In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, ...

The aim of this paper is twofold: first to review an important area of research in fluid dynamics: that of trapped vortices, and secondly, to highlight the opportunities/challenges of the trapped vortex concept when applied to ground vehicles. It is shown that trapped vortices are an effective technology for the reduction of drag on aerodynamic vehicles. There is, however, a formidable challeng...

Diesel-operated Load Haul Dumper (LHD) vehicles are commonly used in underground coal mines. Despite their value as utility vehicles, the main drawback of these vehicles is that they generate diesel particulate matter (DPM), a known carcinogenic agent. In this work, an attempt is made to model DPM flows generated by LHDs in an underground coal mine environment for different DPM flow and intake ...

During design and implementation of the automatic materials handling system (AMHS) for a local 300mm semiconductor wafer fab (semiconductor fabrication plant), we observed and found an interesting phenomenon Vehicle Clustering Phenomenon (VCP) from the dynamics of automated vehicles: As time evolves, the distance between any two adjacent vehicles usually becomes very close enough as if all the ...

In this paper, we propose a method to analyze the longitudinal dynamics of heterogeneous connected vehicle systems including human-driven vehicles and vehicles driven by connected cruise control. Human reaction time and digital sampling time are incorporated in the models. Conditions of plant stability and head-to-tail string stability are presented.

The Lyapunov stability theorem is used to derive a control law that can be used to control the spacing between vehicles in a platoon. A third order system is adopted to model the vehicle and power-train dynamics. In addition, the concept of "Expected Spacing Error" is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A p...

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories ...

Maritime Platforms Division within DSTO is currently studying the science and technology of autonomous underwater vehicles for defence applications. Part of this work involves a study of the hydrodynamics and manoeuvrability of these vehicles and the development of methods to determine the hydrodynamic coefficients of submerged bodies as a function of their shape. This report describes the appl...

Basic research on the visual control of locomotion has focused on optic flow rules that connect specific features of the optic flow field (e.g., global radial outflow, tau, and splay rate) with specific actions (aiming, braking, and alignment with a path, respectively). There is growing recognition that, while optic flow rules are important, visual control of vehicles involves much more, includ...

Since the dynamics of autonomous underwater vehicles (AUVs) are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high performance control system of an AUV is needed to have the capacities of learning and adaptation to the variations of the AUV’s dynamics. In this paper, a linearly parameterized neural network (LPNN) is used to approximate the unce...