Driving on the Surface of Mars with the Rover Control Workstation
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goggles flying camera view computer generated terr↗
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Results for “cooperative control”
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Adaptive Control Allocation in the Presence of Actuator Failures
In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.
Liu, Yu↗
Using Demanded Power and RDE Aggressiveness Metrics to Analyze the Impact of CACC Aggressiveness on Heavy Duty Platooning Power Consumption
Presently, a main mobility sector objective is to reduce its impact on the global greenhouse gas emissions. While there are many techniques being explored, a promising approach to improve fuel economy is to reduce the required energy by using slipstream effects. This study analyzes the demanded engine power and mechanical energy used by heavy-duty trucks during platooning and non-platooning operation to determine the aerodynamic benefits of the slipstream. A series of platooning tests utilizing class 8 semi-trucks platooning via Cooperative Adaptive Cruise Control (CACC) are performed. Comparing the demanded engine power and mechanical energy used reveals the benefits of platooning on the aerodynamic drag while disregarding any potential negative side effects on the engine. However, energy savings were lower than expected in some cases. It was hypothesized that the CACC may have amplified transient platooning events relative to the individual truck baseline results, hampering the potential energy savings. Therefore, the impact of the controller on the observed driving style was analyzed in detail. In order to quantify the transient operational characteristics of the experimental trials, metrics from the European Real Driving Emissions (RDE) legislation were modified to serve as metrics of aggressiveness during platooning. The metrics (v · apos)95 and Relative Positive Acceleration (RPA) were calculated for platooning and non-platooning runs. These results indicate that the CACC induces small acceleration events during platooning to retain the commanded longitudinal separation between vehicles. These small acceleration events increase following vehicle aggressiveness during platooning and prevent the following vehicles from obtaining maximum energy savings. Moreover, a correlation between the RDE metric (v · apos)95 and energy savings is developed. Hence, this work establishes the ability of RDE metrics to assess CACC impacts on platoon energy savings.
European Real Driving Emissions, RDE, greenhouse g↗
Impact of Mixed Traffic on the Energy Savings of a Truck Platoon
A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.
adaptive cruise control↗
Safety evaluation of connected and automated vehicles in mixed traffic with conventional vehicles at intersections
Connected and Automated Vehicles (CAVs) can potentially improve the performance of the transportation system by reducing human errors. This paper investigates the safety impact of CAVs in a mixed traffic with conventional vehicles at intersections. Analyzing real-world AV crashes in California revealed that rear-end crashes at intersections are the dominant crash type. Therefore, to enhance our understanding of the future interactions between human-driven vehicles with CAVs at intersections, a simulation framework was developed to model the mixed traffic environment of Automated Vehicles (AV), cooperative AVs, and conventional human-driven vehicles. In order to model AVs driving behavior, Adaptive Cruise Control (ACC) and cooperative ACC (CACC) models are utilized. Particularly, this study explores system improvements due to automation and connectivity across varying CAV market penetration scenarios. ACC and CACC car following models are used to mimic the behavior of AVs and cooperative AVs. Real-world connected vehicle data are utilized to modify and tune the acceleration/deceleration regimes of the Wiedemann model. Next, the driving volatility concept capturing variability in vehicle speeds was utilized to calibrate the simulation to represent the safety performance of a real-world environment. Two surrogate safety measures are used to evaluate the safety performance of a representative intersection under different market penetration rate of CAVs: the number of longitudinal conflicts and driving volatility. At low levels of ACC market penetration, the safety improvements were found to be marginal, but safety improved substantially with more than 40% ACC penetration. Additional safety improvements can be achieved more quickly through the addition of cooperation and connectivity through CACC. Furthermore, ACC/CACC vehicles were found to improve mobility performance in terms of average speed and travel time at intersections.
29 ENERGY PLANNING, POLICY, AND ECONOMY↗
Stability analysis of multiple-robot control systems
In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.
Wen, John T.↗
Distributed cooperating processes in a mobile robot control system
A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.
Skillman, Thomas L., Jr.↗
Dynamical modelling of coordinated multiple robot systems
The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.
Hayati, Samad↗
Integration of mechanism and control for large-angle slew maneuvers of flexible structures
A rolling contact noncircular gear system is applied to assist a desired controller in the slewing of a flexible space structure. The varying gear ratio in cooperation with the controller results in lower feedback gains at the controller, as well as considerably reducing flexural vibrations of the space structure. The noncircular gears consist of a pair of convex noncircular cylinders with specially designed profiles that are synthesized in conjunction with the optimal controller gains for minimizing the flexural vibrations of flexible structure during a slew maneuver. Convexity of the cylindrical profiles for this noncircular gear device must be ensured to maintain rolling contact between the two cylinders. Simulations of slewing control tasks for two kinds of flexible space structures, such as a planar flexible beam and the planar articulated flexible beams, are presented.
Chew, Meng-Sang↗
Controlled Single-Electron Transfer via Metal–Ligand Cooperativity Drives Divergent Nickel-Electrocatalyzed Radical Pathways
Electrocatalysis enables the construction of C-C bonds under mild conditions via controlled formation of carbon-centered radicals. For sequences initiated by alkyl halide reduction, coordinatively unsaturated Ni complexes commonly serve as single-electron transfer agents, giving rise to the foundational question of whether outer- or inner-sphere electron transfer oxidative addition prevails in redox mediation. Indeed, rational design of electrochemical processes requires the discrimination of these two electron transfer pathways, as they can have outsized effects on the rate of substrate bond activation and thus impact radical generation rates and downstream product selectivities. We present results from combined synthetic, electroanalytical, and computational studies that examine the mechanistic differences of single electron transfer to alkyl halides imparted by Ni metal-ligand cooperativity. Electrogenerated reduced Ni species, stabilized by delocalized spin density onto a redox-active tpyPY2Me polypyridyl ligand, activates alkyl iodides via outer-sphere electron transfer, allowing for the selective activation of alkyl iodide substrates over halogen atom donors and the controlled generation and sequestration of electrogenerated radicals. In contrast, the Ni complex possessing a redox-innocent pentapyridine congener activates the substrates in an inner-sphere fashion owning to a purely metal-localized spin, thereby activating both substrates and halogen atom donors in an indiscriminate fashion, generating a high concentration of radicals and leading to unproductive dimerization. Overall, our data establish that controlled electron transfer via Ni-ligand cooperativity can be used to limit undesired radical recombination products and promote selective radical processes in electrochemical environments, providing a generalizable framework for designing redox mediators with distinct rate and potential requirements.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Guidance and Control for Laser-Based Non-Cooperative Target Detumbling
Large pieces of orbital debris form a significant risk of fragmentation in case of collision. Such fragmentation would greatly increase the number of trackable and untrackable debris on orbit. This makes them attractive targets for future rendezvous and disposal missions. However, these non-cooperative targets tend to be tumbling and rendezvous with them is a dangerous prospect. To avoid this danger, contactless detumbling through laser ablation has been proposed prior to rendezvous. Existing proposals for contactless laser-based detumbling have yet to include an in-depth study of the problem's guidance, navigation, and control requirements. In this work we develop an attitude and relative motion control scheme for a chaser satellite detumbling a non-cooperative target via laser. We show that detumbling can be achieved with reasonable time and dV budgets. With Monte Carlo methods we explore the impact of laser force on the detumbling operation and reveal some non-intuitive relationships.
Guidance↗
Guidance and Control for Laser-Based Non-Cooperative Target Detumbling
Large pieces of orbital debris form a significant risk of fragmentation in case of collision. Such fragmentation would greatly increase the number of trackable and untrackable debris on orbit. This makes them attractive targets for future rendezvous and disposal missions. However, these non-cooperative targets tend to be tumbling and rendezvous with them is a dangerous prospect. To avoid this danger, contactless detumbling through laser ablation has been proposed prior to rendezvous. Existing proposals for contactless laser-based detumbling have yet to include an in-depth study of the problem's guidance, navigation, and control requirements. In this work we develop an attitude and relative motion control scheme for a chaser satellite detumbling a non-cooperative target via laser. We show that detumbling can be achieved with reasonable time and dV budgets. With Monte Carlo methods we explore the impact of laser force on the detumbling operation and reveal some non-intuitive relationships.
Guidance↗
Impact of Mixed Traffic on the Energy Savings of a Truck Platoon: Preprint
A two-truck platoon based on a prototype cooperative adaptive cruise control (CACC) system was tested on a closed test track in a variety of realistic traffic and transient operating scenarios - conditions that truck platoons are likely to face on real highways. The fuel consumption for both trucks in the platoon was measured using the SAE J1321 gravimetric procedure as well as calibrated J1939 instantaneous fuel rate, serving as proxies to evaluate the impact of aerodynamic drag reduction under constant-speed conditions. These measurements demonstrate the effects of: the presence of a multiple-passenger-vehicle pattern ahead of and adjacent to the platoon, cut-in and cut-out manoeuvres by other vehicles, transient traffic, the use of mismatched platooned vehicles (van trailer mixed with flatbed trailer), and the platoon following another truck with adaptive cruise control (ACC). These scenarios are intended to address the possibility of “background aerodynamic platooning” impacting realized savings on public roads. Using calibrated J1939 fuel rate analysis, fuel savings for curved track sections versus straight track sections were also evaluated for these scenarios, highlighting differences in the implementation of the CACC control strategies compared to a stock ACC implementation. The use of different trailer types and the presence of passenger-vehicle traffic patterns showed a measurable impact on platoon performance in some conditions, but the basic fuel savings trends were retained.
adaptive cruise control↗
Intelligent sensing and control for advanced teleoperation
A theoretical framework is presented for a 'sensing-knowledge command-fusion' paradigm of interactive and cooperative sensing and control in advanced teleoperators, which takes advantage of both current and projected robotic dexterousness and sensor-based autonomy capabilities. Attention is given to (1) a method for the achievement of a sensing-knowledge-command computational mechanism that implements the intended cooperative/interactive system, and (2) the system architecture and man/machine-interface protocols entailed by this implementation.
Lee, Sukhan↗
Technical Cooperation on Verification and its role in Trust Building [Slides]
Technical cooperation is a low-cost way to initiate movement in the arms control sphere and offers an operational path forward for the reestablishment of working relationships built on trust not freely given, but gained through experience, and a shared vision of the future; Political will alone, though necessary for cooperation to take place, is insufficient in the face of structural obstacles. For effective cooperation to have a future, countries must have both political will and complementary and conducive institutional structures; Cooperation at the intergovernmental level seems unlikely at this time. However, if relationships with international partners continue to be strained as development of new offensive technologies continues, it is very possible that future movement in technical arms control cooperation could again be initiated in the nongovernmental sphere; As the stewards of the majority of the world’s nuclear stockpile, the United States and the Russian Federation have a unique role to play in shaping global norms on arms control verification and cooperation; it is in their mutual interest now to begin to find technical solutions to the question of verification as other countries ramp up production.
98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
Experimental Fuel Consumption Results from a Heterogeneous Four-Truck Platoon
Platooning has the potential to reduce greenhouse gas missions of heavy-duty vehicles. Prior platooning studies have chiefly focused on the fuel economy characteristics and three-truck platoons, and most have investigated aerodynamically homogeneous platoons with trucks of the same trim. For real world application and accurate return on investment for potential adopters, non-uniform platoons and the impacts of grade and disturbances on a platoon’s fuel economy must also be characterized. This study investigates the fuel economy of a heterogeneous four-truck platoon on a closed test track. Tests were run for one hour at a speed of 45 mph. The trucks used for this study are two 2015 Peterbilt 579’s with a Cummins ISX15 and a Paccar MX-13, and two 2009 Freightliner M915A5’s, one armored and the other unarmored. Many analysis methodologies were leveraged to describe and compare the fuel data, including lap-wise and track-segment analysis. The methodology for dividing the data into laps is described in detail. The influence of other factors beyond the aerodynamics of platooning is discussed. CAN fuel rate analysis showed excellent agreement with previous experimental trends for two and three-truck platoons. In general, the indicated fuel economy benefits in this study were 5-11% for following vehicles and 0-4% for the lead vehicle in platoon relative to their baseline fuel consumption. On a cumulative basis, all platoons saved fuel, ranging from 6% to 8% versus the sum of the standalone trucks’ fuel consumption. The practical implications of the fuel economy results are discussed, as well as avenues for future research. Introduction and Motivation platooning is controlled coordination of two or more vehicles in a convoy, sometimes called CACC (Coordinated or Cooperative Adaptive Cruise Control). The distance between vehicles in a platoon can be controlled tightly at no additional fatigue to the driver. Platooning vehicles can also respond quickly to braking events of the leader, much more quickly than the typical human driver’s reaction time of 1-1.5 s. Therefore, vehicles in a platoon can follow each other much more closely than would usually be considered a safe following distance under human operation. It is implied that under very close following conditions, platooning technology must be extremely robust before it is safe for wide-scale implementation. Platooning is under investigation as a fuel-saving technology. Close-following significantly reduces aerodynamic drag for both leading and trailing vehicles. According to the NRC in 2010, aerodynamic drag represents roughly half of a Class-8 truck’s on-highway fuel usage, meaning a 20% reduction in drag roughly equals a 10% reduction in fuel usage, if all other sources of energy loss remain equal (i.e. accessory, rolling resistance, drivetrain, braking). It is by aerodynamics that platooning saves fuel. At risk of oversimplifying the aerodynamics, following (or trailing) vehicles experience reduced wind velocity due to shielding, and the leading vehicles experience an increased aft pressure, especially at distances closer than 75’ (23 m).
greenhouse gas emissions, truck platoon, heavy-dut↗
Simulator studies of the deep stall
Simulator studies of aircraft deep-stall problem - pitch control problem
AIRCRAFT PERFORMANCE↗
A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain
This work develops and implements an NMPC control system to facilitate fuel-optimal platooning of Class 8 vehicles over challenging terrain. Prior research has shown that Cooperative Adaptive Cruise Control (CACC), which allows multiple Class 8 vehicles to follow in close succession, can save between 3 and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g. rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of Nonlinear Model Predictive Control (NMPC) with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. Furthermore, this comparison yields the comparative fuel savings and energy efficiency benefit of NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.
33 ADVANCED PROPULSION SYSTEMS↗