A control matching model predictive control approach to string stable vehicle platooning

A predictive control strategy for vehicle platoons is presented in this paper, accommodating both string stability and constraints (e.g., physical and safety) satisfaction. In the proposed design procedure, the two objectives are achieved by matching a model predictive controller (MPC), enforcing constraints satisfaction, with a linear controller designed to guarantee string stability. The proposed approach neatly combines the straightforward design of a string stable controller in the frequency domain, where a considerable number of approaches have been proposed in literature, with the capability of an MPC-based controller enforcing state and input constraints.A controller obtained with the proposed design procedure is validated both in simulations and in the field test, showing how string stability and constraints satisfaction can be simultaneously achieved with a single controller. The operating region that the MPC controller is string stable is characterized by the interior of feasible set of the MPC controller.     

Transferability of calibrated microsimulation model parameters for safety assessment using simulated conflicts

Several studies have investigated the relationship between field-measured conflicts and the conflicts obtained from micro-simulation models using the Surrogate Safety Assessment Model (SSAM). Results from recent studies have shown that while reasonable correlation between simulated and real traffic conflicts can be obtained especially after proper calibration, more work is still needed to confirm that simulated conflicts provide safety measures beyond what can be expected from exposure. As well, the results have emphasized that using micro-simulation model to evaluate safety without proper model calibration should be avoided. The calibration process adjusts relevant simulation parameters to maximize the correlation between field-measured and simulated conflicts.The main objective of this study is to investigate the transferability of calibrated parameters of the traffic simulation model (VISSIM) for safety analysis between different sites. The main purpose is to examine whether the calibrated parameters, when applied to other sites, give reasonable results in terms of the correlation between the field-measured and the simulated conflicts. Eighty-three hours of video data from two signalized intersections in Surrey, BC were used in this study. Automated video-based computer vision techniques were used to extract vehicle trajectories and identify field-measured rear-end conflicts. Calibrated VISSIM parameters obtained from the first intersection which maximized the correlation between simulated and field-observed conflicts were used to estimate traffic conflicts at the second intersection and to compare the results to parameters optimized specifically for the second intersection. The results show that the VISSIM parameters are generally transferable between the two locations as the transferred parameters provided better correlation between simulated and field-measured conflicts than using the default VISSIM parameters. Of the six VISSIM parameters identified as important for the safety analysis, two parameters were directly transferable, three parameters were transferable to some degree, and one parameter was not transferable.     

Modeling trade-offs among ecosystem services in agricultural production systems

Although agricultural ecosystems can provide humans with a wide set of benefits agricultural production system management is mainly driven by food production. As a consequence, a need to ensure food security globally has been accompanied by a significant decline in the state of ecosystems. In order to reduce negative trade-offs and identify potential synergies it is necessary to improve our understanding of the relationships between various ecosystem services (ES) as well as the impacts of farm management on ES provision. We present a spatially explicit application that captures and quantifies ES trade-offs in the crop systems of Llanada Alavesa in the Basque Country. Our analysis presents a quantitative assessment of selected ES including crop yield, water supply and quality, climate regulation and air quality. The study is conducted using semantic meta-modeling, a technique that enables flexible integration of models to overcome the service-by-service modeling approach applied traditionally in ES assessment.     

Iterative improvement of parameter estimation for model migration by means of sequential experiments

Determining an optimal design for estimation of parameters of a class of complex models expected to be built at a minimum cost is a growing trend in science and engineering. We adopt a scale-bias adjustment migration strategy for integrating base and new models based on similar nature underlying processes. Further, we propose a Bayesian sequential algorithm for obtaining the statistically most informative data about the migrated model for use in parameter estimation. The benefits of the proposed strategy over traditional approaches presented in recent reported work are demonstrated using Monte Carlo simulations.     

Model checking temporal knowledge and commitments in multi-agent systems using reduction

Though modeling and verifying Multi-Agent Systems (MASs) have long been under study, there are still challenges when many different aspects need to be considered simultaneously. In fact, various frameworks have been carried out for modeling and verifying MASs with respect to knowledge and social commitments independently. However, considering them under the same framework still needs further investigation, particularly from the verification perspective. In this article, we present a new technique for model checking the logic of knowledge and commitments (CTLKC⁺). The proposed technique is fully-automatic and reduction-based in which we transform the problem of model checking CTLKC⁺ into the problem of model checking an existing logic of action called ARCTL. Concretely, we construct a set of transformation rules to formally reduce the CTLKC⁺ model into an ARCTL model and CTLKC⁺ formulae into ARCTL formulae to get benefit from the extended version of NuSMV symbolic model checker of ARCTL. Compared to a recent approach that reduces the problem of model checking CTLKC⁺ to another logic of action called GCTL¹, our technique has better scalability and efficiency. We also analyze the complexity of the proposed model checking technique. The results of this analysis reveal that the complexity of our reduction-based procedure is PSPACE-complete for local concurrent programs with respect to the size of these programs and the length of the formula being checked. From the time perspective, we prove that the complexity of the proposed approach is P-complete with regard to the size of the model and length of the formula, which makes it efficient. Finally, we implement our model checking approach on top of extended NuSMV and report verification results for the verification of the NetBill protocol, taken from business domain, against some desirable properties. The obtained results show the effectiveness of our model checking approach when the system scales up.     

Calculating the medial axis of a CAD model by multi-CPU based parallel computation

Computational efficiency is still a great challenge for the generation of the Medial Axis (MA) for complicated CAD models. Current research mainly focuses on CPU-based MA generation methods. However, most of the methods emphasize using a single CPU. The highly-efficient methods based on parallel computing are still missing. In this study, a parallel method based on multi-CPU is proposed for the efficient MA generation of CAD models using distance dilation. By dividing the whole model into several parts for which MAs are calculated in parallel and then combined, computational efficiency can be greatly improved in theory and the computation time can be reduced nearly K times if K CPUs are used. Firstly, an adaptive division method is proposed to divide the voxelized model into blocks which have nearly the same number of voxels to balance the computational burden. Secondly, the local Euclidean Distance Transform (EDT) is calculated for each block based on the existing distance dilation method. Thirdly, the complete inter-dilation method is proposed to compute the influence between different blocks to get a global EDT for each block. Finally, each block generates a sub-MA separately and then all the generated MAs are combined to obtain the final MA. The last three processes can be efficiently conducted in parallel by using multiple CPUs. Several groups of experiments are conducted which demonstrate the good performance of the proposed methods in terms of efficiency.     

Experimental evaluation of MPC-based anti-surge and process control for electric driven centrifugal gas compressors

The present work concerns model predictive control (MPC) of centrifugal gas compressors and describes the development of an MPC application for the tasks of anti-surge and process control. More specifically, the MPC formulation focuses on the question of how the transient manipulation of driver torque can be used to improve the performance of anti-surge and process control. For the purpose of testing and validating the proposed control algorithm, an experimental compressor test rig is presented, which is designed to mimic a typical centrifugal compressor application in the oil and gas industry. Modeling and parameter identification of the experimental setup is followed by the realization of the MPC solution on an embedded system to comply with the stringent real-time requirements for anti-surge control. Testing is performed with experiments using suction and discharge side disturbances, which are created by rapid valve closures. For comparison the same tests are repeated with conventional control approaches. The test results indicate improvements in maintaining the distance to surge by up to 11%, while at the same time reducing the process control settling time by up to 50%.     

Receding horizon time-optimal control for a class of differentially flat systems

A closed-loop, time-optimal path-following control scheme is proposed for a class of constrained differentially flat systems. Within a receding horizon framework, a finite horizon optimisation problem is solved at each sample, using available state feedback and feedforward path information. Irrespective of horizon length, the proposed formulation guarantees exact path-following. Moreover, the requirements under which the proposed algorithm achieves minimum-time path-following are established. Simulations conducted with a rigid X–Y table model confirm the theoretical results.     

A three-dimensional heterogeneity analysis of electrochemical energy conversion in SOFC anodes using electron nanotomography and mathematical modeling

In this paper a fully three dimensional, multiphase, micro-scale solid oxide fuel cell anode transport phenomena numerical model is proposed and verified. The Butler-Volmer model was combined with empirical relations for conductivity and diffusivity - notably the Fuller-Shetler-Giddings equation, and the Fickian model for transport of gas reagents. FIB-SEM tomography of a commercial SOFC stack anode was performed and the resulting images were processed to acquire input data. A novel method for estimating local values of Triple Phase Boundary length density for use in a three-phase, three-dimensional numerical mesh was proposed. The model equations are solved using an in-house code and the results were verified by comparison to an analytical solution within the range of its applicability. A limited parametric study was performed to qualitatively assess simulation performance and impact of heterogeneity. Despite the high dependence of the SOFC anode performance on the geometry of its anisotropic, three-phase microstructure there are very few micro-scale numerical models simulating transport phenomena within these electrodes.     

Parameter characterization of HTPEMFC using numerical simulation and genetic algorithms

This paper develops a novel approach to the parameterisation of high temperature exchange membrane fuel cells (HTPEMFC) with limited and non-invasive measurements. The proposed method allows an effective identification of electrochemical parameters for three-dimensional fuel cell models by combining computational simulation tools and genetic algorithms. To avoid each evaluation undertaken by the optimisation method involving a complete computational simulation of the 3D model, a strategy has been designed that, thanks to an iterative process, makes it possible to decouple the fluid dynamic resolution from the electrochemistry one.Two electrochemical models have been incorporated into these tools to describe the behaviour of the catalyst layer, Butler-Volmer and spherical aggregate. For each one, a case study has been carried out to validate the results by comparing them with empirical data in the first model and with data generated by numerical simulation in the second. Results show that, from a set of measured operating conditions, it is possible to identify a unique set of electrochemical parameters that fits the 3D model to the target polarisation curve. The extension of this framework can be used to systematically estimate any model parameter in order to reduce the uncertainty in 3D simulation predictions.