Smart Traction Control Systems for Electric Vehicles Using Acoustic Road-type Estimation

The application of traction control systems (TCS) for electric vehicles (EV) has great potential due to easy implementation of torque control with direct-drive motors. However, the control system usually requires road-tire friction and slip-ratio values, which must be estimated. While it is not possible to obtain the first one directly, the estimation of latter value requires accurate measurements of chassis and wheel velocity. In addition, existing TCS structures are often designed without considering the robustness and energy efficiency of torque control. In this work, both problems are addressed with a smart TCS design having an integrated acoustic road-type estimation (ARTE) unit. This unit enables the road-type recognition and this information is used to retrieve the correct look-up table between friction coefficient and slip-ratio. The estimation of the friction coefficient helps the system to update the necessary input torque. The ARTE unit utilizes machine learning, mapping the acoustic feature inputs to road-type as output. In this study, three existing TCS for EVs are examined with and without the integrated ARTE unit. The results show significant performance improvement with ARTE, reducing the slip ratio by 75% while saving energy via reduction of applied torque and increasing the robustness of the TCS.Comment: Accepted to be published by IEEE Trans. on Intelligent Vehicles, 22 Jan 201

Application of a Combined Active Control and Fault Detection Scheme to an Active Composite Flexible Structure.

In this paper, the problem of increasing reliability of active control procedure is considered. Indeed, a design method of rejection perturbation in presence of potentially faults, on a flexible structure with integrated piezo-ceramics, is presented. The piezo-ceramics are used as actuators and sensors. A single unit based solution, which handles both control action and fault diagnosis is proposed. The algorithm uses H∞ optimization techniques. A full order model of the structure is first obtained via both finite-element (FE) approach and identification procedure. This model is then reduced in order to be used in our robust approach. By a suitable choice of weightings functions, the provided method is able to reject disturbance robustly and to estimate occurred faults. The case of sensors and actuators faults is discussed. The choice of weightings for diagnosis and control systems is also tackled. Finally, the effectiveness of this integrated method is confirmed by both simulation and experimental results

Derivative observations in Gaussian Process models of dynamic systems

Gaussian processes provide an approach to nonparametric modelling which allows a straightforward combination of function and derivative observations in an empirical model. This is of particular importance in identification of nonlinear dynamic systems from experimental data. 1)It allows us to combine derivative information, and associated uncertainty with normal function observations into the learning and inference process. This derivative information can be in the form of priors specified by an expert or identified from perturbation data close to equilibrium. 2) It allows a seamless fusion of multiple local linear models in a consistent manner, inferring consistent models and ensuring that integrability constraints are met. 3) It improves dramatically the computational efficiency of Gaussian process models for dynamic system identification, by summarising large quantities of near-equilibrium data by a handful of linearisations, reducing the training size - traditionally a problem for Gaussian process models

Toward a relational concept of uncertainty: about knowing too little, knowing too differently, and accepting not to know

Uncertainty of late has become an increasingly important and controversial topic in water resource management, and natural resources management in general. Diverse managing goals, changing environmental conditions, conflicting interests, and lack of predictability are some of the characteristics that decision makers have to face. This has resulted in the application and development of strategies such as adaptive management, which proposes flexibility and capability to adapt to unknown conditions as a way of dealing with uncertainties. However, this shift in ideas about managing has not always been accompanied by a general shift in the way uncertainties are understood and handled. To improve this situation, we believe it is necessary to recontextualize uncertainty in a broader way¿relative to its role, meaning, and relationship with participants in decision making¿because it is from this understanding that problems and solutions emerge. Under this view, solutions do not exclusively consist of eliminating or reducing uncertainty, but of reframing the problems as such so that they convey a different meaning. To this end, we propose a relational approach to uncertainty analysis. Here, we elaborate on this new conceptualization of uncertainty, and indicate some implications of this view for strategies for dealing with uncertainty in water management. We present an example as an illustration of these concepts. Key words: adaptive management; ambiguity; frames; framing; knowledge relationship; multiple knowledge frames; natural resource management; negotiation; participation; social learning; uncertainty; water managemen