Development of real-time ARM-based control system for autonomous platform GenesisHrvoje Pučak
, 2021, master's thesis
Abstract: Against the backdrop of technological advancement, machine learning and artificial intelligence, autonomous vehicles are also developing rapidly. In order for an autonomous vehicle to function properly, it is essential that the main system is provided lots of information about the vehicle, such as speed, orientation or battery state. Likewise, the system must control some actuators, such as drive motors and steering system. The specific objective of this thesis is to create an ARM-based module that will be a part of the Genesis II autonomous vehicle platform. The module is intended to accurately measure vehicle speed, estimate orientation and location, monitor the batteries, control drive motors and steering. The PCB layout of the module was developed by using Altium Designer, while the firmware was written in C programming language and by utilizing RTOS. Measurements were also performed to determine the accuracy of speed measurement process and to determine the accuracy of orientation and location estimations.
Keywords: ARM, autonomous vehicle, RTOS, Jetson TX2, magnetoresistive sensor, Genesis
Published: 02.06.2021; Views: 128; Downloads: 22
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Obligatory insurance as a form of social engineeringThomas Allan Heller
, Silvia Rigoldi
, Jessica Burgos
, Mateusz Sasinowski
, 2019, original scientific article
Abstract: Insurance has been around for centuries. Traditionally, it has been purchased to protect the purchaser, namely, the insured. Over time, the insurance industry has developed an increasing number of products, so that at present one can purchase insurance to cover nearly every risk imaginable. The concept of mandatory or obligatory insurance is a fairly recent development. It traces its origins to the widespread use of the motor vehicle and also employment. Obligatory insurance is designed to protect certain classes of persons, such as workers and those who sustain injury and damage at the hands of others. In this article, the authors compare the current state of obligatory insurance in four democratic countries: the United States, Italy, Aruba and Poland. The aim of the article is to catalogue the similarities and differences in obligatory insurance in those four countries. The countries studied all have obligatory insurance designed to offer some degree of protection to workers injured on the job, and in the course and scope of their work, and to those involved in vehicular collisions. The other primary takeaway from our research is that, predictably, there is less obligatory insurance in the United States than in the other countries studied.
Keywords: obligatory insurance, obligatory motor vehicle insurance, obligatory health insurance, obligatory professional liability insurance, workers, compensation insurance, social insurance
Published: 15.01.2021; Views: 95; Downloads: 5
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Electrified powertrain configuratorJernej Kosi
, 2019, master's thesis
Abstract: This master’s thesis describes the development, use and simulation results of the Excel based electrified powertrain configurator tool. First, different electrified powertrains are introduced and divided based on the powertrain type. Within the scope of this master’s thesis, we focused on battery electric vehicles. A mathematical vehicle model was developed to describe different battery electric vehicle powertrain architectures. The mathematical vehicle model was implemented in Excel. The performance of the Excel tool was demonstrated by simulating various driving cycles. To evaluate the accuracy and usability of the tool, simulation results from Excel tool were compared with those from AVL Cruise.
Keywords: electrified powertrain, vehicle longitudinal dynamic, driving simulation, Excel, tool development
Published: 23.12.2019; Views: 513; Downloads: 0
Comparison of criteria for road safety barrier installation in some countries of the European unionLeonid Ljubotina
, 2019, master's thesis
Abstract: In the master thesis we will analyze regulations which define the criterion for vehicle restraint system installment in certain countries of the European Union. We will focus mostly on Slovenia, Italia and Croatia. Even though all of the three states are members of the European Union, have common borders and the “Mediterranean” TEN corridor passes through these countries, it is possible to conclude that the passive safety equipment on the road infrastructure in those states is not harmonized.
There are also big differences between the installation conditions of the traffic safety barriers and category selection of the safety barriers. Analyzing regulations regarding traffic safety barrier installation, we will try to define the differences in equipping roads with safety barriers, depending on road category, definition of black spot and the category of the safety barrier.
Keywords: traffic, traffic safety, vehicle restraint system, Mediterranean corridor, guidelines
Published: 26.09.2019; Views: 354; Downloads: 59
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Analysis of road traffic safety in Minna Niger State, NigeriaAdebayo Owolabi Oyetubo
, Oluwaseyi Joseph Afolabi
, Muhammed Etudaiye Ohida
, 2018, original scientific article
Abstract: Road traffic accident is one of the major causes of death in Nigeria. Road accidents have taken away so many lives in Nigeria today that hardly does any single disease match its mortality prowess. People have died prematurely and properties worth several millions of Naira have been lost as a result of road traffic accident. This paper gives a full discussion on road traffic safety issues and the methodology used were through the collection of data using questionnaire and accident information from the Nigeria Police Force, FRSC etc. The primary information for this research was sourced through the use of structured questionnaire, personal observation and interviews of road users in the study area. Secondary data emanated from published and unpublished sources such as government records, internet, journals, books etc. The findings were presented in descriptive and inferential form using frequencies, percentages, tables, mean and chi-square analytical techniques. The findings from the study revealed among many others; that Male involved more in road accident compare to female counterpart in Minna Niger State. Private car had more accident compare to Taxi, The number of accident in each zone does not depend on the population of that zone, etc.
Keywords: accident, traffic, fatalities, safety, vehicle
Published: 25.04.2018; Views: 477; Downloads: 247
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Evaluating costs of vehicle use in military logisticsLeon Grašič
, Tone Lerher
, Bojan Rosi
, 2016, original scientific article
Abstract: The article presents an analytical model of evaluating costs of vehicle use in military logistics adapted to specific construction demands and characteristics of military vehicles, profile (conditions and manner) of use and technological procedures of preventive and remedial maintenance of military vehicles. The proposed model of evaluation enables an equivalent comparison of total costs in advance of use of similar vehicles made by different manufacturers throughout the entire operating period (their service life). Initial (entry) and boundary conditions are clearly defined within the proposed model. The implementation of the analytical model ensures the evaluation and planning of maintenance costs and costs of direct vehicle use in military logistics already at the point of purchasing new vehicles, as well as evaluation of optimal operating period (service life) of vehicles, which leads to increased reliability and availability, and, consequently, to more effective use of military vehicles.
Keywords: analytical model, evaluating costs, vehicle use, military vehicles, effective use, military logistics
Published: 11.07.2017; Views: 780; Downloads: 294
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Designs and optimizations of active and semi-active non-linear suspension systems for a terrain vehicleShpetim Lajqi
, Stanislav Pehan
, 2012, original scientific article
Abstract: This paper introduces a design and optimization procedure for active and semi-active non-linear suspension systems regarding terrain vehicles. The objective of this approach is the ability to quickly analyze vehicles' suspension performances resulting from passive, active, or semi-active systems. The vehicle is represented by a mathematical model regarding a quarter of it, and equations for motion are derived and solved by using MATLAB/Simulink. In order to verify the reliability of the derived computer program, a comparison is made with one of the comprehensive commercial software packages. The decision parameters of the active damping device are optimized by using the Hooke-Jeeves method, which is based on non-linear programming. The usefulness of the treated active and semi-active systems on a concrete terrain vehicle is presented and compared with the presented passive systems by analyzing the vehicle's body acceleration, velocity, displacement, and vertical tire force, namely those aspects that directly influence driving comfort and safety.
Keywords: terrain vehicles, vehicle design, suspension system, semi-active
Published: 10.07.2015; Views: 653; Downloads: 102
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Design of independent suspension mechanism for a terrain vehicle with four wheels drive and four wheels steeeringShpetim Lajqi
, Stanislav Pehan
, Naser Lajqi
, Afrim Gjelaj
, Jože Pšeničnik
, Sašo Emin
, 2013, original scientific article
Abstract: In this paper a terrain vehicle with four wheels drive and four wheels steer intended to use for recreational purpose is presented. The main purpose is to design the suspension mechanism that fulfills requirements about stability, safety and maneuverability. Nowadays, as well as in the past, the development of the suspension systems of the vehicle has shown greater interest by designers and manufacturers of the vehicles. Research is focused to do a comprehensive study of different available independent suspension system (MacPherson, double wishbone, multi-link) and hence forth develop a methodology to design the suspension system for a terrain vehicle. Few chosen suspension systems are analyzed into the very details in order to find out the optimal design of it. During development process of the suspension system should be considered design constraints and requirements provided in the checklist. Afterwards the simulation results for kinematics analyses of suspension mechanism are performed in Working Model 2D and MATLAB environments. Achieved results are discussed in detail in order to find the best solution that will fulfill pretentious requirement from developed suspension system. All these investigations and reviews related to the suspension system will be exploited in order to obtain the optimal suspension geometry to equip a terrain vehicle, with such system.
Keywords: terrain vehicle, design, suspension mechanism, suspension geometry
Published: 10.07.2015; Views: 941; Downloads: 55
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Electric forklifts with vehicle to grid technology for efficient warehouse energy managementMatjaž Knez
, Péter Bajor
, 2012, original scientific article
Abstract: From an electric utility perspective, the sun is an intermittent electrical generator, tolerable in huge quantities, but increasingly difficult to manage. The nature of sun is unpredictable, and the Slovenian National Grid has no significant storage opportunities - if the V2G (vehicle-to-grid) solutions could be competitive in the near future it could prepare for special circumstances: the batteries of electrically driven forklifts could provide attractive storage functions for renewable electricity storage and for backupping the electrical national grid. This paper shows the study of the current research findings on the ŽVehicle to Gridʼ innovative concept and a proposed theoretical model of Forklift-to-Grid integration into energy management of a warehouse. Analyses of data, calculations of the economic value and of the profitability of the proposed business model yielded positive results that fully confirm the thesis that the integration of environmentally friendly renewable energy sources and new technologies into the logistic processes can improve logistics management while minimizing the negative impact of business on the environment.
Keywords: CO2 emmisions, forklift-to-grid, photovoltaic, vehicle-to-grid, warehouse energy management
Published: 10.07.2015; Views: 736; Downloads: 26
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SUSPENSION AND STEERING SYSTEM DEVELOPMENT OF A FOUR WHEEL DRIVE AND FOUR WHEEL STEERED TERRAIN VEHICLEShpetim Lajqi
, 2013, doctoral dissertation
Abstract: The key goal of doctoral thesis was to conceive, design, optimize, and analyze the suspension and steering systems for a four wheel drive and four wheel steered terrain vehicle. The common characteristic of a terrain vehicle is the greater motion of the wheels in order to protect the vehicle from rollover risk when running over rough terrain. Known suspension and steering systems have serious weaknesses. In order to ensure good driving comfort, efficient driving safety, and higher maneuverability, new principles of suspension and steering systems are proposed.
The proposed suspension system has been successfully derived from a classical double wishbone control arm. The control arms are long but both equal. Greater wheel motion has been ensured without reducing driving performance. In order to improve the comfort and safety an optimal active damping force has been determined by the active and semi-active systems. On the basis of comprehensive analysis, active system adequacy has been achieved. The proposed suspension design provides relatively small lateral wheel motion, zero camber angles, and it effectively absorbs the vibrations caused by ground configurations.
The goal of the developed steering system for this terrain vehicle was to design a new steering mechanism that would provide maneuverability at low speed and suitable stability at higher speed. This has been ensured by two modes of steering, all wheel steer and front wheel steer. The proposed steering mechanisms conform to Ackermann steering geometry for all modes and situations. A totally new steering concept has been developed. This effective design consists of special pairs of gears, known as’ non-circular gears’.
Keywords: Terrain vehicle, suspension system, steering system, four wheels steering
Published: 18.03.2013; Views: 3373; Downloads: 360
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