Vehicle Control Research Articles

Multiple Unmanned Aerial Vehicles Coalition Formation and Control for Collaborative Defense Mission

Multiple Unmanned Aerial Vehicles Coalition Formation and Control for Collaborative Defense Mission

Correlation relationships of processes in the combustion engine in the RDE test

The article presents considerations on the processes taking place in the combustion engine in the in real driving operating conditions of a vehicle performing the RDE (Real Driving Emissions) test. The tests were carried out using a passenger car with a spark-ignition engine. The processes considered in the article were related to the engine operating states, exhaust emissions and fuel consumption, and the vehicle speed, which determines the engine operating conditions. The RDE test were carried out using PEMS (Portable Emissions Measurement System) equipment, and the following variables were recorded: vehicle speed, control, rotational speed, relative torque and relative engine power, emission pollutant intensity of: carbon monoxide, hydrocarbons, nitrogen oxides and carbon dioxide, the intensity of particle number and the fuel consumption intensity. The recorded signals were digitally processed, and the statistical properties of the variables and the mutual relation between the engine operating states were examined. The properties of the measured variables were investigated in the entire RDE test and in its constituent phases: the first, corresponding to vehicle movement in cities, the second – outside cities, and the third – on highways and expressways. The pollutant specific distance emission and the particle number specific distance as well as the specific distance fuel consumption were determined in relation to the average vehicle speed, and based on these results, the exhaust emissions and fuel consumption characteristics were created. Correlational studies of the considered variables were also performed. Pearson's linear correlation coefficients for the measured variables combinations were determined.

Congested traffic patterns of mixed lattice hydrodynamic model combining the perceptual range differences with passing effect

With the aid of Vehicle-to-everything (V2X) technologies for network connectivity, connected autonomous vehicles (CAVs) can broaden the drivers' perceptual boundaries and receive a greater quantity of exogenous vehicle information, thereby governing the vehicle's acceleration information of the next moment. Nonetheless, constrained by contemporary communication networks and sophisticated vehicle control technology, the process of promoting CAVs is long-lasting, and throughout this stage of transition, both CAVs and human-driven vehicles (HDVs) will happen on the road. Moreover, passing behaviour is uncommon in the traffic flow model despite being a fundamental microscopic driving behaviour, particularly within mixed-traffic situations. To bridge that hole, we introduce the percentage ratios of CAVs into the lattice hydrodynamic model by integrating the perceptual range differences between two different types of vehicles with passing effects. Subsequently, the stability norm associated with the new model is ascertained by performing the linear stability analysis. When the above-mentioned stability condition is not achieved, we investigate the complex behaviour of the new model, and the associated existing conditions, as well as the modified Korteweg-de Vries (mKdV) equation, are determined simultaneously. When the passing ratio is inadequate, no jam and kink jam make up the whole phase region; while when the passing ratio surpasses the minimum, the initial unstable region can be segregated into two extra segments: the chaotic sub-region and the kink jam sub-region, the density wave progressively transitioned from being a kink-Bando traffic wave to a chaotic phase. Lastly, the findings of the numerical experiment identify with the theoretical derivation made above.

Clarification of a unique mucosal vaccination route for improved systemic and mucosal immune response in broiler

There are often outbreaks of infectious diseases on farms, which not only disrupt production but also cause significant economic losses. Vaccines are given to prevent the spread of these infectious diseases, but they produce only systemic antibodies or antibodies in the mucosa of a particular system. So, a new mucosal vaccination route is needed where the vaccine will produce antibodies in the systemic circulation as well as in the mucosa of many systems. In our study, the cloaca was targeted because it is associated with the mucosa of many systems. Whole-mount and routine histological staining show both lymphatic nodules and diffuse lymphatic tissues in the lamina propria of cloaca. These lymphatic tissues are made up of Bu-1+ B-cells, CD3+ T-cells, and KUL01+ macrophages and monocytes. So, this is a new mucosa-associated lymphoid tissue, named cloaca-associated lymphoid tissue (CALT). The CALT contains antigen-presenting cells (dendritic cells, macrophages, B cells, MHC II molecules, and T cells) and is equipped with blood vessels and high endothelial venules, which indicate its functional status. More antibodies were produced in the treatment group compared to the vehicle control group after administration of the infectious bursal disease (IBD) and the Newcastle disease (ND) vaccine through cloaca. In addition, the cloaca-associated route produces a higher number of antibodies than the other traditional routes, which reveals the uniqueness of this route. Cloacal-vaccinated chickens showed less damage to the follicle and epithelium of the bursa of Fabricius compared to other groups, indicating its lower cytotoxic effect. Therefore, the cloaca-associated mucosal vaccination route produces more antibodies than other mucosal vaccination routes, which will protect the chickens on the farm to a greater extent.

A systematic review and risk of bias analysis of in vitro studies on trophoblast response to immunological triggers

An increasing amount of evidence suggests that immune responses may affect trophoblast functioning, which in turn may play a role in gestational disorders and fetal development. This systematic review offers the first summary of in vitro studies on the trophoblast response to immunological triggers, in conjunction with a risk of bias analysis.A search in Pubmed and Embase yielded 110 relevant studies. Primary trophoblasts were the most commonly used cell type, but trophoblast subtypes were not always defined. Similarly, the exact natures of trophoblast cell lines were sometimes unclear. Cytokines and Toll-like receptor agonists were often used as interventions, but most studies focused on a select few substances such as tumor necrosis factor-α and lipopolysaccharide. In regard to the outcome parameters, some important trophoblast functions, such as hormone production and barrier formation were underrepresented.Whether or not risk of bias was high varied strongly between types of bias. Risk of selection bias, for example, was usually low. However, none of the included studies mentioned blinding or plate randomization. Only a select few studies mentioned passage numbers, use of vehicle control or conflict of interest.In conclusion, better characterization of trophoblast subtypes and a broader range of studied interventions and outcome parameters would contribute to a more complete understanding of trophoblast responses to immune stimuli. Additionally, researchers are encouraged to replicate experiments and pay close attention when setting up and writing down methodologies, in order to improve the reproducibility and translatability of their work.

Chronic administration of low dose aspirin alleviates ASD-like behaviors and activates AMPK in valproic acid-exposed rats

BackgroundAutism Spectrum Disorder (ASD) is a neurodevelopmental disorder distinguished by deficits in social communication and the presence of restricted/repetitive behaviors. There has been a global increase in the prevalence of ASD, yet the underlying causes of ASD remain inadequately understood, and there is currently no pharmacological intervention for the core symptoms of ASD. However, recent studies have suggested that aspirin may have the potential for use in the treatment of ASD. MethodPregnant rats were administered either VPA or normal saline on gestational day 12.5. The male pups were administered a low dose of aspirin (1 mg/kg) or a vehicle control daily from postnatal day 23 to day 52. ASD-like behaviors were assessed by social interaction, spontaneous grooming test, open field test and light-dark transitions. The activity of AMP-activated protein kinase (AMPK) was quantified by measuring the level of p-AMPK using an immunoblotting assay. ResultsChronic administration of low dose aspirin resulted in significant improvements in social approach deficits, a reduction in repetitive grooming, and the alleviation of anxiety-like behavior in ASD rats. Furthermore, aspirin administration also led to the activation of AMPK in the hippocampus of rats exposed to VPA. ConclusionsThese results raise the question of the need for further investigation of agents with mechanisms related to aspirin in ASD.

Mathematical modelling of a flexible steering robot for vehicle trajectory control

Abstract This paper presents a mathematical modelling framework for a novel design of a steering robot to control vehicle trajectory. A systematic approach is adopted to capture the dynamics of a belt transmission mechanical system of the robot. The steering robot is powered by a Brushless Direct Current (BLDC) servo motor which employs a Field Oriented Current (FOC) control for motor position control. The system’s accuracy is demonstrated through simulations conducted using MATLAB SIMULINK, showcasing its capability to effectively track the reference steering angle.

Catechin reduces liver inflammation by regulating Kupffer cell activation in rats

The liver is a defense against infections due to its strategic location between the gastrointestinal and systemic circulations. In dogs and cats, infectious hepatitis encompasses a range of contagious diseases affecting the liver either directly or as part of a broader systemic infection, including bacterial, mycobacterial, viral, fungal, protozoal, parasitic, and rickettsial diseases. Catechins possess well-recognized natural antioxidant properties. This study investigated their therapeutic potential for applications in hepatology, evaluating whether catechins reduce hepatic inflammation in rats repeatedly exposed to carbon tetrachloride (CCl4). Sprague-Dawley rats were given catechin 50 (C50) or 100 (C100) mg/kg body weight orally daily for 3 days. This treatment was given with or without concurrent intraperitoneal injections of CCl4. Phosphate-buffered saline served as the vehicle control, while silymarin administered at 100 mg/kg was used as the positive control.Gross examination revealed significant enlargement, edema, and darker tissue in CCl4-induced livers treated with vehicle. Additionally, spotty discoloration was observed on the surface. Kupffer cell activation suppressed the expression of inflammatory mediators, including inducible nitric oxide synthase (iNOS), in groups co-treated with catechin and CCl4; this effect was reversed when catalase replaced catechin in CCl4-injured rats. Catechin alleviates hepatic inflammation in rats repeatedly exposed to CCl4; it also modulates the activation of Kupffer cells and monocytes. These results should lead to new treatments for liver inflammation in veterinary practice.

Influence of an Automated Vehicle with Predictive Longitudinal Control on Mixed Urban Traffic Using SUMO

In this paper, an approach to quantify the area of influence of an intelligent longitudinally controlled autonomous vehicle in an urban, mixed-traffic environment is proposed. The intelligent vehicle is executed with a predictive longitudinal control, which anticipates the future traffic scenario in order to reduce unnecessary acceleration. The shown investigations are conducted within a simulated traffic environment of the city center of Darmstadt, Germany, which is carried out in the traffic simulation software “Simulation of Urban Mobility” (SUMO). The longitudinal dynamics of the not automated vehicles are considered with the Extended Intelligent Driver Model, which is an approach to simulate real human driver behavior. The results show that, in addition to the energy saving caused by a predictive longitudinal control of the ego vehicle, this system can also reduce the consumption of surrounding traffic participants significantly. The area of influence can be quantified to four vehicles and up to 250 m behind.

Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy

Traffic congestion is becoming more prevalent as the number of vehicles on the roads continues to rise.To shorten travel times and enhance driver comfort, a range of Advanced Driver Assistance Systems (ADAS) has been developed to assist drivers in urban areas and on highways. The demand for increasing road capacity has introduced the concept of vehicle platooning, where the use of the Adaptive Cruise Control (ACC) system is a key function within the advanced driver assistance (ADAS) technology, this technology manages the vehicle's longitu-dinal control in specific driving conditions. Cars equipped with ACC can efficiently maintain a set distance from the vehicle ahead, easing the driver’s workload while offering advantages such as improved road capacity, lower fuel consumption, and reduced pollution emissions. However, they can be susceptible to string instability, resulting in the amplification of oscillations caused by speed variations along the platoon's rear. This paper presents a string stability analysis of car platoons equipped with ACC system based on a heuristic method by choosing of the constant time headway policy (CTHP). The constant time headway policy selection for string stability is based on the Nyquist diagram of the transfer function of the spacing errors between two cars. A platoon operated by using distance-based ACC control structures is implemented. These structures employ a linear quadratic regulator (LQR) using a dual integrator. The simulation results were acquired by modeling and simulating the studied platoon within Matlab/Simulink.

Simple Voltage Balancing Control of Four-Level Inverter

Multilevel inverters with improved voltage quality are widely used in applications such as motor control and electric vehicles. The four-level active neutral point clamped (4L-ANPC) inverter effectively meets the demands for high power density and low device voltage stress. However, balancing the capacitor voltage and reducing its low-frequency voltage fluctuation are critical challenges that need to be addressed. To address these challenges, this paper proposes a “variable reference + zero-sequence injection” method that requires only three reference voltage signals to determine the injected zero-sequence components. Particularly, the expression of the midpoint current, regarding the modulation index and phase current amplitude, is theoretically derived. This reveals the fundamental connection between the zero-sequence voltage signal and the midpoint current, providing a theoretical foundation for the zero-sequence injection method in four-level inverters. Subsequently, a simulation model and an experimental platform of the 4L-ANPC inverter were developed to compare and analyze the waveforms of the upper and lower capacitor voltages, phase currents, and line voltages under different modulation methods. Additionally, the upper and lower capacitor voltage waveforms were examined for various modulation indices. The results indicate that as the modulation index increases, the low-frequency voltage fluctuation in the upper and lower capacitor voltages also rises. At a modulation index of 0.95, the “variable reference + zero-sequence injection” method effectively suppresses the fluctuation in the upper and lower capacitor voltages to be no more than 1 V. These experimental findings validate the effectiveness of the proposed method.

Phytol exerts sedative-like effects and modulates the diazepam and flumazenil’s action, possibly through the GABAA receptor interaction pathway

This study aimed at the evaluation of the sedative effect of phytol (PHY) with possible molecular mechanisms through in vivo and in silico studies. For this, adult male mice were randomly divided into six individual groups, namely control (vehicle), two standards (DZP: diazepam at 2 m/kg, FLU: flumazenil at 0.1 mg/kg), three test groups (PHY at 25, 50, and 75 mg/kg), and three combined groups with the DZP-2 and/or FLU-0.1 with PHY-75 mg/kg. After thirty minutes, each animal was treated with thiopental sodium (TS) at 40 mg/kg to produce sedation and observed for latency and duration of sleep up to 4 h. In silico studies were performed with the 6X3X protein of the GABAA receptor α1 and β2 subunits. The results demonstrate that PHY dose-dependently enhanced sleep duration in animals. However, it produced an insignificant sleep duration compared to the control and standard groups. It also significantly (p < 0.05) decreased the latency and increased the duration of sleep with DZP-2, while reducing these parameters with FLU-0.1. In in silico studies, DZP and FLU exhibited binding affinities with 6X3X by −6.8 and −6.9 kcal/mol, respectively, while PHY exhibited −6.9 kcal/mol. Taken together, PHY may exert a sedative-like effect in TS-induced sleeping mice and modulate the effects of DZP and FLU, possibly through interacting with the 6X3X protein of the GABAA receptor. PHY may be one of the good candidates for the management of sleep disturbances, such as insomnia.

МЕТОД ОБУЧЕНИЯ ИНТЕЛЛЕКТУАЛЬНОГО АГЕНТА С ПОМОЩЬЮ СЕТЕЙ DOUBLE DQN, ПУТЕВЫХ ТОЧЕК И ФУНКЦИИ ВОЗНАГРАЖДЕНИЯ

The problems of increasing the control efficiency of autonomous vehicles are considered. The problem of reducing the required computational resources for the intelligent vehicle control module is highlighted. A neural network training algorithm for Double DQN architecture with modified reward functions is proposed. The basis of the proposed solution is the use of lane segmentation, reward function and the use of additional waypoints in training. A software model has been developed and simulation of the learning process has been performed. The results obtained from a comparative analysis with known solutions show a stable increase in episode duration, and effective training in a realistic urban simulation. The study points to the possibility of reducing the need for high computing power, which will enable the use of central processing units (CPUs) for basic functions of unmanned vehicles instead of graphics processing units (GPUs).

Critical study of type-2 fuzzy logic control from theory to applications: A state-of-the-art comprehensive survey

The review systematically explores the theoretical foundations of type-2 fuzzy sets and the associated mathematical frameworks of the advancements in type-2 fuzzy logic systems (T2-FLS), as well as a comprehensive overview of the state-of-the-art techniques and applications of type-2 fuzzy logic systems. The review's application-oriented section looks at a number of different areas where type-2 fuzzy logic has made a big difference. These areas include robotics, autonomous vehicle control, electric and electronic control, image processing, and railway control. This overview mainly discusses the past, present, and future trends in type-2 fuzzy logic applications. The primary contribution summarizes the most essential type-2 fuzzy logic research with theoretical and practical implications. This article will provide a critical path and a strong foundation for individuals interested in this field to pursue future research.

Artemisia pallens W. Attenuates Inflammation and Oxidative Stress in Freund's Complete Adjuvant-Induced Rheumatoid Arthritis in Wistar Rats.

Rheumatoid arthritis (RA) is an autoimmune disease that causes distinctive inflammatory symptoms and affects over 21 million people worldwide. RA is characterized by severe discomfort, swelling, and degradation of the bone and cartilage, further impairing joint function. The current study investigates the antiarthritic effect of a methanolic extract of Artemisia pallens (methanolic extract of A. pallens, MEAP), an aromatic herb. Artemisinin content (% per dry weight of the plant) was estimated using a UV Vis spectrophotometer. In the present study, animals were divided into six groups (n = 6). The control group (group I) was injected with 0.25% of carboxymethyl cellulose. The arthritic control group (group II) was treated with Freund's complete adjuvant (by injecting 0.1 mL). Prednisolone (10 mg/kg), a lower dose of MEAP (100 mg/kg), a medium dose of MEAP (200 mg/kg), and a higher dose of MEAP (400 mg/kg) were orally delivered to groups III, IV, V, and VI, respectively. Freund's complete adjuvant was administered into the sub-plantar portion of the left-hind paw in all the groups except vehicle control to induce rheumatoid arthritis. Weight variation; joint diameter; paw volume; thermal and mechanical hyperalgesia; hematological, biochemical, and oxidative stress parameters; radiology; and a histopathological assessment of the synovial joint were observed in order to evaluate the antiarthritic effect of the methanolic extract of A. pallens. In this study, the estimated content of artemisinin was found to be 0.28% (per dry weight of the plant), which was in good agreement with the reported value. MEAP (200 and 400 mg/kg) caused a significant reduction in increased paw volume and joint diameter in arthritic rats while significantly increasing body weight and the mechanical threshold of thermal algesia. Moreover, complete blood counts and serum enzyme levels improved significantly. Radiological analysis showed a reduction in soft tissue swelling and small erosions. A histopathological examination of the cells revealed reduced cell infiltration and the erosion of joint cartilage in MEAP-administered arthritic rats. The present research suggests that the antiarthritic activity of the methanolic extract of A. pallens wall is promising, as evidenced by the findings explored in our rat model.

Trajectory tracking control of underactuated unmanned underwater vehicle without speeds measurement

Trajectory tracking control of underactuated unmanned underwater vehicle without speeds measurement

Quantized-States-Based Fuzzy Adaptive Course Tracking Control of an Unmanned Surface Vehicle with Input and State Quantization

Quantized-States-Based Fuzzy Adaptive Course Tracking Control of an Unmanned Surface Vehicle with Input and State Quantization

Алгоритмы группового управления подводными подвижными объектами

The problem of formation control is relevant when searching for objects, surveying a given area, and group monitoring. In the underwater environment, this problem is complicated by restrictions on the frequency of receiving navigation data and the speed of information exchange between underwater robots. The purpose of this article is to develop and study group control algorithms that ensure the given formation and the maintenance of this formation during movement. The article provides an overview of the results in the field of group control of underwater vehicles, provides a mathematical model of the object, navigation system, underwater environment and communication system. The equations of kinematics and dynamics of a solid body in three-dimensional space, supplemented by equations of actuators, are used as a mathematical model. Algorithms for the distribution of moving objects in formation and nonlinear control algorithms for moving in a line are proposed. When constructing the devices, it is assumed that there is a group leader who transmits his coordinates to the rest of the underwater robots. Motion control is synthesized by the method of positional trajectory control in the form of a function of external coordinates. A study was carried out using numerical methods, during which the process of the formation and movement along the trajectory described by straight line segments was studied. The influence of errors in the navigation system and the frequency of data updates on the error of maintaining a given position by a separate underwater robot is investigated.

Modeling and performance analysis of an electric two-wheeler on various driving cycles and validation using a performance real-time target machine

Compared with conventional two-wheelers, electric two-wheelers are gaining popularity owing to their potential to reduce emissions, their dependency on fossil fuels, and their enhanced economic benefits. However, the electric two-wheelers face key challenges such as inconsistent performance and driving range due to varying driving conditions. This study overcomes this challenge by developing a comprehensive system to investigate and predict the behavior of electric two-wheelers under various vehicle and battery parameters, driving conditions, and ambient conditions. The developed system, implemented in MATLAB Simulink, includes five subsections (the driving cycle, motor controller unit, electric motor, battery pack, and vehicle model) and evaluates the state of health, cell temperature, energy consumption, driving range, and state of charge. To validate the model, a simulation was conducted using a Speedgoat performance real-time target machine. An extensive evaluation is executed to validate the accuracy of the developed system against the real-time performance of an electric two-wheeler. For both simulated and standard driving cycles, the model offers an error of less than 1 %. The results of the analysis show that maintaining a mean speed between 18 km/h and 35 km/h results in the least energy consumption, a higher driving range, and a lower cell temperature. In addition, the research results show that driving aggressively consumes more energy. The results of this research indicate an innovative contribution toward the recognition and selection of appropriate electric two-wheelers.

Finite-time formation trajectory tracking control for unmanned underwater vehicles with time delays and Markov-switch topology

ABSTRACT The formation trajectory tracking control strategy of unmanned underwater vehicles is proposed for communication time delay and communication topology random switching. The methods ensure that formation systems are finite-time bounded under discrete time. Firstly, based on the consistency theory and the exact feedback linearised dynamics model of unmanned underwater vehicle, a control strategy is proposed for discrete formation system with communication time delay. Secondly, a cooperative control method is designed for communication problems of Markovian switching topology and time delay. Then, definition of finite-time bounded and linear matrix inequality technique are applied to sufficient conditions of system stability for the above problem. Finally, the formation motion of discrete unmanned underwater vehicle system in three-dimensional space is simulated, fully demonstrating the feasibility of the method.