The Experts below are selected from a list of 80214 Experts worldwide ranked by ideXlab platform
Bapiraju Surampudi - One of the best experts on this subject based on the ideXlab platform.
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autonomous ground vehicle control system for high speed and Safe Operation
International Journal of Vehicle Autonomous Systems, 2009Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new Autonomous Ground Vehicles (AGVs) trajectory tracking control system towards Safe and high-speed Operations enabled by incorporating Vehicle Dynamics Control (VDC). The system consists of an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tyre dynamic models. Sliding Mode Control (SMC) is used to handle the system uncertainties. The performance of the control system was evaluated by using a high-fidelity (experimentally validated) full-vehicle Sport Utility Vehicle (SUV) model provided by CarSim®. Compared with the results of position-error-based AGV control, significant performance improvement was observed.
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autonomous ground vehicle control system for high speed and Safe Operation
American Control Conference, 2008Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new trajectory tracking control system for autonomous ground vehicles (AGV) toward Safe and high-speed Operation enabled by incorporating vehicle dynamics control (VDC) into the AGV. The control system consists of two levels: an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tire dynamic models. The separation between AGV trajectory tracking and low-level actuation allows the incorporation of the VDC into the AGV systems. Sliding mode control is utilized to handle the system uncertainties. The performance of the proposed control system is evaluated by using a high-fidelity (experimentally validated) full-vehicle sport utility vehicle (SUV) model (rear-drive and front-steer) provided by CarSimregon a race track. Compared with the results for typically-employed position error based AGV control, significant performance improvement is observed.
Annalisa Osvalder - One of the best experts on this subject based on the ideXlab platform.
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categories of measures to guide choice of human factors methods for nuclear power plant control room evaluation
Safety Science, 2018Co-Authors: Eva Simonsen, Annalisa OsvalderAbstract:Safe Operation is a central objective for nuclear power plants that must be supported by the entity managing the Operation, the control room system. Safe Operation is dependent on how technology is used, so it is important to take human factors issues into consideration. During design or modification of the control room system, its ability to support Safe Operation must be assessed to ensure that Safety-critical discrepancies are eliminated before implementation. Methods are a necessary tool in human factors evaluation, and there are many to choose from. One prerequisite for evaluation is knowing what to evaluate, and this knowledge determines which methods are most suitable. The purpose of this paper is to identify categories of measures that can guide the choice of evaluation methods for assessing nuclear power plant control room systems. Measures targeted by human factors evaluation methods were compared with aspects that contribute to Safe Operation and measures proposed and used by other researchers. The conclusion of this paper is that measures targeted by human factors evaluation methods can be grouped into six categories: system performance, task performance, teamwork, use of resources, user experience, and identification of design discrepancies. These six categories can guide the choice of human factors evaluation methods to assess socio-technical systems. Methods providing data from all six categories of measures are needed to fully assess a nuclear power plant control room system.
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aspects of the nuclear power plant control room system contributing to Safe Operation
Procedia Manufacturing, 2015Co-Authors: Eva Simonsen, Annalisa OsvalderAbstract:The performance of a nuclear power plant‟s Operational steering entity, the control room system, has a major impact on Operational Safety. The construction and modernization of nuclear power plants create a need to evaluate control room systems to assess if they fulfil their purpose to support Safe Operation. The aim of this study was to identify a foundation for evaluation measures, i.e. to find aspects of the control room system that contribute to Safe Operation from a human factors perspective. A number of professionals in roles influencing the Operation and/or design of Swedish nuclear power plants were interviewed: reactor operators, shift supervisors, instructors, human reliability analysis specialists, human factors specialists, and personnel from the Swedish Radiation Safety Authority. A number of aspects contributing to Safe Operation were identified and categorised in six overall themes: situations, functions, tasks, structural elements, and characteristics. Situations describe states of and/or events in the surrounding environment that the control room system must be able to handle. Functions are the abilities the control room system must have, and tasks are what operators or technical systems in the control room system must be able to perform. Structural elements are the entities that constitute the control room system, and the characteristics of the structural elements establish conditions for the design of artefacts as well as the behaviours and abilities of personnel. These aspects are examples of what is required for controlled performance of the control room system, a prerequisite for Safe Operation. Together the themes serve as a structure for defining evaluation measures. The themes can be considered variables or constants when deciding on control room system evaluation measures, a choice that must be made for each evaluation. User experience aspects contribute to Safe Operation, but the operators‟ well-being has a value in its own right and should be considered as an additional goal when designing and evaluating control rooms.
Junmin Wang - One of the best experts on this subject based on the ideXlab platform.
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autonomous ground vehicle control system for high speed and Safe Operation
International Journal of Vehicle Autonomous Systems, 2009Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new Autonomous Ground Vehicles (AGVs) trajectory tracking control system towards Safe and high-speed Operations enabled by incorporating Vehicle Dynamics Control (VDC). The system consists of an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tyre dynamic models. Sliding Mode Control (SMC) is used to handle the system uncertainties. The performance of the control system was evaluated by using a high-fidelity (experimentally validated) full-vehicle Sport Utility Vehicle (SUV) model provided by CarSim®. Compared with the results of position-error-based AGV control, significant performance improvement was observed.
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autonomous ground vehicle control system for high speed and Safe Operation
American Control Conference, 2008Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new trajectory tracking control system for autonomous ground vehicles (AGV) toward Safe and high-speed Operation enabled by incorporating vehicle dynamics control (VDC) into the AGV. The control system consists of two levels: an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tire dynamic models. The separation between AGV trajectory tracking and low-level actuation allows the incorporation of the VDC into the AGV systems. Sliding mode control is utilized to handle the system uncertainties. The performance of the proposed control system is evaluated by using a high-fidelity (experimentally validated) full-vehicle sport utility vehicle (SUV) model (rear-drive and front-steer) provided by CarSimregon a race track. Compared with the results for typically-employed position error based AGV control, significant performance improvement is observed.
Eva Simonsen - One of the best experts on this subject based on the ideXlab platform.
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categories of measures to guide choice of human factors methods for nuclear power plant control room evaluation
Safety Science, 2018Co-Authors: Eva Simonsen, Annalisa OsvalderAbstract:Safe Operation is a central objective for nuclear power plants that must be supported by the entity managing the Operation, the control room system. Safe Operation is dependent on how technology is used, so it is important to take human factors issues into consideration. During design or modification of the control room system, its ability to support Safe Operation must be assessed to ensure that Safety-critical discrepancies are eliminated before implementation. Methods are a necessary tool in human factors evaluation, and there are many to choose from. One prerequisite for evaluation is knowing what to evaluate, and this knowledge determines which methods are most suitable. The purpose of this paper is to identify categories of measures that can guide the choice of evaluation methods for assessing nuclear power plant control room systems. Measures targeted by human factors evaluation methods were compared with aspects that contribute to Safe Operation and measures proposed and used by other researchers. The conclusion of this paper is that measures targeted by human factors evaluation methods can be grouped into six categories: system performance, task performance, teamwork, use of resources, user experience, and identification of design discrepancies. These six categories can guide the choice of human factors evaluation methods to assess socio-technical systems. Methods providing data from all six categories of measures are needed to fully assess a nuclear power plant control room system.
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aspects of the nuclear power plant control room system contributing to Safe Operation
Procedia Manufacturing, 2015Co-Authors: Eva Simonsen, Annalisa OsvalderAbstract:The performance of a nuclear power plant‟s Operational steering entity, the control room system, has a major impact on Operational Safety. The construction and modernization of nuclear power plants create a need to evaluate control room systems to assess if they fulfil their purpose to support Safe Operation. The aim of this study was to identify a foundation for evaluation measures, i.e. to find aspects of the control room system that contribute to Safe Operation from a human factors perspective. A number of professionals in roles influencing the Operation and/or design of Swedish nuclear power plants were interviewed: reactor operators, shift supervisors, instructors, human reliability analysis specialists, human factors specialists, and personnel from the Swedish Radiation Safety Authority. A number of aspects contributing to Safe Operation were identified and categorised in six overall themes: situations, functions, tasks, structural elements, and characteristics. Situations describe states of and/or events in the surrounding environment that the control room system must be able to handle. Functions are the abilities the control room system must have, and tasks are what operators or technical systems in the control room system must be able to perform. Structural elements are the entities that constitute the control room system, and the characteristics of the structural elements establish conditions for the design of artefacts as well as the behaviours and abilities of personnel. These aspects are examples of what is required for controlled performance of the control room system, a prerequisite for Safe Operation. Together the themes serve as a structure for defining evaluation measures. The themes can be considered variables or constants when deciding on control room system evaluation measures, a choice that must be made for each evaluation. User experience aspects contribute to Safe Operation, but the operators‟ well-being has a value in its own right and should be considered as an additional goal when designing and evaluating control rooms.
Joe Steiber - One of the best experts on this subject based on the ideXlab platform.
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autonomous ground vehicle control system for high speed and Safe Operation
International Journal of Vehicle Autonomous Systems, 2009Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new Autonomous Ground Vehicles (AGVs) trajectory tracking control system towards Safe and high-speed Operations enabled by incorporating Vehicle Dynamics Control (VDC). The system consists of an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tyre dynamic models. Sliding Mode Control (SMC) is used to handle the system uncertainties. The performance of the control system was evaluated by using a high-fidelity (experimentally validated) full-vehicle Sport Utility Vehicle (SUV) model provided by CarSim®. Compared with the results of position-error-based AGV control, significant performance improvement was observed.
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autonomous ground vehicle control system for high speed and Safe Operation
American Control Conference, 2008Co-Authors: Junmin Wang, Joe Steiber, Bapiraju SurampudiAbstract:This paper describes a new trajectory tracking control system for autonomous ground vehicles (AGV) toward Safe and high-speed Operation enabled by incorporating vehicle dynamics control (VDC) into the AGV. The control system consists of two levels: an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tire dynamic models. The separation between AGV trajectory tracking and low-level actuation allows the incorporation of the VDC into the AGV systems. Sliding mode control is utilized to handle the system uncertainties. The performance of the proposed control system is evaluated by using a high-fidelity (experimentally validated) full-vehicle sport utility vehicle (SUV) model (rear-drive and front-steer) provided by CarSimregon a race track. Compared with the results for typically-employed position error based AGV control, significant performance improvement is observed.
