Real Time Control for 4-wheeled Vehicles via Algorithmic Control Incorporating Computation Time

2006 ◽  
Author(s):  
Tomoaki Kobayashi ◽  
Junichi Maenishi ◽  
Joe Imae ◽  
Guisheng Zhai
Keyword(s):  
Real Time ◽  
Computation Time ◽  
Real Time Control ◽  
Time Control ◽  
Wheeled Vehicles

Control Design for Automated Vehicle Emergency Safe Stop System Based on Differential Dynamic Programming

2020 ◽  
Author(s):  
Lisheng Yang ◽  
Tomonari Furukawa ◽  
Lei Zuo ◽  
Zachary Doerzaph
Keyword(s):  
Dynamic Programming ◽  
Real Time ◽  
Control Algorithm ◽  
Computation Time ◽  
Grid Cell ◽  
System Control ◽  
Real Time Control ◽  
Differential Dynamic Programming ◽  
Time Control ◽  
Emergency Stop

Abstract This paper presents the control algorithm and system design for a newly proposed automated emergency stop system, which aims to navigate the vehicle out of its travel lane to a safe road-side location when an emergency (e.g. driver fails to take control during fallback of the Dynamic Driving Task) occurs. To address the unique requirements of such a system, control techniques based on differential dynamic programming are developed. Optimal control sequence computation is broken down into step-by-step quadratic optimization and solved iteratively. Control constraints are addressed efficiently by a tailored Projected-Newton algorithm. The iterative control algorithm is then integrated into a real-time control system which considers both computation delay and modeling errors. The system employs a novel grid-based storage structure for recording all acceptable control commands computed within the iteration and uses a high frequency estimator for self-localization. During operation, the real-time control thread will extract commands from the grid cell corresponding to current states. Simulation results show strong potential of the proposed system for addressing the engineering challenges of the automated emergency stop function. The robustness of the system in presence of computation time delay and modelling errors is also demonstrated.

scholarly journals A geometric approach for follow-the-leader motion of serpentine manipulator

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987463 ◽  
Author(s):  
Haibo Xie ◽  
Cheng Wang ◽  
Shusen Li ◽  
Liang Hu ◽  
Huayong Yang
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Computation Time ◽  
Geometric Approach ◽  
Real Time Control ◽  
Time Control ◽  
The Ideal

This article presents a geometric approach for path planning of serpentine manipulator for real-time control in confined spaces. Firstly, the mechanical design of a serpentine manipulator is introduced, and its kinematics is analyzed. As the serpentine manipulator usually has more than 10 degrees of freedom, the motion control and obstacle avoidance are difficult considering its inverse kinematics. Follow-the-leader is an ideal path planning method for serpentine manipulator, as the manipulator moves forward, all the sections follow the path that the tip of manipulator has passed, which simplifies the obstacle avoidance. The realization of follow-the-leader method is to find the new configurations of the manipulator that can fit the ideal path with small errors. In this article, a novel geometric approach for follow-the-leader motion is proposed to solve new configurations with high precision of location and less computation time. The method is validated through simulation and the deviation from the ideal path is analyzed, simulation results show that calculation time for per step is less than 0.5 ms for a serpentine manipulator with 10 sections. To verify the follow-the-leader method, a 13-degree-of-freedom serpentine manipulator system with 6 sections was built, and 12 magnetic rotary encoders were embedded into the universal joints to collect data of rotation angles of each section. Experimental results show that the manipulator can carry out follow-the-leader motion as expected in real time.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

Real-time Control for Mobile Robot Considering Environmental Changes

2007 ◽  
Vol 73 (12) ◽  
pp. 1369-1374
Author(s):  
Hiromi SATO ◽  
Yuichiro MORIKUNI ◽  
Kiyotaka KATO
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Environmental Changes ◽  
Real Time Control ◽  
Time Control

Using graphs to construct a math model of a microcontroller-based system for preset rate control of a flywheel motor to be used in high-dynamics spacecraft

2020 ◽  
pp. 126-134
Author(s):  
Vladimir V. NEKRASOV
Keyword(s):  
Real Time ◽  
Rotation Rate ◽  
Control Function ◽  
Real Time Control ◽  
Math Model ◽  
The Real ◽  
Time Control ◽  
Power Matrix ◽  
High Dynamics ◽  
Stated Problem

Developing a microcontroller-based system for controlling the flywheel motor of high-dynamics spacecraft using Russian-made parts and components made it possible to make statement of the problem of searching control function for a preset rotation rate of the flywheel rotor. This paper discusses one of the possible options for mathematical study of the stated problem, namely, application of structural analysis based on graph theory. Within the framework of the stated problem a graph was constructed for generating the new required rate, while in order to consider the stochastic case option the incidence and adjacency matrices were constructed. The stated problem was solved using a power matrix which transforms a set of contiguous matrices of the graph of admissible solution edge sequences, the real-time control function was found. Based on the results of this work, operational trials were run for the developed control function of the flywheel motor rotor rotation rate, a math model was constructed for the real-time control function, and conclusions were drawn about the feasibility of implementing the results of this study. Key words: Control function, graph, incidence matrix, adjacency matrix, power matrix, microcontroller control of the flywheel motor, highly dynamic spacecraft.

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