A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models

In this work, a comparative study is carried out with two different predictive controllers that consider the longitudinal jerk and steering rate change as additional parameters, as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.This work has been conducted within the ENABLE-S3 project that has received funding from the ECSEL Joint Undertaking under Grant Agreement No 692455. This work was developed at Tecnalia Research & Innovation facilities supporting this research

Management System for Harvest Scheduling: The Case of Horticultural Production in Southeast Spain

horticultural farmer, optimization, planning, mathematical programming, marketing, cooperative, Agribusiness, Crop Production/Industries, Demand and Price Analysis, Farm Management, Land Economics/Use,

Análisis de las zonas de recarga de acuíferos mediante la percepción remota: aplicación a la cuenca de Almoloya del Río

Se plantea en este trabajo la conveniencia de disponer de herramientas que permitan la obtención de datos espaciales de los fenómenos relacionados con la hidrología superficial y subterránea. EL objeto de disponer de datos espaciales es el describir de una manera completa el objeto de disponer de datos espaciales es el describir de una manera completa el objeto de estudio y sobre todo tener herramientas más efectivas para aprovechar el empleo de modelos en computador digital. Se describen las disciplinas de Cartografía, Fotogrametría y Percepción Remota y su aplicación a los estudios geohidrológicos. La metodología se aplica en la zona de Almoloya del río en la cuenca alta del río Lerma. Básicamente se emplea cartografía INEGI a varias escalas, fotografías aéreas, ortofotos y dos imágenes LANDSAT digitales tomadas por el sensor MSS en la zona de estudio. Estas últimas fueron procesadas en microcomputadora mediante los sistemas SPIPRII e IDRISI. La metodología abarca el empleo de todos los recursos de la percepción remota. Mediante fotografías aéreas se ha determinado la evolución, desde los años 70 hasta 1995, de la zona lagunar comprendida en la zona y mediante clasificación supervisada de datos espectrales se han obtenido las distribuciones de tres clases principales de terrenos en lo referente a recarga. Este análisis ha permitido constatar, una reducción progresiva no lineal debido a los fenómenos naturales y a las obras emprendidas por los diferentes organismos y el área de estudio. Estas distribuciones están correlacionadas con datos geológicos y de taxonomía de suelos. Se plantean propuestas para la zona de Almoloya del río y en general una metodología para aplicar en futuros estudios que requieran datos espaciales para ser integrados en sistemas de información geográfica o en modelos

Job-shop Scheduling Over a Heterogeneous Platform

Real-time scheduling involves determining the allocation of platform resources in such a way tasks can meet their temporal restrictions. This work focuses on job-shop tasks model in which a task have a finite number of nonpreemptive different instances (jobs) that share a unique hard deadline and their time requirements are known until task arrival. Non-preemptive scheduling is considered because this characteristic is widely used in industry. Besides job-shop scheduling has direct impacts on the production efficiency and costs of manufacturing systems. So that the development of analysis for tasks with these characteristics is necessary. The aim of this work is to propose an online scheduling test able to guarantee the execution of a new arriving task, which is generated by human interaction with an embedded system, otherwise to discart it. An extension of the schedulability test proposed by Baruah in 2006 for non-preemptive periodic tasks over an identical platform is presented in this paper. Such extension is applied to non-preemptive tasks that have hard deadlines over a heterogeneous platform. To do that, some virtual changes over both the task set and the platform are effectuated

Electronic Construction Collaboration System – Final Phase

This phase of the research project involved two major efforts: (1) Complete the implementation of AEC-Sync (formerly known as Attolist) on the Iowa Falls Arch Bridge project and (2) develop a web-based project management system (WPMS) for projects under $10 million. For the first major effort, AEC-Sync was provided for the Iowa Department of Transportation (DOT) in a software as a service agreement, allowing the Iowa DOT to rapidly implement the solution with modest effort. During the 2010 fiscal year, the research team was able to help with the implementation process for the solution. The research team also collected feedback from the Broadway Viaduct project team members before the start of the project and implementation of the solution. For the 2011 fiscal year, the research team collected the post-project surveys from the Broadway Viaduct project members and compared them to the pre-project survey results. The result of the AEC-Sync implementation in the Broadway Viaduct project was a positive one. The project members were satisfied with the performance of AEC-Sync and how it facilitated document management and transparency. In addition, the research team distributed, collected, and analyzed the pre-project surveys for the Iowa Falls Arch Bridge project. During the 2012 fiscal year, the research team analyzed the post-project surveys for the Iowa Falls Arch Bridge project AEC-Sync implementation and found a positive outcome when compared to the pre-project surveys. The second major effort for this project involved the identification and implementation of a WPMS solution for smaller bridge and highway projects. During the 2011 fiscal year, Microsoft SharePoint was selected to be implemented on these smaller highway projects. In this year, workflows for the shop/working drawings for the smaller highway projects specified in Section 1105 of the Iowa DOT Specifications were developed. These workflows will serve as the guide for the development of the SharePoint pages. In order to implement the Microsoft SharePoint pages, the effort of an integrated team proved to be vital because it brought together the expertise required from researchers, programmers, and webpage developers to develop the SharePoint pages

Towards conformant models of automated electric vehicles

Automated driving is one of the major tendencies in last decades, and it is presented as a reliable option to improve comfort during driving, including disable and elder in society and increasing persons safety in roads. This last topic produces the question how is it possible to verify planning and control algorithms for a reliable commercial use of this technology. The question can be answered from two perspective: experimental or formal methods, where the formal one is selected as the most robust between both. Hence, the current work presents a case study verification in automated driving for lane change and double lane change maneuvers, using as basis a trace conformance method presented in [1]. The verification method is performed in Dynacar as a precise multibody simulator tuned for a commercial Renault Twizy vehicle.H2020 UnCoVerCPS Project with grant number 643921

Los claroscuros de la sincronización internacional de los ciclos económicos: evidencia sobre la manufactura de México

Se analiza la sincronización de las fluctuaciones cíclicas de la división manufacturera de México con el ciclo estadounidense. Se utiliza el enfoque tradicional de los ciclos de crecimiento para el periodo 1980-2004 en submuestras de cinco años que se desplazan en el tiempo, lo cual permite estudiar la evolución temporal del proceso. Los resultados sugieren que la sincronización se ha incrementado sustancialmente en el marco del TLCAN, pero ha sido heterogénea, pues el comercio exterior puede haber sido un mecanismo de transmisión fundamental en el proceso. También se muestra que las actividades más integradas al exterior son más vulnerables a los choques externos, lo cual puede constituir una debilidad de la nueva estrategia de desarrollo

Longitudinal Model Predictive Control with comfortable speed planner

Guaranteeing simplicity and safety is a real challenge of Advanced Driver Assistance Systems (ADAS), being these aspects necessary for the development of decision and control stages in highly automated vehicles. Considering that a human-centered design is generally pursued, exploring comfort boundaries in passenger vehicles has a significant importance. This work aims to implement a simple Model Predictive Control (MPC) for longitudinal maneuvers, considering a bare speed planner based on the curvature of a predefined geometrical path. The speed profiles are constrained with a maximum value at any time, in such way that total accelerations are lower than specified constraint limits. A double proportional with curvature bias control was employed as a simple algorithm for lateral maneuvers. The tests were performed within a realistic simulation environment with a virtual vehicle model based on a multi-body formulation. The results of this investigation permits to determine the capabilities of simplified control algorithms in real scenarios, and comprehend how to improve them to be more efficient.Authors want to acknowledge their organization. This project has received funding from the Electronic Component Systems for European Leadership Joint Undertaking under grant agreement No 737469 (AutoDrive Project). This Joint Undertaking receives support from the European Unions Horizon 2020 research and innovation programme and Germany, Austria, Spain, Italy, Latvia, Belgium, Netherlands, Sweden, Finland, Lithuania, Czech Republic, Romania, Norway. This work was developed at Tecnalia Research & Innovation facilities supporting this research