Dissertations / Theses on the topic 'Automated vehicles – Research'

Il y a soixante ans, le 4 octobre 1957, Spoutnik, le premier satellite artificiel conçu par l’homme, est envoyé dans l’espace. Sa seule fonction est d’émettre un bip radio à des fréquences de 20 et 40 MHz pour démontrer la puissance spatiale de l’URSS. Depuis cette époque les satellites se sont multipliés et leurs missions se sont diversifiées. Aujourd’hui, les missions des satellites sont si variées que certains quittent l’orbite terrestre. On parle dans ce cas de sondes, même si, dans le reste de cette thèse, ils seront inclus dans le terme "satellite". La mission des satellites la plus connue du grand public est la découverte de l’univers et l’exploration interplanétaire avec de célèbres satellites comme le télescope spatial international Hubble ou des sondes comme Rosetta, Voyager 1 et 2, ... Cependant de nos jours, même si l’exploration spatiale reste un enjeu majeur de l’humanité, la plupart des satellites ont des missions plus modestes qui ont pourtant un impact important sur la vie économique et politique. Les satellites en question ont aujourd’hui deux buts : la défense et le commercial. Dans les deux cas on peut diviser les satellites en deux groupes distincts : les satellites d’observation et les satellites de télécommunication. Pour fonctionner tous ces satellites utilisent un harnais électrique. Le harnais électrique regroupe tous les câbles présents dans le satellite et qui ne transportent pas de données client. Dans le cadre de cette thèse nous nous intéressons à l’optimisation de la conception du harnais électrique des satellites
Sixty years ago, on October 4, 1957, Sputnik, the first man-made artificial satellite, was sent into space. Its only function is to emit a radio beep at frequencies of 20 and 40 MHz to demonstrate the space power of the USSR. Since then, satellites have been multiple and their missions have diversified. Today, the missions of the satellites are so varied that some leave Earth's orbit. We speak in the case of probes, even if, in the rest of this thesis, they will be included in the term "satellite". The best-known satellite mission of the general public is the discovery of the universe and interplanetary exploration with satellite satellites such as the Hubble International Space Telescope or probes such as Rosetta, Voyager 1 and 2, ... nevertheless nowadays Although space exploration remains a major issue for humanity, most satellites have smaller missions that have a significant impact on economic and political life. The satellites in question today have two goals: defense and commercial. In both cases the satellites can be divided into two distinct groups: observation satellites and telecommunication satellites. To operate all these satellites, use an electrical harness. The electrical harness includes all the cables present in the satellite and which does not carry any customer data. As part of this we are interested in optimizing the design of the electrical harness of satellites

碩士
實踐大學
家庭研究與兒童發展學系高齡家庭服務事業碩士在職專班
107
Artificial intelligence is an invention of importance in human history. The traditional vehicle we are familiar with is controlled by the human brain to control the body parts, and gradually transferred to the computer automation vehicle ( ), which is entrusted to the computer to read and judge the calculation. This change is the coming tomorrow, and the transition is now. The text makes good use of narrative analysis, sees the difference between different life values, and reflects on the attitude of this older driver. How autonomous vehicle gradually becomes a weapon to assist the elderly. How to play a pivotal role in the construction of smart cities in the future. The researcher himself used to be a hospital caregiver, home care worker, day care worker, and car salesman. He regarded himself as a research tool. He looked at the experience of four senior drivers by life course theory and inferred the problems that Taiwan will face in developing autonomous vehicle.Finally, I hope that this research can stimulate different opinions and ideas for researchers who want to delve into the elderly or life course theory. The conclusions of this study are as follows: 1. Government policy will determine the development time of autonomous vehicles 2. Older drivers are only trust traditional car brand 3. Active use of automated vehicles is equivalent to disability 4. The first task of AV should be to avoid collisions with other vehicles Because of the abundant logistics, brand trust and stable quality, the traditional car manufacturers have won the unanimous approval of the elderly, and it is easier and less questionable to implement this AV purchase than the new industry. Moreover, the first function of autonomous driving is not to drive, but to actively avoid accidents caused by collisions of other driving. Automatd vehicles are not assisted but disabled. Finally, to develop autonomous driving, government policy and stakeholder monopoly are far more important than free market decisions.

碩士
國立臺灣大學
機械工程學研究所
104
This research aims to develop a map-guidance technology for road vehicle automation using high accuracy digital maps. The objective is to utilize mid/low cost global navigation satellite system (GNSS), inertial navigation sensors and digital map data to achieve real-time precision positioning, navigation and motion control through data fusion techniques, rather than rely on costly laser sensors and the commonly adopted Simultaneous localization and mapping (SLAM) approach. The ultimate goal is to apply the proposed map-guidance technology to developing cost-effective, mid~low speed intelligent vehicles, such as unmanned shuttles on campus and the personal rapid transit (PRT) system. In order to achieve the abovementioned objectives, this thesis proposes a real-time vehicle position and altitude estimation algorithm based on the Constrained Unscented Kalman Filter (CUKF) technique, and the Check Point vehicle position error correction method, which both exploit digital map data to enhance the accuracy and reliability of the vehicle positioning and motion control systems. The proposed map-guidance vehicle automation technique has been implemented on an electric golf cart and tested on the campus of the National Taiwan University. The developed automated golf cart employs an economical single-frequency GNSS receiver, which can receives both U.S. GPS and China BeiDou satellites’ signals. Experimental results show that the lateral position estimation errors can be bounded within one meter, and the lane-level vehicle motion control precision can be achieved with the proposed methods.

碩士
國立雲林科技大學
機械工程系
107
Nowdays,the Automated Guided Vehicle play a very important part in the industry.For example, transporting goods and warehousing. It not only reduced labor costs but also increased productivity. The thesis presents a method for the navigation of an Automated Guided Vehicle,which integrated the Pozyx indoor positioning system, attitude and heading refrence system(AHRS). The relative position between the vehicle and the target can be obtained by Pozyx indoor positioning system and AHRS.Let vehicle reach the target by the data which acquired by these sensor and the motor revolutions per minute which controlled by Proportional control. The vehicle uses two brushless DC motors as driver system of vehicle,and equipped with Raspberry Pi 3 B to make calculation and control.All the program were developed by python programming language.

碩士
聖約翰科技大學
自動化及機電整合研究所
98
The ability to carry the material effectively in automatic handling system has great influences at the performance in the entire system. In general, automatic handling system includes automatic storage, conveyors, automatic guided vehicle, crane, and test equipment instruments, and automatic handling system. The purpose of the system is not only to solving labor problems, but enhancing the operation of the plant. Many studies have already clearly pointed out that the cost of manufacturing, piling up objects handling costs account for 20% of the total processing costs to 50%. Therefore, if appropriately use the automatic guided vehicle; it would be effective to reduce the cost. The purpose of this paper is to improve the design of a suitable maintenance and the maintenance process to make it applicable to automatic guided vehicle. Since the research environment includes the possible radioactive contamination, and the risk of nuclear contamination, it is important to cooperate with the stable and reliable automatic guided vehicle. Based on this, in addition to improving the operation of automatic guided vehicle stability proposed amendment, researcher also establishes a suitable regular test and inspection process. Therefore, automatic guided vehicle is used in a high long-term reliability of operation, and to maintain the high reliability operating mechanism as well.

碩士
義守大學
電機工程學系碩士班
94
With the advance in the modern technology, the unmanned vehicles and the artificial intelligent are more significant in many aspects. In the past, the sensors are necessary for the communication between the environment and the computer. Hence, the precision of the sensors is very important. More complex the sensor is, higher fault probability is. To improve this disadvantage, the CMOS CCD is used to be the only feedback instrument in the unmanned automatic vehicle. The image recognition and the driving control are implemented in the software developed in the LabVIEW. The control signal is passed through the printer port to a four axes PWM drivers. The whole system is designed to achieve the vision guided automatically driving.

碩士
國立彰化師範大學
電機工程學系
105
License plate image recognition system is currently used in public transportation, such as the toll parking lot vehicle management, highway mileage charge, and the police query suspicious vehicle and locomotive stolen car inquiries and other functions. The license plate identification has the three major objects including license plate positioning, vehicle character cutting and vehicle character recognition. In this thesis, the image of the license plate is more easily recognized through image gray scale, subtraction, image enhancement, binarization and corrosion and closure. To analyze the entire picture vertical and horizontal direction to the license plate to be positioned out, and then use the projection method of statistical methods cut out the car character area. Finally, I used the template comparison method to compare the all cut out the car character and get experimental results. In this thesis, we used the fixed distance and height to take the car license plate picture and to do identification. The experimental focus on the old and new car license plate in different backgrounds and light whether the position and car plate character can be recognized correctly. The experimental present the success rate of Position about 98.5％ and the overall recognition success rate of about 91.15％. It also builds the mobile phone application software to improve the effi-ciency of police handling or security safe in the future. Keywords：car license plate location, image Processing, character recognition, template matching

碩士
國立臺北科技大學
車輛工程系
107
In recent years, global automakers have been aiming at fuel economy, energy conservation and environmental protection, and have continued to achieve economic goals in a variety of ways. There are more and more shifting options in the gearbox that make the car more scalable and efficient at high speeds. No matter how the gearbox develops in the future, it is estimated that the service life of a gearbox will be at least five years until the repair market is completely eliminated, for an estimated 20 years. However, some products with high durability are not easy to repair after long-term use, or the repair cost is usually higher than the value of the vehicle and scrapped. This paper aims to improve the wet clutch plates of the AW03-72LE gearbox developed by AISIN. The goal is to improve vibration through part development when the automatic transmission generates vibration, wear-related components, and maintenance costs are higher than the vehicle's value. It is desirable to continue to use this type of gearbox without eliminating the vehicle and is expected to be applied to other types of automatic transmissions.

碩士
國立中山大學
企業管理研究所
82
During the process of Factory Automation, the Material Handling System(MHS) connects all manufacturing activity to reach the rationalization and automation of the Material Flowing Process. Therefore, the automatic MHS plays an important role in the manufacturing and producing procedure. Due to the flexible transit function of the automatic guiding vehicle in the MHS, domestic factories are encouraged to utilize the automatic guiding vehicle. Therefore, it is important to evaluate the key factor of the introduction of the automatic guiding vehicle during the process of Factory Automation. By making a survey, this research is expected to be helpful for us to understand the utilization of the automatic guiding vehicle, the efficiency and problems of the utilization of the automatic guiding vehicle. In addition, we can then explore that what is actually the key factor of the introduction of the automatic guiding vehicle.

碩士
國立高雄應用科技大學
機械與精密工程研究所
96
The usage of car is very important part of the life nowaday. The top principle behind driving is that all must remain – safety. Driving is easily affected by the weather, especially bad weather causes poor visibility while driving. Therefore, turn on the headlamps while driving becomes very important thing. There are many advanced countries will highly recommend to the drivers for turning on the headlamps in the daytime, the main purpose of it is to remind of the drivers those who drive on the opposite lane or in the front of them to watch for the safety while driving. It tells the importance to turn on the headlamps while driving. It is necessary to do that in the daytime, not to mention in poor visible status such as getting dark, raining, and in heavy fog. Turn on the headlamps to make sure safety driving. The key of this study is to collect related patents information on automatic lighting technology in the electrical headlight system of vehicle. Use data mining as a process of discovering meaningful new correlations, patterns and trends by sifting through large amounts of data stored in repositories, using statistical skills, data analysis and simple mathematical techniques. Take a good advantage of patent maps and analyze the imperfection of the current technologies, and create a simple solution to improve it. According to the above concept, an automatic headlamp control system has been built in this study. Experimental test and verification has been carried out make sure this system is feasible and efficient. The results have shown that the headlamps can be successfully turned on while it getting dark, getting foggy, and before raining. Compared with systems proposed by other studies, the system developed in this study has the advantages in saving the space on the vehicles and providing active driving safety.

碩士
國立清華大學
動力機械工程學系
104
The development of research of unicycle Zero Torque Balance Controller (ZTC) in our lab has been already mature. ZTC can estimate the position of center of gravity of unicycle making the rider riding not interfere the balancing. This thesis inherits this basis and combines two unicycle to a parallel unicycle trying to solve the significant mass variation circumstance that the balance controller has to balance in both single rider and two riders situation. First, we derive the physics model of the parallel unicycle for simulation. Then we use inverted pendulum dynamic equation to approximate the original model and linearize in operation point make it more easily for designing controller. Then we consider the mass variation situation in Lyapunov function, transform it into LMI form and solve the ZTC parameters through Matlab LMI Toolbox that satisfy the condition of system stability and performance. Finally, according to the model, dynamic equation and simulation, we successfully implement an automatic balanced, electric assisted, pedaled, parallel unicycle, inverted-pendulum-based vehicle include mechanism, signal processing, chip programming and motor control.

碩士
國立臺灣大學
機械工程學研究所
104
This research proposes a modularized control structure combined with vehicle automatic driving and active safety control technique. This turns out to be a complete vehicle lane keeping control system with tire anti-slip function. For vehicle automatic driving, the vehicle dynamic model combined with look-ahead system is used for designing controllers which are model predictive controller (MPC) and robust H controller to stabilize the vehicle during lane keeping maneuvers. For active safety control strategy, an unscented Kalman filter based tire and vehicle states estimator is used to provide more information to tire anti-slip function block. The nonlinear vehicle model which is more accurate but much complex can be applied to linear Kalman filter through unscented transform without losing its accuracy. The longitudinal anti-slip function uses the estimate results and tire-road maximum friction coefficient from the communication module to distribute the total tire torque command form lane keeping controller to four individual tires. For lateral anti-slip function, the linear boundary of tire sideslip angle with different tire-road maximum friction coefficient is obtained based on semi-empirical tire model as known as magic formula. Every linear boundary of tire sideslip angle has its corresponding maximum speed boundary which is obtained through analyzing the static and dynamic model of tire sideslip angle. Then, the speed boundary will be sent to lane keeping controller as a reference speed signal. Thus, two modules of systems are connected via the speed control scheme. Ultimately, this research uses speed control and steering adjustment to prevent the tire from slipping at lateral axis.

碩士
大葉大學
電機工程學系碩士在職專班
93
This study transformed the kinetic energy in moving vehicle to electric power for battery charging, based on the concepts of Pure Electric Vehicle (PEV) and Hybrid Electric Vehicle (HEV). It aims to improve the obstructing factors in the development of electric vehicles, such as insufficient charging device and time-consuming charging, which limit the efficiency of electric vehicles and result in inconvenience, and in order to improve the functions of electric vehicles and increase the market share, in turn to decrease the environmental pollution caused by gasoline vehicles and consumption of petroleum resources. The experiment used 8052 single chip to control the dual battery set to detect the voltage conditions automatically, and electric system composed of switch-controlled circuit and generating set on moving vehicles to conduct auto-detection of battery voltage and control the electric discharge of the dual battery set and instant charging conditions. It used simple design electric vehicle for the system integration experiment. In idle test, the results of two cycles of charge and discharge showed that the single battery usage time increased from 120 minutes to over 500 minutes. The road test, the results of charge and discharge cycle showed that the single battery usage time increased from 50 minutes to over 200 minutes. The efficiency evaluation and consumption analysis were discussed in the paper.

Indiana University-Purdue University Indianapolis (IUPUI)
Pedestrian and vehicle interaction analysis in a naturalistic driving environment can provide useful information for designing vehicle-pedestrian crash warning/mitigation systems. Many researchers have used crash data to understand and study pedestrian behaviors and interactions between vehicles and pedestrian during crash. However, crash data may not provide detailed pedestrian-vehicle interaction information for us. In this thesis, we designed an automatic pedestrian tracking and status analysis method to process and study pedestrian and vehicle interactions. The proposed pedestrian tracking and status analysis method includes pedestrian detection, pedestrian tracking and pedestrian status analysis modules. The main contributions of this thesis are: we designed a new pedestrian tracking method by learning the pedestrian appearance and also their motion pattern. We designed a pedestrian status estimation method by using our tracking results and thus helped estimate the possibility of collision. Our preliminary experiment results using naturalistic driving data showed promising results.

Indiana University-Purdue University Indianapolis (IUPUI)
Yan, Jiaxiang. M.S.E.C.E., Purdue University, May 2013. Modeling, Monitoring and Optimization of Discrete Event Systems Using Petri Nets. Major Professor: Lingxi Li. In last decades, the research of discrete event systems (DESs) has attracts more and more attention because of the fast development of intelligent control strategies. Such control measures combine the conventional control strategies with discrete decision-making processes which simulate human decision-making processes. Due to the scale and complexity of common DESs, the dedicated models, monitoring methods and optimal control strategies for them are necessary. Among various DES models, Petri nets are famous for the advantage in dealing with asynchronous processes. They have been widely applied in intelligent transportation systems (ITS) and communication technology in recent years. With encoding of the Petri net state, we can also enable fault detection and identification capability in DESs and mitigate potential human errors. This thesis studies various problems in the context of DESs that can be modeled by Petri nets. In particular, we focus on systematic modeling, asynchronous monitoring and optimal control strategies design of Petri nets. This thesis starts by looking at the systematic modeling of ITS. A microscopic model of signalized intersection and its two-layer timed Petri net representation is proposed in this thesis, where the first layer is the representation of the intersection and the second layer is the representation of the traffic light system. Deterministic and stochastic transitions are both involved in such Petri net representation. The detailed operation process of such Petri net representation is stated. The improvement of such Petri net representation is also provided with comparison to previous models. Then we study the asynchronous monitoring of sensor networks. An event sequence reconstruction algorithm for a given sensor network based on asynchronous observations of its state changes is proposed in this thesis. We assume that the sensor network is modeled as a Petri net and the asynchronous observations are in the form of state (token) changes at different places in the Petri net. More specifically, the observed sequences of state changes are provided by local sensors and are asynchronous, i.e., they only contain partial information about the ordering of the state changes that occur. We propose an approach that is able to partition the given net into several subnets and reconstruct the event sequence for each subnet. Then we develop an algorithm that is able to reconstruct the event sequences for the entire net that are consistent with: 1) the asynchronous observations of state changes; 2) the event sequences of each subnet; and 3) the structure of the given Petri net. We discuss the algorithmic complexity. The final problem studied in this thesis is the optimal design method of Petri net controllers with fault-tolerant ability. In particular, we consider multiple faults detection and identification in Petri nets that have state machine structures (i.e., every transition in the net has only one input place and one output place). We develop the approximation algorithms to design the fault-tolerant Petri net controller which achieves the minimal number of connections with the original controller. A design example for an automated guided vehicle (AGV) system is also provided to illustrate our approaches.

Indiana University-Purdue University Indianapolis (IUPUI)
This thesis presents a converter topology for photovoltaic panels. This topology minimizes the number of switching devices used, thereby reducing power losses that arise from high frequency switching operations. The control strategy is implemented using a simple micro-controller that implements the proportional plus integral control. All the control loops are closed feedback loops hence minimizing error instantaneously and adjusting efficiently to system variations. The energy management between three components, namely, the photovoltaic panel, a battery and a DC link for a microgrid, is shown distributed over three modes. These modes are dependent on the irradiance from the sunlight. All three modes are simulated. The maximum power point tracking of the system plays a crucial role in this configuration, as it is one of the main challenges tackled by the control system. Various methods of MPPT are discussed, and the Perturb and Observe method is employed and is described in detail. Experimental results are shown for the maximum power point tracking of this system with a scaled down version of the panel's actual capability.