A Novel Collision Avoidance System for a Bicycle

This project focuses on development of a sensing and estimation system for a bicycle to accurately detect and track vehicles for two types of car-bicycle collisions. The two types of collisions considered are collisions from rear vehicles and collisions from right-turning vehicles at a traffic intersection. The collision detection system on a bicycle is required to be inexpensive, small and lightweight. Sensors that meet these constraints are utilized.To monitor side vehicles and detect danger from a right-turning car, a custom sonar sensor is developed. It consists of one ultrasonic transmitter and two receivers from which both the lateral distance and the orientation of the car can be obtained. A Kalman Filter-based vehicle tracking system that utilizes this custom sonar sensor is developed and implemented. Experimental results show that it can reliably differentiate between straight driving and turning cars. A warning can be provided in time to prevent a collision. For tracking rear vehicles, an inexpensive single-beam laser sensor is mounted on a rotationally controlled platform. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle’s lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, extensive experimental results are presented using an instrumented bicycle to show the performance of the system in detecting and tracking rear vehicles during both straight and turning maneuvers

Friction Measurement System for Polk County

A friction measurement system was developed for Polk County and installed on two snowplows in the county’s winter road-maintenance fleet. The major components of the developed system were a special instrumented wheel, a pneumatic pressure-controlled cylinder, force-measurement load cell and accelerometers, a data collection microprocessor and a data processing micro-processor. The road friction coefficient was estimated in real-time and was stored on a secure digital card along with the current GPS-sensed location of the truck. The friction coefficient information was also displayed in real-time using LED lights for the operator. Although the basic design of the friction wheel system had been used for several previous years of intermitant testing without showing significant wear, the almost identical installations on the Polk County trucks suffered bearing failures after the first few days of continuous use. The failed bearings were replaced with larger bearings in a more robust mount. Apparently, the system again failed in a few days, but the research team did not learn of this failure until the end of the project. The low budget for the project and the significant travel required to go to Crookston posed major challenges in getting a friction measurement to work effectively for Polk County

Improved Approach to Enforcement of Road Weight Restrictions

This project focused on the enhancement and evaluation of a battery-less wireless weigh-in-motion (WIM) sensor for improved enforcement of road weight restrictions. The WIM sensor is based on a previously developed vibration energy harvesting system, in which energy is harvested from the vibrations induced by each passing vehicle to power the sensor. The sensor was re-designed in this project so as to reduce its height, allow it to be installed and grouted in an asphalt pavement, and to protect the piezo stacks and other components from heavy shock loads. Two types of software interfaces were developed in the project: a) An interface from which the signals could be read on the MnDOT intranet b) An interface through a wireless handheld display Tests were conducted at MnRoad with a number of test vehicles, including a semi tractor-trailer at a number of speeds from 10 to 50 mph. The sensor had a monotonically increasing response with vehicle weight. There was significant variability in sensor response from one test to another, especially at the higher vehicle speeds. This variability could be attributed to truck suspension vibrations, since accelerometer measurements on the truck showed significant vibrations, especially at higher vehicle speeds. MnDOT decided that the final size of the sensor was too big and could pose a hazard to the traveling public if it got dislodged from the road. Hence the task on evaluation of the sensor at a real-world traffic location was abandoned and the budget for the project correspondingly reduced.Minnesota Local Road Research Board and Minnesota Department of Transportatio

Hybrid nonlinear observer for battery state- of- charge estimation using nonmonotonic force measurements

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/162783/4/adc238.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/162783/3/adc238-sup-0001-supinfo.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/162783/2/adc238_am.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/162783/1/adc238-sup-0002-supinfo.pd

Non-linear spacing policy and network analysis for shared-road platooning

Connected vehicle technology creates new opportunities for obtaining knowledge about the surrounding traffic and using that knowledge to optimize individual vehicle behaviors. This project creates an interdisciplinary group to study vehicle connectivity, and this report discusses three activities of this group. First, we study the problem of traffic state (flows and densities) using position reports from connected vehicles. Even if the market penetration of connected vehicles is limited, speed information can be inverted through the flow-density relationship to estimate space-and time-specific flows and densities. Propagation, according to the kinematic wave theory, is combined with measurements through Kalman filtering. Second, the team studies the problem of cyber-attack communications. Malicious actors could hack the communications to incorrectly report position, speed, or accelerations to induce a collision. By comparing the communications with radar data, the project team develops an analytical method for vehicles using cooperative adaptive cruise control to detect erroneous or malicious data and respond accordingly (by not relying on connectivity for safe following distances). Third, the team considers new spacing policies for cooperative adaptive cruise control and how they would affect city traffic. Due to the computational complexity of microsimulation, the team elects to convert the new spacing policy into a flow-density relationship. A link transmission model is constructed by creating a piecewise linear approximation. Results from dynamic traffic assignment on a city network shows that improvements in capacity reduces delays on freeways, but surprisingly route choice increased congestion for the overall city

A novel approach to frequency support in a wind integrated power system

This paper discusses the impact of wind penetration on frequency control of a thermal dominated system considering Generation Rate Constraints (GRC) and dead band non-linearities. The hidden inertia emulation and coordinated operation of conventional power generation systems with wind energy can effectively alleviate the frequency excursions during sudden load disturbances. Conventional energy storage device like Flywheel Energy Storage (FES) system can be used in conjunction with wind integrated power system to overcome the intermittent nature of power generation. Thyristor Controlled Series Compensator (TCSC) is found to be effective in damping low frequency oscillations in weak tie-lines and supplement the frequency regulation. A stochastic population based evolutionary computation technique - Particle Swarm Optimization (PSO) is used to tune the controller gains. A strategy comprising inertia control, coordinated operation of conventional generation units with wind energy and TCSC-FES has been proposed to enhance the frequency regulation which is effective in controlling low frequency oscillations as established by the simulation results

Sr-Nd isotope geochemistry of the early Precambrian sub-alkaline mafic igneous rocks from the southern Bastar craton, Central India

Sr–Nd isotope data are reported for the early Precambrian sub-alkaline mafic igneous rocks of the southern Bastar craton, central India. These mafic rocks are mostly dykes but there are a few volcanic exposures. Field relationships together with the petrological and geochemical characteristics of these mafic dykes divide them into two groups; Meso-Neoarchaean sub-alkaline mafic dykes (BD1) and Paleoproterozoic (1.88 Ga) sub-alkaline mafic dykes (BD2). The mafic volcanics are Neoarchaean in age and have very close geochemical relationships with the BD1 type. The two groups have distinctly different concentrations of high-field strength (HFSE) and rare earth elements (REE). The BD2 dykes have higher concentrations of HFSE and REE than the BD1 dykes and associated volcanics and both groups have very distinctive petrogenetic histories. These rocks display a limited range of initial 143Nd/144Nd but a wide range of apparent initial 87Sr/86Sr. Initial 143Nd/144Nd values in the BD1 dykes and associated volcanics vary between 0.509149 and 0.509466 and in the BD2 dykes the variation is between 0.510303 and 0.510511. All samples have positive εNd values the BD1 dykes and associated volcanics have εNd values between +0.3 and +6.5 and the BD2 dykes between +1.9 to +6.0. Trace element and Nd isotope data do not suggest severe crustal contamination during the emplacement of the studied rocks. The positive εNd values suggest their derivation from a depleted mantle source. Overlapping positive εNd values suggest that a similar mantle source tapped by variable melt fractions at different times was responsible for the genesis of BD1 (and associated volcanics) and BD2 mafic dykes. The Rb–Sr system is susceptible to alteration and resetting during post-magmatic alteration and metamorphism. Many of the samples studied have anomalous apparent initial 87Sr/86Sr suggesting post-magmatic changes of the Rb–Sr system which severely restricts the use of Rb–Sr for petrogenetic interpretation

Vehicle Dynamics and Control

Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicle. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control