Platooning-based control techniques in transportation and logistic

This thesis explores the integration of autonomous vehicle technology with smart manufacturing systems. At first, essential control methods for autonomous vehicles, including Linear Matrix Inequalities (LMIs), Linear Quadratic Regulation (LQR)/Linear Quadratic Tracking (LQT), PID controllers, and dynamic control logic via flowcharts, are examined. These techniques are adapted for platooning to enhance coordination, safety, and efficiency within vehicle fleets, and various scenarios are analyzed to confirm their effectiveness in achieving predetermined performance goals such as inter-vehicle distance and fuel consumption. A first approach on simplified hardware, yet realistic to model the vehicle's behavior, is treated to further prove the theoretical results. Subsequently, performance improvement in smart manufacturing systems (SMS) is treated. The focus is placed on offline and online scheduling techniques exploiting Mixed Integer Linear Programming (MILP) to model the shop floor and Model Predictive Control (MPC) to adapt scheduling to unforeseen events, in order to understand how optimization algorithms and decision-making frameworks can transform resource allocation and production processes, ultimately improving manufacturing efficiency. In the final part of the work, platooning techniques are employed within SMS. Autonomous Guided Vehicles (AGVs) are reimagined as autonomous vehicles, grouping them within platoon formations according to different criteria, and controlled to avoid collisions while carrying out production orders. This strategic integration applies platooning principles to transform AGV logistics within the SMS. The impact of AGV platooning on key performance metrics, such as makespan, is devised, providing insights into optimizing manufacturing processes. Throughout this work, various research fields are examined, with intersecting future technologies from precise control in autonomous vehicles to the coordination of manufacturing resources. This thesis provides a comprehensive view of how optimization and automation can reshape efficiency and productivity not only in the domain of autonomous vehicles but also in manufacturing

Fuzzy logic control of automated guided vehicle

This thesis describes the fuzzy logic based control system for an automated guided vehicle ( AGV ) designed to navigate from one position and orientation to another while avoiding obstacles. A vehicle with an onboard computer system and a beacon based location system has been used to provide experimental confirmation of the methods proposed during this research. A simulation package has been written and used to test control techniques designed for the vehicle. A series of navigation rules based upon the vehicle's current position relative to its goal produce a fuzzy fit vector, the entries in which represent the relative importance of sets defined over all the possible output steering angles. This fuzzy fit vector is operated on by a new technique called rule spreading which ensures that all possible outputs have some activation. An obstacle avoidance controller operates from information about obstacles near to the vehicle. A method has been devised for generating obstacle avoidance sets depending on the size, shape and steering mechanism of a vehicle to enable their definition to accurately reflect the geometry and dynamic performance of the vehicle. Using a set of inhibitive rules the obstacle avoidance system compiles a mask vector which indicates the potential for a collision if each one of the possible output sets is chosen. The fuzzy fit vector is multiplied with the mask vector to produce a combined fit vector representing the relative importance of the output sets considering the demands of both navigation and obstacle avoidance. This is operated on by a newly developed windowing technique which prevents any conflicts produced by this combination leading to an undesirable output. The final fit vector is then defuzzified to give a demand steering angle for the vehicle. A separate fuzzy controller produces a demand velocity. In tests carried out in simulation and on the research vehicle it has been shown that the control system provides a successful guidance and obstacle avoidance scheme for an automated vehicle

Technology Assessment and High-Speed Trains: facing the challenge of emergent digital society

The present PhD dissertation addresses the extension of selective environments of new technologies within the high-speed train technological system from business and regulations to the wider society. And, it argues the recognition of society as an actor in that system. Motivating it is the observed ever increase exposure of high-speed trains to public acceptance, caused by empowered society from fast ICT advancements. They refer to digitalization - the rise of social media and big data, combined with the widespread use of mobile technology - changing if not revolutionizing our understanding of product and service selection. Unprecedented societal demands, opening a new market segment, require new technologies to integrate with the emergent digital system. Moreover, societal actors became themselves innovators. Inevitable they have to become part of the value chain widening the collective of stakeholders. However, such raises the dilemma of promotion and control and adds complexity and uncertainty to the industry in deciding which technology to select. Statistical evidence shows that businesses are figuring out ways to embed societal actors in their value creation. In this dissertation, I demonstrate to the high-speed train industry how is it falling short in addressing societal embedding in their product creation and argue why requires improvement. Technology Assessment provides the approach for the orchestration of the necessary dialogue with societal actors for better anticipating potential development in the full system and for embedding the resulting technology options within. By exploiting it to the high-speed train industry innovation strategic management, the aim of my dissertation is, borrowing the words of Douglas K. R. Robinson, to “arrive to a better informed designs of future working worlds, which are structured by theory while empirically well grounded, so they are usable by decision makers”. With this work, I expect to contribute to the new governance structure for research and development set buy the railway industry SHIFT2RAIL (Joint Undertaking for Rail Research and Innovation)

Case Studies of Automation in Services. A workplace analysis of logistics, cleaning and health sectors in Italy

A full understanding of the technological complexity underlying robotics and automation is still lacking, most of all when focusing on the impacts on work in services. By means of a qualitative analysis relying on the administration of more than 50 interviews to HR managers, IT technicians, workers and trade union delegates, this work provides evidence on the main changes occurring at shopfloor level in selected Italian companies having adopted technological artefacts potentially affecting labour tasks by automating processes. The analysis of interviews complemented with visits to the companies and desk research on business documents highlights that so far labour displacement due to the adoption of automation technologies is not yet in place, while tasks and organizational reconfiguration appear more widespread. Major heterogeneity applies across plants due to the final product/service produced, the techno-organizational capabilities of the firm and the type of strategic orientation versus technological adoption. These elements also affect drivers and barriers to technological adoption. Overall, the analysis confirms the complexity in automating presumably low-valueadded phases: human labour remains crucial in conducting activities that require flexibility, adaptability and reconfiguration of physical tasks. Further, human agency and worker representation, in particular the role of trade unions, are almost disregarded and not considered by the firms when deciding to introduce a new technology

Case studies of automation in services

A full understanding of the technological complexity underlying robotics and automation is still lacking, most of all when focusing on the impacts on work in services. By means of a qualitative analysis based on over 50 interviews to HR managers, IT technicians, workers and trade union delegates, this work provides evidence on the main changes occurring at shopfloor level in selected Italian companies having adopted technological artefacts potentially affecting labour tasks by automating processes. The analysis of interviews complemented with visits to the companies and desk research on business documents highlights that so far labour displacement due to the adoption of automation technologies is not yet in place, while tasks and organizational reconfiguration appear more widespread. Major heterogeneity applies across plants due to the final product/service produced, the techno-organizational capabilities of the firm and the type of strategic orientation versus technological adoption. These elements also affect drivers and barriers to technological adoption. Overall, the analysis confirms the complexity in automating presumably low-value-added phases: human labour remains crucial in conducting activities that require flexibility, adaptability and reconfiguration of physical tasks. Further, human agency and worker representation, in particular the role of trade unions, are almost disregarded and not considered by the firms when deciding to introduce a new technology

PBL Student Projects and Sustainable Development Goals: A Case Study

Working with the Sustainable Development Goals can be a highly motivating factor in Problem Based Learning, especially if the solutions produced can be used afterwards and have an actual impact on people and communities. This paper describes how three engineering students from Aalborg University, Denmark, collaborated with the South African Organisation Green Shoots on bringing IT-supported Math education out to some of the most disadvantaged learners from townships and rural areas of the Western Cape. The project provided the Danish students with a unique learning experience and have a lasting impact on the communities involved. While the content of the project focused on bringing IT-supported Math education to learners in previously disadvantaged areas around the Western Cape, the project also provided valuable insight into how such students’ projects, where the outcomes benefit people and communities suffering from socio-economic challenges e.g. poverty, can be carried out. In addition to demonstrate that such projects are actually possible, we studied three critical aspects: How to ensure a good fit between learning objectives and project outcome, how to ensure that the project creates value for the partner organisation and communities, and how to ensure that the projects can be conducted without overloading the university supervisors. We believe that student projects focusing on SDGs have a big potential in terms of providing highly motivating student projects yet at the same time contribute to a better world through solutions that are being used even afterwards. However, our study was just a single case with one group of three students. We hope it will serve as inspiration for larger studies, where more quantitative data could be gathered in terms of how to establish a good framework around such projects, and in order to demonstrate the value for students and societies

International Student Projects and Sustainable Development Goals: A Perfect Match

Engineering Education is currently going through a transformation, driven by the need for educating better engineers and more engineers, and largely build on elements such as problem orientation, interdisciplinarity, internationalization, digitalization and sustainability. In 2020, the Erasmus+ Strategic Partnership EPIC (Improving Employability Through Internationalization and Collaboration) has combined all these elements, and demonstrated how international and interdisciplinary student projects, focusing on solving real-world problems related to sustainability, can be carried out in a setting where students mainly work together online. A total of 56 students from 7 EU and 2 international universities, with backgrounds ranging from Electrical Engineering and Mechanical Engineering to Textile Technologies and Business Informatics were working on 9 different projects throughout the spring of 2020. The paper presents the experiences from the setup and discusses some general recommendations for setting up this type of projects. The paper goes through the stages of defining and carrying out the projects: Defining the overall framework, identifying problems/project proposals in collaboration with relevant stakeholders, identifying the students and assigning students to projects, preparing students and supervisors, organising the physical kick-off seminar, and supporting the online collaboration. We also discuss evaluation and hand-over of the solutions, to ensure the projects have a lasting impact. We conclude that the sustainable development goals provide a highly motivating framework for interdisciplinary, international student projects based on problem-based learning. We also note that a careful design and execution of the all the preparatory stages are crucial in order for the projects to succeed, and discuss specific recommendations for these.</p