Stochastic model predictive braking control for heavy-duty commercial vehicles during uncertain brake pressure and road profile conditions

When heavy-duty commercial vehicles (HDCVs) must engage in emergency braking, uncertain conditions such as the brakepressure and road profile variations will inevitably affect braking control. To minimize these uncertainties, we propose acombined longitudinal and lateral controller method based on stochastic model predictive control (SMPC) that is achieved viaChebyshev–Cantelli inequality. In our method, SMPC calculates braking control inputs based on a finite time prediction thatis achieved by solving stochastic programming elements, including chance constraints. To accomplish this, SMPC explicitlydescribes the probabilistic uncertainties to be used when designing a robust control strategy. The main contribution of thispaper is the proposal of a braking control formulation that is robust against probabilistic friction circle uncertainty effects.More specifically, the use of Chebyshev–Cantelli inequality suppresses road profile influences, which have characteristicsthat are different from the Gaussian distribution, thereby improving both braking robustness and control performance againststatistical disturbances.Additionally, since theKalman filtering (KF) algorithm is used to obtain the expectation and covarianceused for calculating deterministic transformed chance constraints, the SMPC is reformulated as a KF embedded deterministicMPC. Herein, the effectiveness of our proposed method is verified via a MATLAB/Simulink and TruckSim co-simulation.     

Functional un|unparsing

Danvy??s functional unparsing problem (Danvy in J. Funct. Program. 8(6), 621?C625, 1998) is to implement a type-safe ??printf?? function, which converts a sequence of heterogeneous arguments to a string according to a given format. The dual problem is to implement a type-safe ??scanf?? function, which extracts a sequence of heterogeneous arguments from a string by interpreting (Friedman and Wand in LFP, pp. 348?C355, 1984 and in Essentials of Programming Languages, MIT Press, 2008) the same format as an equally heterogeneous sequence of patterns that binds zero or more variables. We derive multiple solutions to both problems (Wand in J. ACM 27(1), 164?C180, 1980) from their formal specifications (Wand in Theor. Comput. Sci. 20(1), 3?C32, 1982). On one hand, our solutions show how the Hindley-Milner type system, unextended, permits accessing heterogeneous sequences with the static assurance of type safety. On the other hand, our solutions demonstrate the use of control operators (Felleisen et al. in Proceedings of the 1988 ACM Conference on Lisp and Functional Programming, pp. 52?C62, ACM Press, New York, 1988; Wand in POPL 85: Conference Record of the Annual ACM Symposium on Principles of Programming Languages, vol. 16, ACM Press, New York, 1985; Meyer and Wand in Logics of Programs, Lecture Notes in Computer Science, vol. 193, pp. 219?C224, Springer, Berlin, 1985) to communicate with formats as coroutines (Wand in Proceedings of the 1980 ACM Conference on Lisp and Functional Programming, vol. 12, pp. 285?C299, ACM Press, New York, 1980 and Haynes et al. in LFP, pp. 293?C298, 1984).     

MOSBY: a molecular structure viewer program with portability and extensibility

A molecular structure viewer program, MOSBY has been developed for studies that use atomic coordinates to understand the structures of protein molecules. The program is designed to be portable with a comprehensive user interface by our high-throughput graphics library. In addition, it cooperates with extension modules customized for individual research topics and analysis. For example, an electron density module loads and displays electron density maps derived in X-ray crystallographic analysis superimposed to an atomic model. A molecular dynamics module reads a trajectory file of the results of molecular dynamics calculations and animates the structure. These plug-in modules are devised to function without modification to the MOSBY program. For variations of analysis and calculations with atomic coordinates, the portability and extensibility illustrated by MOSBY play an important rule in scientific computational tools with active software development.     

Adaptive impedance control of a variable stiffness actuator

This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the presence or absence of the environment. Next, we design a torque controller for a one-degree-of-freedom (DOF) robot and find the optimal condition of the stiffness in the VSA for a given task. Then, we design a stiffness control law for the VSA exploiting the intrinsic indivisible property between motion and passive impedance. This stiffness control law adaptively tunes the passive stiffness to minimize the energy consumption without defining any explicit desired impedance, which is usually required in impedance controllers. The stability of the closed loop system is proved using Lyapunov’s analysis. Simulations and experimental results validate the effectiveness of the proposed method and the robustness in response to parameter changes.     

Distribution parameter and drift velocity for two-phase flow in a large diameter pipe

In view of practical importance of the drift flux model for two-phase flow analysis in general, and in the analysis of nuclear reactor transients and accidents in particular, the distribution parameter, and the drift velocity have been studied for two-phase flow in a vertical large diameter pipe. In this, study, local measurements were performed on flow parameters, such as void fraction, gas velocity and, liquid velocity in a vertical upward air–water two-phase flow in a pipe of 200 mm inner diameter and, 25 m in height by using the local sensor techniques such as hot-film probes, optical multi-sensor, probes and differential pressure gauges. Two-phase flow regimes in a vertical large diameter pipe, were classified into bubbly, churn and slug flows according to the visual observation. The values of the, distribution parameter and the mean drift velocity were determined directly by their definition using experiment data of the local flow parameters in a two-phase flow in a large diameter pipe. Various existing drift flux correlations were compared with the present experimental results and experimental data obtained by other researchers. A detailed discussion on the problems of these correlations was presented in this paper.     

Dynamic Characteristics Analysis of Two‐DOF Oscillatory Actuator and Experimental Verification of Prototype

Recently, linear oscillatory actuators have been used in a wide range of applications. In particular, small linear oscillatory actuators are expected to be used in haptic devices by being extended to provide multi‐degree‐of‐freedom motion with arbitrary acceleration. In this paper, we propose a compact two‐DOF oscillatory actuator that can move in various directions on a plane. The static and dynamic characteristics of the actuator are determined by the 3D finite element method. The effectiveness of this method is shown through a comparison of the measured results with the experimental results from a prototype. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(1): 58–65, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22312     

High-speed InGaAlAs/InAlAs multiple quantum well optical modulators

High-speed modulation over 22 GHz for waveguided InGaAlAs/InAlAs multiple quantum well (MQW) optical modulators is described. A large on/off ratio of over 25 dB is demonstrated with a low-drive voltage (6 V) operating in the 1.55-μm wavelength region. The design and characteristics of MQW p-i-n modulators are discussed. The causes of large-insertion loss and the required drive voltage bandwidth figure of merit for the MQW modulator are discussed. The frequency response measurements show that the response speed is limited by the RC time constant of the device. This suggests that the speed can be further enhanced by decreasing the size and capacitance of the device     

High-efficiency electroabsorption in quaternary AlGaInAsquantum-well optical modulators

Quaternary AlGaInAs quantum-well optical modulators operating at 1.55 μm are introduced and demonstrated for the first time. An electron-to-heavy-hole exciton absorption peak shift of over 600 Å is observed for a bias voltage of 6 V. An extinction ratio of 19 dB and high-speed operation over 4 GHz is obtained for this optical modulator     

Effect of wall wettability condition on drift-flux parameters in lead–bismuth two-phase flow in circular and annular bubble columns

Lead–bismuth two-phase flow in a cylindrical vessel and annulus was experimentally investigated by varying the surface wettability of the vessel wall. The test section used in this study was a cylindrical stainless vessel with/without inner sleeve to change the hydraulic diameter. Volume-averaged void fraction was measured by varying the surface wettability of the test section, which was enhanced by using a soldering flux. Measured void fraction was compared with existing two-phase flow correlations and with one-dimensional theoretical simulations assuming one-dimensional drift-flux model. From experimental results, measured distribution parameters of the lead–bismuth two-phase flow are much larger than that of ordinary two-phase flow regardless of the surface wettability. In the present work, the one-dimensional analysis was carried out for the cylindrical vessel to reproduce the distribution parameter. From the simulation results, predicted value for the cylindrical vessel showed good agreement with experimental results. However, in annulus, the distribution parameters in annulus were underestimated by the present model. It was suggested that, in case of annulus, steeper void fraction profile might be formed near the inner surface for poor wettability condition.     

Structural studies of enzyme-based microfluidic biofuel cells

An enzyme-based glucose/O₂ biofuel cell was constructed within a microfluidic channel to study the influence of electrode configuration and fluidic channel height on cell performance. The cell was composed of a bilirubin oxidase (BOD)-adsorbed O₂ cathode and a glucose anode prepared by co-immobilization of glucose dehydrogenase (GDH), diaphorase (Dp) and VK₃-pendant poly-l-lysine. The consumption of O₂ at the upstream cathode protected the downstream anode from interfering O₂ molecules, and consequently improved the cell performance (maximum cell current) ca. 10% for the present cell. The cell performance was also affected by the channel height. The output current and power of a 0.1 mm-height cell was significantly less than those of a 1 mm-height cell because of the depletion of O₂, as determined by the shape of the E–I curve at the cathode. On the other hand, the volume density of current and power was several times higher for the narrower cell.