Optimization techniques to enhance the performance of induction motor drives:...Asoka Technologies
Induction motor (IM) drives, specifically the three-phase IMs, are a nonlinear system that are difficult to explain theoretically because of their sudden changes in load or speed conditions. Thus, an advanced controller is needed to enhance IM performance. Among numerous control techniques, fuzzy logic controller (FLC) has increasing popularity in designing complex IM control system due to their simplicity and adaptability. However, the performance of FLCs depends on rules and membership functions (MFs), which are determined by a trial and- error procedure. The main objective of this paper is to present a critical review on the control and optimization techniques for solving the problems and enhancing the performance of IM drives. A detailed study on the control of variable speed drive, such as scalar and vector, is investigated. The scalar control functions of speed and V/f control are explained in an open- and closed-loop IM drive. The operation, advantages, and limitations of the direct and indirect field-oriented controls of vector control are also demonstrated in controlling the IM drive. A comprehensive review of the different types of optimization techniques for IM drive applications is highlighted. The rigorous review indicates that existing optimization algorithms in conventional controller and FLC can be used for IM drive. However, some problems still exist in achieving the best MF and suitable parameters for IM drive control. The objective of this review also highlights several factors, challenges, and problems of the conventional controller and FLC of the IM drive. Accordingly, the review provides some suggestions on the optimized control for the research and development of future IM drives. All the highlighted insights and recommendations of this review will hopefully lead to increasing efforts toward the development of advanced IM drive controllers for future applications.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Optimization techniques to enhance the performance of induction motor drives:...Asoka Technologies
Induction motor (IM) drives, specifically the three-phase IMs, are a nonlinear system that are difficult to explain theoretically because of their sudden changes in load or speed conditions. Thus, an advanced controller is needed to enhance IM performance. Among numerous control techniques, fuzzy logic controller (FLC) has increasing popularity in designing complex IM control system due to their simplicity and adaptability. However, the performance of FLCs depends on rules and membership functions (MFs), which are determined by a trial and- error procedure. The main objective of this paper is to present a critical review on the control and optimization techniques for solving the problems and enhancing the performance of IM drives. A detailed study on the control of variable speed drive, such as scalar and vector, is investigated. The scalar control functions of speed and V/f control are explained in an open- and closed-loop IM drive. The operation, advantages, and limitations of the direct and indirect field-oriented controls of vector control are also demonstrated in controlling the IM drive. A comprehensive review of the different types of optimization techniques for IM drive applications is highlighted. The rigorous review indicates that existing optimization algorithms in conventional controller and FLC can be used for IM drive. However, some problems still exist in achieving the best MF and suitable parameters for IM drive control. The objective of this review also highlights several factors, challenges, and problems of the conventional controller and FLC of the IM drive. Accordingly, the review provides some suggestions on the optimized control for the research and development of future IM drives. All the highlighted insights and recommendations of this review will hopefully lead to increasing efforts toward the development of advanced IM drive controllers for future applications.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Cruise control system has become a common feature in automobiles nowadays. Instead of having the driver frequently checking the speedometer and adjusting pressure on the gas pedal or the brake, cruise control system control the speed of the car by maintaining the constant speed set by the driver. Therefore, cruise control system can help reduce driver’s fatigue in driving a long road trip. This paper presents the control system behind the cruise control.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...cscpconf
This paper presents PID controller with feed-forward control. The cruise control system is one of the most enduringly popular and important models for control system engineering. The system is widely used because it is very simple to understand and yet the control techniques cover many important classical and modern design methods. In this paper, the mathematical modeling for PID with feed-forward controller is proposed for nonlinear model with disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++ program written and feed to the microcontroller type AMR on our robot
Left Turn Display Mechanism for Facilitating Left Hand TurnsAli Vira
SYDE 1A Design Project
Atef Chaudhury
Jacinta Ferrant
Joey Loi
Michal Ulman
Ali Vira
Elizabeth Yang
Drivers making left hand turns are faced with the challenge of making decisions with incomplete information, leading to dangerous situations where an individual may drive into the path of an oncoming vehicle. A modification to current traffic systems was designed to aid drivers by alerting them of oncoming traffic obscured by blind spots. Although some intersections currently use the advance green for left turns, the oncoming traffic must be at a halt. This system will stand out by not having any effect on the oncoming flow of traffic. Unlike competitors’ systems, this system dynamically calculates an unsafe zone based on the speed of oncoming cars, weather conditions, and driver reaction time and intuitively presents this information. The system has the following four functions: detect oncoming traffic, determine the size of left-turning vehicle, calculate an unsafe zone in which a driver cannot safely make a left hand turn, and present the information to a driver in a simple fashion. The first function is achieved through the use of two radars pointed at oncoming traffic, which are able to identify the speed and position of oncoming traffic in up to 10 lanes. Left-turning vehicle classification is achieved through using a camera facing the left-turning vehicle. The third function is achieved through the use of a Raspberry Pi computer with a connection to a weather network. The mean time to make a left turn has been found to be 3.0s at a two-lane intersection. The universal human reaction time used by accident reconstructionists is 1.5 seconds. Both these times were factored into the unsafe-zone calculation. If it is determined that there is not enough time to make a safe left turn, the system signals the left turning driver that it is not safe to go. This function is achieved through the use of a flashing amber light. The system will reset once an oncoming car passes through the intersection. During mechanical testing, the system was able to withstand winds up to 128km/h and temperatures -50ºC to 60ºC. The vehicle detection range was found to be 76.2m, and the power requirement was found to be 23.4Wh. For further improvement, the system will incorporate pedestrian and cyclist detection; use a more accurate algorithm, and features to enhance compatibility.
Alfred Mayer Hella Gotmann talks Autonomous driving roadmapVincent Everts
Alfred Mayer from diagnostics company Hella Gotmann talks about autonomous driving roadmap and tesla (english) is published on event Tesla Transformation:
Automation training in Delhi
Best PLC training provide the automation training in delhi most of the industrial use control system and automation enteirly deals with it. It is uses the information technologies control system reduce the manual work in productions good and services. Most of the people have a same thought and same to go for same kind of job and if you need some change job with good future, you can prefer for this automation training
PLC Control panel topic
• Programmable Logic Controllers (PLC)
• Human Machine Interface (HMI)
• Variable Frequency Drives (VFD)
• Pneumatic Controls
• Supervisory Control & Data Acquisition (SCADA)
• Distributed Control System (DCS)
• GSM
• RTU
• WIRELESS
Automation training in Delhi
Most of the industries use control systems and automation entirely deals with it. It uses the information technologies and control system and reduces the human manual work in the production of goods and services. Most of the people say automation as a step beyond mechanization because in mechanization the human operators do the work with applying their muscles for work, but the automation has reduced it. Beyond manufacturing industries, it has been used in wide range of industries and the automation plays a major role in world economy and has replaced all manual systems. Most of the industries prefer for people who were well trained in PLC automation training in Delhi.
BEST PLC TRAINING IN DELHI
Best plc training provide PLC (Programmable Logic Controllers) is an industrial computer used to monitor inputs, and depending upon their state make decisions based on its program or logic, to control (turn on/off) its outputs to automate a machine or a process.
A digitally operating electronic apparatus which uses a programmable memory for the internal storage of instructions by implementing specific functions such as logic sequencing, timing, counting, and arithmetic to control, through digital or analog input/output modules, various types of machines or processes
BEST PLC TRAINING
• Introduction to process control Automation
• History of Automation
• Concepts of Relay logic automation
• Basic &Architectural Evolution of PLC
• Role of PLC in automation
• Various ranges available in PLCs
• Types of Inputs & outputs
• Source Sink Concept in PLC
• AI, AO, DI, DO Parameterization and configuration
• Truth table implementation
• Ladder builder Keyence PLC and Omron PLC
A Longitudinal Control Algorithm for Smart Cruise Control with Virtual Parame...ijceronline
This paper presents a longitudinal control algorithm for a smart cruise control with virtual parameters in multiple transitions by a driver and traffic conditions. The object is to achieve driver’s comfort and smooth transition with collision prevention for safety in various driving situations. The proposed algorithm consists of an in-path target selection, a generation of virtual parameters, and longitudinal controller for smart cruise control. The in-path target selection algorithm selects an important target which moves on the driving direction of subject vehicle. In addition, it provides the information in order to drive a subject vehicle smoothly and improve safety in various traffic transitions. Finally, smart cruise control controller with virtual parameters computes the desired acceleration. In order to reduce effects of discontinuous changes caused by traffic conditions or drivers such as time gap, set speed, and automation switching, the virtual parameters are applied to longitudinal control algorithm for smart cruise control. The performance and safety benefits of the proposed smart cruise control system are investigated via simulations using real vehicle driving data
Fuzzy System Model for Management of Driver Distractions in Motor VehiclesEswar Publications
In this paper a low cost and driver’s environment friendly design of a Fuzzy Logic software system to manage driver distractions in a motor vehicle is presented. The system uses four inputs; vehicle speed, radio volume setting, frequency of left or right hand turns per minute and brightness conditions external to the vehicle. The system provides a single output in the form of a Driver Attention Load rating. This rating is used as a parameter to determine the degree to which the driver’s environment needs to be adjusted in terms of radio volume level, brightness of instrument cluster display and reducing the amount of connected phone interruptions per minute.
The Fuzzy Inference Software System is modeled and simulated using MATLAB. After simulation, the final system and associated graphical user interface are designed as a standalone application written in Java. An open source Java library called jFuzzyLogic is used to model the Fuzzy Inference System and the Java Swing toolkit is used for the design of the graphical user interface.
Cruise control system has become a common feature in automobiles nowadays. Instead of having the driver frequently checking the speedometer and adjusting pressure on the gas pedal or the brake, cruise control system control the speed of the car by maintaining the constant speed set by the driver. Therefore, cruise control system can help reduce driver’s fatigue in driving a long road trip. This paper presents the control system behind the cruise control.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...cscpconf
This paper presents PID controller with feed-forward control. The cruise control system is one of the most enduringly popular and important models for control system engineering. The system is widely used because it is very simple to understand and yet the control techniques cover many important classical and modern design methods. In this paper, the mathematical modeling for PID with feed-forward controller is proposed for nonlinear model with disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++ program written and feed to the microcontroller type AMR on our robot
Left Turn Display Mechanism for Facilitating Left Hand TurnsAli Vira
SYDE 1A Design Project
Atef Chaudhury
Jacinta Ferrant
Joey Loi
Michal Ulman
Ali Vira
Elizabeth Yang
Drivers making left hand turns are faced with the challenge of making decisions with incomplete information, leading to dangerous situations where an individual may drive into the path of an oncoming vehicle. A modification to current traffic systems was designed to aid drivers by alerting them of oncoming traffic obscured by blind spots. Although some intersections currently use the advance green for left turns, the oncoming traffic must be at a halt. This system will stand out by not having any effect on the oncoming flow of traffic. Unlike competitors’ systems, this system dynamically calculates an unsafe zone based on the speed of oncoming cars, weather conditions, and driver reaction time and intuitively presents this information. The system has the following four functions: detect oncoming traffic, determine the size of left-turning vehicle, calculate an unsafe zone in which a driver cannot safely make a left hand turn, and present the information to a driver in a simple fashion. The first function is achieved through the use of two radars pointed at oncoming traffic, which are able to identify the speed and position of oncoming traffic in up to 10 lanes. Left-turning vehicle classification is achieved through using a camera facing the left-turning vehicle. The third function is achieved through the use of a Raspberry Pi computer with a connection to a weather network. The mean time to make a left turn has been found to be 3.0s at a two-lane intersection. The universal human reaction time used by accident reconstructionists is 1.5 seconds. Both these times were factored into the unsafe-zone calculation. If it is determined that there is not enough time to make a safe left turn, the system signals the left turning driver that it is not safe to go. This function is achieved through the use of a flashing amber light. The system will reset once an oncoming car passes through the intersection. During mechanical testing, the system was able to withstand winds up to 128km/h and temperatures -50ºC to 60ºC. The vehicle detection range was found to be 76.2m, and the power requirement was found to be 23.4Wh. For further improvement, the system will incorporate pedestrian and cyclist detection; use a more accurate algorithm, and features to enhance compatibility.
Alfred Mayer Hella Gotmann talks Autonomous driving roadmapVincent Everts
Alfred Mayer from diagnostics company Hella Gotmann talks about autonomous driving roadmap and tesla (english) is published on event Tesla Transformation:
Automation training in Delhi
Best PLC training provide the automation training in delhi most of the industrial use control system and automation enteirly deals with it. It is uses the information technologies control system reduce the manual work in productions good and services. Most of the people have a same thought and same to go for same kind of job and if you need some change job with good future, you can prefer for this automation training
PLC Control panel topic
• Programmable Logic Controllers (PLC)
• Human Machine Interface (HMI)
• Variable Frequency Drives (VFD)
• Pneumatic Controls
• Supervisory Control & Data Acquisition (SCADA)
• Distributed Control System (DCS)
• GSM
• RTU
• WIRELESS
Automation training in Delhi
Most of the industries use control systems and automation entirely deals with it. It uses the information technologies and control system and reduces the human manual work in the production of goods and services. Most of the people say automation as a step beyond mechanization because in mechanization the human operators do the work with applying their muscles for work, but the automation has reduced it. Beyond manufacturing industries, it has been used in wide range of industries and the automation plays a major role in world economy and has replaced all manual systems. Most of the industries prefer for people who were well trained in PLC automation training in Delhi.
BEST PLC TRAINING IN DELHI
Best plc training provide PLC (Programmable Logic Controllers) is an industrial computer used to monitor inputs, and depending upon their state make decisions based on its program or logic, to control (turn on/off) its outputs to automate a machine or a process.
A digitally operating electronic apparatus which uses a programmable memory for the internal storage of instructions by implementing specific functions such as logic sequencing, timing, counting, and arithmetic to control, through digital or analog input/output modules, various types of machines or processes
BEST PLC TRAINING
• Introduction to process control Automation
• History of Automation
• Concepts of Relay logic automation
• Basic &Architectural Evolution of PLC
• Role of PLC in automation
• Various ranges available in PLCs
• Types of Inputs & outputs
• Source Sink Concept in PLC
• AI, AO, DI, DO Parameterization and configuration
• Truth table implementation
• Ladder builder Keyence PLC and Omron PLC
A Longitudinal Control Algorithm for Smart Cruise Control with Virtual Parame...ijceronline
This paper presents a longitudinal control algorithm for a smart cruise control with virtual parameters in multiple transitions by a driver and traffic conditions. The object is to achieve driver’s comfort and smooth transition with collision prevention for safety in various driving situations. The proposed algorithm consists of an in-path target selection, a generation of virtual parameters, and longitudinal controller for smart cruise control. The in-path target selection algorithm selects an important target which moves on the driving direction of subject vehicle. In addition, it provides the information in order to drive a subject vehicle smoothly and improve safety in various traffic transitions. Finally, smart cruise control controller with virtual parameters computes the desired acceleration. In order to reduce effects of discontinuous changes caused by traffic conditions or drivers such as time gap, set speed, and automation switching, the virtual parameters are applied to longitudinal control algorithm for smart cruise control. The performance and safety benefits of the proposed smart cruise control system are investigated via simulations using real vehicle driving data
Fuzzy System Model for Management of Driver Distractions in Motor VehiclesEswar Publications
In this paper a low cost and driver’s environment friendly design of a Fuzzy Logic software system to manage driver distractions in a motor vehicle is presented. The system uses four inputs; vehicle speed, radio volume setting, frequency of left or right hand turns per minute and brightness conditions external to the vehicle. The system provides a single output in the form of a Driver Attention Load rating. This rating is used as a parameter to determine the degree to which the driver’s environment needs to be adjusted in terms of radio volume level, brightness of instrument cluster display and reducing the amount of connected phone interruptions per minute.
The Fuzzy Inference Software System is modeled and simulated using MATLAB. After simulation, the final system and associated graphical user interface are designed as a standalone application written in Java. An open source Java library called jFuzzyLogic is used to model the Fuzzy Inference System and the Java Swing toolkit is used for the design of the graphical user interface.
# Internet Security: Safeguarding Your Digital World
In the contemporary digital age, the internet is a cornerstone of our daily lives. It connects us to vast amounts of information, provides platforms for communication, enables commerce, and offers endless entertainment. However, with these conveniences come significant security challenges. Internet security is essential to protect our digital identities, sensitive data, and overall online experience. This comprehensive guide explores the multifaceted world of internet security, providing insights into its importance, common threats, and effective strategies to safeguard your digital world.
## Understanding Internet Security
Internet security encompasses the measures and protocols used to protect information, devices, and networks from unauthorized access, attacks, and damage. It involves a wide range of practices designed to safeguard data confidentiality, integrity, and availability. Effective internet security is crucial for individuals, businesses, and governments alike, as cyber threats continue to evolve in complexity and scale.
### Key Components of Internet Security
1. **Confidentiality**: Ensuring that information is accessible only to those authorized to access it.
2. **Integrity**: Protecting information from being altered or tampered with by unauthorized parties.
3. **Availability**: Ensuring that authorized users have reliable access to information and resources when needed.
## Common Internet Security Threats
Cyber threats are numerous and constantly evolving. Understanding these threats is the first step in protecting against them. Some of the most common internet security threats include:
### Malware
Malware, or malicious software, is designed to harm, exploit, or otherwise compromise a device, network, or service. Common types of malware include:
- **Viruses**: Programs that attach themselves to legitimate software and replicate, spreading to other programs and files.
- **Worms**: Standalone malware that replicates itself to spread to other computers.
- **Trojan Horses**: Malicious software disguised as legitimate software.
- **Ransomware**: Malware that encrypts a user's files and demands a ransom for the decryption key.
- **Spyware**: Software that secretly monitors and collects user information.
### Phishing
Phishing is a social engineering attack that aims to steal sensitive information such as usernames, passwords, and credit card details. Attackers often masquerade as trusted entities in email or other communication channels, tricking victims into providing their information.
### Man-in-the-Middle (MitM) Attacks
MitM attacks occur when an attacker intercepts and potentially alters communication between two parties without their knowledge. This can lead to the unauthorized acquisition of sensitive information.
### Denial-of-Service (DoS) and Distributed Denial-of-Service (DDoS) Attacks
1.Wireless Communication System_Wireless communication is a broad term that i...JeyaPerumal1
Wireless communication involves the transmission of information over a distance without the help of wires, cables or any other forms of electrical conductors.
Wireless communication is a broad term that incorporates all procedures and forms of connecting and communicating between two or more devices using a wireless signal through wireless communication technologies and devices.
Features of Wireless Communication
The evolution of wireless technology has brought many advancements with its effective features.
The transmitted distance can be anywhere between a few meters (for example, a television's remote control) and thousands of kilometers (for example, radio communication).
Wireless communication can be used for cellular telephony, wireless access to the internet, wireless home networking, and so on.
This 7-second Brain Wave Ritual Attracts Money To You.!nirahealhty
Discover the power of a simple 7-second brain wave ritual that can attract wealth and abundance into your life. By tapping into specific brain frequencies, this technique helps you manifest financial success effortlessly. Ready to transform your financial future? Try this powerful ritual and start attracting money today!
Bridging the Digital Gap Brad Spiegel Macon, GA Initiative.pptxBrad Spiegel Macon GA
Brad Spiegel Macon GA’s journey exemplifies the profound impact that one individual can have on their community. Through his unwavering dedication to digital inclusion, he’s not only bridging the gap in Macon but also setting an example for others to follow.
Multi-cluster Kubernetes Networking- Patterns, Projects and GuidelinesSanjeev Rampal
Talk presented at Kubernetes Community Day, New York, May 2024.
Technical summary of Multi-Cluster Kubernetes Networking architectures with focus on 4 key topics.
1) Key patterns for Multi-cluster architectures
2) Architectural comparison of several OSS/ CNCF projects to address these patterns
3) Evolution trends for the APIs of these projects
4) Some design recommendations & guidelines for adopting/ deploying these solutions.
APNIC Foundation, presented by Ellisha Heppner at the PNG DNS Forum 2024APNIC
Ellisha Heppner, Grant Management Lead, presented an update on APNIC Foundation to the PNG DNS Forum held from 6 to 10 May, 2024 in Port Moresby, Papua New Guinea.
APNIC Foundation, presented by Ellisha Heppner at the PNG DNS Forum 2024
Adaptive Cruise Control.pdf
1. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
1
Design Examples and Case Studies of
Program Modeling and Programming with
RTOS:
Lesson-5
Case Study of an Embedded System For
An Adaptive Cruise Control (ACC)
System in a Car
2. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
2
Embedded Systems in a car
3. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
3
1. Adaptive Cruise Control (ACC)
System
4. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
4
Cruise control
• Cruise control a system that takes
charge of controlling the throttle from
the driver and cruising the vehicle at
preset and constant speed.
• may also maintain string stability in
case of multiple cars streaming through
highway and in case of VIP convoy
5. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
5
Adaptive Cruise Control (ACC)
• Using an adaptive algorithm, ACC
system maintains constant speed and can
be added string stability feature in case
of multiple cars streaming on highway.
• String stability─ maintaining inter-car
distances constant
6. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
6
ACC …
• Cruise control relieves the driver from
that duty and the driver hands over the
charge to the ACC
• When (1) road conditions are suitable
(not wet or icy, or (2) there are no strong
winds or fog), or (3) car is cruising at
high speed and when there is no heavy
traffic.
• The driver resumes the charge in adverse
conditions
7. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
7
Block diagram of the ACC system units
8. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
8
Control front-end panel
• Switch cum Display for 'ON', for 'OFF',
'COAST', RESUME',
SET/ACCELERATE.
• The driver activates or deactivates, the
ACC system by pressing ON or OFF,
respectively.
9. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
9
Adaptive Control
• An adaptive control─ algorithm used to
adapt to the current status of control
inputs
• Parameters adapt dynamically
• In place of a constant set of
mathematical parameters in the
algorithm equations, the parameter are
continuously adapted to the status at an
instance
10. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
10
Model for an adaptive control algorithm
adapts and function
11. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
11
2. ACC System Requirements
12. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
12
Purpose
Controlled cruising of car using
adaptive control algorithm for
continuous maintaining the car speed
and inter-car distances
13. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
13
Inputs
Present alignment of radar (or laser) beam
emitter.
Delay interval in reflected pulse with
respect to transmitted pulse from emitter
Throttle position from a stepper motor
position sensor.
Speed from a speedometer
Brake status for brake activities from brake
switch and pedal
14. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
14
ACC System Ports and tasks
Port_Align─ for a motor control for
steps up clockwise or anticlockwise on
a signal from task_Align, aligns radar
or UVHF transmitting device in the
lane of the front-end car
Port_ReadRange─ for measuring front
end-car range. Time difference deltaT
is read on a signal from task_Signal to
port device.
15. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
15
ACC System Ports and tasks
task_ReadRange to read using the Port
device_ReadRange circuit for the
computations of deltaT between the
transmission and reception instances. deltaT
1.5 × 105 measures the range rangeNow (=
present range or front-car distance d) of the
front-end car.
task_ReadRange to send message for
speedNow (= velocity v) to task_RangeRate
and transmits same to all other streaming
behind cars
16. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
16
ACC System Ports and tasks
Port_Speed ─ to send speed to port
control function routine on receiving a
signal from task_Speed
Port_Brake─ to apply the brakes or
emergency brakes on an interrupt
signal, which runs service routine
ISR_BrakeControl
17. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
17
Signals, Events and Notifications
User commands given as signals from
switches/buttons. User control inputs
for ACC ON, OFF, Coast, resume,
set/accelerate buttons
Brake event (Brake taping to disable
the ACC system, as alternative to
"cancel" button at front panel)
Safe/Unsafe distance notification
18. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
18
Outputs
Transmitted pulses at regular intervals
Alarms
Flashed Messages
Range and speed messages for other cars (in
case of string stability mode)
Throttle-valve and Brake control
Output to pedal system for applying
emergency brakes and driver non-
intervention for taking charge of cruising
from the ACC system
19. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
19
Control front-end panel
Switch with display─ 'ON', for 'OFF',
'COAST', RESUME', and
SET/ACCELERATE.
COAST or RESUME switch to enable
driver handover or resumes the ACC
system charge
SET/ACCELERATE switch to set
cruise speed upwards or downwards
20. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
20
Control front-end panel
Switch with display glows to show
green or red as per the status when the
ACC activation
Alarms and message flashing unit
issues appropriate alarms and message
flashing pictograms
21. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
21
Functions of the system
Cruise control system takes charge of controlling
the throttle position from the driver and enables
the cruising of the vehicle at the preset constant
speed. A radar system helps in maintaining inter-
car distance and warns of emergency situations.
An alignment circuit aligns the radar emitter.
When driving in a hilly area, the emitter alignment
is must. A stepper motor aligns the attachment so
that transmitter beam of radar emits with the
required beam alignment for the given driving
lane and divergence so maintain the in-lane line of
sight of the front-end car. task_Align does this
function.
22. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
22
Functions of the system…
Transmit modulated pulses emit at periodic
intervals and the delay period in receiving
its reflection from front-end vehicle
The measured delay deltaT at periodic
intervals
deltaT multiplied by 1.5 × 108 m/s (half of
light velocity) gives the computed distance
d (= RangeNow) of front end car at that
instance.
23. 2015
Chapter-13 L05: "Embedded Systems - Architecture, Programming and Design",
Raj Kamal, Publs.: McGraw-Hill Education
23
Functions of the system…
The differences of d with respect to
safe dsafe and preset distances dset (in
case of maintaining string stability) are
cyclically estimated.
The speedometer measures the speed
and task_Speed compute error in preset
speed and measured speed
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Functions of the system…
All estimated differences are cyclically sent as
input to an adaptive algorithm, which adapts the
control parameters and sends computed output to
vacuum actuator of the throttle valve in car.
task_Algorithm for computations
task_Throttle initiates the control output functions
for this action.
Interrupt service routine ISR_ThrottleControl does
the critical functions of throttle control.
The car decelerates and accelerates as per setting
of throttle valve orifice at an instance.
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Functions of the system…
The brake control when the safe distance is
not maintained and warning message is
flashed on the screen.
task_Brake initiates the critical functions of
brake control.
Interrupt service routine ISR_BrakeControl
for the brake critical functions
When battery power becomes low, the ACC
system deactivates after issuing alarm and
flashing messages (notifications).
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Design metrics
Power Source and Dissipation: Car
Battery operation.
Resolution: 2 m inter-car distance.
Performance: Safe distance setting
75 m to 200 m. No overshooting of
controlled output for the throttle
Process Deadlines: Less than 1 s
response on observation of unsafe
distance of front-end car.
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Design metrics…
User Interfaces: Graphic at LCD or
touch screen display
Extendibility: The system is
extendable to maintain string
stability of multiple cars in a row.
Engineering Cost: US$ 50000
(assumed)
Manufacturing Cost: US$ 600
(assumed
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Test and validation conditions
Tested in dense as well light traffic
conditions
Tested on plains, hills and valley roads
All user commands must function
correctly
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3. Detailed functioning in Adaptive
Cruise Control (ACC) System
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Functioning of ACC System
• Retrieve the front end-car distance
information from a radar or UVHF
attachment at the front string wheel.
• A stepper motor aligns the attachment so
that transmitter of radar maintains the
line of sight to front-end car. The radar
system maintains string stability and
warns of emergency situations.
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Functioning of ACC System …
• Get road speed from Speedo-metric
section of DAS unit.
• Get acceleration from engine section
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Functioning of ACC System…
• Run adaptive algorithm– to calculate and
send control signals to stepper motor
actuator at vacuum-valve
• – Orifice opening of vacuum valve
controls electro-pneumatic throttle valve.
• Receive new throttle position by stepper
motor position sensor.
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Functioning of ACC System…
• Get inputs of brake switch status for
monitoring brake activities.
• Send output to pedal system when
applying emergency brakes
• Driver intervenes on taking charge of
cruising from ACC.
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Functioning of system by
synchronization of tasks in ACC
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4. Classes and class diagram
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Class diagram for ACVM Part-1
Reset
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5. Hardware Architecture
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Hardware
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ACC hardware
A hardware system in automotive
electronics has to provide functional
safety.
Important hardware standards and
guidance─ at present are following:
(a) TTP (Time Triggered Protocol), (b)
CAN (Controller Area Network) (c)
MOST (Media Oriented System
Transport), (d) IEE (Institute of Electrical
Engineers) guidance standard exists for
EMC (Electromagnetic Magnetic Control)
and functional safety guidance
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ACC hardware…
A microcontroller runs the tasks and ISRs
except task_Algorithm.
Internal RAM/ROM, ROM/Flash for
RTOS codes for scheduling the tasks.
CAN port interfaces with the CAN bus at
the car.
A separate processor with RAM and
ROM for the task_Algorithm executes the
adaptive control algorithm
Speedometer
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ACC hardware…
Stepper motor based alignment unit
Stepper motor based throttle control unit
Transceiver for transmitting pulses
through an antenna hidden under the
plastic plates.
LCD dot matrix display controller,
display panel with buttons
Port devices─ Port_Align, Port_Speed,
Port_ReadRange, Port_Throttle and
Port_Brake
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6. Software Architecture
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RTOS VxWorks used as alternative to
OSEK-OS
• OSEK OS standard is reliable
compared to VxWorks or MUCOS.
• To demonstrate RTOS use in the ACC
application, let us adapt VxWorks
alternative for coding instead of
OSEK-OS by adhering to the OSEK
guidelines
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RTOS …
• Use BCC 1 type of tasks, as done in
VxWorks application in Example
11.2.
• Define each task of different priority
and activate it only once in the codes.
• Use no message queues, mutex or
counting semaphore.
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RTOS …
• No in-between creation and deletion of
tasks.
• Semaphores as event flags only with no
run-time deletion or creation of these.
• Task can consist of three types of
objects, event (semaphore), resource
(statements and functions) and devices
including port devices.
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RTOS …
• Use MISRA C rules in coding.
Use disable interrupts when a task or
function enters critical section and
enable interrupts when leaving
critical section
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7. Tasks and their class, priority, action
and IPCs
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Class BCC1 task_Align
Priority ─ 101
Action─ Waits for the Reset cycle to
start and send signal to Port_Align
IPC pending: Event signal (s) Reset
IPC posted: Align
Input: deltaStep, Step
Output: Step to Port_Align
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Class BCC1 task_Read-Range
Priority ─ 103
Action─ Disable interrupts, get signal from
Port, activate a radar flashing, records
activation time, gets time of sensing the
reflected radar signal and finds time
difference, timeDiff. and Enable interrupts
IPC pending: Align
IPC posted: Range
Output: deltaT
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Class BCC1 task_Speed
Priority ─ 105
Action─ Event Port_Speed starts a
timer, counter start message and wait
for the 10 counts for the number of
wheel rotations.
IPC pending:
IPC posted: Speed
Output: speedNow
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Class BCC1task_Range-Rate
Priority ─ 107
Action─ calculates rangeNow, get
preset front car range and stringRange
from memory and compare. Get vset set
cruising speed and compare it with
current speed speedNow.
IPC pending: Speed
IPC posted: ACC
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Class BCC1task_Range-Rate…
Input: avgTireCircum, time-Diff,
deltaT, stringRange, CruiseSpeed, and
N_rotation
Output: range-Error, speed-Error,
range-Now, speed-Now
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Class BCC1task_Algorithm
Priority ─ 109
Action─ (i) Get errors of speed and
range and execute adaptive control
algorithm. (ii) Get errors of other
vehicles through Port_RangeRate. (iii)
Get other vehicles Port_Brake status.
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Class BCC1task_Algorithm…
(iv) Get present throttle position. (v) Send
output, throttleAdjust to Port_Throttle. (vi)
Send signal to Port_Brake in case of
emergency braking action needed. (vii)
Port_Brake transmits the action needed to
other vehicles also.
IPC pending: ACC
IPC posted: Reset
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Class BCC1task_Algorithm…
Inputs: range-Error, speed-Error, All
Port_RangeRate values and
Port_Brake statuses and VehicleID
Outputs: throttle- adjust and
emergency for brake and throttle
respectively
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8. Multiple tasks and their
synchronization model
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Synchronization model of ACC system tasks
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• Task_Alignment takes SemReset at
cycle start and gives SemAlign
• Task_Read Range takes SemAlign at
start and gives SemRange
• Task_Speed gives SemSpeed
•
Semaphores taken and given in cyclic order...
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• Task_RangeRate takes SemSpeed
taken at start and gives SemACC
• Task_Algorithm takes SemACC
taken at start by and gives SemReset
Semaphores taken and given in cyclic order...
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9. Coding using C and VxWorks RTOS
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ACC software for use in automobile
First be certified from organization
authorized to issue that certification. We
have seen that OSEK OS standard is
required.
Only those VxWorks or MUCOS functions
which are adhering to OSEK must be used.
Software coding IEC 61508 part 3 and
MISRA C version 2 (2004) specifications of
safety standards and coding language must
be used.
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MISRA C
MISRA stands for Motor Industry
Reliability Association.
MISRA C specifies a collection of
rules to be used while coding in C
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Important rules and coding standard MISRA C
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MISRA-C…
is a standard for C language software
and defines the guidelines for
automotive systems for using C.
MISRA-C version 2 (2004) specified
141 rules for coding and gave a new
structure for C.
Details at http://www.misra.org.uk.
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•Refer Example 12.2 in Section 12.3.6
Note: At each step, explanation for the
set of statements given there.
Coding using VxWorks Adapted to
OSEK-OS Features
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Summary
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We learnt
Case study for ACC
Functioning and requirements
task_Align, task_Read-Range, task_Speed,
task_Range-Rate and task_Algorithm
ISRs
Class diagrams
Hardware and software
Tasks synchronization model
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End of Lesson-5 of Chapter 13 on
Case Study Of An Embedded System for an
Adaptive Cruise Control (ACC) System in a Car