Considerate and Cooperative Model Predictive Control for Energy-Efficient Truck Platooning of Heterogeneous Fleets

Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated convoy of heavy-duty trucks in the form of platooning is one such application designed to maintain close gaps between trucks to exploit drafting benefits and improve fuel economy, and has traditionally been handled with classically-designed connected and adaptive cruise control (CACC). This paper is motivated by demonstrated limitations of such a control strategy, in which a classical CACC was unable to efficiently handle real-world road grade and velocity transient disturbances without the assistance of fleet operator intervention, and is non-adaptive to varied hardware and loading conditions of the operating truck. This automation strategy is addressed by forming a cooperative model predictive control (MPC) for eco-platooning that considers interactions with trailing trucks to incentivize platoon harmonization under road disturbances, velocity transients, and engine limitations, and further improves energy economy by reducing unnecessary engine effort. This is accomplished for each truck by sharing load, maximum engine power, transmission ratios, control states, and intended trajectories with its nearest neighbors. The performance of the considerate and cooperative strategy was demonstrated on a real-world driving scenario against a similar non-considerate control strategy, and overall it was found that the considerate strategy significantly improved harmonization between the platooned trucks in a real-time implementable manner.Comment: Appears in IEEE ACC 2022. 6 pages, 6 figure

Through Aboriginal Eyes : The Cry from the Wilderness

Genevaxix, 159 p.: Illus.; 22 c

An evaluation of the moving horizon estimation algorithm for online estimation of battery state of charge and state of health

Moving Horizon Estimation (MHE) is a powerful estimation technique for tackling the estimation problems of the state of dynamic systems in the presence of constraints, nonlinearities and disturbances and measurement noises. In this work, the Moving Horizon Estimation approach is applied in estimating the State of Charge (SOC) and State of Health (SOH) of a battery and the results are compared against those for the traditional estimation method of Extended Kalman Filter (EKF). The comparison of the results show that MHE provides improvement in performance over EKF in terms of different state initial conditions, convergence time, and process and sensor noise variations. An equivalent circuit battery model is used to capture the dynamics of the battery states, experimental data is used to identify the parameters of the battery model. MHE based state estimation technique is applied to estimates the states of the battery model, subjected to various estimated initial conditions, process and measurement noises and the results are compared against the traditional EKF based estimation method. Both experimental data and simulations are used to evaluate the performance of the MHE

Indigenous Australia : V.18: A dialogue about the word becoming flesh in aboriginal churches

Genevax, 64 p.; 21 cm

Praktische Anwendung der FKM-Richtlinie „Bruchmechanischer Festigkeitsnachweis für Maschinen-Bauteile

Seit 2001 wird die FKM-Richtlinie Bruchmechanischer Festigkeitsnachweis für Maschinenbauteile in der Ingenieurpraxis verwendet. Sie beschreibt die Vorgehensweise einer Bewertung fehlerbehafteter Bauteile bei statischer und zyklischer Beanspruchung. Seit 2004 gibt es eine englische Version. Die Berechnungsprozeduren wurde in dem Computerprogramm FracSafe implementiert. In der 3. Ausgabe sind wesentliche Erweiterungen eingefügt. Sie erlauben die Berücksichtigung spezieller Effekte bei zyklischer Beanspruchung, von Mixed-Mode-Beanspruchung, dynamischer Beanspruchung, Spannungsrisskorrosion und probabilistische Berechnungen im bruchmechanischen Festigkeitsnachweis. Die Richtlinie beinhaltet Anhänge mit Spannungsintensitätsfaktoren, Grenzlastlösungen und Werkstoffdaten. Der Artikel gibt einen Überblick über die Richtlinie, spricht offene Punkte an und erläutert Erfahrungen in der Praxis. Anwendungsbeispiele verdeutlichen die Handhabbarkeit