5,069 research outputs found
Advances in Intelligent Vehicle Control
This book is a printed edition of the Special Issue Advances in Intelligent Vehicle Control that was published in the journal Sensors. It presents a collection of eleven papers that covers a range of topics, such as the development of intelligent control algorithms for active safety systems, smart sensors, and intelligent and efficient driving. The contributions presented in these papers can serve as useful tools for researchers who are interested in new vehicle technology and in the improvement of vehicle control systems
Induction Motors
AC motors play a major role in modern industrial applications. Squirrel-cage induction motors (SCIMs) are probably the most frequently used when compared to other AC motors because of their low cost, ruggedness, and low maintenance. The material presented in this book is organized into four sections, covering the applications and structural properties of induction motors (IMs), fault detection and diagnostics, control strategies, and the more recently developed topology based on the multiphase (more than three phases) induction motors. This material should be of specific interest to engineers and researchers who are engaged in the modeling, design, and implementation of control algorithms applied to induction motors and, more generally, to readers broadly interested in nonlinear control, health condition monitoring, and fault diagnosis
A Reliable and Low Latency Synchronizing Middleware for Co-simulation of a Heterogeneous Multi-Robot Systems
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment
are mission-critical services for recent IoT networks. Communication
synchronization, dependability, and minimal communication jitter are major
simulation and system issues for the time-based physics-based ROS simulator,
event-based network-based wireless simulator, and complex dynamics of mobile
and heterogeneous IoT devices deployed in actual environments. Simulating a
heterogeneous multi-robot system before deployment is difficult due to
synchronizing physics (robotics) and network simulators. Due to its
master-based architecture, most TCP/IP-based synchronization middlewares use
ROS1. A real-time ROS2 architecture with masterless packet discovery
synchronizes robotics and wireless network simulations. A velocity-aware
Transmission Control Protocol (TCP) technique for ground and aerial robots
using Data Distribution Service (DDS) publish-subscribe transport minimizes
packet loss, synchronization, transmission, and communication jitters. Gazebo
and NS-3 simulate and test. Simulator-agnostic middleware. LOS/NLOS and TCP/UDP
protocols tested our ROS2-based synchronization middleware for packet loss
probability and average latency. A thorough ablation research replaced NS-3
with EMANE, a real-time wireless network simulator, and masterless ROS2 with
master-based ROS1. Finally, we tested network synchronization and jitter using
one aerial drone (Duckiedrone) and two ground vehicles (TurtleBot3 Burger) on
different terrains in masterless (ROS2) and master-enabled (ROS1) clusters. Our
middleware shows that a large-scale IoT infrastructure with a diverse set of
stationary and robotic devices can achieve low-latency communications (12% and
11% reduction in simulation and real) while meeting mission-critical
application reliability (10% and 15% packet loss reduction) and high-fidelity
requirements
- …