied disciplines. This book will appeal to academics, students and industry professionals because it balances technical knowledge of the Structure from Motion workflow with practical guidelines for image acquisition, image processing and data quality assessment and includes case studies that have been contributed by experts from around the world.

Download or read book Motion and Knowledge in the Changing Early Modern World written by Ofer Gal and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume comprises studies of the early modern drama of motion and transformation of knowledge. It is unique in taking its global nature as fundamental and contains studies of the theme of motion and knowledge in China, Europe and the Pacific from the 16th to the 18th century. People living around the turn of the 17th century were experiencing motion in ways beyond the grasp of anyone less than a century earlier. Goods and people were crossing lands and oceans to distances never envisioned and in scales hardly imaginable by their recent predecessors. The earth itself has been set in motion and the heavens were populated by a whole new array of moving objects: comets, moons, sun spots. Even the motion of terrestrial objects—so close at hand and seemingly obvious—was being thoroughly reshaped. In the two centuries to follow, this incessant, world-changing motion would transform the creation, interpretation and dissemination of knowledge and the life and experiences of the people producing it: savants, artisans, pilots, collectors.

Download or read book Motion Control written by Federico Casolo and published by BoD – Books on Demand. This book was released on 2010-01-01 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reveals many different aspects of motion control and a wide multiplicity of approaches to the problem as well. Despite the number of examples, however, this volume is not meant to be exhaustive: it intends to offer some original insights for all researchers who will hopefully make their experience available for a forthcoming publication on the subject.

Download or read book Advances in High Performance Motion Control of Mechatronic Systems written by Takashi Yamaguchi and published by CRC Press. This book was released on 2017-12-19 with total page 339 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechatronic systems are used in a range of consumer products from large-scale braking systems in vehicular agents to small-scale integrated sensors in mobile phones. To keep pace in the competitive consumer electronics industry, companies need to continuously improve servo evaluation and position control of these mechatronic systems. Advances in High-Performance Motion Control of Mechatronic Systems covers advanced control topics for mechatronic applications. In particular, the book examines control systems design for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems. The book systematically describes motion control design methods for trajectory design, sampled-data precise positioning, transient control using switching control, and dual-stage actuator control. Each method is described in detail, from theoretical aspects to examples of actual industry applications including hard disk drives, optical disk drives, galvano scanners, personal mobility robots, and more. This helps readers better understand how to translate control theories and algorithms from theory to design and implementation in realistic engineering systems. The book also identifies important research directions and advanced control techniques that may provide solutions for the next generation of high-performance mechatronics. Bridging research and industry, this book presents state-of-the-art control design methodologies that are widely applicable to industries such as manufacturing, robotics, home appliances, automobiles, printers, and optical drives. It guides readers toward more effective solutions for high-performance mechatronic systems in their own products.

Download or read book Handbook of Atmospheric Science written by C. Nick Hewitt and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 648 pages. Available in PDF, EPUB and Kindle. Book excerpt: The alarming consequences of global climate change have highlighted the need to take urgent steps to combat the causes of air pollution. Hence, understanding the Earth's atmosphere is a vital component in Man's emerging quest for developing sustainable modes of behaviour in the 21st century. Written by a team of expert scientists, the Handbook of Atmospheric Science provides a broad and up-to-date account of our understanding of the natural processes that occur within the atmosphere. It examines how Man’s activities have had a detrimental effect on the climate, and how measures may be implemented in order to modify these activities. The book progresses through chapters covering the principles of atmospheric science and the current problems of air pollution at the urban, regional and global scales, to the tools and applications used to understand air pollution. The Handbook of Atmospheric Science offers an excellent overview of this multi-disciplinary subject and will prove invaluable to both students and researchers of atmospheric science, air pollution and global change.