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Working principle and performance evolution of camera-based intelligent signalized intersections: Samsun city, Türkiye example

Aydin Metin Mutlu, Potoglou Dimitris, Cipcigan Liana

Zeszyty Naukowe. Transport / Politechnika Śląska

2023

z. 121

5--17

In the current literature, it is clearly seen that most of the traffic chaos is generally observed at intersections of the urban roads in cities. On the other hand, many current traffic studies and research prove that fixed-time signalized intersections cannot have a good ability to control and manage current traffic flow at signalized intersection legs. For this aim, intelligent intersections were developed and started to be used in many cities all over the world in the last decade. These new intelligent intersection systems suggest dynamic signal times for all intersection legs by using real-time measured traffic data. These systems generally use cameras or loop detectors, which are located in the proper places on a signalized intersection leg and record vehicle movements. Within the scope of this study, a performance comparison was made for before and after the camera-based intelligent intersection applications at three isolated pilot signalized intersections within the scope of the "Smart City Traffic Safety" project, which is one of the largest Intelligent Transportation System projects in Turkey. After the system was activated, it was observed that the drivers had impatient behaviors in the beginning and had difficulty getting used to these new systems. After the signal cycle was regulated with the learning of artificial intelligence, it was seen that the drivers had more patience and more observant behaviors. It was also obtained from the analysis results that these new intelligent systems resulted in an average 16% decrease in control delays and a 20% decrease in vehicle speeds.

Nieliniowe sterowanie predykcyjne ramion manipulatorów

Tatjewski Piotr

Pomiary Automatyka Robotyka

2023

R. 27, nr 2

47--58

Przedmiotem artykułu są algorytmy sterowania predykcyjnego (typu MPC - Model Predictive Control) ramion manipulatorów sztywnych. Zastosowano MPC z modelem w przestrzeni stanów i wykorzystano najnowszą technikę tłumienia zakłóceń i błędów modelowania, pozwalającą uniknąć dynamicznego modelowania zakłóceń lub uciekania się do dodatkowych technik ich eliminowania, takich jak SMC. Rozważane są przede wszystkim najbardziej efektywne obliczeniowo algorytmy MPC-NPL (NPL - Nonlinear Prediction and Linearization), w dwóch wersjach: z optymalizacją QP (Quadratic Programming) z ograniczeniami i z jawną optymalizacją bez ograniczeń i spełnieniem ograniczeń nierównościowych a posteriori. Dla wszystkich rozważanych algorytmów przeprowadzono kompleksową analizę symulacyjną sterowania manipulatorem z napędem bezpośrednim, przy dwóch rodzajach zakłócenia: zewnętrznym i parametrycznym. Wyniki porównano z uzyskanymi dla znanego algorytmu CTC-PID (CTC - Computer Torque Control), uzyskując lepszą jakość regulacji algorytmami MPC. Zbadano wpływ długości okresu próbkowania i obliczeniowego opóźnienia sterowania na jakość regulacji, co jest istotne dla algorytmów z szybkim próbkowaniem opartych na modelach.

The subject of the article are predictive control algorithms (of MPC type - Model Predictive Control) for rigid manipulator arms. MPC with a state-space model and with the latest disturbance and modeling error suppression technique was applied, which avoids dynamic disturbance modeling or resorting to additional disturbance cancellation techniques, such as SMC. First of all, the most computationally efficient MPC-NPL (Nonlinear Prediction and Linearization) algorithms are considered, in two versions: the first with constrained QP (Quadratic Programming) optimization and the second with explicit (analytical) optimization without constraints and satisfying a posteriori inequality constraints. For all considered algorithms, a comprehensive simulation analysis was carried out for a direct drive manipulator, with two kinds of disturbances: external and parametric. The obtained results were compared with those for the well-known CTC-PID algorithm (CTC - Computer Torque Control), showing better control quality with MPC algorithms. In addition, the influence of the length of the sampling period and of the computational delay on control quality was investigated, which is important for model-based algorithms with fast sampling.