Autonomous road vehicle path planning and tracking control / / Levent Guvenc [and three others]

• Record Nr.: UNINA9910555143603321
• Pubbl/distr/stampa: Hoboken, New Jersey : , : John Wiley & Sons, Inc., , [2022]; ©2022
• ISBN: 1-119-74796-1; 1-119-74797-X; 1-119-74795-3
• Descrizione fisica: 1 online resource (259 pages)
• Collana: IEEE Press Series on Control Systems Theory and Applications Ser.
• Disciplina: 629.04/6
• Soggetti: Automated vehicles - Design and construction; Automated vehicles - Collision avoidance systems; Mathematical optimization - Industrial applications
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di contenuto: Cover -- Title Page -- Copyright -- Contents -- About the Authors -- Preface -- List of Abbreviations -- Chapter 1 Introduction -- 1.1 Motivation and Introduction -- 1.2 History of Automated Driving -- 1.3 ADAS to Autonomous Driving -- 1.4 Autonomous Driving Architectures -- 1.5 Cybersecurity Considerations -- 1.6 Organization and Scope of the Book -- 1.7 Chapter Summary and Concluding Remarks -- References -- Chapter 2 Vehicle, Path, and Path Tracking Models -- 2.1 Tire Force Model -- 2.1.1 Introduction -- 2.1.2 Tire Forces/Moments and Slip -- 2.1.3 Longitudinal Tire Force Modeling -- 2.1.4 Lateral Tire Force Modeling -- 2.1.5 Self‐aligning Moment Model -- 2.1.6 Coupling of Tire Forces -- 2.2 Vehicle Longitudinal Dynamics Model -- 2.3 Vehicle Lateral Dynamics Model -- 2.3.1 Geometry of Cornering -- 2.3.2 Single‐Track Lateral Vehicle Model -- 2.3.3 Augmented Single‐Track Lateral Vehicle Model -- 2.3.4 Linearized Single Track Lateral Vehicle Model -- 2.4 Path Model -- 2.5 Pure Pursuit: Geometry‐Based Low‐Speed Path Tracking -- 2.6 Stanley Method for Path Tracking -- 2.7 Path Tracking in Reverse Driving and Parking -- 2.8 Chapter Summary and Concluding Remarks -- References -- Chapter 3 ; Simulation, Experimentation, and Estimation Overview -- 3.1 Introduction to the Simulation‐Based Development and Evaluation Process -- 3.2 Model‐in‐the‐Loop Simulation -- 3.2.1 Linear and Nonlinear Vehicle Simulation Models -- 3.2.2 Higher Fidelity Vehicle Simulation Models -- 3.3 Virtual Environments Used in Simulation -- 3.3.1 Road Network Creation -- 3.3.2 Driving Environment Construction -- 3.3.3 Capabilities -- 3.4 Hardware‐in‐the‐Loop Simulation -- 3.5 Experimental Vehicle Testbeds -- 3.5.1 Unified Approach -- 3.5.2 Unified AV Functions and Sensors Library -- 3.6 Estimation -- 3.6.1 Estimation of the Effective Tire Radius.; 3.6.2 Slip Slope Method for Road Friction Coefficient Estimation -- 3.6.3 Results and Discussion -- 3.7 Chapter Summary and Concluding Remarks -- References -- Chapter 4 Path Description and Generation -- 4.1 Introduction -- 4.2 Discrete Waypoint Representation -- 4.3 Parametric Path Description -- 4.3.1 Clothoids -- 4.3.2 Bezier Curves -- 4.3.3 Polynomial Spline Description -- 4.4 Tracking Error Calculation -- 4.4.1 Tracking Error Computation for a Discrete Waypoint Path Representation -- 4.4.2 Tracking Error Computation for a Spline Path Representation -- 4.5 Chapter Summary and Concluding Remarks -- References -- Chapter 5 Collision Free Path Planning -- 5.1 Introduction -- 5.2 Elastic Band Method -- 5.2.1 Path Structure -- 5.2.2 Calculation of Forces -- 5.2.3 Reaching Equilibrium Point -- 5.2.4 Selected Scenarios -- 5.2.5 Results -- 5.3 Path Planning with Minimum Curvature Variation -- 5.3.1 Optimization Based on G2‐Quintic Splines Path Description -- 5.3.2 Reduction of Computation Cost Using Lookup Tables -- 5.3.3 Geometry‐Based Collision‐Free Target Points Generation -- 5.3.4 Simulation Results -- 5.4 Model‐Based Trajectory Planning -- 5.4.1 Problem Formulation -- 5.4.2 Parameterized Vehicle Control -- 5.4.3 Constrained Optimization on Curvature Control -- 5.4.4 Sampling of the Longitudinal Movements -- 5.4.5 Trajectory Evaluation and Selection -- 5.4.6 Integration of Road Friction Coefficient Estimation for Safety Enhancement -- 5.4.7 Simulation Results in Complex Scenarios -- 5.5 Chapter Summary and Concluding Remarks -- References -- Chapter 6 Path‐Tracking Model Regulation -- 6.1 Introduction -- 6.2 DOB Design and Frequency Response Analysis -- 6.2.1 DOB Derivation and Loop Structure -- 6.2.2 Application Examples -- 6.2.3 Disturbance Rejection Comparison -- 6.3 Q Filter Design -- 6.4 Time Delay Performance.; 6.5 Chapter Summary and Concluding Remarks -- References -- Chapter 7 Robust Path Tracking Control -- 7.1 Introduction -- 7.2 Model Predictive Control for Path Following -- 7.2.1 Formulation of Linear Adaptive MPC Problem -- 7.2.2 Estimation of Lateral Velocity -- 7.2.3 Experimental Results -- 7.3 Design Methodology for Robust Gain‐Scheduling Law -- 7.3.1 Problem Formulation -- 7.3.2 Design via Optimization in Linear Matrix Inequalities Form -- 7.3.3 Parameter‐Space Gain‐Scheduling Methodology -- 7.4 Robust Gain‐Scheduling Application to Path‐Tracking Control -- 7.4.1 Car Steering Model and Parameter Uncertainty -- 7.4.2 Controller Structure and Design Parameters -- 7.4.3 Application of Parameter‐Space Gain‐Scheduling -- 7.4.4 Comparative Study of LMI Design -- 7.4.5 Experimental Results and Discussions -- 7.5 Add‐on Vehicle Stability Control for Autonomous Driving -- 7.5.1 Direct Yaw Moment Control Strategies -- 7.5.2 Direct Yaw Moment Distribution via Differential Braking -- 7.5.3 Simulation Results and Discussion -- 7.6 Chapter Summary and Concluding Remarks -- References -- Chapter 8 Summary and Conclusions -- 8.1 Summary -- 8.2 Conclusions -- Index -- Books in the IEEE Press Series on Control Systems Theoryand Applications -- EULA.

Platelets [[electronic resource] /] / editor, Alan D. Michelson

• Record Nr.: UNINA9910785961803321
• Pubbl/distr/stampa: Amsterdam, : Elsevier, 2013
• ISBN: 1-283-70649-0; 0-12-387838-1
• Edizione: [3rd ed.]
• Descrizione fisica: 1 online resource (1398 p.)
• Altri autori (Persone): MichelsonAlan D
• Disciplina: 612.1; 612.1/17; 612.117
• Soggetti: Blood platelets; Blood platelet disorders
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Description based upon print version of record.
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Front Cover; Platelets; Copyright Page; Contents; List of Contributors; Preface; Foreword: A Brief History of Ideas About Platelets in Health and Disease; I. The Role of Platelets in Human Hemostasis, Platelet Transfusion, and the Bleeding Time; II. Immune Thrombocytopenia; III. Alloantigens, Single Nucleotide Polymorphisms, and Alloimmune Thrombocytopenias; IV. Platelet Physiology, Assays of Platelet "Adhesiveness", ADP, Platelet Aggregation, Myocardial Infarction, and P2Y12 Anta...; V. Aspirin, Arachidonic Acid, Prostaglandins, Gpiib-iiia, Nitric Oxide, Endothelial Gpiib-iiia, and AngiogenesisVI. Clot Retraction, Glanzmann Thrombasthenia, GPIIb-IIIa Receptor, and GPIIb-IIIa Antagonists; VII. Bernard-Soulier Syndrome, the Gpib-IX-V Complex, von Willebrand Factor, Shear, ADAMTS-13, and Thrombotic Thrombocytopen...; VIII. Thrombin-induced Platelet Activation; IX. Platelets and Metastases; X. Reflections on the Past and Thoughts About the Future; Reference List; I. Platelet Biology; 1 The Evolution of Mammalian Platelets; I Introduction; II Invertebrates; III Nonmammalian VertebratesIV Comparative Hemostasis; V A Comparison of Human Platelets and Limulus Amebocytes; VI The Evolution of Hemostasis and Blood Coagulation; VII Megakaryocytes ; and Mammals; A Marine Mammals; B Order Monotremata; C Order Marsupialia; D Platelet Levels; E A Comparison of Nonplacental and Placental Mammals; VIII Conclusions; Acknowledgments; References; 2 Megakaryocyte Development and Platelet Formation; I Introduction; II Megakaryocyte Development; A The Hematopoietic Program; B Committed Megakaryocyte Progenitor Cells; C Immediate Megakaryocyte Precursors; D Endomitosis and Polyploid Formation E Megakaryocyte Cytoplasmic Maturation; 1 Demarcation Membrane System; 2 Dense Tubular System; 3 Granules; III Platelet Formation; A Mechanisms of Platelet Production; 1 Budding from the Megakaryocyte Surface; 2 Cytoplasmic Fragmentation via the Demarcation Membrane System; 3 Proplatelet Formation; a The Proplatelet Theory; b Proplatelet Morphogenesis; c The Cytoskeletal Mechanics of Proplatelet Formation; i Microtubules Power Proplatelet Elongation; ii Actin-Dependent Proplatelet Branching; iii Organelle Transport in Proplatelets; iv Spectrin-Based Membrane Skeleton in Platelet Production v Release of Platelets; B The Sites of Platelet Formation In Vivo; 1 Platelet Formation in the Bone Marrow; 2 Platelet Formation in the Bloodstream; 3 Platelet Formation in the Lung; C Apoptosis and Platelet Production; D Production of Platelets for Infusion; IV Regulation of Megakaryocyte Development and Platelet Formation; V Murine Model Systems and Human Diseases as Tools to Study Platelet Biogenesis; A Transcription Factors; 1 GATA-1; 2 Nuclear Factor-Erythroid 2; B Cytoskeletal Proteins; 1 β1 Tubulin; 2 Glycoprotein Ib-IX-V Complex
• Sommario/riassunto: PLATELETS is the definitive current source of state-of-the-art knowledge about platelets and covers the entire field of platelet biology, pathophysiology, and clinical medicine. Recently there has been a rapid expansion of knowledge in both basic biology and the clinical approach to platelet-related diseases including thrombosis and hemorrhage. Novel platelet function tests, drugs, blood bank storage methods, and gene therapies have been incorporated into patient care or are in development. This book draws all this information into a single, comprehensive and authoritative resource.