Question: A MATLAB-based utility for electric vehicle design.

This document explores the significance of modeling and simulation for electric and hybrid vehicles, highlighting the necessity of these processes in their development. Various modeling methodologies are discussed, including the physics-based Resistive Companion Form and the Bond Graph technique, accompanied by practical examples of powertrain component and system modeling. The paper also showcases the modeling and simulation features of prominent software tools like Powertrain System Analysis Toolkit (PSAT), ADvanced VehIcle SimulatOR (ADVISOR), PSIM, and Virtual Test Bed, through illustrative case studies. Given the pivotal role of power electronics in hybrid vehicles, the paper touches upon the challenge of numerical oscillations that can arise during dynamic simulations involving power electronics, providing insights into this complex issue.

**Question**: A Direct Search Method to solve Economic Dispatch Problem with Valve-Point Effect

**Documents**: Direct Search Method for Economic Load Dispatch with Valve-Point Effect
The paper proposes a direct search method to solve the economic load dispatch (ELD) problem in power systems considering the valve-point effect. The valve-point effect is a nonlinear characteristic of the generating unit that causes a series of small steps in the fuel consumption curve. The proposed method utilizes a direct search algorithm that does not require the calculation of gradients, making it suitable for solving problems with complex nonlinear constraints. The effectiveness of the method is demonstrated through numerical examples on standard test systems. The results show that the proposed method can efficiently find the optimal solution for the ELD problem with valve-point effect, outperforming several other optimization techniques.

**Similar Documents**: A Novel Direct Search Technique for Economic Load Dispatch Incorporating Valve-Point Effect
In this study, a novel direct search technique is introduced for addressing the economic load dispatch (ELD) problem in power systems, with particular emphasis on the valve-point effect. The valve-point effect introduces a non-smooth, nonlinear characteristic into the fuel consumption curve of generating units, leading to a more complex optimization landscape. The proposed method employs a direct search algorithm, which is advantageous as it does not necessitate gradient computations, making it highly effective for problems with intricate nonlinear constraints. The superiority of the method is validated through a series of numerical experiments conducted on established test systems. The outcomes highlight the method's capability to efficiently locate the optimal solution for the ELD problem, even in the presence of the valve-point effect, and its competitive edge over various other optimization algorithms.

This paper overviews various electrical machine technologies, including brushless permanent magnet, induction, switched reluctance, and brushless reluctance machines, with particular emphasis on the concept of hybrid electrical machine topologies, and compares their relative merits, in terms of torque and power density, operating speed range, over load capability, and efficiency, for application in electric, hybrid and fuel cell vehicles. electric vehicles.

An accurate State-of-Charge (SoC) estimation plays a significant role in battery systems used in electric vehicles due to the arduous operation environments and the requirement of ensuring safe and reliable operations of batteries. Among the conventional methods to estimate SoC, the Coulomb counting method is widely used, but its accuracy is limited due to the accumulated error. Another commonly used method is model-based online iterative estimation with the Kalman filters, which improves the estimation accuracy in some extent. To improve the performance of Kalman filters in SoC estimation, the adaptive extended Kalman filter (AEKF), which employs the covariance matching approach, is applied in this paper. First, we built an implementation flowchart of the AEKF for a general system. Second, we built an online open-circuit voltage (OCV) estimation approach with the AEKF algorithm so that we can then get the SoC estimate by looking up the OCV-SoC table. Third, we proposed a robust online model-based SoC estimation approach with the AEKF algorithm. Finally, an evaluation on the SoC estimation approaches is performed by the experiment approach from the aspects of SoC estimation accuracy and robustness. The results indicate that the proposed online SoC estimation with the AEKF algorithm performs optimally, and for different error initial values, the maximum SoC estimation error is less than 2% with close-loop state estimation characteristics.

In this paper we describe JCLEC, a Java software system for the development of evolutionary computation applications. This system has been designed as a framework, applying design patterns to maximize its reusability and adaptability to new paradigms with a minimum of programming effort. JCLEC architecture comprises three main modules: the core contains all abstract type definitions and their implementation; experiments runner is a scripting environment to run algorithms in batch mode; finally, GenLab is a graphical user interface that allows users to configure an algorithm, to execute it interactively and to visualize the results obtained. The use of JCLEC system is illustrated though the analysis of one case study: the resolution of the 0/1 knapsack problem by means of evolutionary algorithms.

In this paper, resonant tank design procedure and practical design considerations are presented for a high performance LLC multi-resonant dc-dc converter in a two-stage smart battery charger for neighborhood electric vehicle applications. The multi-resonant converter has been analyzed and its performance characteristics are presented. It eliminates both low and high frequency current ripple on the battery, thus maximizing battery life without penalizing the volume of the charger. Simulation and experimental results are presented for a prototype unit converting 390 V from the input dc link to an output voltage range of 48 V to 72 V dc at 650 W. The prototype achieves a peak efficiency of 96%.

A 1D electrochemical, lumped thermal model is used to explore pulse power limitations and thermal behavior of a 6 Ah, 72 cell, 276 V nominal i-ion hybrid-electric vehicle (HEV) battery pack. Depleted/saturated active material Li surface concentrations in the negative/positive electrodes onsistently cause end of high-rate (∼25 C) pulse discharge at the 2.7 V cell−1 minimum limit, indicating solid-state diffusion is the limiting echanism. The 3.9 V cell−1 maximum limit, meant to protect the negative electrode from lithium deposition side reaction during charge, is overly onservative for high-rate (∼15 C) pulse charges initiated from states-of-charge (SOCs) less than 100%. Two-second maximum pulse charge rate rom the 50% SOC initial condition can be increased by as much as 50% without risk of lithium deposition. Controlled to minimum/maximum oltage limits, the pack meets partnership for next generation vehicles (PNGV) power assist mode pulse power goals (at operating temperatures 16 ◦C), but falls short of the available energy goal. In a vehicle simulation, the pack generates heat at a 320 W rate on a US06 driving cycle at 25 ◦C, with more heat generated at lower temperatures. ess aggressive FUDS and HWFET cycles generate 6–12 times less heat. Contact resistance ohmic heating dominates all other mechanisms, ollowed by electrolyte phase ohmic heating. Reaction and electronic phase ohmic heats are negligible. A convective heat transfer coefficient of = 10.1 W m−2 K−1 maintains cell temperature at or below the 52 ◦C PNGV operating limit under aggressive US06 driving. 2006 Elsevier B.V. All rights reserved.

Selection of the proper electric traction drive is an important step in design and performance optimization of electrified powertrains. Due to the use of high energy magnets, permanent magnet synchronous machines (PMSM) have been the primary choice in the electric traction motor market. However, manufacturers are very interested to find a permanent magnet-free alternative as a fallback option due to unstable cost of rare-earth metals and fault tolerance issues related to the constant permanent magnet excitation. In this paper, a new comprehensive review of electric machines (EMs) that includes various new switched reluctance machine topologies in addition to conventional EMs such as PMSM, induction machine, synchronous reluctance machine (SynRel), and PM-assisted SynRel is presented. This paper is based on performances such as power density, efficiency, torque ripple, vibration and noise, and fault tolerance. These systematic examinations prove that recently proposed magnetic configurations such as double-stator switched reluctance machine can be a reasonable substitute for permanent magnet machines in electric traction applications.

The lithium iron phosphate (LFP) cell chemistry is finding wide acceptance for energy storage on-board hybrid electric vehicles (HEVs) and electric vehicles (EVs), due to its high intrinsic safety, fast charging, and long cycle life. However, three main challenges need to be addressed for the accurate estimation of their state of charge (SOC) at runtime:  Long voltage relaxation time to reach its open circuit voltage (OCV) after a current pulse  Time-, temperatureand SOC-dependent hysteresis  Very flat OCV-SOC curve for most of the SOC range In view of these problems, traditional SOC estimation techniques such as coulomb counting with error correction using the SOC-OCV correlation curve are not suitable for this chemistry. This work addressed these challenges with a novel combination of the extended Kalman filter (EKF) algorithm, a two-RC-block equivalent circuit and the traditional coulomb counting method. The simplified implementation of the EKF algorithm offers a computationally efficient option for runtime SOC evaluation on-board vehicles. The SOC estimation was validated with experimental data of a current profile contaminated with pseudo-random noise and with an offset in the initial condition. The model rapidly converged to within 4% of the true SOC even with imposed errors of 40% to initial SOC, 24% to current measurement and 6% to voltage measurement. INTRODUCTION The LFP olivine has emerged as one of the favored cathode materials for lithium ion batteries, especially for use as a rechargeable energy storage device (RESS) on-board HEVs and EVs, thanks to its high intrinsic safety [1], capacity for fast charging, and long cycle life [2]. Recent research and development advancements in this cell technology, especially the commercial launch of high-power LFP cells, have led to these cells matching the performance of the latest supercapacitors over short time periods (up to 30 seconds). A metric of great importance for a rechargeable lithium battery pack is the accurate runtime evaluation of its SOC, which is defined as the percentage of the completely extractable charge capacity remaining in the battery. It is akin to the fuel gauge of a conventional vehicle. The SOC indicates the amount of electrical energy remaining in the battery pack that is available to do work. An accurate runtime estimate of the SOC is important for the battery application designers and the battery users. However, the charge capacity of a battery depends upon a number of factors, including average current, discharge time, voltage cut-off limit, electrolyte temperature, aging, and battery storage time [3]. Armed with the confidence that the battery SOC would be determined accurately, the designer is able to efficiently use available battery capacity and reduce over-engineering; enabling the use of smaller and lighter batteries. With an accurate indication of the battery SOC, the user ensures that the battery is not over-charged or under-discharged; and suffers less range anxiety. Overall, the battery lasts longer and provides better performance. An accurate SOC is also a very important input for the battery management system. Over the years, many techniques have been proposed for estimation of the battery SOC, and they generally depend upon the battery chemistry and the final application [4-9]. The most reliable test for establishing the SOC of a battery is to charge or discharge it completely, thus physically reaching 100% or 0% SOC. This test is often adopted for an EV or a PHEV that is charged completely every evening, and allows the onboard SOC estimation algorithm to gain valuable feedback to recalibrate itself. For an HEV, which is never charged from the grid, ampere-hour counting remains the most popular technique. This technique (also called the bookkeeping system or coulomb counting) uses discrete integration of measured current over time as a direct indicator of SOC. Since this integration includes errors in current measurement and battery losses, the result needs to be periodically corrected. The OCV vs. SOC correlation curve is often used to provide points for recalibration. Other techniques such as direct measurement of the cell physical properties, including impedance or internal resistance, are not practical for LFP cells during runtime. The coulomb counting technique with correction (after rest periods) using an OCV-SOC correlation curve is not practical for cells exhibiting hysteresis since the battery cell takes a long time to reach a steady-state OCV after a current pulse. The problem is aggravated for the LFP batteries that also have a very flat OCV-SOC correlation curve. Current SOCestimation models are unable to take care of all of these complications. A more robust algorithm is needed to estimate the instantaneous total charge available for work inside an LFP cell. The EKF technique, an adaptive estimator, has emerged as one of the practical solutions to enhance the accuracy of SOC determination, but is complicated and needs heavy computing resources on-board the vehicle [6-8]. This paper presents a novel, simplified implementation of the extended Kalman filter technique that overcomes the practical challenges involved in runtime evaluation of the SOC of commercial high-power LFP cells. Its formulation demands a lower level of resources compared to traditional EKF implementations. CHALLENGES IN RUNTIME ESTIMATION OF SOC OF LFP CELLS Voltage relaxation time Figure 1: One pulse of the pulse discharge test (sign convention from Figure 1). The OCV-SOC correlation curve is often used to correct the current integral errors during runtime. This is usually done when the vehicle has been at rest (with its battery neither charging nor discharging) for a sufficiently long duration (3060 minutes), and when its battery voltage at the terminals is assumed to approximate the value of the OCV. This assumption is valid for most battery chemistries. The authors attempted to validate this assumption for the LFP cells using pulse discharge and charge tests. Under this test, the cell was first completely charged, rested for two hours, and then subjected to ten discharge pulses at 1C rate interspersed by one-hour rest phases until the cell was completely discharged. Subsequently, the cell was charged using ten charge pulses at 1C rate interspersed by one-hour rest phases until the cell was completely charged. The cell was then allowed to rest for 13 hours. A schematic of one pulse of the discharge test is shown in Figure 1. Figure 2 presents the cell current and terminal voltage measurements during the complete pulse discharge and charge experimental test. Figure 2: Input current and voltage response for a pulse charge and discharge test (inset in figure 3). Figure 3: Inset from figure 2 to highlight the long voltage stabilization time. The authors’ primary interest in the experiment was to validate the assumption that the voltage of the LFP cell relaxes to approximately reach its OCV (as shown in Figure 1) after a long rest of one hour. However, it was observed that after the complete pulse discharge and charge test (Figure 2), when the SOC had reached 100%, the voltage did not relax to its OCV even after 13 hours (Figure 3). Voltage relaxation in 2 hours Voltage relaxation in 13 hours

This paper presents a mechatronic model of a novel slotless permanent magnet DC-motor with air gap winding. Besides technical advantages of this type of motor like high power density, high torque, very low weight and high efficiency, the motor design allows a very precise and efficient modelling with limited effort. A nonlinear model of magnetic field density can be extracted from a detailed nonlinear FE-model build in ANSYS/Maxwell, approximated by Fourier series and then used to model driving torque and back EMF, representing the coupling between electrical and mechanical subsystems. Analytically founded numerical models for driving torque and back EMF will be given. Real geometry of the phase winding is taken into account to improve model accuracy. The electrical subsystem will be described as coupled three phase system, whose parameters can also be extracted from the nonlinear FE-model with high accuracy. Together with a mechanical model of the rotor a MATLAB/Simulink model is build and extended by models of the hall sensors to detect rotor position and commutation logic to control the HEX-Bridge during operation. Finally, results of a complex simulation model, based on the parameters of the prototype of a wheel-hub motor, implementing the new motor design, are getting shown. Simulation results compare very well to measured data. Simulation time is very short due to the efficient approximation of magnetic flux density.

This research deals with the design and simulation of induction furnace power source (inverter) using MATLAB package. This source designed to lock on the resonant frequency of the load by using self-oscillating technique, also it has the capability to control the power supplied to the load using phase shift pulse width modulation (PSPWM) technique. These characteristics used to overcome the load nonlinear behavior during the brazing process and to achieve soft switching of the inverter elements. Also, the inverter has the capability to operate with or without load (workpiece). The implemented prototype operates at a frequency range (50-100)kHz and 10kW was successfully used for brazing two copper workpieces.

A brief design review of the Permanent Magnet Synchronous Motors has been presented. A procedure has been developed to predict the steady state and dynamic performances of a brushless permanent magnet synchronous motor. Finite element analysis has been combined with a lumped parameter circuit model in order to provide satisfactory engineering information. To this end, two coordinated steps are involved. One is to develop a unified lumped parameter circuit model for both steady state and dynamic analysis. The second step is to extract the individual lumped parameters from finite element solutions based on corresponding equivalent circuits, each with a pre-determined topology. The proposed techniques have been experimentally verified in a laboratory permanent magnet synchronous motor.


Question: A MATLAB-based utility for electric vehicle design.

This paper introduces V-Elph 2.01, a comprehensive simulation and modeling software developed at Texas A&M University, specifically tailored for electric vehicle (EV) and hybrid electric vehicle (HEV) design. V-Elph enables detailed analysis of various EV and HEV configurations and energy management strategies through a visual programming interface, allowing users to create hierarchical subsystems that function as embedded systems, facilitating their interchangeability. The software comprises meticulous models of four primary components: electric motors, internal combustion engines, batteries, and ancillary support systems. These components can be seamlessly integrated to simulate and model drive trains with all-electric, series hybrid, and parallel hybrid configurations. Written in the versatile Matlab/Simulink graphical simulation language, V-Elph ensures compatibility across a wide range of computer platforms. Additionally, the paper outlines the methodology for utilizing the V-Elph package in the design of vehicle drive trains. As a demonstration, an EV, a series HEV, a parallel HEV, and a conventional internal combustion engine (ICE)-driven drive train have been modeled using the software. The simulation outcomes, including fuel consumption, vehicle emissions, and system complexity, are presented and compared for each vehicle configuration, highlighting the insights gained from this comprehensive tool.

Wireless power transfer is a promising technology to fundamentally address energy problems in a wireless sensor network. To make such a technology work effectively, a vehicle is needed to carry a charger to travel inside the network. On the other hand, it has been well recognized that a mobile base station offers significant advantages over a fixed one. In this paper, we investigate an interesting problem of co-locating the mobile base station on the wireless charging vehicle. We study an optimization problem that jointly optimizes traveling path, stopping points, charging schedule, and flow routing. Our study is carried out in two steps. First, we study an idealized problem that assumes zero traveling time, and develop a provably near-optimal solution to this idealized problem. In the second step, we show how to develop a practical solution with non-zero traveling time and quantify the performance gap between this solution and the unknown optimal solution to the original problem.

This paper proposes a novel vernier permanent magnet (VPM) machine for hybrid electric vehicle (HEV) applications. The main features of the proposed machine are concentrated armature windings with short and non- overlapping end-winding, and the permanent magnets (PMs) are on both sides of rotor and stator. Unlike conventional motors, this machine operates with flux modulation principles, and the electromagnetic torque is produced by the interaction between the armature magneto motive force (MMF) and the exciting fields by stator and rotor PMs. In this paper, the electromagnetic performance is simulated by the finite element analysis (FEA). The results show that the torque density is about 33% higher than an existing interior permanent magnet (IPM) machines.

As an envisaged future of transportation, self-driving cars are being discussed from various perspectives, including social, economical, engineering, computer science, design, and ethics. On the one hand, self-driving cars present new engineering problems that are being gradually successfully solved. On the other hand, social and ethical problems are typically being presented in the form of an idealized unsolvable decision-making problem, the so-called trolley problem, which is grossly misleading. We argue that an applied engineering ethical approach for the development of new technology is what is needed; the approach should be applied, meaning that it should focus on the analysis of complex real-world engineering problems. Software plays a crucial role for the control of self-driving cars; therefore, software engineering solutions should seriously handle ethical and social considerations. In this paper we take a closer look at the regulative instruments, standards, design, and implementations of components, systems, and services and we present practical social and ethical challenges that have to be met, as well as novel expectations for software engineering.

This paper presents the design and implementation of an energy management system (EMS) with fuzzy control for a dc microgrid system. Modeling, analysis, and control of distributed power sources and energy storage devices with MATLAB/Simulink are proposed, and the integrated monitoring EMS is implemented with LabVIEW. To improve the life cycle of the battery, fuzzy control manages the desired state of charge. The RS-485/ZigBee network has been designed to control the operating mode and to monitor the values of all subsystems in the dc microgrid system.

This paper reviews many design issues and analysis techniques for the brushless permanent-magnet machine. It reviews the basic requirements for the use of both ac and dc machines and issues concerning the selection of pole number, winding layout, rotor topology, drive strategy, field weakening, and cooling. These are key issues in the design of a motor. Leading-edge design techniques are illustrated. This paper is aimed as a tutor for motor designers who may be unfamiliar with this particular type of machine.

Whenever an electrical machine is meant to be fed by a power converter, the design should be approached as a system optimization, more than a simple machine sizing. A great variety of electrical machines is available to accomplish this goal, and the task of comparing the different options can be very difficult. A general purpose sizing equation, easily adjustable for every topology, that could take into account different waveforms and machine characteristics, would be a very desirable tool. In this paper, a general approach is presented to develop and to discuss such an equation. Sample applications of the sizing and power density equations are utilized to compare the induction machine and the doubly salient permanent magnet (DSPM) machine.

As electric vehicles (EVs) take a greater share in the personal automobile market, their penetration will cause overload conditions at the distribution transformer. This paper focuses on the impacts of charging EVs on residential distribution networks including the transformer. The cost to accommodate a large-scale EV penetration by upgrading distribution transformers can be prohibitive. To alleviate the potential new load peaks with minimal infrastructure investments, a demand response strategy is proposed as a load shaping tool that allows improvement in distribution transformer usage. With the proposed strategy, consumers' preferences, load priorities, and privacy can be taken into account.

In this paper a review is made of the different analysis and design techniques that can be used in modern electrical machine design, and references them to the developing area of hybrid vehicle drives. These machines are characterized by high transient torque requirement, compactness and forced cooling. While rare-earth magnet machines are commonly used in these applications, there is an increasing interest in motors without magnets. An example is made of the published Toyota Prius permanent-magnet machine specification. An alternative induction motor design is addressed.

Traditional two-level high-frequency pulse width modulation (PWM) inverters for motor drives have several problems associated with their high frequency switching which produces common-mode voltage and high voltage change (dV/dt) rates to the motor windings. Multilevel inverters solve these problems because their devices can switch at a much lower frequency. Two different multilevel topologies are identified for use as a converter for electric drives, a cascade inverter with separate dc sources and a back-to-back diode clamped converter. The cascade inverter is a natural fit for large automotive allelectric drives because of the high VA ratings possible and because it uses several levels of dc voltage sources which would be available from batteries or fuel cells. The back-to-back diode clamped converter is ideal where a source of ac voltage is available such as a hybrid electric vehicle. Simulation and experimental results show the superiority of these two converters over PWM based drives.

A 1D electrochemical, lumped thermal model is used to explore pulse power limitations and thermal behavior of a 6 Ah, 72 cell, 276 V nominal i-ion hybrid-electric vehicle (HEV) battery pack. Depleted/saturated active material Li surface concentrations in the negative/positive electrodes onsistently cause end of high-rate (∼25 C) pulse discharge at the 2.7 V cell−1 minimum limit, indicating solid-state diffusion is the limiting echanism. The 3.9 V cell−1 maximum limit, meant to protect the negative electrode from lithium deposition side reaction during charge, is overly onservative for high-rate (∼15 C) pulse charges initiated from states-of-charge (SOCs) less than 100%. Two-second maximum pulse charge rate rom the 50% SOC initial condition can be increased by as much as 50% without risk of lithium deposition. Controlled to minimum/maximum oltage limits, the pack meets partnership for next generation vehicles (PNGV) power assist mode pulse power goals (at operating temperatures 16 ◦C), but falls short of the available energy goal. In a vehicle simulation, the pack generates heat at a 320 W rate on a US06 driving cycle at 25 ◦C, with more heat generated at lower temperatures. ess aggressive FUDS and HWFET cycles generate 6–12 times less heat. Contact resistance ohmic heating dominates all other mechanisms, ollowed by electrolyte phase ohmic heating. Reaction and electronic phase ohmic heats are negligible. A convective heat transfer coefficient of = 10.1 W m−2 K−1 maintains cell temperature at or below the 52 ◦C PNGV operating limit under aggressive US06 driving. 2006 Elsevier B.V. All rights reserved.


Question: A MATLAB-centered software for electric vehicle design.

This document outlines the development and application of a simulation tool specifically designed for the modeling of automotive power systems, encompassing conventional, electric, and hybrid electric vehicles (HEVs), using the Power Electronics Simulator (PSIM) software. PSIM, traditionally used for simulating power electronic converters and motor drives, has been extended in its capabilities to provide a comprehensive simulation environment for automotive systems. The significance of such a tool lies in its potential to accelerate product development, enhance design quality, and facilitate analysis without the need for expensive and time-intensive physical experiments. The paper details the enhancement of PSIM's simulation capabilities to encompass not only electrical systems but also mechanical, energy storage, and thermal systems integral to automotive operation. This expansion is achieved through the creation of module boxes that include internal combustion engines, fuel converters, transmissions, torque couplers, and batteries. Once these modules are integrated into the PSIM library, users can seamlessly model a range of vehicle types—conventional, electric, or hybrid—simply by selecting and positioning the relevant components on a schematic page. This approach not only streamlines the modeling process but also underscores the versatility and user-friendliness of PSIM as a simulation tool for automotive power systems. The validation of PSIM for automotive simulation is further substantiated through the demonstration of its capabilities in accurately modeling and analyzing the complex interactions within these systems.

This paper investigates the significance of thermal management energy consumption on the range of electric vehicles. It is necessary to combine consumption models of powertrain components such as the electric machine, power electronics and high voltage battery that take into account trip-based information containing a predicted speed profile and elevation data with a thermal management system that has the ability to incorporate predicted thermal losses of the powertrain. The thermal management system refers to the sum of all components within the refrigeration cycle of the vehicle as well as the associated control strategy. Based on the results of a real world drive study in an electric vehicle, it is demonstrated, that the range uncertainties introduced by the consumption of the thermal management are significant and should be considered when developing predictive range estimation algorithms. These uncertainties are further investigated by an energy flow based thermal system model. In order to minimize range uncertainties, a system architecture for the prediction of thermal management consumption is proposed.

This paper studies the technical design criteria for fast charge infrastructure, covering the mobility needs. The infrastructure supplements the residential and public slow charging infrastructure. Two models are designed. The first determines the charging demand, based on current mobility behavior in Flanders. The second model simulates a charge infrastructure that meets the resulting fast charge demand. The energy management is performed by a rule-based control algorithm, that directs the power flows between the fast chargers, the energy storage system, the grid connection, and the photovoltaic installation. There is a clear trade-off between the size of the energy storage system and the power rating of the grid connection. Finally, the simulations indicate that 99.7% of the vehicles visiting the fast charge infrastructure can start charging within 10 minutes with a configuration limited to 5 charging spots, instead of 9 spots when drivers are not willing to wait.

Simulation is frequently used for training in many application areas like aviation and economics, but not in software engineering. We present the SESAM project which focuses on software engineering education using simulation. In the SESAM project a simulator was developed. Using this simulator, a student can take the role of a software project manager. The simulated software project can be finished within a couple of hours because it is simulated in “quick-motion” mode.
In this paper, the background and goals of the SESAM project are presented. A new simulation model, the so called QA model, is introduced. The model behavior is demonstrated by investigating and comparing different strategies for software development. The results of experiments based on the QA model are reported. Finally, conclusions are drawn from the experiments and future work is outlined.

With the rapidly evolving technology of the smart grid and electric vehicles (EVs), the battery has emerged as the most prominent energy storage device, attracting a significant amount of attention. The very recent discussions about the performance of lithium-ion (Li-ion) batteries in the Boeing 787 have confirmed so far that, while battery technology is growing very quickly, developing cells with higher power and energy densities, it is equally important to improve the performance of the battery management system (BMS) to make the battery a safe, reliable, and cost-efficient solution. The specific characteristics and needs of the smart grid and EVs, such as deep charge/discharge protection and accurate state-of-charge (SOC) and state-of-health (SOH) estimation, intensify the need for a more efficient BMS. The BMS should contain accurate algorithms to measure and estimate the functional status of the battery and, at the same time, be equipped with state-of-the-art mechanisms to protect the battery from hazardous and inefficient operating conditions.

We report a simulation program for indoor visible light communication environment based on MATLAB and Simulink. The program considers the positions of the transmitters and the reflections at each wall. For visible light communication environment, the illumination light-emitting diode is used not only as a lighting device, but also as a communication device. Using the simulation program, the distributions of illuminance and root-mean-square delay spread are analyzed at bottom surface.

This paper discusses a model-based approach to software development. It argues that an approach using models as central development artifact needs to be added to the portfolio of software engineering techniques, to further increase efficiency and flexibility of the development as well as quality and reusability of the results. Two major and strongly related techniques are identified and discussed: Test case modeling and an evolutionary approach to model transformation.

This paper describes a real-time multi-vehicle motion planning (MVMP) algorithm for the emergency vehicle clearance task. To address the inherent limitations of human drivers in perception, communication, and cooperation, we require that the emergency vehicle and the surrounding normal vehicles are connected and automated vehicles (CAVs). The concerned MVMP task is to find cooperative trajectories such that the emergency vehicle can efficiently pass through the normal vehicles ahead. We use an optimal-control based formulation to describe the MVMP problem, which is centralized, straightforward, and complete. For the online solutions, the centralized MVMP formulation is converted into a multi-period and multi-stage version. Concretely, each period consists of two stages: the emergency vehicle and several normal CAVs ahead try to form a regularized platoon via acceleration or deceleration (stage 1); when a regularized platoon is formed, these vehicles act cooperatively to make way for the emergency vehicle until the emergency vehicle becomes the leader in this local platoon (stage 2). When one period finishes, the subsequent period begins immediately. This sequential process continues until the emergency vehicle finally passes through all the normal CAVs. The subproblem at stage 1 is extremely easy because nearly all the challenging nonlinearity gathers only in stage 2; typical solutions to the subproblem at stage 2 can be prepared offline, and then implemented online directly. Through this, our proposed MVMP algorithm avoids heavy online computations and thus runs in real time.

This paper proposes a novel vernier permanent magnet (VPM) machine for hybrid electric vehicle (HEV) applications. The main features of the proposed machine are concentrated armature windings with short and non- overlapping end-winding, and the permanent magnets (PMs) are on both sides of rotor and stator. Unlike conventional motors, this machine operates with flux modulation principles, and the electromagnetic torque is produced by the interaction between the armature magneto motive force (MMF) and the exciting fields by stator and rotor PMs. In this paper, the electromagnetic performance is simulated by the finite element analysis (FEA). The results show that the torque density is about 33% higher than an existing interior permanent magnet (IPM) machines.

This paper presents a mechatronic model of a novel slotless permanent magnet DC-motor with air gap winding. Besides technical advantages of this type of motor like high power density, high torque, very low weight and high efficiency, the motor design allows a very precise and efficient modelling with limited effort. A nonlinear model of magnetic field density can be extracted from a detailed nonlinear FE-model build in ANSYS/Maxwell, approximated by Fourier series and then used to model driving torque and back EMF, representing the coupling between electrical and mechanical subsystems. Analytically founded numerical models for driving torque and back EMF will be given. Real geometry of the phase winding is taken into account to improve model accuracy. The electrical subsystem will be described as coupled three phase system, whose parameters can also be extracted from the nonlinear FE-model with high accuracy. Together with a mechanical model of the rotor a MATLAB/Simulink model is build and extended by models of the hall sensors to detect rotor position and commutation logic to control the HEX-Bridge during operation. Finally, results of a complex simulation model, based on the parameters of the prototype of a wheel-hub motor, implementing the new motor design, are getting shown. Simulation results compare very well to measured data. Simulation time is very short due to the efficient approximation of magnetic flux density.

Regenerative braking is an effective approach for electric vehicles to extend their driving range. The control strategy of regenerative braking plays an important role in maintaining the vehicle's stability and recovering energy. In this paper, the main properties that have influence on brake energy regeneration are analyzed. Mathematical model of brake energy regenerating electric vehicles is established. By analyzing the charge and discharge characteristics of the battery and motor, a simple regenerative braking strategy is proposed. The strategy takes the braking torque required, the motor available braking torque, and the braking torque limit into account, and it can make the best use of the motor braking torque. Simulation results show higher energy regeneration compared to a parallel strategy when the proposed strategy is adopted.


Question: A MATLAB-based application for electric vehicle design.

Discovering the Essentials of Object-Oriented Modeling and Simulation with Modelica 2.1
Why endure the delay of days when acquiring or receiving the "Principles of Object-Oriented Modeling and Simulation with Modelica 2.1" PDF book you've ordered? Why opt for a slower method when you can access a more expedient one? Here, you can find the very book you've ordered, ready for immediate access. This renowned "Principles of Object-Oriented Modeling and Simulation with Modelica 2.1" PDF is widely sought after globally, with numerous individuals striving to obtain it. Why not seize the opportunity to be the first? Are you still perplexed about the procedure to follow? Let's clarify any confusion and guide you through the process of obtaining this valuable resource promptly and effortlessly. This book, well-regarded in its field, promises to equip you with the foundational knowledge needed for object-oriented modeling and simulation using Modelica 2.1, a powerful tool for engineers and researchers. By following the straightforward steps outlined here, you can start your journey into mastering object-oriented modeling and simulation without delay.

With the rapidly evolving technology of the smart grid and electric vehicles (EVs), the battery has emerged as the most prominent energy storage device, attracting a significant amount of attention. The very recent discussions about the performance of lithium-ion (Li-ion) batteries in the Boeing 787 have confirmed so far that, while battery technology is growing very quickly, developing cells with higher power and energy densities, it is equally important to improve the performance of the battery management system (BMS) to make the battery a safe, reliable, and cost-efficient solution. The specific characteristics and needs of the smart grid and EVs, such as deep charge/discharge protection and accurate state-of-charge (SOC) and state-of-health (SOH) estimation, intensify the need for a more efficient BMS. The BMS should contain accurate algorithms to measure and estimate the functional status of the battery and, at the same time, be equipped with state-of-the-art mechanisms to protect the battery from hazardous and inefficient operating conditions.

This paper introduces a large air-gap capacitive wireless power transfer (WPT) system for electric vehicle charging that achieves a power transfer density exceeding the state-of-the-art by more than a factor of four. This high power transfer density is achieved by operating at a high switching frequency (6.78 MHz), combined with an innovative approach to designing matching networks that enable effective power transfer at this high frequency. In this approach, the matching networks are designed such that the parasitic capacitances present in a vehicle charging environment are absorbed and utilized as part of the wireless power transfer mechanism. A new modeling approach is developed to simplify the complex network of parasitic capacitances into equivalent capacitances that are directly utilized as the matching network capacitors. A systematic procedure to accurately measure these equivalent capacitances is also presented. A prototype capacitive WPT system with 150 cm2 coupling plates, operating at 6.78 MHz and incorporating matching networks designed using the proposed approach, is built and tested. The prototype system transfers 589 W of power across a 12-cm air gap, achieving a power transfer density of 19.6 kW/m2.

This paper implements a Particle Swarm Optimization (PSO) speed controller for controlling the speed of DC motor. Also traditional Proportional (P), Proportional-Integral (PI) controller have been developed and simulated using MATLAB/SIMULINK. The simulation results indicate that the PI controller has big overshoot, sensitivity to controller gains. The optimization with particle swarm verified the reduction of oscillations as well as improve the steady state error, rise time and overshot in speed response. The simulation results confirmed the system is less sensitive to gain.

This paper deals with a synthesis of space-vector pulsewidth modulation (SVPWM) control methods applied for an H-bridge inverter feeding a three-phase permanent-magnet synchronous machine (PMSM) in electric-vehicle (EV) applications. First, a short survey of existing architectures of power converters, particularly those adapted to degraded operating modes, is presented. Standard SVPWM control methods are compared with three innovative methods using EV drive specifications in the normal operating mode. Then, a rigorous analysis of the margins left in the control strategy is presented for a semiconductor switch failure to fulfill degraded operating modes. Finally, both classic and innovative strategies are implemented in numerical simulation; their results are analyzed and discussed.

A 1D electrochemical, lumped thermal model is used to explore pulse power limitations and thermal behavior of a 6 Ah, 72 cell, 276 V nominal i-ion hybrid-electric vehicle (HEV) battery pack. Depleted/saturated active material Li surface concentrations in the negative/positive electrodes onsistently cause end of high-rate (∼25 C) pulse discharge at the 2.7 V cell−1 minimum limit, indicating solid-state diffusion is the limiting echanism. The 3.9 V cell−1 maximum limit, meant to protect the negative electrode from lithium deposition side reaction during charge, is overly onservative for high-rate (∼15 C) pulse charges initiated from states-of-charge (SOCs) less than 100%. Two-second maximum pulse charge rate rom the 50% SOC initial condition can be increased by as much as 50% without risk of lithium deposition. Controlled to minimum/maximum oltage limits, the pack meets partnership for next generation vehicles (PNGV) power assist mode pulse power goals (at operating temperatures 16 ◦C), but falls short of the available energy goal. In a vehicle simulation, the pack generates heat at a 320 W rate on a US06 driving cycle at 25 ◦C, with more heat generated at lower temperatures. ess aggressive FUDS and HWFET cycles generate 6–12 times less heat. Contact resistance ohmic heating dominates all other mechanisms, ollowed by electrolyte phase ohmic heating. Reaction and electronic phase ohmic heats are negligible. A convective heat transfer coefficient of = 10.1 W m−2 K−1 maintains cell temperature at or below the 52 ◦C PNGV operating limit under aggressive US06 driving. 2006 Elsevier B.V. All rights reserved.

We report a simulation program for indoor visible light communication environment based on MATLAB and Simulink. The program considers the positions of the transmitters and the reflections at each wall. For visible light communication environment, the illumination light-emitting diode is used not only as a lighting device, but also as a communication device. Using the simulation program, the distributions of illuminance and root-mean-square delay spread are analyzed at bottom surface.

This paper deals with the simulation and implementation of fixed capacitor thyristor controlled reactor system(SVC) . The TCR system is simulated using MATLAB and the simulation results are presented. SVC is basically a shunt connected static var generator whose output is adjusted to exchange capacitive or inductive current so as to maintain or control specific power variable. In this paper, simple circuit model of Thyristor Controlled Reactor is modeled and simulated using MATLAB. The simulation results are presented. The current drawn by the TCR varies with the variation in the firing angle. The simulation results are compared with the theoretical results.

This paper presents model predictive control of a vehicle in a varying road-traffic environment for ecological (eco) driving. The vehicle control input is derived by rigorous reasoning approach of model based anticipation of road, traffic and fuel consumption in a crowded road network regulated by traffic signals. Model predictive control with Continuation and generalized minimum residual method for optimization is used to calculate the sequence of control inputs aiming at long run fuel economy maintaining a safe driving. Performance of the proposed eco-driving system is evaluated through simulations in AIMSUN microscopic transport simulator. In spite of nonlinearity and discontinuous movement of other traffic and signals, the proposed system is robust enough to control the vehicle safely. The driving behavior with fuel saving aspects is graphically illustrated, compared and analyzed to signify the prospect of the proposed eco-driving of a vehicle.

Design and analysis of battery powered systems depend on effective battery model. Hardware-in-the-loop testing of Battery Management System (BMS) extensively uses battery models. Simulation of Hybrid Electric Vehicles highly rely on the battery models which provides actual characteristics. This paper proposes a performance enhanced battery model which can be included in electric circuit design and analysis. Combined electrical and thermal model replicates the real world performance of battery. Self-discharge is the characteristic of a battery which reduces the stored energy without external connection. Effect of self-discharge on State of Charge (SOC) of battery is considered in the paper. Internal resistance variation with SOC of a battery included in the model further enhances its exactness. Proposed model is validated for Sony US 18650 Li-ion battery in MATLAB Simulink.

Storage device in renewable energy applications plays an important role for efficient operation. For solar PV applications, storage device is an integral part during post sun shine hours to supply power to the load. For Solar Home System (SHS), approximately 60% of the total cost is due to storage battery and the battery needs replacement in every five years or so. If the performance of the battery can be enhanced, not only the cost of energy will come down appreciably but the reliability of the system will improve. Battery is needed in PV system to store the excess energy from the sun and release the power to the system again when it is needed. In other words, to enhance a system performance we have to increase the battery performance. In this paper, the parameters which play important role for optimum performance has been studied. The major two parameters that affect the battery performance are load current and temperature. It has been found that, when the discharge current is high, battery capacity reduces and the vice-versa. Again in case of temperature, when temperature increases more than the rated standard value of 25°C, capacity increases but the life time of the battery decreases. On the other hand, when the ambient temperature goes down, capacity of battery decreases but lifetime of the battery is increased. To analyse the effect of temperature and load current on battery performance, the standard equivalent circuit of battery is considered first and then the equivalent circuit is simulated using Simulink under MATLAB environment.


Question: A MATLAB-based utility for electric vehicle design.

This document introduces ADVISOR 2.1, the updated version of the National Renewable Energy Laboratory's advanced vehicle simulation tool. Initially created in 1994 to support the U.S. Department of Energy's hybrid propulsion system program, ADVISOR 2.1 is designed to be accurate, efficient, adaptable, shareable, and user-friendly. The paper delves into the model, highlighting its innovative blend of forward and backward simulation methodologies, and assesses its performance against its intended design objectives. ADVISOR 2.1 is capable of predicting acceleration times within 0.7% accuracy and energy consumption on the stringent US06 cycle within 0.6% for a series hybrid vehicle with a 20-second 0-100 km/h acceleration. The software simulates vehicle performance on standard driving cycles at a speed 2.6 to 8.0 times faster than a comparable forward-facing vehicle model. The widespread adoption of ADVISOR, with over 800 downloads from 45 countries, is largely attributed to its user-friendly graphical interface and online accessibility. Users from various parts of the world have contributed to the ADVISOR library by providing their own component data, enriching the simulation experience.

In relation to the query regarding a MATLAB-based tool for EV design, ADVISOR 2.1, while not a MATLAB-based tool, serves as a comprehensive simulation platform for electric and hybrid vehicle design. Its combination of forward and backward simulation approaches allows for detailed and accurate predictions of vehicle performance under various conditions, making it a valuable resource for electric vehicle (EV) designers and researchers. The tool's efficiency, accuracy, and global user base indicate its reliability and widespread use in the EV design community, potentially offering insights and methodologies applicable to MATLAB-based EV design tools.

This paper presents the design and first test on a simulator of a vehicle trajectory-planning algorithm that adapts to traffic on a lane-structured infrastructure such as highways. The proposed algorithm is designed to run on a fail-safe embedded environment with low computational power, such as an engine control unit, to be implementable in commercial vehicles of the near future. The target platform has a clock frequency of less than 150 MHz, 150 kB RAM of memory, and a 3-MB program memory. The trajectory planning is performed by a two-step algorithm. The first step defines the feasible maneuvers with respect to the environment, aiming at minimizing the risk of a collision. The output of this step is a target group of maneuvers in the longitudinal direction (accelerating or decelerating), in the lateral direction (changing lanes), and in the combination of both directions. The second step is a more detailed evaluation of several possible trajectories within these maneuvers. The trajectories are optimized to additional performance indicators such as travel time, traffic rules, consumption, and comfort. The output of this module is a trajectory in the vehicle frame that represents the recommended vehicle state (position, heading, speed, and acceleration) for the following seconds.

A co-simulation on virtual prototype of a type of spot welding robot has been accomplished by combining MATLAB/Simulink with RecurDyn. The control algorithm is executed under MATLAB to generate command forces, which are then exported to RecurDyn environment and applied to actuators of the virtual prototype at each cycle of time. Dynamic control on joint angles was accomplished through the co-simulation. Torques of each joint and the velocity of the clamp end were also acquired by co-simulation, which can give useful information for optimizing robot design.

In this paper, power electronic transformer (PET)-based railway traction systems are comprehensively reviewed according to the unique application features and requirements. By comparing PET and conventional line frequency transformer (LFT)-based systems, their pros and cons are summarized. By further reviewing all kinds of PET-based designs from the early concepts to the latest ones in the order of their publication dates, the developing trends are highlighted. By synthetically considering the requirements and the state of the art, the key challenges and opportunities are identified and discussed. It shows that although PET-based systems are still developing and far from mature, they are already superior to LFT-based systems in terms of system weight, efficiency, and functionalities especially for 15-kV/16.7-Hz applications. With the advancements on wide bandgap power devices, medium frequency transformers, and converters, PET systems will be even more promising and available for all types of railway tractions in the near future.

This article presents the impact of the performance of an FC and control strategies on the benefits of hybridization of fuel cell/supercapacitor hybrid sources for vehicle applications. Then, the storage device can complement the main source to produce the compatibility and performance characteristics needed in a load. The studies of two hybrid power systems for vehicle applications, FC/battery and FC/supercapacitor hybrid power sources, are explained. Experimental results with small-scale devices (a PEMFC of 500 W, 40 A, and 13 V; a lead-xicid battery module of 33 Ah and 48 V; and a supercapacitor module of 292 F, 500 A, and 30 V) in laboratory will illustrate the performance of the system during motor-drive cycles.

 This paper presents multilevel inverters as an application for all-electric vehicle (EV) and hybrid-electric vehicle (HEV) motor drives. Diode-clamped inverters and cascaded H-bridge inverters, (1) can generate near-sinusoidal voltages with only fundamental frequency switching; (2) have almost no electromagnetic interference (EMI) and commonmode voltage; and (3) make an EV more accessible/safer and open wiring possible for most of an EV’s power system. This paper explores the benefits and discusses control schemes of the cascade inverter for use as an EV motor drive or a parallel HEV drive and the diode-clamped inverter as a series HEV motor drive. Analytical, simulated, and experimental results show the superiority of these multilevel inverters for this new niche.

Wireless power transfer (WPT) is the preferred charging method for electric vehicles (EVs) powered by battery and supercapacitor. In this paper, a novel WPT system with constant current charging capability for sightseeing car with supercapacitor storage is designed. First, an optimized magnetic coupler using ferrite cores and magnetic shielding structure is proposed to ensure stable power transfer and high efficiency. Compared with the traditional planar shape ferrite core coupler, the proposed magnetic coupler requires lesser ferrite material without degrading the performance of the WPT system. Second, the model of supercapacitor is applied to the WPT system and the relationship between equivalent load resistances of supercapacitor and charging time is analyzed in detail. Then, a Buck converter with proportional integral (PI) controller is implemented on the secondary side to maintain constant charging current for the variable load. Finally, the proposed design is verified by experiments. Constant charging current of 31.5 A across transfer distance of 15 cm is achieved. The peak transfer power and system efficiency are 2.86 kW and 88.05%, respectively.

This paper introduces a large air-gap capacitive wireless power transfer (WPT) system for electric vehicle charging that achieves a power transfer density exceeding the state-of-the-art by more than a factor of four. This high power transfer density is achieved by operating at a high switching frequency (6.78 MHz), combined with an innovative approach to designing matching networks that enable effective power transfer at this high frequency. In this approach, the matching networks are designed such that the parasitic capacitances present in a vehicle charging environment are absorbed and utilized as part of the wireless power transfer mechanism. A new modeling approach is developed to simplify the complex network of parasitic capacitances into equivalent capacitances that are directly utilized as the matching network capacitors. A systematic procedure to accurately measure these equivalent capacitances is also presented. A prototype capacitive WPT system with 150 cm2 coupling plates, operating at 6.78 MHz and incorporating matching networks designed using the proposed approach, is built and tested. The prototype system transfers 589 W of power across a 12-cm air gap, achieving a power transfer density of 19.6 kW/m2.

AC/DC converter systems generally have two stages: an input power factor correction (PFC) boost ac/dc stage that converts input ac voltage to an intermediate dc voltage while reducing the input current harmonics injected to the grid, followed by a dc/dc converter that steps up or down the intermediate dc-bus voltage as required by the output load and provides high-frequency galvanic isolation. Since a low-frequency ripple (second harmonic of the input ac line frequency) exists in the output voltage of the PFC ac/dc boost converter due to the power ripple, the voltage loop in the conventional control system must have a very low bandwidth in order to avoid distortions in the input current waveform. This results in the conventional PFC controller having a slow dynamic response against load variations with adverse overshoots and undershoots. This paper presents a new control approach that is based on a novel discrete energy function minimization control law that allows the front-end ac/dc boost PFC converter to operate with faster dynamic response than the conventional controllers and simultaneously maintain near unity input power factor. Experimental results from a 3-kW ac/dc converter built for charging traction battery of a pure electric vehicle are presented in this paper to validate the proposed control method and its superiority over conventional controllers.

This paper studies the estimation of the frictional torque of the synchromesh during the gear shifting operation in an electric vehicle equipped with a clutchless automated manual transmission (AMT). The clutchless drivetrain of the electric vehicle is discussed and the dynamical model of the powertrain from the electric traction motor to the synchromesh system of a two-speed AMT is developed. In order to estimate the frictional torque of the synchromesh, which is indeed an unknown input to the dynamical system, it is assumed to be generated by a fictitious autonomous system. Thereafter, the augmented state- space representation of the actual and fictitious state variables, which forms the basis for the observer design, is provided and the observability of this augmented system is discussed. A deterministic Luenberger observer and a stochastic Kalman-Bucy filter are designed in order to estimate the frictional torque of the synchromesh. The estimation is based on the measuring angular velocities of the electric motor and synchro ring together with the known electromagnetic torque of the traction motor. The performance of the observers is assessed experimentally by means of a test rig. The results demonstrate the satisfactory performance of the stochastic observer when the system encounters process and measurement noise which are likely to happen in practice.

In this paper we describe JCLEC, a Java software system for the development of evolutionary computation applications. This system has been designed as a framework, applying design patterns to maximize its reusability and adaptability to new paradigms with a minimum of programming effort. JCLEC architecture comprises three main modules: the core contains all abstract type definitions and their implementation; experiments runner is a scripting environment to run algorithms in batch mode; finally, GenLab is a graphical user interface that allows users to configure an algorithm, to execute it interactively and to visualize the results obtained. The use of JCLEC system is illustrated though the analysis of one case study: the resolution of the 0/1 knapsack problem by means of evolutionary algorithms.


Question: Integration of sensor data for semantic segmentation in urban environments.

This document introduces SuperParsing, a nonparametric image parsing method that efficiently labels superpixels, derived from bottom-up segmentation, with their respective categories. The proposed method is distinguished by its simplicity and effectiveness, requiring no training and capable of scaling to extensive datasets featuring thousands of images and hundreds of labels. The process involves scene-level matching using global image descriptors, followed by superpixel-level matching with local features, and culminates in MRF optimization for context integration. The MRF framework enables simultaneous semantic and geometric class labeling for image regions. SuperParsing outperforms the leading nonparametric method based on SIFT Flow on a dataset of 2,688 images with 33 labels. Moreover, it delivers per-pixel rates on a larger dataset comprising 15,150 images and 170 labels. Notably, this is the first comprehensive evaluation of image parsing on such a large-scale dataset, setting a new benchmark for the field.

**Question**: Multi-modal Semantic Segmentation for Urban Scenes using Superpixels

**Documents**: Integrated Semantic Parsing with Superpixels for Urban Scenes
In this paper, we propose an integrated semantic parsing method for urban scenes that utilizes superpixels for enhanced efficiency and accuracy. Our approach is designed to handle the complexity and variability of urban environments by employing a nonparametric strategy that does not require extensive training. The method involves scene-level matching using global descriptors, superpixel-level matching with local features, and Markov Random Field (MRF) optimization for context integration. This integrated system is capable of simultaneously labeling image regions with semantic and geometric classes, such as tree, building, car, sky, vertical, and ground. Our method outperforms existing nonparametric approaches on a dataset of 2,688 images with 33 labels, and we also report per-pixel rates on a larger dataset of 15,150 images with 170 labels. To our knowledge, this is the first detailed evaluation of integrated semantic parsing on a dataset of this magnitude, establishing a new benchmark for the problem.

**Similar Documents**: This paper introduces an innovative method for integrated semantic parsing in urban scenes that leverages superpixels for improved efficiency and precision. The proposed technique is specifically tailored to address the intricate and diverse nature of urban environments through a nonparametric approach that eschews the need for extensive training. The process includes scene-level matching utilizing global descriptors, superpixel-level matching with local features, and MRF optimization for context incorporation. This integrated system is

The W3C Semantic Sensor Network Incubator group (the SSN-XG) produced an OWL 2 ontology to describe sensors and observations — the SSN ontology, available at http://purl.oclc.org/NET/ssnx/ssn. The SSN ontology can describe sensors in terms of capabilities, measurement processes, observations and deployments. This article describes the SSN ontology. It further gives an example and describes the use of the ontology in recent research projects.

In this paper we present a perception system for agriculture robotics that enables an unmanned ground vehicle (UGV) equipped with a multi spectral camera to automatically perform the crop/weed detection and classification tasks in real-time. Our approach exploits a pipeline that includes two different convolutional neural networks (CNNs) applied to the input RGB+near infra-red (NIR) images. A lightweight CNN is used to perform a fast and robust, pixelwise, binary image segmentation, in order to extract the pixels that represent projections of 3D points that belong to green vegetation. A deeper CNN is then used to classify the extracted pixels between the crop and weed classes. A further important contribution of this work is a novel unsupervised dataset summarization algorithm that automatically selects from a large dataset the most informative subsets that better describe the original one. This enables to streamline and speed-up the manual dataset labeling process, otherwise extremely time consuming, while preserving good classification performances. Experiments performed on different datasets taken from a real farm robot confirm the effectiveness of our approach.

The ability to automatically monitor agricultural fields is an important capability in precision farming, enabling steps towards more sustainable agriculture. Precise, high-resolution monitoring is a key prerequisite for targeted intervention and the selective application of agro-chemicals. In this paper, we present a novel weed segmentation and mapping framework that processes multispectral images obtained from an unmanned aerial vehicle (UAV) using a deep neural network (DNN). Most studies on crop/weed semantic segmentation only consider single images for processing and classification. Images taken by UAVs often cover only a few hundred square meters with either color only or color and near-infrared (NIR) channels. Although a map can be generated by processing single segmented images incrementally, this requires additional complex information fusion techniques which struggle to handle high fidelity maps due to their computational costs and problems in ensuring global consistency. Moreover, computing a single large and accurate vegetation map (e.g., crop/weed) using a DNN is non-trivial due to difficulties arising from: (1) limited ground sample distances (GSDs) in high-altitude datasets, (2) sacrificed resolution resulting from downsampling high-fidelity images, and (3) multispectral image alignment. To address these issues, we adopt a stand sliding window approach that operates on only small portions of multispectral orthomosaic maps (tiles), which are channel-wise aligned and calibrated radiometrically across the entire map. We define the tile size to be the same as that of the DNN input to avoid resolution loss. Compared to our baseline model (i.e., SegNet with 3 channel RGB inputs) yielding an area under the curve (AUC) of [background=0.607, crop=0.681, weed=0.576], our proposed model with 9 input channels achieves [0.839, 0.863, 0.782]. Additionally, we provide an extensive analysis of 20 trained models, both qualitatively and quantitatively, in order to evaluate the effects of varying input channels and tunable network hyperparameters. Furthermore, we release a large sugar beet/weed aerial dataset with expertly guided annotations for further research in the fields of remote sensing, precision agriculture, and agricultural robotics.

We propose a new method for the localization of a Micro Aerial Vehicle (MAV) with respect to a ground robot. We solve the problem of registering the 3D maps computed by the robots using different sensors: a dense 3D reconstruction from the MAV monocular camera is aligned with the map computed from the depth sensor on the ground robot. Once aligned, the dense reconstruction from the MAV is used to augment the map computed by the ground robot, by extending it with the information conveyed by the aerial views. The overall approach is novel, as it builds on recent developments in live dense reconstruction from moving cameras to address the problem of air-ground localization. The core of our contribution is constituted by a novel algorithm integrating dense reconstructions from monocular views, Monte Carlo localization, and an iterative pose refinement. In spite of the radically different vantage points from which the maps are acquired, the proposed method achieves high accuracy whereas appearance-based, state-of-the-art approaches fail. Experimental validation in indoor and outdoor scenarios reported an accuracy in position estimation of 0.08 meters and real time performance. This demonstrates that our new approach effectively overcomes the limitations imposed by the difference in sensors and vantage points that negatively affect previous techniques relying on matching visual features.

This paper presents vehicle control system for automatic valet parking with infrastructure sensors. First, we describe the automatic valet parking service system. In the service, vehicle moves autonomously based on sensing data generated by infrastructure sensors. Second, we implement vehicle control system for automatic valet parking. We design hardware and software components focusing on minimizing the add-on devices and maximizing data integration. Finally, we do a feasibility test for verification of the system.

Vehicle localization and autonomous navigation consist of precisely positioning a vehicle on road by the use of different kinds of sensors. This paper presents a vehicle localization method by integrating a stereoscopic system, a laser range finder (LRF) and a global localization sensor GPS. For more accurate LRF-based vehicle motion estimation, an outlier-rejection invariant closest point method (ICP) is proposed to reduce the matching ambiguities of scan alignment. The fusion approach starts by a sensor selection step that is applied to validate the coherence of the observations from different sensors. Then the information provided by the validated sensors is fused with an unscented information filter. To demonstrate its performance, the proposed multisensor localization method is tested with real data and evaluated by RTK-GPS data as ground truth. The fusion approach also facilitates the incorporation of more sensors if needed.

Vehicles of higher automation levels require the creation of situation awareness. One important aspect of this situation awareness is an understanding of the current risk of a driving situation. In this work, we present a novel approach for the dynamic risk assessment of driving situations based on images of a front stereo camera using deep learning. To this end, we trained a deep neural network with recorded monocular images, disparity maps and a risk metric for diverse traffic scenes. Our approach can be used to create the aforementioned situation awareness of vehicles of higher automation levels and can serve as a heterogeneous channel to systems based on radar or lidar sensors that are used traditionally for the calculation of risk metrics.

This paper describes the vehicle guidance system of an autonomous vehicle. This system is part of the control structure of the vehicle and consists of a path generator, a motion planning algorithm and a sensor fusion module. A stereo vision sensor and a DGPS sensor are used as position sensors. The trajectory for the vehicle motion is generated in a rst step by using only information from a digital map. Object-detecting sensors such as the stereo vision sensor, three laserscanner and a radar sensor observe the vehicle environment and report detected objects to the sensor fusion module. This information is used to dynamically update the planned vehicle trajectory to the nal vehicle motion.

The advanced sensing and imaging capability of today's sensor networks enables real time monitoring in a large area. In order to provide continuous monitoring and prompt situational awareness, an abstract-level autonomous information processing framework is developed that is able to detect various categories of abnormal traffic events with unsupervised learning. The framework is based on cogent confabulation model, which performs statistical inference in a manner inspired by human neocortex system. It enables detection and recognition of abnormal target vehicles within the context of surrounding traffic activities and previous events using likelihood-ratio test. A neuromorphic architecture is proposed which accelerates the computation for real-time detection by leveraging memristor crossbar arrays.

Detection of traversable road regions, positive and negative obstacles, and water hazards is a fundamental task for autonomous driving vehicles, especially in off-road environment. This paper proposes an efficient method, called Lidar-histogram. It can be used to integrate the detection of traversable road regions, obstacles and water hazards into one single framework. The weak assumption of the Lidar-histogram is that a decent-sized area in front of the vehicle is flat. The Lidar-histogram is derived from an efficient organized map of Lidar point cloud, called Lidar-imagery, to index, describe and store Lidar data. The organized point-cloud map can be easily obtained by indexing the original unordered 3D point cloud to a Lidar-specific 2D coordinate system. In the Lidar-histogram representation, the 3D traversable road plane in front of vehicle can be projected as a straight line segment, and the positive and negative obstacles are projected above and below the line segment, respectively. In this way, the problem of detecting traversable road and obstacles is converted into a simple linear classification task in 2D space. Experiments have been conducted in different kinds of off-road and urban scenes, and we have obtained very promising results.


Question: Fusion of sensor data for the semantic segmentation of urban landscapes.

Introducing Multiscale Combinatorial Grouping (MCG): A Comprehensive Framework for Image Segmentation and Object Candidate Generation
In this paper, we present a novel framework for bottom-up hierarchical image segmentation and the generation of object candidates for recognition, termed Multiscale Combinatorial Grouping (MCG). Our approach is designed to streamline the process of segmenting images and identifying potential objects by integrating multiscale information. To achieve this, we first introduce a rapid normalized cuts algorithm to expedite the segmentation process. Subsequently, we develop a high-performance hierarchical segmenter that leverages multiscale data to enhance the accuracy and efficiency of the segmentation. A key component of our methodology is a grouping strategy that consolidates the multiscale regions into precise object candidates through an optimized exploration of their combinatorial space. The effectiveness of MCG is substantiated through extensive experimentation on two benchmark datasets: the Berkeley Segmentation Dataset and Benchmark (BSDS500) and the PASCAL 2012 segmentation dataset. Our results demonstrate that MCG excels in producing state-of-the-art contours, hierarchical regions, and object candidates, thereby establishing a new standard in image segmentation and object recognition tasks.

In this work we report about our efforts to equip service robots with the capability to acquire 3D semantic maps. The robot autonomously explores indoor environments through the calculation of next best view poses, from which it assembles point clouds containing spatial and registered visual information. We apply various segmentation methods in order to generate initial hypotheses for furniture drawers and doors. The acquisition of the final semantic map makes use of the robot's proprioceptive capabilities and is carried out through the robot's interaction with the environment. We evaluated the proposed integrated approach in the real kitchen in our laboratory by measuring the quality of the generated map in terms of the map's applicability for the task at hand (e.g. resolving counter candidates by our knowledge processing system).

We propose a general framework for aligning continuous (oblique) video onto 3D sensor data. We align a point cloud computed from the video onto the point cloud directly obtained from a 3D sensor. This is in contrast to existing techniques where the 2D images are aligned to a 3D model derived from the 3D sensor data. Using point clouds enables the alignment for scenes full of objects that are difficult to model; for example, trees. To compute 3D point clouds from video, motion stereo is used along with a state-of-the-art algorithm for camera pose estimation. Our experiments with real data demonstrate the advantages of the proposed registration algorithm for texturing models in large-scale semi-urban environments. The capability to align video before a 3D model is built from the 3D sensor data offers new practical opportunities for 3D modeling. We introduce a novel modeling-through-registration approach that fuses 3D information from both the 3D sensor and the video. Initial experiments with real data illustrate the potential of the proposed approach.

We present a novel method for accurate and efficient upsampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through structured edge detection and semantic scene labeling for guidance. Both cues are combined within a geodesic distance measure that allows for boundary-preserving depth interpolation while utilizing local context. We model the observed scene structure by locally planar elements and formulate the upsampling task as a global energy minimization problem. Our method determines globally consistent solutions and preserves fine details and sharp depth boundaries. In our experiments on several public datasets at different levels of application, we demonstrate superior performance of our approach over the state-of-the-art, even for very sparse measurements.

In this paper we describe a new technique for the creation of featurebased stochastic maps using standard Polaroid sonar sensors. The fundamental contributions of our proposal are: (1) a perceptual grouping process that permits the robust identification and localization of environmental features, such as straight segments and corners, from the sparse and noisy sonar data; (2) a map joining technique that allows the system to build a sequence of independent limited-size stochastic maps and join them in a globally consistent way; (3) a robust mechanism to determine which features in a stochastic map correspond to the same environment feature, allowing the system to update the stochastic map accordingly, and perform tasks such as revisiting and loop closing. We demonstrate the practicality of this approach by building a geometric map of a medium size, real indoor environment, with several people moving around the robot. Maps built from laser data for the same experiment are provided for comparison. KEY WORDS—map building, local maps, data association, sonar sensors, Hough transform

Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany †Dept. Sensor Data and Information Fusion, Fraunhofer FKIE, Wachtberg, Germany ‡Data Fusion Algorithms & Software, EADS Deutschland GmbH, Ulm, Germany marcus.baum@kit.edu, {michael.feldmann |wolfgang.koch}@fkie.fraunhofer.de dietrich.fraenken@eads.com, uwe.hanebeck@ieee.org

Adversarial training has been shown to produce state of the art results for generative image modeling. In this paper we propose an adversarial training approach to train semantic segmentation models. We train a convolutional semantic segmentation network along with an adversarial network that discriminates segmentation maps coming either from the ground truth or from the segmentation network. The motivation for our approach is that it can detect and correct higher-order inconsistencies between ground truth segmentation maps and the ones produced by the segmentation net. Our experiments show that our adversarial training approach leads to improved accuracy on the Stanford Background and PASCAL VOC 2012 datasets.

We present an interactive system for synthesizing urban layouts by example. Our method simultaneously performs both a structure-based synthesis and an image-based synthesis to generate a complete urban layout with a plausible street network and with aerial-view imagery. Our approach uses the structure and image data of real-world urban areas and a synthesis algorithm to provide several high-level operations to easily and interactively generate complex layouts by example. The user can create new urban layouts by a sequence of operations such as join, expand, and blend without being concerned about low-level structural details. Further, the ability to blend example urban layout fragments provides a powerful way to generate new synthetic content. We demonstrate our system by creating urban layouts using example fragments from several real-world cities, each ranging from hundreds to thousands of city blocks and parcels.

We present a mobile vision system for multi-person tracking in busy environments. Specifically, the system integrates continuous visual odometry computation with tracking-by-detection in order to track pedestrians in spite of frequent occlusions and egomotion of the camera rig. To achieve reliable performance under real-world conditions, it has long been advocated to extract and combine as much visual information as possible. We propose a way to closely integrate the vision modules for visual odometry, pedestrian detection, depth estimation, and tracking. The integration naturally leads to several cognitive feedback loops between the modules. Among others, we propose a novel feedback connection from the object detector to visual odometry which utilizes the semantic knowledge of detection to stabilize localization. Feedback loops always carry the danger that erroneous feedback from one module is amplified and causes the entire system to become instable. We therefore incorporate automatic failure detection and recovery, allowing the system to continue when a module becomes unreliable. The approach is experimentally evaluated on several long and difficult video sequences from busy inner-city locations. Our results show that the proposed integration makes it possible to deliver stable tracking performance in scenes of previously infeasible complexity.

For autonomous parking applications to become possible, knowledge about the parking environment is required. Therefore, a real-time algorithm for detecting parked vehicles from radar data is presented. These data are first accumulated in an occupancy grid from which objects are detected by applying techniques borrowed from the computer vision field. Two random forest classifiers are trained to recognize two categories of objects: parallel-parked vehicles and cross-parked vehicles. Performances of the classifiers are evaluated as well as the capacity of the complete system to detect parked vehicles in real world scenarios.

This paper surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured and unstructured environments. For indoor robots in structured environments, we have dealt separately with the cases of geometrical and topological models of space. For unstructured environments, we have discussed the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment.