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Search results for: CONTROL SYSTEM OF UNMANNED VEHICLE
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Innovative mobile method to determine railway track axis position in global coordinate system using position measurements performed with GNSS and fixed base of the measuring vehicle
PublicationThe shape of the railway track axis and its position in the global coordinate system are essential when defining design parameters of the railway. Correct reconstruction of these quantities is vital for both verifying the compliance of real track parameters with the design and for diagnosing, as all track deformations can also be defined as deviations of real parameters from their design values. The measurements of quantities related...
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Innovative mobile method to determine railway track axis position in global coordinate system using position measurements performed with GNSS and fixed base of the measuring vehicle
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Closed-Loop Control System Design for Wireless Charging of Low-Voltage EV Batteries with Time-Delay Constraints
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<title>Control and monitoring of data acquisition and trigger system (TRIDAQ) for backing calorimeter (BAC) of the ZEUS experiment</title>
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<title>Cavity control system advanced modeling and simulations for TESLA linear accelerator and free electron laser</title>
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<title>FPGA-based multichannel optical concentrator SIMCON 4.0 for TESLA cavities LLRF control system</title>
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<title>Distributed embedded-PC-based control and data acquisition system for TESLA cavity controller and simulator</title>
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Mobile monitoring system for air quality control along traffic routes = Monitoring zanieczyszczeń wzdłuż ciągów komunikacyjnych
PublicationW referacie przedstawiono budowę i zasadę działania mobilnej stacji monitoringu do badania i analizy zanieczyszczeń powietrza atmosferycznego wzdłuż ciagów komunikacyjnych. Przedstawiono również wyniki badań imisji substancji emitowanych z pojazdów poruszających się wzdłuż układu komunikacyjnego Trójmiasta stosując urzadzenie ETL 2000 Bus, zamontowane na dachu samochodu osobowego. Wcześniej, uzyskane wyniki porównano z wynikami...
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Minimizing the Impact of Electromagnetic Interference Affecting the Control System of Personal Rapid Transit in the Context of the Competitiveness of the Supply Chain
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The optimal control at energy performance index as a rule for vibration surveillance in the hybrid system by on example of milling flexible details
PublicationPraca dotyczy nadzorowania drgań w niestacjonarnych układach mechanicznych za pomocą sterowania optymalnego pry energetycznym wskaźniku jakości. W układzie drgającym wyodrębniono podukłady: modalny, strukturalny oraz łączący. Dynamikę układu sterowanego opisano we współrzędnych hybrydowych. Przedstawiono przykład nadzorowania drgań podczas obróbki przedmiotów podatnych smukłym frezem kulistym. Paramatry obliczeniowego modelu modalnego...
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<title>Software layer for SIMCON ver. 2.1. FPGA based LLRF control system for TESLA FEL part I: system overview, software layers definition</title>
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Application of Extreme Doses of Aluminium for Growth Control of Filmentous Bacteria Microthrix Parvicella in an Activated Sludge System - Laboratory Investigations
PublicationLaboratory investigations of aluminium (PAX-16) application for control of population of filamentous bacteria Microthrix Parvicella in a three-phase bioreactor in lab-scale were performed. Dosing of small aluminium doses (approximately 0.5 mgAl/gMLSS·d) in the period preceding seasonal growth of M.Parvicella failed to prevent mass growth of this microorganism leading to activated sludge bulking phenomenon (SVI-250 ml/gMLSS)...
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Specificity of automatic control of micro-turbines (steam or gas -driven and expanders) in dispersed generation system of heat and electric power
PublicationThis paper presents specific problems of automatic control of steam micro-turbines and expanders intended for the dispersed, combined generating of heat and electric power. The investigations concern ensurance of certainty of energy supply and its required quality.
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Adaptive dynamic control allocation for over-actuated dynamic positioning system based on backstepping method in case of thruster faults
PublicationThe objective of the research considered in this paper is dynamic positioning of a nonlinear over-actuated marine vessel in the presence of limited information about thruster forces. First, the adaptive backstepping method is used to estimate the input matrix which will compensate partial loss of actuator effectiveness in the presence of actuator dynamics. Then, the adaptive commanded virtual forces and moment are allocated into...
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Oriented Gaussian beams for high-accuracy computation with accuracy control of X-ray propagation through a multi-lens system
PublicationA highly accurate method for calculating X-ray propagation is developed. Within this approach, the propagating wave is represented as a superposition of oriented Gaussian beams. The direction of wave propagation in each Gaussian beam agrees with the local direction of propagation of the X-ray wavefront. When calculating the propagation of X-ray waves through lenses, the thin lens approximation is applied. In this approximation,...
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High-efficiency hybrid PV-TEG system with intelligent control to harvest maximum energy under various non-static operating conditions
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<title>Cavity digital control testing system by Simulink step operation method for TESLA linear accelerator and free electron laser</title>
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Cathodic Protection System of the Spiral Classifier at the KGHM Polska Miedź S.A. Ore Concentration Plant—Case Study of Commissioning and Control of Operating Parameters
PublicationThe project involved designing, constructing and commissioning a cathodic protection system for a selected spiral classifier operating at the KGHM Polska Miedź S.A. Ore Concentration Plant (O/ZWR). The authors developed a concept and assumptions regarding the corrosion protection of a large industrial device using a cathodic protection system with an external power source. Pre-project studies included conducting a trial polarization...
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Size and mass minimization of capacitor bank in a power converter DC line of DC drive with closed loop control system with PWM and current limitation
PublicationPaper deals with evaluation equations for power filter of AC-DC power converter which allows to provide size and mass minimization of capacitor bank in DC drive closed loop systems with PWM and current limitation. Reliability of provided equations is proved by simulation in MATLAB/Simulink
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<title>Modular version of SIMCON, FPGA based, DSP integrated, LLRF control system for TESLA FEL part I: SIMCON 3.0 motherboard</title>
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Novel method of estimation of inertial and dissipative parameters of a railway pantograph model
PublicationAn increase in electric railway vehicles service velocity requires that correct interaction between the pantograph and the catenary is ensured. This implies the need for developing mathematical models of pantographs and catenaries and determining their parameters. The article presents a method to determine parameters of mechanical joints of a railway pantograph based on analysis of pantograph subassemblies in swinging motion. The...
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<title>Software layer for SIMCON ver. 2.1. FPGA based LLRF control system for TESLA FEL part II: application layer, networking, examples</title>
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Sterowanie systemu elektroenergetycznego zasilanego układem kombinowanym silnik spalinowy - turbina gazowa = Control of electric power system suplied with combined diesel engine and gas turbine
PublicationPoddano badaniom symulacyjnym układ sterowania automatyc znego elektroenergetycznego systemu wydzielonego, zasilanego prądnicami napędzanymi przez wysokoprężny silnik spalinowy oraz turbinę gazową. Przebieg procesów symulacyjnych zależy głównie od nastawień regulatora częstotliwości systemu elektroenergetycznego. Od ustawień regulatora silnika tłokowego zależy mniej niż w przypadku turbiny gazowej. Nie odgrywa istotnej roli sposób...
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Module of priorities for public transport vehicles in the TRISTAR system
PublicationOne of the most important elements of the intelligent traffic control systems is the ability to control movement in such a way as to privilege the selected users movement, in particular public transport vehicles. Implemented at the Tri-City the TRISTAR system will also have a module for prioritizing public transport vehicles. The article presents a characteristics of the priority action system: the way of communication with the...
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<title>Modular version of SIMCON, FPGA based, DSP integrated, LLRF control system for TESLA FEL part II: measurement of SIMCON 3.0 DSP daughterboard</title>
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Potential of Polish R&D industry in the context of prototyping, design, development and control of a dedicated national satellite SAR system for marine ecosystem monitoring. Technical paper - preliminary study
Publicationpace technology is currently one of the most important elements in the advance of information societies and knowledge-based economies all over the world. The European Space Agency (ESA) is in the focal point of European space activities, while the European Union provides strong financial support for the development of space technologies and applications in its flagship programs. In a domestic scope, the Polish Space Agency (POLSA)...
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ANALIZA CECH HYDRO-AERODYNAMICZNYCH BEZZAŁOGOWEGO POJAZDU NAWODNO-POWIETRZNEGO Z WYKORZYSTANIEM EFEKTU PRZYPOWIERZCHNIOWEGO
PublicationW artykule przedstawiono problematykę badań dotyczących opracowania demonstratora technologii bezzałogowego pojazdu nawodno-powietrznego z wykorzystaniem efektu przypowierzchniowego. Opisano podstawowe problemy badawcze związane z analizą cech hydro-aerodynamicznych pojazdu. Opisano przedmiot badań, bezzałogowy pojazd nawodno-powietrzny typu USV-UAV-WIG. Opisano metodę badań. Przeprowadzono wstępną analizę osiągów i zachowania...
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Modernization of the control system to reduce a risk of severe accidents during non-pressurized ammonia storage Modernizacja układu sterowania w celu redukcji ryzyka poważnych awarii bezciśnieniowego przechowywania amoniaku
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Dynamic risk assessment in autonomous vehicles motion planning
PublicationArguing that an autonomous mobile system is sufficiently safe to operate in presence of other vehicles and objects is an important element in development of such systems. Traditional approach to assure safety is to distinguish between safe and unsafe area and prevent the autonomous vehicle from entering the unsafe area. The paper presents a model of autonomous vehicle control system which uses risk assessment...
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Głowice optoelektroniczne bezzałogowych środków latających
PublicationBezzałogowe środki latające nie wymagają długiego i kosztownego szkolenia załóg. Koszty ich wdrożenia są wielokrotnie niższe od załogowych środków latających. Bezzałogowe środki latające są następcami załogowych pojazdów latających rozpoznawczych i obserwacyjnych. Jednym z podstawowych elementów wyposażania bezzałogowego środka latającego jest głowica optoelektroniczna. Głowice wyposażone są w systemy rejestracji i śledzenia wskazanych...
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Toward Intelligent Vehicle Intrusion Detection Using the Neural Knowledge DNA
PublicationIn this paper, we propose a novel intrusion detection approach using past driving experience and the neural knowledge DNA for in-vehicle information system security. The neural knowledge DNA is a novel knowledge representation method designed to support discovering, storing, reusing, improving, and sharing knowledge among machines and computing systems. We examine our approach for classifying malicious vehicle control commands...
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ANALYSIS OF POSSIBILITIES FOR THE USE OF VOLUME-DELAY FUNCTIONS IN THE PLANNING MODULE OF THE TRISTAR SYSTEM
PublicationTravel time is a measure commonly used for traffic flow modelling and traffic control. It also helps to evaluate the quality of traffic control systems in urban areas. Traffic control systems that use traffic models to predict changes and disruptions in vehicle flows have to use vehicle speed-prediction models. Travel time estimation studies the effects of traffic volumes on a street section at an average speed. The TRISTAR Integrated...
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EVALUATION OF EFFECTIVENESS OF WATERJET PROPULSOR FOR A SMALL UNDERWATER VEHICLE
PublicationT he goal of the project described is to replace the existing propulsion system of a small underwater vehicle with a solution less prone to mechanical damage and ensuring a lower risk of the entanglement of fibrous objects suspended in the body of water. Four typical marine screws are utilised in the current design of the vehicle. One possible solution of the problem is the application of waterjet propulsors located...
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Safety assurance strategies for autonomous vehicles
PublicationAssuring safety of autonomous vehicles requires that the vehicle control system can perceive the situation in the environment and react to actions of other entities. One approach to vehicle safety assurance is based on the assumption that hazardous sequences of events should be identified during hazard analysis and then some means of hazard avoidance and mitigation, like barriers, should be designed and implemented. Another approach...
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Broken Rotor Symptons in the Sensorless Control of Induction Machine
PublicationInverter fed sensorless controlled variable speed drives with induction machine are widely used in the industry applications, also in wind power generation and electric vehicles. On-line self diagnostic systems implementation is needed for early stage fault detection and avoiding a critical fault. Diagnostic algorithms in modern DSP-based controllers can operate simultaneously with control system functions. In the closed-loop controlled...
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Evaluation of the energy efficiency of electric vehicle drivetrains under urban operating conditions
PublicationIn electric vehicles, as in hybrids vehicles, a very important factor affecting the energy efficiency of the powertrain is the ability to use the regenerative braking energy. Depending on the settings available in electric vehicles, the driver can choose different modes of operation: switch off the regenerative braking mode altogether, select the intensity of regenerative braking, or leave the control system in automatic mode....
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Effect of Overloaded Vehicles on Whole Life Cycle Cost of Flexible Pavements
PublicationThe phenomenon of vehicle overloading—illegal exceeding of maximum legal weight of vehicles, is a serious problem both in developing and developed countries around the world. Overloaded vehicles occur less frequently in comparison to properly loaded vehicles but due to their greater potential to cause damage they significantly contribute to distress of pavement structure. As studies show, the number of overloaded vehicles increases...
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Vibration of the bridge under moving singular loads - theoretical formulation and numerical solution
PublicationThe paper presents the results of the numerical analysis of a simple vehicle passing over a simply supported bridge span. The bridge is modelled by a Euler-Bernoulli beam. The vehicle is modelled as a linear, visco-elastic oscillator, moving at a constant speed. The system is described by a set of differential equations of motion and solved numerically using the Runge-Kutta algorithm. The results are compared with the solution...
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Design of radio communication systems for unmanned transport applications
PublicationIn the paper the principle of OFDMA-based radio communication systems design for unmanned transport applications is presented. The concept of system radio interface is analysed and its basic parameters proposal are considered. In the last part of the paper some air interface characteristics useful for optimization of throughput and system capacity are considered.
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Performance Measurements of Real Time Video Transmission from Car Patrol
PublicationThe HSUPA technology application to video streaming from moving vehicle to the central server is presented in the paper. A dedicated software for transmission control in case of non public IP address is employed. Quality of video streaming in urban area was measured. Several car routes were investigated in the area of the Polish Tricity. Measurements pointed out that the real time streaming quality during vehicle movement is sufficient...
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Vehicular Communication Environments
PublicationCommunication to and between road vehicles (cars, truck, buses, trains, etc.) are of growing interest. This is partly due to the attractive services that cooperative intelligent transport systems (C-ITSs) provides, mainly in the areas of traffic safety and traffic efficiency. An enabler for C-ITS is wireless vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication, collectively referred to as vehicle-to-X (V2X)...
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Koncepcja, modelowanie i symulacja układu napędowego prototypu samochodu elektrycznego "ELV001"
PublicationAbstract: In this paper a conception, modelling and simulation tool for drive system of the prototype electric vehicle ''ELV001'' have been presented. The design and building of this vehicle have been carried out in frame of the project: ''Building a market of electric vehicle and charging infrastructure - fundamentals of energy safety''. The simulation tools are of great assistance to engineers and researchers to reduce product-development...
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Vehicle classification based on soft computing algorithms
PublicationExperiments and results regarding vehicle type classification are presented. Three classes of vehicles are recognized: sedans, vans and trucks. The system uses a non-calibrated traffic camera, therefore no direct vehicle dimensions are used. Various vehicle descriptors are tested, including those based on vehicle mask only and those based on vehicle images. The latter ones employ Speeded Up Robust Features (SURF) and gradient images...
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Wireless Charging Station Design for Electric Scooters: Case Study Analysis
PublicationThis study proposes an example of a wireless charging station design for a small-scale vehicle available on the market. The article analyzes basic transmitter inverter topologies and their compensation methods in terms of flexibility of control, tolerance to uncertainty in positioning, and the possibility of decreasing the integration price. Our comprehensive analysis focuses on the battery voltage range, energy capacity, cost,...
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ENERGY EFFICIENT SMALL INLAND PASSENGER SHUTTLE FERRY WITH HYBRID PROPULSION - CONCEPT DESIGN, CALCULATIONS AND MODEL TESTS
PublicationIn recent years, there has been a significant development in “green” and energy efficient propulsion systems, which fits into the general trend of environmentally friendly “green shipping”. The pursued goal is to construct a safe passenger ship that is low in energy demand and equipped with a highly energy efficient, emission-free propulsion system. The paper presents main problems encountered by designers of a small, hybrid-powered...
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Carbon dioxide potential reduction using Start-Stop system in a car
PublicationOperating fuel consumption increases significantly when the vehicle stops frequently while driving or when the engine is idling during braking. In such cases, the internal combustion engine consumes the fuel but the mechanical energy is not used by the drive system. The amount of fuel that is consumed in this time by the engine can potentially be saved if the car is equipped with a Stop-Start system. Start-Stop system automatically...
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Design of a test bench for determining the general characteristics of an internal combustion engine using a hydraulic power take-off system
PublicationThe paper presents a design of an engine test bench, which is used to determine the general characteristics of a truck engine using a power take-off (PTO). PTO drives a hydraulic system that generates a load on the engine at various points in its operation in the power range specified by the hydraulic system. The design allows for stationary and mobile tests with the test bench mounted on the truck, without any modification of...
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Preliminary Results of a System-theoretic Assessment of Maritime Autonomous Surface Ships' Safety
PublicationWhile a system‐theoretic approach to the safety analysis of innovative socio‐technical systems gains a growing acceptance among academia, safety issues of Maritime Autonomous Surface Ships (MASS) remain largely unexplored. Therefore, we applied a System‐Theoretic Process Analysis to develop and analyze a preliminary model of the unmanned shipping system in order to elaborate safety recommendations for...
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Sensorless algorithm for sustaining controllability of IPMSM drive in electric vehicle after resolver fault
PublicationThis paper presents a sensorless algorithm designated for the emergency control of an interior permanent magnet synchronous motor (IPMSM) drive in electric or hybrid vehicle. The algorithm is based on analysing the derivatives of motor phase currents measured over the duration of particular inverter states. The method is computationally simple and does not require additional hardware since the derivatives are measured indirectly....
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Modeling of performance of a AUV vehicle towards limiting the hydro-acoustic field.
PublicationSome results of research devoted to the modeling of a AUV-Stealth vehicle performance towards limiting its hydro-acoustic field are presented in the paper. At the beginning the AUV-Stealth autonomous underwater vehicle concept is described. Then the method of research is introduced. Next the key design drivers of the AUV-Stealth vehicle are presented. Between them are the AUV-Stealth hull form, arrangement of internal spaces,...