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Lateral control of a differential steer vehicle platoon.
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LATERAL CONTROL OF A VEHICLE PLATOON
by
Samuel A. Mitchell
Thesis submitted in partial fulfillment
of the requirements for the degree
of
HONORS IN UNIVERSITY STUDIES
WITH DEPARTMENTAL HONORS
in
Electrical Engineering
in the Department of Electrical and Computer Engineering
Approved:
Thesis/Project Advisor Thesis/Project Advisor
Ryan Gerdes Donald Cripps
Departmental Honors Advisor Director of Honors Program
Dean Adams Kristine Miller
UTAH STATE UNIVERSITY
Logan, UT
Spring 2015
2
Copyright c© Samuel Mitchell 2015
All Rights Reserved
Abstract
Multiple lateral control systems are analyzed for use in a vehicle platoon system.In order to ensure the safety of the vehicle platoon, the system must operateunder three constraints: (1) accurate path following, (2) string stability, and (3)functionality in the presence of noise. Computer simulations are employed toanalyze candidates according to the safety requirements. Actual vehicle kine-matics and nonlinearities – limits on turn radius, velocity, and acceleration –are included in this analysis.
Successful control system candidates are implemented in a platoon of fivedifferential-steer vehicles. The sensing and communication requirements of thecontrol system are discussed. Experimental results are compared to the com-puter simulations. This analysis results in an implementation of a control systemwhich functions according to the previously listed constraints.
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4
Acknowledgements
Many thanks to my advisors, Dr. Ryan Gerdes, Dr. Rajnikant Sharma, Dr.Don Cripps, and Jolynne Berrett.
The members of the SATS Group have been amazing, offering insight andmany hours of vehicle assembly. Daniel Dunn, Ali Al-Hashimi, Soudeh Dadras,and Imran Sajjad.
This project was funded in part by an URCO grant by USU Office of Re-search and Graduate Studies and NSF Award #1410000.
Document Description
This thesis is composed as a conglomeration of documents. Each documentcovers one chapter of the thesis. Tables of Contents, Lists of Tables, Lists ofFigures, and bibliographies are contained within each chapter (when necessary).Page numeration is also relative to each chapter.
Contents
1 Proposal 7
2 Specification 19
3 Final Report 31
4 System Handbook 53
5 Reflection 93
6 Professional Author Bio 97
5
6 CONTENTS
Chapter 1
Proposal
7
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥
❙❛♠ ▼✐t❝❤❡❧❧
❊❧❡❝tr✐❝❛❧ ❛♥❞ ❈♦♠♣✉t❡r ❊♥❣✐♥❡❡r✐♥❣ ❉❡♣❛rt♠❡♥t
❯t❛❤ ❙t❛t❡ ❯♥✐✈❡rs✐t②
❉❡❝❡♠❜❡r ✶✶✱ ✷✵✶✹
❈♦♥t❡♥ts
▲✐st ♦❢ ❋✐❣✉r❡s ✐✐
▲✐st ♦❢ ❚❛❜❧❡s ✐✐
✶ Pr♦❥❡❝t ❙✉♠♠❛r② ✶
✷ Pr♦❜❧❡♠ ✷
✸ ❖❜❥❡❝t✐✈❡s ✷
✹ ❙♦❧✉t✐♦♥ ✷
✺ ▼❡t❤♦❞s ✸
✺✳✶ ❆❧❣♦r✐t❤♠ r❡s❡❛r❝❤ ❛♥❞ s❡❧❡❝t✐♦♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✺✳✷ ❉❡s✐❣♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✺✳✸ ❉❡✈❡❧♦♣♠❡♥t ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✺✳✹ Pr♦❞✉❝❡ ❞♦❝✉♠❡♥t❛t✐♦♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹
✻ ❘❡s♦✉r❝❡s ✹
✼ ❙❝❤❡❞✉❧❡ ✹
✽ ◗✉❛❧✐✜❝❛t✐♦♥s ✺
✾ ❈♦sts ✺
✶✵ ❈♦♥❝❧✉s✐♦♥ ✻
✶✶ ❇✐❜❧✐♦❣r❛♣❤② ✼
✐
▲✐st ♦❢ ❋✐❣✉r❡s
✶ ❆ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❞❡♠♦♥str❛t✐♥❣ ❢♦❧❧♦✇✐♥❣ ✈❡❤✐❝❧❡s tr❛✐❧✐♥❣ ❜❡❤✐♥❞ ❛ ❧❡❛❞ ✈❡❤✐❝❧❡✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷✷ ❖♥❡ ♦❢ t❤❡ ✈❡❤✐❝❧❡s t♦ ❜❡ ✉s❡❞ ✐♥ ❞❡♠♦♥str❛t✐♦♥ ♦❢ t❤❡ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹
▲✐st ♦❢ ❚❛❜❧❡s
✶ Pr♦♣♦s❡❞ s❝❤❡❞✉❧❡ ❢♦r t❤❡ s❡♥✐♦r ❞❡s✐❣♥ ♣r♦❥❡❝t✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✷ ❆♥t✐❝✐♣❛t❡❞ ❇✉❞❣❡t ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺
✐✐
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✶
✶ Pr♦❥❡❝t ❙✉♠♠❛r②
❆ ♣r♦♣♦s❛❧ ✐♥tr♦❞✉❝✐♥❣ ❛ s❡♥✐♦r ❞❡s✐❣♥ ♣r♦❥❡❝t t❤❛t ✇✐❧❧ ❛♥❛❧②③❡ ❛♥❞ ✐♠♣❧❡♠❡♥t ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧❛❧❣♦r✐t❤♠s ✐♥ ♣❧❛t♦♦♥✐♥❣ s②st❡♠s✳ ▼♦t✐✈❛t✐♦♥s✱ ♦❜❥❡❝t✐✈❡s✱ ♠❡t❤♦❞s✱ ❝♦sts✱ ❛♥❞ ❛ t✐♠❡❧✐♥❡ ❛r❡ ❞✐s❝✉ss❡❞✳ ❚❤❡✜rst ♣❤❛s❡ ♦❢ t❤✐s ♣r♦❥❡❝t ❛♥❛❧②③❡s ❛♥❞ s✐♠✉❧❛t❡s ✈❛r✐♦✉s ❛❧❣♦r✐t❤♠s✳ ❚❤❡ ✜♥❛❧ ♣❤❛s❡ ✐s ❛♥ ✐♠♣❧❡♠❡♥t❛t✐♦♥♦❢ t❤❡s❡ ❛❧❣♦r✐t❤♠s ♦♥ ❛ ♣❤②s✐❝❛❧ s②st❡♠✳ ❚❤❡ r❡s✉❧t ♦❢ t❤❡ ♣r♦❥❡❝t ✐s t❤❡ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ❛♥❞ ❞❡♠♦♥str❛t✐♦♥♦❢ ❛ ❢✉♥❝t✐♦♥✐♥❣ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ ♣❧❛t♦♦♥ ♦♥ ❛ ✢❡❡t ♦❢ t❡♥ r♦❜♦ts✳
❚❤❡ ❛ss✐st❛♥❝❡ r❡q✉❡st❡❞ ✐s ♣❡r♠✐ss✐♦♥ t♦ ♣r♦❝❡❡❞✳ ❚❤❡ ♠❛t❡r✐❛❧s ✇✐❧❧ ❜❡ ♣✉r❝❤❛s❡❞ ❜② ❉r✳ ❘②❛♥ ●❡r❞❡s✳❲❛❣❡s ❛r❡ s✉♣♣❧✐❡❞ ❜② ❉r✳ ❘②❛♥ ●❡r❞❡s ❛♥❞ t❤❡ ❖✣❝❡ ♦❢ ❘❡s❡❛r❝❤ ❛♥❞ ●r❛❞✉❛t❡ ❙t✉❞✐❡s ✈✐❛ ❛♥ ❯♥❞❡r✲❣r❛❞✉❛t❡ ❘❡s❡❛r❝❤ ❛♥❞ ❈r❡❛t✐✈❡ ❖♣♣♦rt✉♥✐t✐❡s ●r❛♥t✳ ❚❤❡ ❜✉❞❣❡t ✐s ❢♦✉♥❞ ✐♥ ❚❛❜❧❡ ✷✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✷
✷ Pr♦❜❧❡♠
■♥ r❡❝❡♥t ②❡❛rs✱ t❤❡r❡ ❤❛s ❜❡❡♥ ❛ ❣r❡❛t ❞❡❛❧ ♦❢ ❞✐s❝✉ss✐♦♥ ✐♥ t❤❡ ♠❡❞✐❛ ❛❜♦✉t s❡❧❢✲❞r✐✈✐♥❣ ✈❡❤✐❝❧❡s✳ ❋♦r✐♥st❛♥❝❡✱ t❤❡ ●♦♦❣❧❡ ❈❛r✱ ❛♥ ❛✉t♦♥♦♠♦✉s ✈❡❤✐❝❧❡✱ r❡❝❡♥t❧② r❡❝❡✐✈❡❞ ❛ ❧✐❝❡♥s❡ t♦ ❞r✐✈❡ ♦♥ ♣✉❜❧✐❝ r♦❛❞s✳
❲✐t❤ t❤❡s❡ ❛❞✈❛♥❝❡s ✐♥ t❡❝❤♥♦❧♦❣②✱ tr❛♥s♣♦rt✐♥❣ ❝❛r❣♦ ❤❛s t❤❡ ♣♦t❡♥t✐❛❧ t♦ ❜❡❝♦♠❡ ♠♦r❡ ❡✣❝✐❡♥t t❤r♦✉❣❤❛ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ s②st❡♠ ❦♥♦✇♥ ❛s ♣❧❛t♦♦♥✐♥❣ t❤r♦✉❣❤ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣✳ ❆♥ ❡①❛♠♣❧❡ ♦❢ t❤✐s ✐s s❤♦✇♥ ✐♥❋✐❣✉r❡ ✶✳
❋✐❣✉r❡ ✶✿ ❆ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❞❡♠♦♥str❛t✐♥❣ ❢♦❧❧♦✇✐♥❣ ✈❡❤✐❝❧❡s tr❛✐❧✐♥❣ ❜❡❤✐♥❞ ❛ ❧❡❛❞ ✈❡❤✐❝❧❡✳
❆♣♣❧✐❝❛t✐♦♥ ♦❢ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧ t❡❝❤♥♦❧♦❣② ✇♦✉❧❞ ❜❡♥❡✜t ♠✐❧✐t❛r② tr❛♥s♣♦rt❛t✐♦♥ ✐♥ ❛❞✈❡rs❡ ❡♥✈✐r♦♥✲♠❡♥ts✳ ❚r❛♥s♣♦rt✐♥❣ s✉♣♣❧✐❡s ✐♥ ❛ ❝❛r❛✈❛♥ ♣✉ts ❛ ♠✐♥✐♠✉♠ ♦❢ ♦♥❡ ♣❡rs♦♥ ✐♥ ❞❛♥❣❡r ❢♦r ❡❛❝❤ ✈❡❤✐❝❧❡ ✐♥ t❤❡❝❛r❛✈❛♥✳ ❆ r❡♠♦t❡ ❝♦♥tr♦❧❧❡❞ ♣❧❛t♦♦♥✐♥❣ s②st❡♠ ✇✐❧❧ ❛❧❧♦✇ ❛ ❞r✐✈❡r t♦ r❡♠♦t❡❧② ❝♦♥tr♦❧ t❤❡ ❧❡❛❞ ✈❡❤✐❝❧❡✱ ❛♥❞t❤❡ ♦t❤❡r ✈❡❤✐❝❧❡s ✇✐❧❧ ❢♦❧❧♦✇ ❛✉t♦♥♦♠♦✉s❧②✳ ❚❤✐s ❞✐st❛♥❝❡ ❢r♦♠ t❤❡ ✈❡❤✐❝❧❡s ✇✐❧❧ ♣♦t❡♥t✐❛❧❧② s❛✈❡ ♠♦♥❡② ❛♥❞❧✐✈❡s✳
❆♥♦t❤❡r ♣♦t❡♥t✐❛❧ ❛♣♣❧✐❝❛t✐♦♥ ♦❢ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ✐s s❤✐♣♣✐♥❣ ❝♦♠♣❛♥✐❡s✳ ❖♥❡ ❜❡♥❡✜t ♦❢ ❞r✐✈✐♥❣ ✈❡❤✐❝❧❡s✐♥ ❛ ❝❧♦s❡ ❢♦r♠❛t✐♦♥ ✐s r❡❞✉❝❡❞ ❛✐r ❞r❛❣✳ ❇② ❞r✐✈✐♥❣ ❝❧♦s❡ t♦❣❡t❤❡r✱ t❤❡ ✈❡❤✐❝❧❡s ✇♦✉❧❞ ❤❛✈❡ r❡❞✉❝❡❞ ❢✉❡❧❝♦♥s✉♠♣t✐♦♥✱ ❡✛❡❝t✐✈❡❧② ❧♦✇❡r✐♥❣ ❢✉❡❧ ❝♦sts✳
✸ ❖❜❥❡❝t✐✈❡s
❚❤❡ ❣♦❛❧ ♦❢ t❤✐s s❡♥✐♦r ❞❡s✐❣♥ ♣r♦❥❡❝t ✐s t♦ ✐♠♣❧❡♠❡♥t ❛♥❞ ❞❡♠♦♥str❛t❡ ❛ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ s②st❡♠ t❤❛t ✇✐❧❧❛❧❧♦✇ ❛ ♣❧❛t♦♦♥ ♦❢ ✈❡❤✐❝❧❡s t♦ ❢♦❧❧♦✇ ❛ ❧❡❛❞ ✈❡❤✐❝❧❡✳
❚❤❡ ♣✉r♣♦s❡ ♦❢ t❤✐s ♣r♦❥❡❝t ✐s t❤❡ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ❛♥❞ ❞❡♠♦♥str❛t✐♦♥ ♦❢ ❛ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠✳Pr❡✈✐♦✉s ❛♣♣❧✐❝❛t✐♦♥s ♦❢ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ❞❡♠♦♥str❛t❡ t❤❡ ❢♦❧❧♦✇✐♥❣ ✉s✐♥❣ ❡✐t❤❡r ❛ ❧✐♠✐t❡❞ ♥✉♠❜❡r ♦❢ ✈❡❤✐❝❧❡s♦r ❛t ❧✐♠✐t❡❞ s♣❡❡❞s✱ ✇❤✐❧❡ t❤❡ ❞❡♠♦♥str❛t✐♦♥ ♦❢ t❤✐s s②st❡♠ ✇✐❧❧ t❛❦❡ ♣❧❛❝❡ ♦♥ ❛ ✢❡❡t ♦❢ t❡♥ r♦❜♦ts ❛t s♣❡❡❞s✉♣ t♦ ✶✺ ♠❡t❡rs ♣❡r s❡❝♦♥❞ ✭♠♣s✮✳
✹ ❙♦❧✉t✐♦♥
❚❤❡r❡ ❛r❡ ❛ ✈❛r✐❡t② ♦❢ ♠❡t❤♦❞s t♦ ❝♦♥tr♦❧ ❛ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ s②st❡♠✳ ❘❛❥❛♠❛♥✐ ♣r♦✈✐❞❡s ❛♥ ❡✛❡❝t✐✈❡ ♦✈❡r✈✐❡✇♦❢ t❤❡ ❝♦♥tr♦❧ ♣r♦❜❧❡♠ ❬✻❪✳ ❈❈ ❈❤✐❡♥ ❛♥❛❧②s❡s ✇❤❛t ♣❛r❛♠❡t❡rs ❛r❡ r❡q✉✐r❡❞ t♦ ❡✛❡❝t✐✈❡❧② tr❛❝❦ ❛♥♦t❤❡r✈❡❤✐❝❧❡ ❬✷❪✳ ◆♦✈❡❧ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♠❡t❤♦❞s ❬✶❪ ❛♥❞ ♠♦❞❡❧✐♥❣ ♠❡t❤♦❞s ❬✸❪❬✹❪❬✺❪❬✼❪ ❛r❡ ♣r❡s❡♥t❡❞✳
❚❤❡ ❝♦♥tr♦❧ ♦❢ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❝❛♥ ❜❡ s♣❧✐t ✐♥t♦ t✇♦ ❝♦♥tr♦❧❧❡rs ✖ ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧✳ ❚❤❡ ❧❛t❡r❛❧❝♦♥tr♦❧❧❡r st❡❡rs t❤❡ ✈❡❤✐❝❧❡✳ ❚❤❡ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r ✇✐❧❧ ♠❛✐♥t❛✐♥ ❛ s❡t ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ t❤❡ ❝✉rr❡♥t✈❡❤✐❝❧❡ ❛♥❞ t❤❡ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡✳
❆ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r ❢♦r t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❤❛s ❛❧r❡❛❞② ❜❡❡♥ ❞❡✈❡❧♦♣❡❞✱ s♦ t❤✐s ♣r♦❥❡❝t ✇✐❧❧ ✐♠♣❧❡♠❡♥t❛ ❧❛t❡r❛❧ ❝♦♥tr♦❧❧❡r t❤❛t ✇✐❧❧ ✇♦r❦ ✐♥ ❝♦♥❥✉♥❝t✐♦♥ ✇✐t❤ t❤❡ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✸
✺ ▼❡t❤♦❞s
❚❤❡ ❡♥❞ ❣♦❛❧ ♦❢ t❤❡ s❡♥✐♦r ❞❡s✐❣♥ ♣r♦❥❡❝t ✐s t❤❡ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ❛♥❞ ❞❡♠♦♥str❛t✐♦♥ ♦❢ ❛ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣❝♦♥tr♦❧❧❡r ❢♦r ❛ ♣❧❛t♦♦♥ ♦❢ ✈❡❤✐❝❧❡s✳ ❚❤❡ ❞❡♠♦♥str❛t✐♦♥ ✇✐❧❧ t❛❦❡ ♣❧❛❝❡ ♦♥ ❛ ✢❡❡t ♦❢ t❡♥ r♦❜♦ts✳ Pr✐♦r t♦ ❞❡❧✈✐♥❣✐♥t♦ t❤❡ ❞❡t❛✐❧s ♦❢ t❤❡ ♣r♦❥❡❝t✱ ❛ ❜r♦❛❞ ♦✈❡r✈✐❡✇ ♦❢ t❤❡ ♣❧❛t♦♦♥✐♥❣ s②st❡♠ ❛♥❞ ♠♦t✐✈❛t✐♦♥s ❛r❡ ❣✐✈❡♥✳
❚❤❡ ♣❧❛t♦♦♥ ✐s ❣r♦✉♣❡❞ ✐♥t♦ t✇♦ t②♣❡s ♦❢ ✈❡❤✐❝❧❡s✿ ❢♦❧❧♦✇❡r✭s✮ ❛♥❞ ♦♥❡ ❧❡❛❞❡r✳ ❚❤❡ ❧❡❛❞❡r ✇✐❧❧ ❜❡ ❝♦♥tr♦❧❧❡❞✈✐❛ r❛❞✐♦ tr❛♥s♠✐ss✐♦♥ ❢r♦♠ t❤❡ ✉s❡r ✇✐t❤ t❤❡ ♦♣t✐♦♥ t♦ ❢♦❧❧♦✇ ❛ ♣r❡❞❡t❡r♠✐♥❡❞ r♦✉t❡✳ ❚❤❡ ❧❡❛❞❡r ✇✐❧❧ ❝♦❧❧❡❝t❛♥❞ tr❛♥s♠✐t ✐♥❢♦r♠❛t✐♦♥ ❛❜♦✉t ✐ts st❛t❡ t♦ t❤❡ ♦t❤❡r ✈❡❤✐❝❧❡s ✐♥ t❤❡ ♣❧❛t♦♦♥✳
❊❛❝❤ ❢♦❧❧♦✇❡r ✇✐❧❧ ❝♦❧❧❡❝t ❞❛t❛ ♦♥ ✐ts ♦✇♥ st❛t❡ ❛♥❞ r❡❝❡✐✈❡ ❞❛t❛ ❢r♦♠ t❤❡ ❧❡❛❞ ✈❡❤✐❝❧❡✳ ❯s✐♥❣ t❤❡s❡ ❞❛t❛♣♦✐♥ts✱ t❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ ❛ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠ ✐♥ ♦r❞❡r t♦ ❞❡t❡r♠✐♥❡ ✇❤❛t tr❛❥❡❝t♦r② ✐t ✇✐❧❧ ❢♦❧❧♦✇✳❚❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ t❤✐s ❞❛t❛ t♦ ❝♦♥tr♦❧ t❤❡✐r ♠♦t✐♦♥✱ ❢♦❧❧♦✇✐♥❣ ✐♥ t❤❡ s❛♠❡ tr❛❝❦ ❛s t❤❡ ❧❡❛❞❡r✳ ■♥ ❛❞❞✐t✐♦♥t♦ t❤❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧✱ t❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ s♦♥❛r t♦ ❞❡t❡r♠✐♥❡ t❤❡ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ ✐ts❡❧❢ ❛♥❞ t❤❡ ♣r❡❝❡❞✐♥❣✈❡❤✐❝❧❡ s♦ ✐t ✇✐❧❧ ♥♦t ❝❛✉s❡ ❛ ❝♦❧❧✐s✐♦♥ ✇✐t❤ ♦t❤❡r ✈❡❤✐❝❧❡✭s✮✳
✺✳✶ ❆❧❣♦r✐t❤♠ r❡s❡❛r❝❤ ❛♥❞ s❡❧❡❝t✐♦♥
✺✳✶✳✶ Pr❡❧✐♠✐♥❛r② s❡❧❡❝t✐♦♥
❇❡❢♦r❡ s✐♠✉❧❛t✐♦♥✱ ❛ ❤✐❣❤✲❧❡✈❡❧ ❛♥❛❧②s✐s ♦❢ ❛✈❛✐❧❛❜❧❡ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ ❛❧❣♦r✐t❤♠s ✇✐❧❧ ❜❡ ♣❡r❢♦r♠❡❞✳ ❚❤r❡❡❛❧❣♦r✐t❤♠s ✇✐❧❧ ❜❡ s❡❧❡❝t❡❞ ❢♦r s✐♠✉❧❛t✐♦♥ ❛♥❞ t❡st✐♥❣✳ ❚❤✐s ♣❤❛s❡ ♦❢ t❤❡ ♣r♦❥❡❝t ✐s ❝✉rr❡♥t❧② ✉♥❞❡r✇❛② ✇✐t❤♣♦t❡♥t✐❛❧ ❝❛♥❞✐❞❛t❡s ❢♦✉♥❞ ❤❡r❡ ❬✶❪❬✷❪❬✸❪❬✻❪❬✼❪✳
✺✳✶✳✷ ❙✐♠✉❧❛t✐♦♥
❆❢t❡r ❛ ♣r❡❧✐♠✐♥❛r② ❡✈❛❧✉❛t✐♦♥ ♦❢ ♣♦t❡♥t✐❛❧ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✱ ❛ ♠♦r❡ t❤♦r♦✉❣❤ ❡✈❛❧✉❛t✐♦♥ ✇✐❧❧ t❛❦❡ ♣❧❛❝❡✳❆ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✇✐❧❧ ❜❡ ♠♦❞❡❧❡❞ ✐♥ ▼❛t❧❛❜ ❛♥❞ ❡❛❝❤ ♦❢ t❤❡ s❡❧❡❝t❡❞ ❛❧❣♦r✐t❤♠s ✇✐❧❧ ❜❡ s✐♠✉❧❛t❡❞ ✉♥❞❡r✈❛r✐♦✉s ♥♦♥✲✐❞❡❛❧ ❝♦♥❞✐t✐♦♥s✳ ❆ ❢❡✇ ♦❢ t❤❡ s✐♠✉❧❛t✐♦♥ ❝♦♥❞✐t✐♦♥s ✐♥❝❧✉❞❡ s❡♥s♦r ❡rr♦r ❛♥❞ t✐♠❡ ❞❡❧❛② ✖ t②♣❡s♦❢ ❡✈❡♥ts t❤❛t ❝♦✉❧❞ ♣♦t❡♥t✐❛❧❧② ❝❛✉s❡ ✐♥st❛❜✐❧✐t② ✐♥ t❤❡ s②st❡♠✳
▼❛t❧❛❜ ✐s t❤❡ ♣r❡♠✐❡r t♦♦❧ ✉s❡❞ ❜② ♣r♦❢❡ss✐♦♥❛❧ ❡♥❣✐♥❡❡rs t♦ ♠♦❞❡❧ ❝♦♥tr♦❧ s②st❡♠s✳ ❊✛❡❝t✐✈❡ ✉t✐❧✐③❛t✐♦♥ ♦❢t❤✐s t♦♦❧ ✇✐❧❧ ❛❧❧♦✇ ❢♦r r❛♣✐❞ ❞❡✈❡❧♦♣♠❡♥t ❛♥❞ ❛♥❛❧②s✐s ♦❢ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳
❚❤❡s❡ s✐♠✉❧❛t✐♦♥s ✇✐❧❧ ❜❡ ❛ s❛❢❡ ♠❡t❤♦❞ ❢♦r ❝❤❡❝❦✐♥❣ t❤❡ ✈✐❛❜✐❧✐t② ♦❢ t❤❡ s❡❧❡❝t❡❞ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✱ ❛s ❛♣♦♦r❧② ✐♠♣❧❡♠❡♥t❡❞ ❝♦♥tr♦❧❧❡r ❝♦✉❧❞ r❡s✉❧t ✐♥ ❛ s♣❡❝t❛❝✉❧❛r ❝♦❧❧✐s✐♦♥✳
✺✳✷ ❉❡s✐❣♥
❙♣❡❝✐✜❝❛t✐♦♥s ✇✐❧❧ ❜❡ ❞❡✈❡❧♦♣❡❞ t♦ ❡♥s✉r❡ t❤❡ s②st❡♠ ✇✐❧❧ ❜❡ ❛❜❧❡ t♦ r✉♥ t❤❡ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳ ❚❤❡s❡s♣❡❝✐✜❝❛t✐♦♥s ✇✐❧❧ ❜❡ ✉s❡❞ t♦ ❡✈❛❧✉❛t❡ t❤❡ ✈❡❤✐❝❧❡s ❝✉rr❡♥t❧② ✐♥ t❤❡ ❧❛❜✳ ■❢ ♥❡❝❡ss❛r②✱ s②st❡♠ r❡q✉✐r❡♠❡♥ts✇✐❧❧ ❜❡ ❝r❡❛t❡❞ t❤❛t ✇✐❧❧ ❣✐✈❡ t❤❡ ✈❡❤✐❝❧❡s ❝❛♣❛❜✐❧✐t② t♦ ❢✉❧✜❧❧ t❤❡ s♣❡❝✐✜❝❛t✐♦♥s✳
✺✳✸ ❉❡✈❡❧♦♣♠❡♥t
✺✳✸✳✶ ❖❜t❛✐♥ ❝♦♠♣♦♥❡♥ts
❖♥❝❡ t❤❡ s②st❡♠ r❡q✉✐r❡♠❡♥ts ❛r❡ ❝♦♠♣❧❡t❡❞✱ ■ ✇✐❧❧ ♣✉r❝❤❛s❡ ❛♥❞ ✐♥st❛❧❧ t❤❡ ♣❛rts ♦✉t❧✐♥❡❞✳ ❚❤❡ s❡❧❡❝t✐♦♥ ♦❢t❤❡s❡ ❝♦♠♣♦♥❡♥ts ✇✐❧❧ ♥♦t ❜❡ ❝♦♠♣❧❡t❡❞ ✉♥t✐❧ ❛❢t❡r t❤❡ ❛❧❣♦r✐t❤♠ ✈❡r✐✜❝❛t✐♦♥ ✐s ❝♦♠♣❧❡t❡✳ ❲❤✐❧❡ ❡①❛❝t ♣❛rts❛r❡♥✬t ❦♥♦✇♥ ②❡t✱ ❛♥ ❛♥t✐❝✐♣❛t❡❞ ❜✉❞❣❡t ✐s ❢♦✉♥❞ ✐♥ ❚❛❜❧❡ ✷✳ ❆❧❧ r❡q✉✐r❡❞ ❡q✉✐♣♠❡♥t ✇✐❧❧ ❜❡ s✉♣♣❧✐❡❞ ❜② ❉r✳❘②❛♥ ●❡r❞❡s✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✹
✺✳✸✳✷ ❈♦❞❡ ❞❡✈❡❧♦♣♠❡♥t
❚❤❡ ❝♦♥tr♦❧❧❡r ✇✐❧❧ ❜❡ ✐♠♣❧❡♠❡♥t❡❞ ✐♥ t❤❡ ❈ ♣r♦❣r❛♠♠✐♥❣ ❧❛♥❣✉❛❣❡ ♦♥ t❤❡ ❚✐✈❛ ❈ ❞❡✈❡❧♦♣♠❡♥t ❜♦❛r❞✱ ✇❤✐❝❤✉s❡s ❛ ❚▼✹❈✶✷✸●❍✻P▼ ♣r♦❝❡ss♦r✳ ❚❤❡ ❝♦❞❡ ✇✐❧❧ ❜❡ ✇r✐tt❡♥ t♦ ✐♥t❡r❛❝t ✇✐t❤ t❤❡ ❤❡r✐t❛❣❡ ❝♦❞❡ ❢r♦♠ ❉❛♥✐❡❧❉✉♥♥✬s ❧♦♥❣✐t✉❞✐♥❛❧ ✈❡❤✐❝❧❡ ❝♦♥tr♦❧ ♣r♦❥❡❝t✳
✺✳✸✳✸ ❚❡st✐♥❣ ❛♥❞ ✈❡r✐✜❝❛t✐♦♥
❆♥ ✐♠♣♦rt❛♥t ♣❛rt ♦❢ ♣r♦❞✉❝t ❞❡✈❡❧♦♣♠❡♥t ✐s t❤❡ t❡st✐♥❣ ❛♥❞ ✈❡r✐✜❝❛t✐♦♥ t❤❛t t❤❡ ♣r♦❞✉❝t ♠❡❡ts r❡q✉✐r❡✲♠❡♥ts✳ ❊✛❡❝t✐✈❡ t❡st✐♥❣ ❝r✐t❡r✐❛ ✇✐❧❧ ❢✉❧❧② ❝❛♣t✉r❡ t❤❡ str❡♥❣t❤s ❛♥❞ ❧✐♠✐t❛t✐♦♥s ♦❢ ❛ s②st❡♠✳
❚❡st✐♥❣ ✇✐❧❧ ❜❡ ♣❡r❢♦r♠❡❞ ❛s ❝♦❞❡ ❞❡✈❡❧♦♣♠❡♥t r❡❛❝❤❡s ❝♦♠♣❧❡t✐♦♥✳ ❚❤❡ s♣❡❝✐✜❝❛t✐♦♥ ❞♦❝✉♠❡♥t ❧✐sts t❡st✐♥❣♣r♦❝❡❞✉r❡s t❤❛t ✇✐❧❧ ✈❡r✐❢② t❤❛t t❤❡ ♦❜❥❡❝t✐✈❡s ♦❢ t❤❡ ♣r♦❥❡❝t ✇❡r❡ ♠❡t✳
✺✳✹ Pr♦❞✉❝❡ ❞♦❝✉♠❡♥t❛t✐♦♥
❋✐♥❛❧ ❞♦❝✉♠❡♥t❛t✐♦♥ ✇✐❧❧ ❜❡ ❝♦♠♣✐❧❡❞ ❛s t❤❡ t❡st✐♥❣ ✐s ❝♦♠♣❧❡t❡❞✳ ❚❤✐s ❞♦❝✉♠❡♥t❛t✐♦♥ ✇✐❧❧ ✐♥❝❧✉❞❡ ❛ ✜♥❛❧r❡♣♦rt✳
✺✳✹✳✶ ❋✐♥❛❧ r❡✈✐❡✇ ❛♥❞ ♣r❡s❡♥t❛t✐♦♥
❯♣♦♥ ❝♦♠♣❧❡t✐♦♥ ♦❢ t❤❡ ♣r♦❥❡❝t✱ t❤❡ ♣r♦❥❡❝t ✇✐❧❧ ❜❡ r❡✈✐❡✇❡❞ ❜② ❉r✳ ❉♦♥ ❈r✐♣♣s ❛♥❞ ▼s✳ ❏♦❧②♥♥❡ ❇❡rr❡tt✳❘❡s✉❧ts ❢r♦♠ t❤❡ ♣r♦❥❡❝t ✇✐❧❧ ❜❡ ♣r❡s❡♥t❡❞ ❛t ❙❡♥✐♦r ❉❡s✐❣♥ ◆✐❣❤t✳
✻ ❘❡s♦✉r❝❡s
❚❤❡ ✈❡❤✐❝❧❡ s②st❡♠ ✉s❡❞ ✐s ❛ ❇❛tt❧❡❦✐t r♦❜♦t s②st❡♠ ✭s❡❡ ❋✐❣✉r❡ ✷✮✳ ❚❤❡s❡ ✈❡❤✐❝❧❡s ❝❛♥ s✉st❛✐♥ s♣❡❡❞s ♦❢ ✉♣t♦ ✶✺♠♣s ❛♥❞ ❛r❡ ❝♦♥str✉❝t❡❞ t♦ r❡♠❛✐♥ ✉s❛❜❧❡ ❛❢t❡r ❝♦❧❧✐s✐♦♥s✳ ▼♦r❡ ✐♥❢♦r♠❛t✐♦♥ ♦♥ ♣❡r✐♣❤❡r❛❧s ✉t✐❧✐③❡❞ ✐♥t❤❡ s②st❡♠ ✐s ❢♦✉♥❞ ✐♥ ❙❡❝t✐♦♥ ✺✳✸✳✶✳
❋✐❣✉r❡ ✷✿ ❖♥❡ ♦❢ t❤❡ ✈❡❤✐❝❧❡s t♦ ❜❡ ✉s❡❞ ✐♥ ❞❡♠♦♥str❛t✐♦♥ ♦❢ t❤❡ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳
✼ ❙❝❤❡❞✉❧❡
❚❤❡ t✐♠❡❧✐♥❡ ❢♦r t❤✐s ♣r♦❥❡❝t ✐s ❜r♦❦❡♥ ✐♥t♦ ❢♦✉r ♣❤❛s❡s✱ ✉s✐♥❣ ❙❡❝t✐♦♥ ✺✳✷ ✲ ✺✳✹ ❛s ♣❤❛s❡s ♦❢ ❞❡✈❡❧♦♣♠❡♥t✳ ■✇✐❧❧ r❡♣♦rt t♦ ❉r✳ ❘②❛♥ ●❡r❞❡s ❛❜♦✉t t❤❡ ❝♦♠♣❧❡t✐♦♥ ♦❢ ❡❛❝❤ ♠✐❧❡st♦♥❡ ♦♥ t❤❡ s❝❤❡❞✉❧❡✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✺
✷✵✶✹ ✷✵✶✺
❙❡♣ ❖❝t ◆♦✈ ❉❡❝ ❏❛♥ ❋❡❜ ▼❛r ❆♣r
❆❧❣♦r✐t❤♠ r❡s❡❛r❝❤ ❛♥❞ s❡❧❡❝t✐♦♥
Pr❡❧✐♠✐♥❛r② s❡❧❡❝t✐♦♥
❙✐♠✉❧❛t✐♦♥
❉❡s✐❣♥
❙②st❡♠ ❘❡q✉✐r❡♠❡♥ts
❙♣❡❝✐✜❝❛t✐♦♥s
❍❛r❞✇❛r❡ ❙❝❤❡♠❛t✐❝s
Pr♦♣♦s❛❧
❉❡✈❡❧♦♣♠❡♥t
❖❜t❛✐♥ ❝♦♠♣♦♥❡♥ts
❈♦❞❡ ❞❡✈❡❧♦♣♠❡♥t
❚❡st ✫ ❱❡r✐✜❝❛t✐♦♥
Pr♦❞✉❝❡ ❞♦❝✉♠❡♥t❛t✐♦♥
❋✐♥❛❧ r❡✈✐❡✇
❚❛❜❧❡ ✶✿ Pr♦♣♦s❡❞ s❝❤❡❞✉❧❡ ❢♦r t❤❡ s❡♥✐♦r ❞❡s✐❣♥ ♣r♦❥❡❝t✳
✽ ◗✉❛❧✐✜❝❛t✐♦♥s
■ ❛♠ ❛ ❙❡♥✐♦r ✐♥ t❤❡ ❊❧❡❝tr✐❝❛❧ ❛♥❞ ❈♦♠♣✉t❡r ❊♥❣✐♥❡❡r✐♥❣ ❉❡♣❛rt♠❡♥t✱ ♠❛❥♦r✐♥❣ ✐♥ ❊❧❡❝tr✐❝❛❧ ❊♥❣✐♥❡❡r✐♥❣✳❋♦r ♠♦r❡ ✐♥❢♦r♠❛t✐♦♥✱ s❡❡ t❤❡ ❛tt❛❝❤❡❞ r❡s✉♠❡✳
✾ ❈♦sts
❚❤❡ ❜✉❞❣❡t ✐s s❤♦✇♥ ❜❡❧♦✇✳
❚❛❜❧❡ ✷✿ ❆♥t✐❝✐♣❛t❡❞ ❇✉❞❣❡t
❇✐❧❧ ♦❢ ▼❛t❡r✐❛❧s
■t❡♠ ❈♦st ◗✉❛♥t✐t② ❚♦t❛❧ ❈♦st
❱❡❤✐❝❧❡ ✩✶✱✵✵✵ ✶✵ ✩✶✵✱✵✵✵
❳❜❡❡ ✇✐r❡❧❡ss tr❛♥s❝❡✐✈❡r ✩✷✺ ✶✵ ✩✷✺✵
❯❧tr❛s♦♥✐❝ r❛♥❣❡ ✜♥❞❡r ✩✷✺ ✶✵ ✩✷✺✵
❚✐✈❛ ❈ ❉❡✈❡❧♦♣♠❡♥t ❇♦❛r❞ ✩✶✸ ✶✵ ✩✶✸✵
❲❛❣❡ ❙♦✉r❝❡s
❙❆❚❙ Pr♦❣r❛♠ ✩✶✵ ✼✺ ❤♦✉rs ✩✼✺✵
❯❘❈❖ ●r❛♥t ✩✶✵ ✶✷✺ ❤♦✉rs ✩✶✱✷✺✵
❚♦t❛❧ ✩✶✷✱✻✸✵
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✻
✶✵ ❈♦♥❝❧✉s✐♦♥
❚❤✐s ♣r♦❥❡❝t ✐s ♣❡rt✐♥❡♥t t♦ ✜❡❧❞s ♦❢ st✉❞② ✐♥❝❧✉❞✐♥❣ ❡♠❜❡❞❞❡❞ s②st❡♠s ❛♥❞ ♠❡❝❤❛♥✐❝❛❧ ❝♦♥tr♦❧✳ ❚❤❡ ❝♦♥tr♦❧♦❢ ✈❡❤✐❝❧❡s ✐s ❜❡❝♦♠✐♥❣ ♣r♦❣r❡ss✐✈❡❧② ♠♦r❡ ❛✉t♦♠❛t❡❞✱ ❛♥❞ ❛♥ ❛❝❝✉r❛t❡ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ s②st❡♠ ✐s ♦♥❡ ♠❡t❤♦❞t♦ ♦♣t✐♠✐③❡ tr❛✈❡❧ ❛♥❞ tr❛♥s♣♦rt ❝♦sts ✐♥ ♠✉❧t✐♣❧❡ ❛♣♣❧✐❝❛t✐♦♥s✳ ❚❤✐s ♣r♦❥❡❝t ✇✐❧❧ ❛♥❛❧②③❡ ❛♥❞ ✐♠♣❧❡♠❡♥t✈❛r✐♦✉s ❛❧❣♦r✐t❤♠s✱ r❡s✉❧t✐♥❣ ✐♥ ❛ ❞✐s❝✉ss✐♦♥ ♦❢ t❤❡ ❛❧❣♦r✐t❤♠s✳
❆♥ ✐♥✈❡st✐❣❛t✐♦♥ t♦ ♣♦t❡♥t✐❛❧ ❛❧❣♦r✐t❤♠s ✐s ✉♥❞❡r ✇❛②✱ ❛♥❞ r❡s✉❧ts ✇✐❧❧ ❜❡ ♣r♦❞✉❝❡❞ ✐♥ t❤❡ ❢♦❧❧♦✇✐♥❣ ✇❡❡❦s✳
❚❤❡ r❡st ♦❢ t❤❡ ♣r♦❥❡❝t st✐❧❧ ♥❡❡❞s t♦ ❜❡ ❝♦♠♣❧❡t❡❞✳ ❚❤❡s❡ st❡♣s ❛r❡✿ ❛❧❣♦r✐t❤♠ r❡s❡❛r❝❤ ❛♥❞ s❡❧❡❝t✐♦♥✱ ❞❡s✐❣♥✱❞❡✈❡❧♦♣♠❡♥t✱ ❛♥❞ ❞♦❝✉♠❡♥t ♣r♦❞✉❝t✐♦♥✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧ ✼
✶✶ ❇✐❜❧✐♦❣r❛♣❤②
❬✶❪ ▼♦❤❛♠♠❛❞ ❨ ❆❜✉❛❧❤♦✉❧✱ ▼♦❤❛♠❡❞ ▼❛r♦✉❢✱ ❖②✉♥❝❤✐♠❡❣ ❙❤❛❣❞❛r✱ ❛♥❞ ❋❛✇③✐ ◆❛s❤❛s❤✐❜✐✳ P❧❛t♦♦♥✐♥❣❝♦♥tr♦❧ ✉s✐♥❣ ✈✐s✐❜❧❡ ❧✐❣❤t ❝♦♠♠✉♥✐❝❛t✐♦♥s✿ ❆ ❢❡❛s✐❜✐❧✐t② st✉❞②✳ ■♥ ■♥t❡❧❧✐❣❡♥t ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s✲✭■❚❙❈✮✱ ✷✵✶✸ ✶✻t❤ ■♥t❡r♥❛t✐♦♥❛❧ ■❊❊❊ ❈♦♥❢❡r❡♥❝❡ ♦♥✱ ♣❛❣❡s ✶✺✸✺✕✶✺✹✵✳ ■❊❊❊✱ ✷✵✶✸✳
❬✷❪ ❈❈ ❈❤✐❡♥ ❛♥❞ P ■♦❛♥♥♦✉✳ ❆✉t♦♠❛t✐❝ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣✳ ■♥ ❆♠❡r✐❝❛♥ ❈♦♥tr♦❧ ❈♦♥❢❡r❡♥❝❡✱ ✶✾✾✷✱ ♣❛❣❡s✶✼✹✽✕✶✼✺✷✳ ■❊❊❊✱ ✶✾✾✷✳
❬✸❪ ❚❛❦❡❤✐❦♦ ❋✉❥✐♦❦❛ ❛♥❞ ▼❛♥❛❜✉ ❖♠❛❡✳ ❱❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧ ✐♥ ❧❛t❡r❛❧ ❞✐r❡❝t✐♦♥ ❢♦r ♣❧❛t♦♦♥✐♥❣✳ ❱❡❤✐❝❧❡❙②st❡♠ ❉②♥❛♠✐❝s✱ ✷✾✭❙✶✮✿✹✷✷✕✹✸✼✱ ✶✾✾✽✳
❬✹❪ ❚❡❝❦ ❈❤❡✇ ◆❣✱ ❏❛✈✐❡r ■❜❛♥❡③ ●✉③♠❛♥✱ ❛♥❞ ▼❛rt✐♥ ❉❛✈✐❞ ❆❞❛♠s✳ ❆✉t♦♥♦♠♦✉s ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ s②st❡♠s✿❆ ✈✐rt✉❛❧ tr❛✐❧❡r ❧✐♥❦ ♠♦❞❡❧✳ ■♥ ■♥t❡❧❧✐❣❡♥t ❘♦❜♦ts ❛♥❞ ❙②st❡♠s✱ ✷✵✵✺✳✭■❘❖❙ ✷✵✵✺✮✳ ✷✵✵✺ ■❊❊❊✴❘❙❏■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r❡♥❝❡ ♦♥✱ ♣❛❣❡s ✸✵✺✼✕✸✵✻✷✳ ■❊❊❊✱ ✷✵✵✺✳
❬✺❪ P P❡tr♦✈✳ ◆♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❝♦♥tr♦❧ ♦❢ ❛ t✇♦✲✈❡❤✐❝❧❡ ❝♦♥✈♦②✳ ❖♣❡♥ ❈②❜❡r♥❡t✐❝s ✫ ❙②st❡♠✐❝s ❏♦✉r♥❛❧✱✸✿✼✵✕✼✽✱ ✷✵✵✾✳
❬✻❪ ❘❛❥❡s❤ ❘❛❥❛♠❛♥✐✳ ❱❡❤✐❝❧❡ ❞②♥❛♠✐❝s ❛♥❞ ❝♦♥tr♦❧✳ ❙♣r✐♥❣❡r✱ ✷✵✶✶✳
❬✼❪ ❙♦♦✲❨❡♦♥❣ ❨✐ ❛♥❞ ❑✐❧✲❚♦ ❈❤♦♥❣✳ ■♠♣❡❞❛♥❝❡ ❝♦♥tr♦❧ ❢♦r ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ s②st❡♠✳ ▼❡❝❤❛tr♦♥✐❝s✱✶✺✭✺✮✿✻✷✼✕✻✸✽✱ ✷✵✵✺✳
18 CHAPTER 1. PROPOSAL
Chapter 2
Specification
19
REQUIREMENTS SPECIFICATION
for
Vehicle-Following Platoon
Release 2.0
16 January 2015
Samuel Mitchell, [email protected]
1
Contents
1 Scope 5
2 Applicable Documents 62.1 Product Perspective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Requirements 73.1 Control Algorithm Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73.2 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 Requirements Verification 94.1 Control Algorithm Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94.2 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2
Signature Page
Reviewed by:
Name, Title, email Date
Name, Title, email Date
Name, Title, email Date
Name, Title, email Date
Name, Title, email Date
3
Revision History
Revision Description Author Date Approval1 Draft Samuel Mitchell 11/06/2014 Failed2 Draft Samuel Mitchell 1/16/2015 Pending345678910
4
1 Scope
The scope of this document is to establish the design, performance, development, and testrequirements of the vehicle-following platoon system (VFPS).
This document does not detail the following: implementation methods, potential controlleralgorithms, or motivations for the project.
5
2 Applicable Documents
The following documents shall form part of this specification, as a more complete descriptionof the purpose and motivations of the VFPS.
• Technical Memo: Lateral Control of a Vehicle Platoon. S. Mitchell to D. Cripps. 16 Oct.2014.
• FCC Part 15.247. Operation within the bands 902-928 MHz, 2400-2483.5 MHz, and5725-5850 MHz.
• IEEE Standard 802.15.4.
2.1 Product Perspective
A brief description of the product is given in Technical Memo (S. Mitchell, 2014).
The completed VFPS will result in the implementation and demonstration of avehicle-following controller for a platoon of vehicles. The demonstration will takeplace on a fleet of ten robots. Prior to delving into the details of the project, a broadoverview of the platooning system and motivations are given.
The platoon is grouped into two types of vehicles: follower(s) and one leader. Theleader will be controlled via radio transmission from the user with the option tofollow a predetermined route. The leader will collect and transmit informationabout its state to the other vehicles in the platoon.
Each follower will collect data on its own state and receive data from the lead vehicle.Using these data points, the follower will use a lateral control algorithm in order todetermine what trajectory it will follow. The follower will use this data to controltheir motion, following in the same track as the leader. In addition to the lateralcontrol, the follower will use sensors to determine the distance between itself andthe preceding vehicle so it will not cause a collision with other vehicle(s).
6
3 Requirements
3.1 Control Algorithm Performance
3.1.1 Accuracy
3.1.1.1
The controller shall cause the follower vehicle to track the lead vehicle at turn angles up to 40◦
— the vehicle travels straight, changes heading by 40◦ and continues to travel straight.
3.1.1.2
The controller shall cause the follower vehicle to track the lead vehicle’s exact path within 30cm.
3.1.2 Following distance
The controller shall allow the follower vehicle to follow the preceding vehicle at short distances.When the lead vehicle is traveling at 15 m/s, the following vehicle shall be capable of followingat a following distance of 1 m.
3.1.3 Reaction time
The following vehicle shall react to the lead vehicle at full speed (15 m/s) while following at adistance of 1 m. Reaction times to variations in the lead vehicle’s path shall be a maximum of67 ms.
3.2 Physical Characteristics
3.2.1 Lead Vehicle
3.2.1.1 Mechanical
3.2.1.1.1The vehicle shall drive at speeds up to 15 m/s.
3.2.1.1.2The vehicle shall accelerate at rates up to 5 m/s2.
3.2.1.2 Electrical
The vehicle shall be able to operate at maximum power usage for a minimum of 10 minutes.
3.2.1.3 Communication
3.2.1.3.1The vehicle shall be able to communicate with the operator at distances of at least 100 m.
7
3.2.1.3.2The vehicle shall be able to communicate with at least 2 other vehicles.
3.2.1.4 Computation
The vehicle shall be able to store and follow a predefined path.
3.2.2 Follower Vehicle(s)
3.2.2.1 Mechanical
3.2.2.1.1The vehicle shall drive at speeds up to 15 m/s.
3.2.2.1.2The vehicle shall accelerate at rates up to 5 m/s2.
3.2.2.2 Electrical
The vehicle shall be able to operate at maximum power usage for a minimum 10 minutes.
3.2.2.3 Communication
3.2.2.3.1The vehicle shall be able to communicate with the operator at distances of at least 100 m.
3.2.2.3.2The vehicle shall be able to communicate with at least 2 other vehicles.
3.2.2.4 Computation
3.2.2.4.1 Data storage The vehicle shall be able to store 100 32-bit samples of x, x, y, yposition data.
3.2.2.4.2 Algorithm The vehicle shall be able to execute the controller defined in Section3.1.
8
4 Requirements Verification
4.1 Control Algorithm Performance
The controller shall be tested by simulation. The simulation must incorporate communicationand measurement errors so as to accurately represent reality. Further verification shall beperformed in Sections 4.1.1, 4.1.2, and 4.1.3.
4.1.1 Accuracy
Requirements in Sections 3.1.1.1 and 3.1.1.2. This requirement shall be verified by simulation.The lead vehicle’s path shall follow a track with two (2) 20◦ turns and one (1) 40◦ turn. Thefollower vehicle shall follow the lead vehicle, and the follower and lead vehicles’ paths shall becompared and found to be within 30 cm of each other.
4.1.2 Following distance
Requirements in Section 3.1.2. Perform the test in 4.1.1 at 15 m/s and a following distanceof 1 m. When the lead vehicle is traveling at 15 m/s, the following vehicle shall be capable offollowing at a distance of 1 m.
4.1.3 Reaction time
Requirements in Section 3.1.3. Verified by 4.1.2.
4.2 Physical Characteristics
4.2.1 Lead Vehicle
4.2.1.1 Mechanical
4.2.1.1.1Requirements in Section 3.2.1.1.1. Verified by test. The test is passed if the vehicle propelsitself to go 15 m/s.
4.2.1.1.2Requirements in Section 3.2.1.1.2. Verified by test. The test is passed if the vehicle propelsitself from a standstill to 5 m/s in 1 second.
4.2.1.2 Electrical
Requirements in Section 3.2.1.2. Verified by analysis. The power consumption is measuredduring acceleration. This data is compared to the battery capacity to verify the operation time.
4.2.1.3 Communication
4.2.1.3.1Requirements in Section 3.2.1.3.1. Verified by test. The test is passed if the vehicle can com-municate with the controller radio at a distance of 100 m.
9
4.2.1.3.2Requirements in Section 3.2.1.3.2. Verified by test. The test is passed if the vehicle can connectto 2 vehicles at the same time.
4.2.1.4 Computation
Requirements in Section 3.2.1.4. Verified by test. The vehicle must be able to follow a path 100m long.
4.2.2 Follower Vehicle(s)
4.2.2.1 Mechanical
4.2.2.1.1Requirements in Section 3.2.2.1.1. Verified by test. The test is passed if the vehicle propelsitself to go 15 m/s.
4.2.2.1.2Requirements in Section 3.2.2.1.2. Verified by test. The test is passed if the vehicle propelsitself from a standstill to 5 m/s in 1 second.
4.2.2.2 Electrical
Requirements in Section 3.2.2.2. The vehicle shall be able to operate at maximum power usagefor at least 10 minutes.
4.2.2.3 Communication
4.2.2.3.1Requirements in Section 3.2.2.3.1. Verified by test. The test is passed if the vehicle can com-municate with the user radio at a distance of 100 m.
4.2.2.3.2Requirements in Section 3.2.2.3.1. Verified by test. The test is passed if the vehicle can connectto 2 vehicles at the same time.
4.2.2.4 Computation
4.2.2.4.1 Data storage Requirements in Section 3.2.2.4.1. Verified by design. The designmust contain data space for 100 32-bit samples of x, x, y, y position data.
4.2.2.4.2 Algorithm Requirements in Section 3.2.2.4.2. Verified by test. The vehicle mustexecute the controller in real-time.
10
30 CHAPTER 2. SPECIFICATION
Chapter 3
Final Report
31
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥
❙❛♠ ▼✐t❝❤❡❧❧✱ ❑②❧❡ ❍②♠❛s
❊❧❡❝tr✐❝❛❧✱ ▼❡❝❤❛♥✐❝❛❧ ❊♥❣✐♥❡❡r✐♥❣
❯t❛❤ ❙t❛t❡ ❯♥✐✈❡rs✐t②
❆♣r✐❧ ✸✵✱ ✷✵✶✺
❈♦♥t❡♥ts
▲✐st ♦❢ ❋✐❣✉r❡s ✐✐
▲✐st ♦❢ ❚❛❜❧❡s ✐✐
✶ ■♥tr♦❞✉❝t✐♦♥ ✷
✶✳✶ ❙tr✉❝t✉r❡ ♦❢ ♣❛♣❡r ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✷
✷ ❈♦♥tr♦❧❧❡r s❡❧❡❝t✐♦♥ ❛♥❞ s✐♠✉❧❛t✐♦♥ ✷
✷✳✶ ❈♦♥tr♦❧❧❡r s❡❧❡❝t✐♦♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸✷✳✷ ❈♦♥tr♦❧❧❡r ❞❡s✐❣♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸
✸ ❘❡s✉❧ts ✸
✸✳✶ ❙✐♠✉❧❛t✐♦♥ r❡s✉❧ts ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✸
✹ ❙②st❡♠ ❞❡s✐❣♥ ✺
✹✳✶ ❍❛r❞✇❛r❡ ❞❡s✐❣♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺✹✳✷ ❙♦❢t✇❛r❡ ❞❡s✐❣♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✺
✺ ❊①♣❡r✐♠❡♥t❛❧ r❡s✉❧ts ✼
✻ ❉✐s❝✉ss✐♦♥ ✼
✼ ❈♦♥❝❧✉s✐♦♥ ✾
❆♣♣❡♥❞✐❝❡s ✶✵
❆ ▼❛t❤❡♠❛t✐❝❛❧ ♠♦❞❡❧ ♦❢ t❤❡ ✈❡❤✐❝❧❡ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✵❇ ❉❡✈❡❧♦♣♠❡♥t ♦❢ t❤❡ s❡♣❛r❛❜❧❡ ❝♦♥tr♦❧❧❡r ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸❈ ❈♦❞❡ t♦ ✐♥t❡r❢❛❝❡ ✇✐t❤ t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✻
❆ ❘❡❢❡r❡♥❝❡s ✶✻
✐
▲✐st ♦❢ ❋✐❣✉r❡s
✶ ❚❤❡ ♣❛t❤ t❛❦❡♥ ❜② t❤❡ ❧❡❛❞❡r ✐♥ s✐♠✉❧❛t✐♦♥✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✷ ❱❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❝♦♠♠✉♥✐❝❛t✐♦♥ s❝❤❡♠❡✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻✸ ❱❡❤✐❝❧❡ ❢♦r❝❡ ♠♦❞❡❧✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✶✹ ❋♦r❝❡ ♠♦❞❡❧ ♦❢ t❤❡ r✐❣❤t s✐❞❡ ♦❢ t❤❡ ✈❡❤✐❝❧❡✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✷✺ ❙❦✐❞ st❡❡r ✈❡❧♦❝✐t② ❛♥❞ t✉r♥ r❛❞✐✉s✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✸✻ ❚❤❡ ❝♦♦r❞✐♥❛t❡ ❢r❛♠❡ ❢♦r t❤❡ ♣✉r❡ ♣✉rs✉✐t ❝♦♥tr♦❧❧❡r✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✶✹
▲✐st ♦❢ ❚❛❜❧❡s
✶ ▲❡❛❞ ✈❡❤✐❝❧❡ s✐♠✉❧❛t✐♦♥ ♠❛♥❡✉✈❡rs✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✷ ❙✐♠✉❧❛t✐♦♥ r❡s✉❧ts✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✹✸ ❚❛s❦ t✐♠✐♥❣ ❛♥❞ ♣r✐♦r✐t② s❝❤❡❞✉❧❡✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✻✹ ❚❤❡ ✐♥t❡r✲✈❡❤✐❝❧❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♣❛❝❦❡t ❞❡✜♥✐t✐♦♥✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✼✺ ❘❡q✉✐r❡♠❡♥t ✈❡r✐✜❝❛t✐♦♥ ♠❛tr✐①✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✳ ✽
✐✐
❊①❡❝✉t✐✈❡ ❙✉♠♠❛r②
▼✉❧t✐♣❧❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧ s②st❡♠s ❛r❡ ❛♥❛❧②③❡❞ ❢♦r ✉s❡ ✐♥ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ s②st❡♠✳ ■♥ ♦r❞❡r t♦ ❡♥s✉r❡ t❤❡s❛❢❡t② ♦❢ t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✱ t❤❡ s②st❡♠ ♠✉st ♦♣❡r❛t❡ ✉♥❞❡r t❤r❡❡ ❝♦♥str❛✐♥ts✿ ✭✶✮ ❛❝❝✉r❛t❡ ♣❛t❤ ❢♦❧❧♦✇✐♥❣✱✭✷✮ str✐♥❣ st❛❜✐❧✐t②✱ ❛♥❞ ✭✸✮ ❢✉♥❝t✐♦♥❛❧✐t② ✐♥ t❤❡ ♣r❡s❡♥❝❡ ♦❢ ♥♦✐s❡✳ ❈♦♠♣✉t❡r s✐♠✉❧❛t✐♦♥s ❛r❡ ❡♠♣❧♦②❡❞ t♦❛♥❛❧②③❡ ❝❛♥❞✐❞❛t❡s ❛❝❝♦r❞✐♥❣ t♦ t❤❡ s❛❢❡t② r❡q✉✐r❡♠❡♥ts✳ ❆❝t✉❛❧ ✈❡❤✐❝❧❡ ❦✐♥❡♠❛t✐❝s ❛♥❞ ♥♦♥❧✐♥❡❛r✐t✐❡s ✕❧✐♠✐ts ♦♥ t✉r♥ r❛❞✐✉s✱ ✈❡❧♦❝✐t②✱ ❛♥❞ ❛❝❝❡❧❡r❛t✐♦♥ ✕ ❛r❡ ✐♥❝❧✉❞❡❞ ✐♥ t❤✐s ❛♥❛❧②s✐s✳
❙✉❝❝❡ss❢✉❧ ❝♦♥tr♦❧ s②st❡♠ ❝❛♥❞✐❞❛t❡s ❛r❡ ✐♠♣❧❡♠❡♥t❡❞ ✐♥ ❛ ♣❧❛t♦♦♥ ♦❢ ✜✈❡ ❞✐✛❡r❡♥t✐❛❧✲st❡❡r ✈❡❤✐❝❧❡s✳ ❚❤❡s❡♥s✐♥❣ ❛♥❞ ❝♦♠♠✉♥✐❝❛t✐♦♥ r❡q✉✐r❡♠❡♥ts ♦❢ t❤❡ ❝♦♥tr♦❧ s②st❡♠ ❛r❡ ❞✐s❝✉ss❡❞✳ ❊①♣❡r✐♠❡♥t❛❧ r❡s✉❧ts ❛r❡❝♦♠♣❛r❡❞ t♦ t❤❡ ❝♦♠♣✉t❡r s✐♠✉❧❛t✐♦♥s✳ ❚❤✐s ❛♥❛❧②s✐s r❡s✉❧ts ✐♥ ❛♥ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ♦❢ ❛ ❝♦♥tr♦❧ s②st❡♠ ✇❤✐❝❤❢✉♥❝t✐♦♥s ❛❝❝♦r❞✐♥❣ t♦ t❤❡ ♣r❡✈✐♦✉s❧② ❧✐st❡❞ ❝♦♥str❛✐♥ts✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶
❙❝♦♣❡
❚❤❡ ♣✉r♣♦s❡ ♦❢ t❤✐s ❞♦❝✉♠❡♥t ✐s t♦ ♣r♦✈✐❞❡ ❛ ❜r✐❡❢ ♦✈❡r✈✐❡✇ ♦❢ t❤❡ ♣r♦❥❡❝t✱ ✧▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡P❧❛t♦♦♥✳✧ ❚❤✐s ♣r♦❥❡❝t ✇❛s ♣❡r❢♦r♠❡❞ ✐♥ ❛❞❤❡r❡♥❝❡ ✇✐t❤ t❤❡ ❞❡s✐❣♥ ♣♦rt✐♦♥ ♦❢ t❤❡ ❯t❛❤ ❙t❛t❡ ❯♥✐✈❡rs✐t②❊❧❡❝tr✐❝❛❧ ❊♥❣✐♥❡❡r✐♥❣ ✉♥❞❡r❣r❛❞✉❛t❡ ❞❡❣r❡❡ r❡q✉✐r❡♠❡♥ts✳
❚❤✐s ❞♦❝✉♠❡♥t ✐s ♥♦t ❛ ❝♦♠♣r❡❤❡♥s✐✈❡ ❞❡s❝r✐♣t✐♦♥ ♦❢ t❤❡ s②st❡♠ ❞❡s✐❣♥✳ ❆ ♠♦r❡ t❤♦r♦✉❣❤ ❞❡s❝r✐♣t✐♦♥ ♦❢ t❤❡s②st❡♠ ✐s ❢♦✉♥❞ ✐♥ t❤❡ ❙❆❚❙ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❍❛♥❞❜♦♦❦ ❛♥❞ t❤❡ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❆P■✳
❚❤❡ ❞♦❝✉♠❡♥t ❞♦❡s ♦✉t❧✐♥❡ t❤❡ s❡❧❡❝t✐♦♥ ❛♥❞ ❞❡s✐❣♥ ♦❢ t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❧❛t❡r❛❧ ❝♦♥tr♦❧ s②st❡♠✳ ■t ❛❧s♦✐♥❝❧✉❞❡s ❛♥ ❡①♣❧❛♥❛t✐♦♥ ♦❢ t❤❡ s♦❢t✇❛r❡ ❢r❛♠❡✇♦r❦✳
❆♣♣❧✐❝❛❜❧❡ ❞♦❝✉♠❡♥ts
❚❤❡ ❢♦❧❧♦✇✐♥❣ ❞♦❝✉♠❡♥ts ❛r❡ ♣❡rt✐♥❡♥t t♦ t❤❡ ❞❡s✐❣♥ ❛♥❞ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ♦❢ t❤✐s ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✿
• ❚❡❝❤♥✐❝❛❧ ▼❡♠♦✿ ▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥✳ ❙✳ ▼✐t❝❤❡❧❧ t♦ ❉✳ ❈r✐♣♣s✳ ✶✻ ❖❝t✳ ✷✵✶✹✳
• ❘❡q✉✐r❡♠❡♥ts ❙♣❡❝✐✜❝❛t✐♦♥ ❢♦r ❱❡❤✐❝❧❡✲❋♦❧❧♦✇✐♥❣ P❧❛t♦♦♥✳ ❙✳ ▼✐t❝❤❡❧❧✳ ✶✻ ❏❛♥✳ ✷✵✶✺✳
• ❙❆❚❙ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❍❛♥❞❜♦♦❦✳ ❙❡❝✉r❡ ❆✉t♦♠❛t❡❞ ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s ●r♦✉♣✳ ✸✵ ❆♣r✳ ✷✵✶✺✳
• ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❆P■✳ ❙❡❝✉r❡ ❆✉t♦♠❛t❡❞ ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s ●r♦✉♣✳ ✸✵ ❆♣r✳ ✷✵✶✺✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✷
✶ ■♥tr♦❞✉❝t✐♦♥
◆❛t✐♦♥❛❧❧②✱ ❢r❡❡✇❛② ❝♦♥❣❡st✐♦♥ ❝♦sts t❤❡ ❡❝♦♥♦♠② ♦✈❡r ✩✶ tr✐❧❧✐♦♥ ❛♥♥✉❛❧❧②✳ ❆✉t♦♠❛t❡❞ ✈❡❤✐❝❧❡s ❛r❡ ♣❛rt ♦❢ ❛s♦❧✉t✐♦♥ t♦ ♣r❡✈❡♥t✐♥❣ ❢✉t✉r❡ ❝♦st❧② ❛♥❞ t✐♠❡✲✇❛st✐♥❣ tr❛✣❝ ❥❛♠s✳ ❈✉rr❡♥t❧② t❤❡r❡ ✐s ❛ ❣r❡❛t ❞❡❛❧ ♦❢ r❡s❡❛r❝❤♦♥ ❛✉t♦♥♦♠♦✉s ✈❡❤✐❝❧❡ ❝♦♥tr♦❧ ❬✶❪✳ ▼♦st ♦❢ t❤❡ r❡s❡❛r❝❤ ✐s ❢♦❝✉s❡❞ ♦♥ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧ ✭❧✐♥❡❛r ✈❡❧♦❝✐t②✮ ♦❢✈❡❤✐❝❧❡s ✐♥ ❛ ❢r❡❡✇❛② ❡♥✈✐r♦♥♠❡♥t✱ ✇❤✐❧❡ t❤❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ✭st❡❡r✐♥❣✮ ♦❢ t❤❡ ✈❡❤✐❝❧❡s ✐s ♥❡❣❧❡❝t❡❞✳ ❲❤❡♥ ❧❛♥❡s❛r❡♥✬t ✇❡❧❧ ♠❛r❦❡❞ ❞✉❡ t♦ ❝♦♥str✉❝t✐♦♥✱ r❡❞✐r❡❝t✐♦♥ ♦❢ tr❛✣❝✱ ♦r ✉♣❦❡❡♣ ♥❡❣❧✐❣❡♥❝❡✱ t❤❡ st❛♥❞❛r❞ ❧❛♥❡❦❡❡♣✐♥❣❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s ❛r❡♥✬t ❡✛❡❝t✐✈❡✳ ❱❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ✐s ❛ s♦❧✉t✐♦♥ t♦ t❤✐s ♣r♦❜❧❡♠✳
❱❛r✐♦✉s ❛✉t❤♦rs ❬✷✱ ✸✱ ✹✱ ✺✱ ✻❪ ❤❛✈❡ ♣r♦♣♦s❡❞ ❧❛t❡r❛❧ ❝♦♥tr♦❧❧❡rs ✇❤✐❝❤ ❝♦♥tr♦❧ t❤❡ ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧❜❡❤❛✈✐♦r s✐♠✉❧t❛♥❡♦✉s❧②✳ ❲❤✐❧❡ ❝♦♠❜✐♥✐♥❣ t❤❡ ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡rs ✐s ❛♥ ❡✛❡❝t✐✈❡ ♠❡t❤♦❞ ♦❢r❡❞✉❝✐♥❣ ❝♦♠♣✉t❛t✐♦♥ t✐♠❡✱ ❛ ✢❛✇ ✐♥ ❡✐t❤❡r t❤❡ ❧❛t❡r❛❧ ♦r ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r r❡♥❞❡rs t❤❡ ❡♥t✐r❡ s②st❡♠✉s❡❧❡ss✳
❖♥❡ ❛♣♣❧✐❝❛t✐♦♥ ♦❢ ✐♠♣r♦✈❡❞ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ✐s ♠✐❧✐t❛r② tr❛♥s♣♦rt❛t✐♦♥ ✐♥ ❛❞✈❡rs❡ ❡♥✈✐r♦♥♠❡♥ts✳ ■♥ ❤♦st✐❧❡❡♥✈✐r♦♥♠❡♥ts✱ s✉♣♣❧② ❝❛r❛✈❛♥s ♦❢t❡♥ ❢♦r♠ ❛ ❢♦r♠❛t✐♦♥ ❛♥❞ tr❛✈❡rs❡ ❛♥ ❛r❡❛✳ ❚❤✐s ♣✉ts ❛ ♠✐♥✐♠✉♠ ♦❢ ♦♥❡♣❡rs♦♥ ✐♥ ❞❛♥❣❡r ❢♦r ❡❛❝❤ ✈❡❤✐❝❧❡ ✐♥ t❤❡ ❝❛r❛✈❛♥✳ ❆ r❡♠♦t❡ ❝♦♥tr♦❧❧❡❞ ♣❧❛t♦♦♥✐♥❣ s②st❡♠ ✇✐❧❧ ❛❧❧♦✇ ❛ ❞r✐✈❡rt♦ r❡♠♦t❡❧② ❝♦♥tr♦❧ t❤❡ ❧❡❛❞ ✈❡❤✐❝❧❡✱ ❛♥❞ t❤❡ ♦t❤❡r ✈❡❤✐❝❧❡s ✇✐❧❧ ❢♦❧❧♦✇ ❛✉t♦♥♦♠♦✉s❧②✳ ❚❤✐s ❞✐st❛♥❝❡ ❢r♦♠t❤❡ ✈❡❤✐❝❧❡s ✇✐❧❧ ♣♦t❡♥t✐❛❧❧② s❛✈❡ ♠♦♥❡② ❛♥❞ ❧✐✈❡s✳ ❆♥♦t❤❡r ❜❡♥❡✜t ♦❢ ❞r✐✈✐♥❣ ✈❡❤✐❝❧❡s ✐♥ ❛ ❝❧♦s❡ ❢♦r♠❛t✐♦♥ ✐sr❡❞✉❝❡❞ ❛✐r ❞r❛❣✳ ❇② ❞r✐✈✐♥❣ ❝❧♦s❡ t♦❣❡t❤❡r✱ t❤❡ ✈❡❤✐❝❧❡s ✇♦✉❧❞ ❤❛✈❡ r❡❞✉❝❡❞ ❢✉❡❧ ❝♦♥s✉♠♣t✐♦♥✳
❚❤❡ ♣✉r♣♦s❡ ♦❢ t❤✐s ♣r♦❥❡❝t ✐s t♦ ✐♠♣❧❡♠❡♥t ❛♥❞ ❞❡♠♦♥str❛t❡ ❛ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠ t♦ ❜❡✉s❡❞ ❜② t❤❡ ❙❡❝✉r❡ ❆✉t♦♠❛t❡❞ ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s ✭❙❆❚❙✮ ●r♦✉♣✳ Pr❡✈✐♦✉s ❛♣♣❧✐❝❛t✐♦♥s ♦❢ ✈❡❤✐❝❧❡❢♦❧❧♦✇✐♥❣ ❞❡♠♦♥str❛t❡ t❤❡ ❢♦❧❧♦✇✐♥❣ ✉s✐♥❣ ❡✐t❤❡r ❛ ❧✐♠✐t❡❞ ♥✉♠❜❡r ♦❢ ✈❡❤✐❝❧❡s ♦r ❛t ❧✐♠✐t❡❞ s♣❡❡❞s✱ ✇❤✐❧❡ t❤❡❞❡♠♦♥str❛t✐♦♥ ♦❢ t❤✐s s②st❡♠ ✇✐❧❧ t❛❦❡ ♣❧❛❝❡ ♦♥ ❛ ✢❡❡t ♦❢ ✜✈❡ r♦❜♦ts ❛t s♣❡❡❞s ✉♣ t♦ ✽ ♠❡t❡rs ♣❡r s❡❝♦♥❞✭♠♣s✮✳
✶✳✶ ❙tr✉❝t✉r❡ ♦❢ ♣❛♣❡r
❚❤❡ ♦r❣❛♥✐③❛t✐♦♥ ♦❢ t❤✐s ♣❛♣❡r ✐s ❛s ❢♦❧❧♦✇s✿ ■♥ ❙❡❝t✐♦♥ ✷✱ ❝♦♥tr♦❧❧❡r s❡❧❡❝t✐♦♥ ❛♥❞ s✐♠✉❧❛t✐♦♥ ♠❡t❤♦❞s ❛r❡❞✐s❝✉ss❡❞✳ ❙❡❝t✐♦♥ ✸ ❝♦♥t❛✐♥s t❤❡ s✐♠✉❧❛t✐♦♥ r❡s✉❧ts✳ ❙❡❝t✐♦♥ ✹ ❞❡s❝r✐❜❡s t❤❡ ✈❡❤✐❝❧❡ ❛ss❡♠❜❧② ❛♥❞ s♦❢t✇❛r❡✐♠♣❧❡♠❡♥t❛t✐♦♥✱ ✇❤✐❝❤ ✐s ❢♦❧❧♦✇❡❞ ❜② r❡s✉❧ts ❛♥❞ ❛♥❛❧②s✐s ✐♥ ❙❡❝t✐♦♥ ✻✳ ❈♦♥❝❧✉s✐♦♥s ❛♥❞ ❛♥ ♦✉t❧✐♥❡ ♦❢ ❢✉t✉r❡✇♦r❦ ✇♦r❦ ❛r❡ ✐♥ ❙❡❝t✐♦♥ ✼✳
✷ ❈♦♥tr♦❧❧❡r s❡❧❡❝t✐♦♥ ❛♥❞ s✐♠✉❧❛t✐♦♥
❚❤❡ ❢♦❝✉s ♦❢ t❤✐s ♣r♦❥❡❝t ✐s t♦ s❡❧❡❝t ❛♥❞ ✐♠♣❧❡♠❡♥t ❛ s✉✐t❛❜❧❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧❧❡r ❢♦r ✉s❡ ✐♥ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✐♥❣s②st❡♠✳ ❚❤❡ ❝♦♥tr♦❧❧❡r ♠✉st ♠❡❡t t❤❡ ❢♦❧❧♦✇✐♥❣ ❝r✐t❡r✐❛✿
• ❚❤❡ ❝♦♥tr♦❧❧❡r ♠✉st ♥♦t ❝♦♠♣r♦♠✐s❡ t❤❡ ❧♦♥❣✐t✉❞✐♥❛❧ st❛❜✐❧✐t② ♦❢ t❤❡ s②st❡♠✳ ❙❡❡ ❨❛♥❛❦✐❡✈✬s ❬✼❪ ♦♥str✐♥❣ st❛❜✐❧✐t②✳
• ❚❤❡ ✈❡❤✐❝❧❡ ♠✉st ❢♦❧❧♦✇ t❤❡ ♣❛t❤ ♦❢ t❤❡ ❧❡❛❞ ✈❡❤✐❝❧❡ ❛❝❝✉r❛t❡❧②✳
❚❤❡ ♣❧❛t♦♦♥ ✐s ❣r♦✉♣❡❞ ✐♥t♦ t✇♦ t②♣❡s ♦❢ ✈❡❤✐❝❧❡s✿ ❢♦❧❧♦✇❡r✭s✮ ❛♥❞ ♦♥❡ ❧❡❛❞❡r✳ ❚❤❡ ❧❡❛❞❡r ✇✐❧❧ ❜❡ ❝♦♥tr♦❧❧❡❞✈✐❛ r❛❞✐♦ tr❛♥s♠✐ss✐♦♥ ❢r♦♠ t❤❡ ✉s❡r ✇✐t❤ t❤❡ ♦♣t✐♦♥ t♦ ❢♦❧❧♦✇ ❛ ♣r❡❞❡t❡r♠✐♥❡❞ r♦✉t❡✳ ❚❤❡ ❧❡❛❞❡r ✇✐❧❧ ❝♦❧❧❡❝t❛♥❞ tr❛♥s♠✐t ✐♥❢♦r♠❛t✐♦♥ ❛❜♦✉t ✐ts st❛t❡ t♦ t❤❡ ♦t❤❡r ✈❡❤✐❝❧❡s ✐♥ t❤❡ ♣❧❛t♦♦♥✳
❊❛❝❤ ❢♦❧❧♦✇❡r ✇✐❧❧ ❝♦❧❧❡❝t ❞❛t❛ ♦♥ ✐ts ♦✇♥ st❛t❡ ❛♥❞ r❡❝❡✐✈❡ ❞❛t❛ ❢r♦♠ t❤❡ ❧❡❛❞ ✈❡❤✐❝❧❡✳ ❯s✐♥❣ t❤❡s❡ ❞❛t❛♣♦✐♥ts✱ t❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ ❛ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠ ✐♥ ♦r❞❡r t♦ ❞❡t❡r♠✐♥❡ ✇❤❛t tr❛❥❡❝t♦r② ✐t ✇✐❧❧ ❢♦❧❧♦✇✳❚❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ t❤✐s ❞❛t❛ t♦ ❝♦♥tr♦❧ t❤❡✐r ♠♦t✐♦♥✱ ❢♦❧❧♦✇✐♥❣ ✐♥ t❤❡ s❛♠❡ tr❛❝❦ ❛s t❤❡ ❧❡❛❞❡r✳ ■♥ ❛❞❞✐t✐♦♥t♦ t❤❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧✱ t❤❡ ❢♦❧❧♦✇❡r ✇✐❧❧ ✉s❡ s♦♥❛r t♦ ❞❡t❡r♠✐♥❡ t❤❡ ❞✐st❛♥❝❡ ❜❡t✇❡❡♥ ✐ts❡❧❢ ❛♥❞ t❤❡ ♣r❡❝❡❞✐♥❣✈❡❤✐❝❧❡ s♦ ✐t ✇✐❧❧ ♥♦t ❝❛✉s❡ ❛ ❝♦❧❧✐s✐♦♥ ✇✐t❤ ♦t❤❡r ✈❡❤✐❝❧❡✭s✮✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✸
❆❢t❡r ❛ ♣r❡❧✐♠✐♥❛r② ❡✈❛❧✉❛t✐♦♥ ♦❢ ♣♦t❡♥t✐❛❧ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳ ❆ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✇❛s ♠♦❞❡❧❡❞ ✐♥ ▼❛t❧❛❜❛♥❞ ❡❛❝❤ ♦❢ t❤❡ s❡❧❡❝t❡❞ ❛❧❣♦r✐t❤♠s ✇❛s s✐♠✉❧❛t❡❞ ✉♥❞❡r ✈❛r✐♦✉s ♥♦♥✲✐❞❡❛❧ ❝♦♥❞✐t✐♦♥s✳
❊❧❡❝tr♦♥✐❝ s✐♠✉❧❛t✐♦♥ ✐s ❛ s❛❢❡ ♠❡t❤♦❞ ❢♦r ❝❤❡❝❦✐♥❣ t❤❡ ✈✐❛❜✐❧✐t② ♦❢ t❤❡ s❡❧❡❝t❡❞ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✱ ❛s ❛♣♦♦r❧② ✐♠♣❧❡♠❡♥t❡❞ ❝♦♥tr♦❧❧❡r ❝♦✉❧❞ r❡s✉❧t ✐♥ ❛ s♣❡❝t❛❝✉❧❛r ❝♦❧❧✐s✐♦♥✳
▼❛t❧❛❜ ✐s t❤❡ ♣r❡♠✐❡r t♦♦❧ ✉s❡❞ ❜② ♣r♦❢❡ss✐♦♥❛❧ ❡♥❣✐♥❡❡rs t♦ ♠♦❞❡❧ ❝♦♥tr♦❧ s②st❡♠s✳ ❊✛❡❝t✐✈❡ ✉t✐❧✐③❛t✐♦♥ ♦❢t❤✐s t♦♦❧ ✇✐❧❧ ❛❧❧♦✇ ❢♦r r❛♣✐❞ ❞❡✈❡❧♦♣♠❡♥t ❛♥❞ ❛♥❛❧②s✐s ♦❢ ❝♦♥tr♦❧ ❛❧❣♦r✐t❤♠s✳
✷✳✶ ❈♦♥tr♦❧❧❡r s❡❧❡❝t✐♦♥
❆ r❛♥❣❡ ♦❢ ♣❛♣❡rs ♦♥ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ♦❢ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✇❡r❡ ❛♥❛❧②③❡❞ ♦♥ ❤♦✇ t❤❡ ❝♦♥tr♦❧❧❡r ❢✉❧✜❧❧❡❞ t❤❡❛❜♦✈❡ r❡q✉✐r❡♠❡♥ts✳ ❚❤r❡❡ ❝♦♥tr♦❧❧❡rs ✇❡r❡ s❡❧❡❝t❡❞ ❛♥❞ s✐♠✉❧❛t❡❞✳ ❚❤❡s❡ ❛r❡✿
• ◆♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❝♦♥tr♦❧✱ P✳ P❡tr♦✈✳
• ■♠♣❡❞❛♥❝❡ ❝♦♥tr♦❧ ♦❢ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✱ ❙✳✲❨✳ ❨✐✳
• ❙❡♣❛r❛❜❧❡ ❝♦♥tr♦❧ ♦❢ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✱ ❙✳ ▼✐t❝❤❡❧❧✳
✷✳✷ ❈♦♥tr♦❧❧❡r ❞❡s✐❣♥
▲❛t❡r❛❧ ❝♦♥tr♦❧❧❡rs ❢♦✉♥❞ ✐♥ t❤❡ ❧✐t❡r❛t✉r❡ ❝♦♠❜✐♥❡❞ t❤❡ ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧ ✐♥t♦ ♦♥❡ ♥♦♥❧✐♥❡❛r❝♦♥tr♦❧❧❡r✳ ❚❤✐s ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✐♥❣ ♣r♦❥❡❝t ✐s ❜❡✐♥❣ ❞❡✈❡❧♦♣❡❞ ❢♦r r❛♣✐❞ t❡st✐♥❣ ♦❢ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡rs✱✇❤✐❝❤ ✐s s✐♠♣❧✐✜❡❞ ❜② s❡♣❛r❛t✐♥❣ t❤❡ ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡rs✳
❆ s❡♣❛r❛❜❧❡ ❝♦♥tr♦❧ ❧❛✇ ✐s ♣r♦♣♦s❡❞ t❤❛t ❛❝❝❡♣ts ❧❛t❡r❛❧ ❛♥❞ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧ ❧❛✇s ❛s ✐♥♣✉ts✳ ❚❤❡❝♦♥tr♦❧❧❡r ❞❡s✐❣♥ ❞r❡✇ ❤❡❛✈✐❧② ❢r♦♠ ❈r✐♣♣s ❬✽❪ ❛♥❞ ❋❡rr✐♥ ❬✾❪ ❢♦r ❞❡s✐❣♥ ✐❞❡❛s✳ ❚❤❡ ♣r♦♣♦s❡❞ ✈❡❤✐❝❧❡ ♠♦❞❡❧❛♥❞ ❝♦♥tr♦❧❧❡r ❝♦♥tr♦❧❧❡r ✐s ❞❡✈❡❧♦♣❡❞ ✐♥ ❢✉❧❧ ✐♥ ❆♣♣❡♥❞✐① ❆✱ ❇✳
✸ ❘❡s✉❧ts
✸✳✶ ❙✐♠✉❧❛t✐♦♥ r❡s✉❧ts
❚❤❡ t❤r❡❡ ❝♦♥tr♦❧❧❡rs ✐♥ ❙❡❝t✐♦♥ ✷✳✶ ✇❡r❡ ❡✈❛❧✉❛t❡❞ ❛❝❝♦r❞✐♥❣ t♦ t❤❡ ❞❡s✐❣♥ ❝r✐t❡r✐❛ ❢♦✉♥❞ ✐♥ ❙❡❝t✐♦♥ ✷✳ ❚❤❡s✐♠✉❧❛t✐♦♥ ✇❛s t❤❛t t❤❡ ❧❡❛❞❡r ♦❢ ❡❛❝❤ ♣❧❛t♦♦♥ ✇♦✉❧❞ tr❛✈❡❧ t❤❡ ♣❛t❤ ✐♥ ❋✐❣✉r❡ ✶ ❛t ✈❡❧♦❝✐t✐❡s s❤♦✇♥ ✐♥ ❚❛❜❧❡✶✳ ❚❤❡ r❡s✉❧ts ♦❢ t❤❡ s②st❡♠ ❛r❡ r❡❝♦r❞❡❞ ✐♥ ❚❛❜❧❡ ✷✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✹
0 10 20 30 40 50−20
−10
0
10
20
❳ ♣♦s✐t✐♦♥ ✭♠✮
❨♣♦s✐t✐♦♥✭♠
✮
❋✐❣✉r❡ ✶✿ ❚❤❡ ♣❛t❤ t❛❦❡♥ ❜② t❤❡ ❧❡❛❞❡r ✐♥ s✐♠✉❧❛t✐♦♥✳
❚❛❜❧❡ ✶✿ ▲❡❛❞ ✈❡❤✐❝❧❡ s✐♠✉❧❛t✐♦♥ ♠❛♥❡✉✈❡rs✳
❚✉r♥ r❛❞✐✉s ✭♠✮ ❉✉r❛t✐♦♥ ✭s✮ ❱❡❧♦❝✐t② ✭♠✴s✮
▲❡❢t t✉r♥ ✶✺ ✶✵ ✹
❘✐❣❤t t✉r♥ ✶✵ ✷✷ ✷
❙tr❛✐❣❤t ∞ ✽ ✺
❚❛❜❧❡ ✷✿ ❙✐♠✉❧❛t✐♦♥ r❡s✉❧ts✳
▼❛①
♣❛t❤
❡rr♦r✭❝♠
✮
❙tr✐♥
❣st❛❜
❧❡
■♠♣❡❞❛♥❝❡ ❬✺❪ ✽✺✷
◆♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❬✻❪ ✶✷✳✹
❙❡♣❛r❛❜❧❡ ✹✳✺
✸✳✶✳✶ ■♠♣❡❞❛♥❝❡ ❝♦♥tr♦❧
❚❤❡ ✐♠♣❡❞❛♥❝❡ ❝♦♥tr♦❧ ♣r♦❞✉❝❡❞ ❡✛❡❝t✐✈❡ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧ ✖ t❤❡ s②st❡♠ ✇❛s str✐♥❣ st❛❜❧❡✳ ❚❤❡ ♣❛t❤❡rr♦r ✇❛s ✉♥❛❝❝❡♣t❛❜❧❡✳
✸✳✶✳✷ ◆♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❝♦♥tr♦❧
❚❤❡ ♥♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❝♦♥tr♦❧ r❡❞✉❝❡❞ t❤❡ ♣❛t❤ ❡rr♦r t♦ ♠✐♥✐♠❛❧ ❛♠♦✉♥ts✳ ❚❤❡ ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧ ❛♠♣❧✐✲✜❡❞ t❤❡ ❡rr♦r ❜❡t✇❡❡♥ ✈❡❤✐❝❧❡s✱ ✇❤✐❝❤ ✐s str✐♥❣ ✐♥st❛❜❧❡✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✺
✸✳✶✳✸ ❙❡♣❛r❛❜❧❡ ❝♦♥tr♦❧
❚❤❡ s❡♣❛r❛❜❧❡ ❝♦♥tr♦❧❧❡r ✉t✐❧✐③❡❞ ❛ ❝♦♥st❛♥t t✐♠❡ ❤❡❛❞✇❛② ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r✳ ❚❤❡ ♣❛t❤ ❢♦❧❧♦✇✐♥❣ ❛❧❣♦✲r✐t❤♠ ✇♦r❦❡❞ ✇❡❧❧ ✇❤❡♥ t❤❡ ❣❛✐♥s ✇❡r❡ t✉♥❡❞ ♣r♦♣❡r❧②✳
✹ ❙②st❡♠ ❞❡s✐❣♥
✹✳✶ ❍❛r❞✇❛r❡ ❞❡s✐❣♥
❚❤❡ s②st❡♠ ✇❛s ❞❡s✐❣♥❡❞ ❜② ❙❛♠ ▼✐t❝❤❡❧❧ ❛♥❞ ❉❛♥✐❡❧ ❉✉♥♥✳ ❉❡s✐❣♥ r❡❛s♦♥✐♥❣ ❛♥❞ ❥✉st✐✜❝❛t✐♦♥ ❛r❡ ❢♦✉♥❞✐♥ ✧❙❆❚❙ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❍❛♥❞❜♦♦❦✳✧ ❚❤✐s ❞♦❝✉♠❡♥t ♦♥❧② ❝♦♥t❛✐♥s ❛ ❜r✐❡❢ ♦✈❡r✈✐❡✇ ♦❢ s❡❧❡❝t❡❞ ♣❛rts✳❆ss❡♠❜❧② ❛♥❞ ♦♣❡r❛t✐♦♥ ✐♥str✉❝t✐♦♥s ❛r❡ ❛❧s♦ ❢♦✉♥❞ ✐♥ t❤❡ ✧❙❆❚❙ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ❍❛♥❞❜♦♦❦✳✧
✹✳✶✳✶ ❈♦♠♣♦♥❡♥ts
• ❳❇❡❡ s✻❜ ❲✐✲❋✐ ♠♦❞✉❧❡
• ▲■❉❆❘✲▲✐t❡
• ✷✵✵✵ ♣✉❧s❡ q✉❛❞r❛t✉r❡ ❡♥❝♦❞❡rs
• ❆❉❳▲✸✹✺ ❛❝❝❡❧❡r♦♠❡t❡r
✹✳✷ ❙♦❢t✇❛r❡ ❞❡s✐❣♥
❚❤❡ ❝♦♥tr♦❧ s②st❡♠ ❤❛s ♠✉❧t✐♣❧❡ s❡♥s♦rs ✇✐t❤ ✈❛r✐♦✉s s❛♠♣❧❡ r❛t❡s✳ ❆ s✉♣❡r✲❧♦♦♣ s②st❡♠ ✇✐t❤ ❛ ✜①❡❞ ♣❡r✐♦❞s❤♦✉❧❞ ❜❡ s✉✣❝✐❡♥t✱ ❜✉t t❤❡ ❡♥t✐r❡ s②st❡♠ ✇♦✉❧❞ ❜r❡❛❦ ✐❢ ❛♥② s❡♥s♦r ♣r♦❞✉❝❡s ✉♥❡①♣❡❝t❡❞ ❞❡❧❛②✳ ■♥ ♦r❞❡r t♦❛✈♦✐❞ s②st❡♠ ✐♥st❛❜✐❧✐t②✱ t❤❡ s♦❢t✇❛r❡ ✐s ✐♥t❡rr✉♣t ❞r✐✈❡♥✳
❚❤❡ ❝♦♥tr♦❧ ❧♦♦♣ r❡t❛✐♥s t❤❡ ❤✐❣❤❡st ♣r✐♦r✐t② t♦ ❡♥s✉r❡ ❝♦♥t✐♥✉❡❞ ❡①❡❝✉t✐♦♥✳ ❚❤❡ s❡♥s♦rs ❛♥❞ ❝♦♠♠✉♥✐❝❛t✐♦♥❤❛✈❡ ❧♦✇❡r ♣r✐♦r✐t②✳
■❢ t❤❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♠♦❞✉❧❡ r❡❝❡✐✈❡s ❛ ❦✐❧❧ ❝♦♠♠❛♥❞ ✭t❤❡ ❝❤❛r❛❝t❡r ❵❝✬ ❢♦❧❧♦✇❡❞ ❜② ❛ ♥❡✇❧✐♥❡ ❵❭♥✬✮✱ t❤❡s②st❡♠ ♣❡r❢♦r♠s t❤❡ ❢♦❧❧♦✇✐♥❣✿
✶✳ ❘❡❧❛②s t❤❡ ❦✐❧❧ ❝♦♠♠❛♥❞ t♦ ✐ts ❢♦❧❧♦✇❡r ✈❡❤✐❝❧❡✳
✷✳ ❉✐s❛❜❧❡s t❤❡ ❝♦♥tr♦❧❧❡r ❜② ❞✐s❛❜❧✐♥❣ ✐♥t❡rr✉♣ts✳
✸✳ ❙❡ts t❤❡ ✈❡❤✐❝❧❡ ✈❡❧♦❝✐t② t♦ ✵✳
✹✳ ❘❡♣❡❛ts t❤❡ ❦✐❧❧ ❝♦♠♠❛♥❞ ✐♥❞❡✜♥✐t❡❧② t♦ ❡♥s✉r❡ t❤❡ ❢♦❧❧♦✇❡r ✈❡❤✐❝❧❡ r❡❝❡✐✈❡❞ t❤❡ ❝♦♠♠❛♥❞✳
✹✳✷✳✶ ❙❝❤❡❞✉❧✐♥❣
❚❤❡ ❚▼✹❈✶✷✸●❍✻P▼ ♠✐❝r♦❝♦♥tr♦❧❧❡r ❤❛s ♠✉❧t✐♣❧❡ ♦♥✲❜♦❛r❞ ❤❛r❞✇❛r❡ t✐♠❡rs ❛✈❛✐❧❛❜❧❡✳ ❙❡♣❛r❛t❡ t✐♠❡rs❞r✐✈❡ t❤❡ ❝♦♥tr♦❧ ❧♦♦♣✱ s❡♥s♦rs✱ ❛♥❞ ❝♦♠♠✉♥✐❝❛t✐♦♥ tr❛♥s♠✐ss✐♦♥✳ ❚❤❡ t❛s❦ t✐♠✐♥❣ ❛♥❞ ♣r✐♦r✐t② ✐s s❤♦✇♥ ✐♥❚❛❜❧❡ ✸✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✻
192.168.1.50 192.168.1.51 192.168.1.52
❋✐❣✉r❡ ✷✿ ❱❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❝♦♠♠✉♥✐❝❛t✐♦♥ s❝❤❡♠❡✳
❚❛❜❧❡ ✸✿ ❚❛s❦ t✐♠✐♥❣ ❛♥❞ ♣r✐♦r✐t② s❝❤❡❞✉❧❡✳
❆♣♣❧✐❝❛t✐♦♥ ■♥t❡rr✉♣t ❢r♦♠ ♣❡r✐♣❤❡r❛❧ ❋r❡q✉❡♥❝② ✭❍③✮ ■♥t❡rr✉♣t ❧❡✈❡❧
❈♦♥tr♦❧❧❡r ❚✐♠❡r✵ ✺✵ ✵
❯❆❘❚ ❚r❛♥s♠✐t ❚✐♠❡r✶ ✶✵ ✹
❯❆❘❚ ❘❡❝❡✐✈❡ ❯❆❘❚✶ ❊✈❡♥t ❞r✐✈❡♥ ✺
▲✐❞❛r✱ ❆❝❝❡❧❡r♦♠❡t❡r ❚✐♠❡r✷ ✶✵ ✺
✹✳✷✳✷ ❈♦♠♠✉♥✐❝❛t✐♦♥
❈♦♠♠✉♥✐❝❛t✐♦♥ ✐s s✉♣♣♦rt❡❞ ✉s✐♥❣ t❤❡ ❳❇❡❡ ♠♦❞✉❧❡s ❛♥❞ ❛♥ ❡①t❡r♥❛❧ ❛❝❝❡ss ♣♦✐♥t✳ ❊❛❝❤ ❳❇❡❡ ♠♦❞✉❧❡r❡q✉❡sts ❛ st❛t✐❝ ■P ❛❞❞r❡ss✳ ❚❤❡ ✉s❡r✬s ❝♦♠♣✉t❡r ❛❧s♦ ❝♦♥♥❡❝ts✱ ❛♥❞ ❡❛❝❤ ❞❡✈✐❝❡ tr❛♥s♠✐ts t♦ t❤❡ ♥❡①t ♦♥❡✐♥ ❧✐♥❡✱ ❛s s❤♦✇♥ ✐♥ ❋✐❣✉r❡ ✷✳ ❆♥ ❡①❛♠♣❧❡ ♣r♦❣r❛♠ t♦ ✐♥t❡r❛❝t ✇✐t❤ t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✐s ❢♦✉♥❞ ✐♥ ❆♣♣❡♥❞✐①❄❄✳
❚❤❡ ✈❡❤✐❝❧❡s ❝♦♠♠✉♥✐❝❛t❡ ✇✐t❤ ❡❛❝❤ ♦t❤❡r ✉s✐♥❣ ❛ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♣❛❝❦❡t✱ ✇❤✐❝❤ ✐s s❤♦✇♥ ✐♥ ❚❛❜❧❡ ✹✳ ❚❤❡❤❡❛❞❡r ❛♥❞ ❢♦♦t❡r ❜②t❡s ❛r❡ ❆❙❈■■ ❝❤❛r❛❝t❡rs✱ ❜✉t t❤❡ ❞❛t❛ ✐s tr❛♥s♠✐tt❡❞ ✐♥ ■❊❊❊ ✼✺✹ ❤❛❧❢✲♣r❡❝✐s✐♦♥ ✢♦❛t✐♥❣♣♦✐♥t ❢♦r♠❛t✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✼
❚❛❜❧❡ ✹✿ ❚❤❡ ✐♥t❡r✲✈❡❤✐❝❧❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♣❛❝❦❡t ❞❡✜♥✐t✐♦♥✳
❇②t❡ ❉❛t❛ ❉❛t❛ t②♣❡
✶ P❛❝❦❡t ✢❛❣ ❵③✬ ❆❙❈■■
✷❘✉♥♥✐♥❣ t✐♠❡ ✭s✮ ❍❛❧❢ ♣r❡❝✐s✐♦♥ ✢♦❛t
✸
✹❱❡❧♦❝✐t② ❍❛❧❢ ♣r❡❝✐s✐♦♥ ✢♦❛t
✺
✻❳ ♣♦s✐t✐♦♥ ✭♠✮ ❍❛❧❢ ♣r❡❝✐s✐♦♥ ✢♦❛t
✼
✽❨ ♣♦s✐t✐♦♥ ✭♠✮ ❍❛❧❢ ♣r❡❝✐s✐♦♥ ✢♦❛t
✾
✶✵❍❡❛❞✐♥❣ ✭r❛❞✮ ❍❛❧❢ ♣r❡❝✐s✐♦♥ ✢♦❛t
✶✶
✶✷ ❊♥❞ tr❛♥s♠✐ss✐♦♥ ✢❛❣ ❵❭♥✬ ❆❙❈■■
✺ ❊①♣❡r✐♠❡♥t❛❧ r❡s✉❧ts
❚❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✐♥❣ s②st❡♠ ✇❛s ✐♠♣❧❡♠❡♥t❡❞ ❛s ❞❡s❝r✐❜❡❞ ✐♥ ❙❡❝t✐♦♥ ✹✳ ❚❤❡ ❞❡s✐❣♥ ♦r✐❣✐♥❛❧❧② ✐♥❝❧✉❞❡❞t❤❡ ✐♠♣❧❡♠❡♥t❛t✐♦♥ ♦❢ ✈❡❤✐❝❧❡ tr❛❝❦✐♥❣ ✉s✐♥❣ ❧♦❝❛❧ s❡♥s♦rs✱ ❜✉t t❤❡s❡ ♣❡r✐♣❤❡r❛❧s ✇❡r❡ ♥♦t ✐♠♣❧❡♠❡♥t❡❞✳ ❉✉❡t♦ t❤❡ ❧❛❝❦ ♦❢ s❡♥s♦rs✱ t❤❡ s②st❡♠ ✐s ❞r✐✈❡♥ ❡♥t✐r❡❧② ❜② ❞❡❛❞ r❡❝❦♦♥✐♥❣ ❛♥❞ ✇✐r❡❧❡ss ❝♦♠♠✉♥✐❝❛t✐♦♥✳ ❚❤✐sr❡s✉❧ts ✐♥ ❛ s②st❡♠ t❤❛t ❜❡❤❛✈❡s ❛s ❡①♣❡❝t❡❞ r♦✉❣❤❧② ✪✺✵ ♦❢ t❤❡ t✐♠❡✳
❉❡s♣✐t❡ t❤❡ ❢❛✐❧❡❞ r❡❧✐❛❜✐❧✐t② ♦❢ t❤❡ s②st❡♠✱ t❤❡ ♣❧❛t♦♦♥ ❛❞❤❡r❡s t♦ ♠❛♥② ♦❢ t❤❡ r❡q✉✐r❡♠❡♥ts ❞❡t❛✐❧❡❞ ✐♥ t❤❡❘❡q✉✐r❡♠❡♥ts ❙♣❡❝✐✜❝❛t✐♦♥ ❞♦❝✉♠❡♥t❀ s❡❡ ❚❛❜❧❡ ✺✳
✻ ❉✐s❝✉ss✐♦♥
❚❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ❞♦❡s ♥♦t ❜❡❤❛✈❡ ❛s ❞❡s✐r❡❞✳ ❚❤✐s ✐s ❛ttr✐❜✉t❡❞ t♦ t❤❡ ♣♦s✐t✐♦♥ ✐♥❢♦r♠❛t✐♦♥ ❝♦♠✐♥❣ ❡♥t✐r❡❧②❢r♦♠ ❝♦♠♠✉♥✐❝❛t✐♦♥✳
❲❤✐❧❡ t❤❡s❡ r❡s✉❧ts ❛r❡ ♥♦t ✇❤❛t ✇❛s ♦r✐❣✐♥❛❧❧② ✐♥t❡♥❞❡❞✱ t❤❡ ❡rr♦rs ❛r❡ q✉✐t❡ ✐♥❢♦r♠❛t✐✈❡✳ ❚❤❡ ❙❆❚❙ ●r♦✉♣✐s ❝✉rr❡♥t❧② ♣❡r❢♦r♠✐♥❣ r❡s❡❛r❝❤ ♦♥ ❢❛❧s❡ ❞❛t❛ ✐♥❥❡❝t✐♦♥ ✐♥ ❝♦♦♣❡r❛t✐✈❡ ❛❞❛♣t✐✈❡ ❝r✉✐s❡ ❝♦♥tr♦❧ ❡♥✈✐r♦♥♠❡♥ts✳■t ✐s ❝❧❡❛r ❢r♦♠ t❤✐s ♣❧❛t♦♦♥✬s ❝♦♠♠✉♥✐❝❛t✐♦♥ tr♦✉❜❧❡s t❤❛t r❡❧②✐♥❣ s♦❧❡❧② ♦♥ ❝♦♠♠✉♥✐❝❛t✐♦♥ ❝♦✉❧❞ ♣r♦❞✉❝❡❝❛t❛str♦♣❤✐❝ r❡s✉❧ts✳
❈✉rr❡♥t ❛♥❞ ❢✉t✉r❡ r❡s❡❛r❝❤ ✐s ❢♦❝✉s❡❞ ♦♥ ♦❜t❛✐♥✐♥❣ t❤❡ ♥❡❝❡ss❛r② ❝♦♥tr♦❧ ✐♥❢♦r♠❛t✐♦♥ t❤r♦✉❣❤ ✈❛r✐♦✉s ♠❡❛♥s✳❙♦♠❡ ♦❢ t❤❡s❡ s❡♥s✐♥❣ s②st❡♠s ❛r❡✿
• ❙t❡r❡♦s❝♦♣✐❝ ❝❛♠❡r❛
✕ ■♥t❡r✲✈❡❤✐❝❧❡ ❞✐st❛♥❝❡
✕ ❆♥❣❧❡ t♦ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡
• ■♥❢r❛r❡❞ ❝❛♠❡r❛
✕ ❆♥❣❧❡ t♦ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡
• ▼✐❝r♦♣❤♦♥❡
✕ ❆♥❣❧❡ t♦ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✽
❚❛❜❧❡ ✺✿ ❘❡q✉✐r❡♠❡♥t ✈❡r✐✜❝❛t✐♦♥ ♠❛tr✐①✳
❘❡q✉✐r❡♠❡♥t♥✉♠❜❡r
❚✐t❧❡ ❉❡s❝r✐♣t✐♦♥ P❛ss ✴❋❛✐❧
❈♦♠♠❡♥ts
✶ ❈♦♥tr♦❧ ❆❧❣♦r✐t❤♠ P❡r✲❢♦r♠❛♥❝❡
❙✐♠✉❧❛t✐♦♥ ✐♥❝♦r♣♦r❛t❡s ❡r✲r♦rs✳
P❛ss
✶✳✶ ❆❝❝✉r❛❝② ❋♦❧❧♦✇ ♣❛t❤✳ ❚✇♦ 20◦
t✉r♥s ❛♥❞ ♦♥❡ 40◦ t✉r♥✳
▲❡ss t❤❛♥ ✸✵❝♠ ♣❛t❤ ❡rr♦r
P❛ss
✶✳✷ ❋♦❧❧♦✇✐♥❣ ❞✐st❛♥❝❡ ❋♦❧❧♦✇ ❛t ✶ ♠ s♣❛❝✐♥❣ ❛t ✶✺♠✴s✳
❋❛✐❧ ❚❤❡ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇❡❞ ❛t ✶ ♠s♣❛❝✐♥❣ ❛t ✸ ♠✴s✳
✶✳✸ ❘❡❛❝t✐♦♥ t✐♠❡ ❈♦♥tr♦❧❧❡r ❞❡❧❛② ✇✐t❤✐♥✻✼♠s
❋❛✐❧ ❚❤❡ ✈❡❤✐❝❧❡ ❤❛s ❛ ✵✳✺ s t✐♠❡❝♦♥st❛♥t✳
✷ P❤②s✐❝❛❧ ❈❤❛r❛❝t❡r✐s✲t✐❝s
✷✳✶ ▲❡❛❞ ❱❡❤✐❝❧❡
✷✳✶✳✶ ▼❡❝❤❛♥✐❝❛❧
✷✳✶✳✶✳✶ ▼❛①✐♠✉♠ ✈❡❧♦❝✐t② ♦❢ ✶✺♠✴s✳
❋❛✐❧ ❚❤❡ ♠❛①✐♠✉♠ ✈❡❧♦❝✐t② ✐s ✾♠✴s✳
✷✳✶✳✶✳✷ ❆❝❝❡❧❡r❛t✐♦♥ ♦❢ ✺ m/s2 P❛ss
✷✳✶✳✷ ❊❧❡❝tr✐❝❛❧ ▼✐♥✐♠✉♠ ♦❢ ✶✵ ♠✐♥✉t❡s ♦❢♦♣❡r❛t✐♦♥✳
P❛ss ❱❡r✐✜❡❞ ❜② t❡st ✐♥st❡❛❞ ♦❢❛♥❛❧②s✐s✳
✷✳✶✳✸ ❈♦♠♠✉♥✐❝❛t✐♦♥
✷✳✶✳✸✳✶ ❈♦♠♠✉♥✐❝❛t✐♦♥ r❛♥❣❡ ✉♣t♦ ✶✵✵ ♠✳
P❛ss ❱❡r✐✜❡❞ ❜② t❡st ❛t ❚❡st❚r❛❝❦ ❢❛❝✐❧✐t② ✹✴✷✸✴✶✺✳
✷✳✶✳✸✳✷ ❈♦♠♠✉♥✐❝❛t❡ ✇✐t❤ ✷ ✈❡❤✐✲❝❧❡s✳
P❛ss ❚❤❡ ✈❡❤✐❝❧❡ ❝❛♥ ❧✐st❡♥ t♦♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡ ❛♥❞ s❡♥❞t♦ ❢♦❧❧♦✇❡r✳
✷✳✶✳✹ ❈♦♠♣✉t❛t✐♦♥ P❛t❤ st♦r❛❣❡✳ ❋❛✐❧ ❚❤❡ ✜♥❛❧ ❞❡s✐❣♥ ❞✐❞ ♥♦t✉t✐❧✐③❡ t❤✐s s②st❡♠✳
✷✳✷ ❋♦❧❧♦✇❡r ❱❡❤✐❝❧❡✭s✮
✷✳✷✳✶ ▼❡❝❤❛♥✐❝❛❧
✷✳✷✳✶✳✶ ▼❛①✐♠✉♠ ✈❡❧♦❝✐t② ♦❢ ✶✺♠✴s✳
❋❛✐❧ ❚❤❡ ♠❛①✐♠✉♠ ✈❡❧♦❝✐t② ✐s ✾♠✴s✳
✷✳✷✳✶✳✷ ❆❝❝❡❧❡r❛t✐♦♥ ♦❢ ✺ ♠✴s✷ P❛ss
✷✳✷✳✷ ❊❧❡❝tr✐❝❛❧ ▼✐♥✐♠✉♠ ♦❢ ✶✵ ♠✐♥✉t❡s ♦❢♦♣❡r❛t✐♦♥✳
P❛ss ❱❡r✐✜❡❞ ❜② t❡st ✐♥st❡❛❞ ♦❢❛♥❛❧②s✐s✳
✷✳✷✳✸ ❈♦♠♠✉♥✐❝❛t✐♦♥
✷✳✷✳✸✳✶ ❈♦♠♠✉♥✐❝❛t✐♦♥ r❛♥❣❡ ✉♣t♦ ✶✵✵ ♠✳
P❛ss ❱❡r✐✜❡❞ ❜② t❡st ❛t ❚❡st❚r❛❝❦ ❢❛❝✐❧✐t② ✹✴✷✸✴✶✺✳
✷✳✷✳✸✳✷ ❈♦♠♠✉♥✐❝❛t❡ ✇✐t❤ ✷ ✈❡❤✐✲❝❧❡s✳
P❛ss ❚❤❡ ✈❡❤✐❝❧❡ ❝❛♥ ❧✐st❡♥ t♦♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡ ❛♥❞ s❡♥❞t♦ ❢♦❧❧♦✇❡r✳
✷✳✷✳✹ ❈♦♠♣✉t❛t✐♦♥
✷✳✷✳✹✳✶ ❉❛t❛ st♦r❛❣❡ P❛t❤ st♦r❛❣❡✳ ❋❛✐❧ ❚❤❡ ✜♥❛❧ ❞❡s✐❣♥ ❞✐❞ ♥♦t✉t✐❧✐③❡ t❤✐s s②st❡♠✳
✷✳✷✳✹✳✷ ❆❧❣♦r✐t❤♠ ❊①❡❝✉t❡ ❝♦♥tr♦❧❧❡r ✐♥ r❡❛❧✲t✐♠❡✳
P❛ss ❚❤❡ ❝♦♥tr♦❧❧❡r ✐s ❡①❡❝✉t❡❞❡✈❡r② ✷✵ ♠s ✭✺✵ ❍③✮✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✾
✼ ❈♦♥❝❧✉s✐♦♥
❆ ❝♦♥tr♦❧ s②st❡♠ ❢♦r t❤❡ ❧❛t❡r❛❧ ❝♦♥tr♦❧ ♦❢ ❛ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥ ✇❛s ♣r♦♣♦s❡❞✱ s❡❧❡❝t❡❞✱ ❛♥❞ ✐♠♣❧❡♠❡♥t❡❞✳❙✐♠✉❧❛t✐♦♥s ♦❢ t❤❡ s❡❧❡❝t❡❞ ❝♦♥tr♦❧❧❡r r❡s✉❧t❡❞ ✐♥ ❛ ♣❛t❤ ❡rr♦r ♦❢ ✹✳✺ ❝♠ ♦r ❧❡ss✳
❚❤❡ ♣❧❛t♦♦♥ s②st❡♠ s♦❢t✇❛r❡ ❞❡s✐❣♥ ✐s ♦✉t❧✐♥❡❞✳ ❱❛r✐♦✉s s❡♥s✐♥❣ ♠❡t❤♦❞s ✇❡r❡ ❞✐s❝✉ss❡❞✱ ❛♥❞ t❤❡ s②st❡♠❝✉rr❡♥t❧② r❡❧✐❡s ♦♥ ❝♦♠♠✉♥✐❝❛t✐♦♥ t♦ ♦❜t❛✐♥ ✐♥❢♦r♠❛t✐♦♥ ❛❜♦✉t t❤❡ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡✳
❚❤✐s ♣❧❛t♦♦♥✐♥❣ r❡s❡❛r❝❤ r❡s✉❧t❡❞ ✐♥ ❛♥ ❡✛❡❝t✐✈❡ s❡♣❛r❛❜❧❡ ❝♦♥tr♦❧❧❡r t❤❛t ❝❛♥ ❜❡ ✉s❡❞ ✐♥ ❢✉rt❤❡r s✐♠✉❧❛t✐♦♥s❛♥❞ ❞❡✈❡❧♦♣♠❡♥t ♦♥ t❤❡ ❙❆❚❙ ●r♦✉♣ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✵
❆♣♣❡♥❞✐❝❡s
❆ ▼❛t❤❡♠❛t✐❝❛❧ ♠♦❞❡❧ ♦❢ t❤❡ ✈❡❤✐❝❧❡
❆✳✶ ❱❡❧♦❝✐t②
●✐✈❡♥ ❛ ❞❡s✐r❡❞ ✈❡❧♦❝✐t②✱ ♦❜t❛✐♥ t❤❡ ✐♥♣✉t ✈♦❧t❛❣❡ ♦❢ t❤❡ s②st❡♠✳
• Vs ❙♦✉r❝❡ ✈♦❧t❛❣❡
• im ❙♦✉r❝❡ ❝✉rr❡♥t
• Lm ▼♦t♦r ✐♥❞✉❝t❛♥❝❡
• Rm ▼♦t♦r r❡s✐st❛♥❝❡
• ωm ❆♥❣✉❧❛r ✈❡❧♦❝✐t② ♦❢ t❤❡♠♦t♦r
• J ▼♦♠❡♥t ♦❢ ✐♥❡rt✐❛ ♦❢ t❤❡r♦t♦r
• bm ❉❛♠♣✐♥❣ ❝♦♥st❛♥t ❢♦r t❤❡♠♦t♦r
• τm ▼♦t♦r t♦rq✉❡
• τL ▲♦❛❞ t♦rq✉❡
• Kt ♣r♦♣♦rt✐♦♥❛❧✐t② ❝♦♥st❛♥t
• Km ♣r♦♣♦rt✐♦♥❛❧✐t② ❝♦♥st❛♥t
• vwheel ❈❡♥t❡r ✈❡❧♦❝✐t② ♦❢✇❤❡❡❧
• rwheel ❲❤❡❡❧ r❛❞✐✉s
Vs = Lm
dimdt
+Rmim +Kmωm ✭✶✮
Jdω
dt= τm − τL − bmωm ✭✷✮
◆♦✇ ✇❡ ❝♦♥✈❡rt ❣❡❛r r❛t✐♦s✳ωm = 3.4ωwheel
ωm = 3.4vwheel
rwheel
✭✸✮
❚❤❡ ✈❡❧♦❝✐t② ♦❢ t❤❡ ✇❤❡❡❧ ✐s ❡q✉❛❧ t♦ t❤❡ ✈❡❧♦❝✐t② ♦❢ t❤❡ ❝♦rr❡s♣♦♥❞✐♥❣ s✐❞❡ ♦❢ t❤❡ ✈❡❤✐❝❧❡✳
vwheel = vright ♦r vleft ✭✹✮
❯s✐♥❣ t❤❡s❡ ❡q✉❛t✐♦♥s✱ ✇❡ ❝❛♥ ❝♦♥tr♦❧ t❤❡ ✈❡❧♦❝✐t② ♦❢ ❡✐t❤❡r ✇❤❡❡❧✳
❆✳✷ ❱❡❤✐❝❧❡ st❡❡r✐♥❣
●✐✈❡♥ ❛ ❞❡s✐r❡❞ ✈❡❧♦❝✐t② ❛♥❞ ❝✉r✈❛t✉r❡ ✴ ❝❤❛♥❣❡ ♦❢ ❤❡❛❞✐♥❣✱ ♦❜t❛✐♥ ✈❡❧♦❝✐t② ❝♦♠♠❛♥❞s ❢♦r ❡❛❝❤ ✇❤❡❡❧✳ ❚✇♦♠❛t❤❡♠❛t✐❝❛❧ ♠♦❞❡❧s ♦❢ t❤❡ ✈❡❤✐❝❧❡ ❛r❡ ♣r❡s❡♥t❡❞✳
◆❡✇t♦♥✐❛♥ ❦✐♥❡♠❛t✐❝s ♠♦❞❡❧ ❯s✐♥❣ t❤❡ ❢♦r❝❡ ♠♦❞❡❧ ♦❢ t❤❡ ✈❡❤✐❝❧❡ s❤♦✇♥ ✐♥ ❋✐❣✉r❡ ✸✱ t❤❡ ❞❡r✐✈❛t✐♦♥❢♦❧❧♦✇s✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✶
❋✐❣✉r❡ ✸✿ ❱❡❤✐❝❧❡ ❢♦r❝❡ ♠♦❞❡❧✳
■❢ t❤❡ ✈❡❧♦❝✐t✐❡s ❛r❡ ❡q✉❛❧✱ t❤❡r❡ ✐s ♥♦ ❝❤❛♥❣❡ ✐♥ ❤❡❛❞✐♥❣✳
vL = vR✱ →dφ
dt= 0 ✭✺✮
■❢ t❤❡ ❢♦r❝❡s ❛r❡ ❡q✉❛❧✱ t❤❡r❡ ✐s ♥♦ ❝❤❛♥❣❡ ✐♥ ❤❡❛❞✐♥❣✳
FL = FR✱ →dφ
dt= 0 ✭✻✮
◆♦✇ ✇❡ s✉♠ t❤❡ ♠♦♠❡♥ts ♦❢ ✐♥❡rt✐❛✳∑
Mo = Jcφ
L
2FR −
L
2FL = Jcφ
∫[
L
2FR −
L
2FL
]
dt =
∫
Jcφdt
tL
2Jc(FR − FL) = φ
✭✼✮
❆❢t❡r t❤❡ ❝❤❛♥❣❡ ✐♥ ❤❡❛❞✐♥❣ ❤❛s ❜❡❡♥ ♦❜t❛✐♥❡❞✱ ✇❡ ❝♦♥♥❡❝t ❢♦r❝❡ ✇✐t❤ ✈❡❧♦❝✐t② t♦ ♦❜t❛✐♥ ❝❤❛♥❣❡ ✐♥ ❤❡❛❞✐♥❣✇✐t❤ r❡s♣❡❝t t♦ ✈❡❧♦❝✐t✐❡s ♦❢ t❤❡ ❧❡❢t ❛♥❞ r✐❣❤t s✐❞❡s✳ ❚❤❡ ❛♥❛❧②s✐s ♦❢ t❤❡ r✐❣❤t ✇❤❡❡❧ ❢♦❧❧♦✇s✱ ❛s s❤♦✇♥ ✐♥❋✐❣✉r❡ ✹✳
F = ma∫
Fdt =
∫
madt
FRt =1
2mvr
FR =mvr2t
FL =mvl2t
✭✽✮
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✷
❋✐❣✉r❡ ✹✿ ❋♦r❝❡ ♠♦❞❡❧ ♦❢ t❤❡ r✐❣❤t s✐❞❡ ♦❢ t❤❡ ✈❡❤✐❝❧❡✳
❯s❡ t❤❡ ❡q✉❛t✐♦♥ ❢r♦♠ ❡q✉❛t✐♦♥ ✼✳tL
2Jc
(mvr2t
−mvl2t
)
= φ
mL
4Jc(vr − vl) = φ
✭✾✮
❆✳✸ ❈✉r✈❛t✉r❡
❱❡❤✐❝❧❡s ❝❛♥ ❜❡ r❡♣r❡s❡♥t❡❞ ❛s tr❛✈❡❧✐♥❣ ✐♥ ❛ ❝✐r❝❧❡ ✇✐t❤ ❛ ✈❛r✐❛❜❧❡ r❛❞✐✉s✳ ❆ r❛❞✐✉s ♦❢ ✶ ♠❡t❡r ✇♦✉❧❞ ❝❛✉s❡t❤❡ ✈❡❤✐❝❧❡ t♦ t✉r♥ ✐♥ ❛ s♠❛❧❧ ❝✐r❝❧❡✱ ✇❤✐❧❡ ❛ r❛❞✐✉s ♦❢ ∞ ✇♦✉❧❞ ❧❡❛✈❡ t❤❡ ✈❡❤✐❝❧❡ tr❛✈❡❧✐♥❣ ✐♥ ❛ str❛✐❣❤t ❧✐♥❡✳❱❡❤✐❝❧❡s ❛r❡ ♠♦r❡ ❧✐❦❡❧② t♦ tr❛✈❡❧ ✐♥ ❝✐r❝❧❡s ♦❢ ❧❛r❣❡r r❛❞✐✐✱ s♦ t❤❡ ❝✉r✈❛t✉r❡ κ = 1
r✇✐❧❧ ❜❡ ✉s❡❞ ❛s ❛ st❡❡r✐♥❣
❝♦♥tr♦❧✳
• φ ❤❡❛❞✐♥❣
• v ✈❡❧♦❝✐t②
• r ♣❛t❤ r❛❞✐✉s
• κ ♣❛t❤ ❝✉r✈❛t✉r❡
❈♦♥s✐❞❡r ❛ ✈❡❤✐❝❧❡ tr❛✈❡❧✐♥❣ ❛r♦✉♥❞ ❛ ❝✐r❝❧❡ ✇✐t❤ ❝♦♥st❛♥t r❛❞✐✉s r ❛t ❝♦♥st❛♥t ✈❡❧♦❝✐t② v✳ ■♥ ♦r❞❡r t♦ ✜♥❞t❤❡ ❤❡❛❞✐♥❣ ♦❢ t❤❡ ✈❡❤✐❝❧❡✱ t❤❡ ✈❡❧♦❝✐t② ✐s ✉s❡❞✳ ❆ ❝✐r❝❧❡ ❤❛s 2π r❛❞✐❛♥s✱ ♦r ♠❡❛s✉r❡s ♦❢ t❤❡ r❛❞✐✉s✳ ❚❤❡❤❡❛❞✐♥❣ ❛♥❣❧❡ ✐s ❡q✉✐✈❛❧❡♥t t♦ t❤❡ ❝✐r❝❧❡ ❛♥❣❧❡ t♦ t❤❡ ♣♦✐♥t✱ ♦✛s❡t ❜② 90◦✳
C = 2πr
vt = φr
φ =vt
r
✭✶✵✮
φ =v
r= vκ ✭✶✶✮
x = r cosφ
y = r sinφ✭✶✷✮
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✸
❇ ❉❡✈❡❧♦♣♠❡♥t ♦❢ t❤❡ s❡♣❛r❛❜❧❡ ❝♦♥tr♦❧❧❡r
❇✳✶ ▲♦✇✲❧❡✈❡❧ s❦✐❞ st❡❡r ❝♦♥tr♦❧❧❡r
❚❤❡ ✈❡❧♦❝✐t② ♦❢ ❛ s❦✐❞✲st❡❡r ✈❡❤✐❝❧❡ ❝❛♥ ❜❡ ❞❡s❝r✐❜❡❞ ❛s ❛ s②♥t❤❡s✐s ♦❢ t❤r❡❡ ✈❡❧♦❝✐t✐❡s ❛♥❞ r❛❞✐✐ ♦❢ ❛ ❝✐r✲❝❧❡✳
• φ ✈❡❤✐❝❧❡ ❤❡❛❞✐♥❣
• vL✱ vR✱ vC ✈❡❤✐❝❧❡ ✈❡❧♦❝✐t②
• rL✱ rR✱ rC ♣❛t❤ r❛❞✐✉s
• κL✱ κR✱ κC ♣❛t❤ ❝✉r✈❛t✉r❡
• L ✈❡❤✐❝❧❡ ✇✐❞t❤
vL vRvC
rL
rC
rR
❋✐❣✉r❡ ✺✿ ❙❦✐❞ st❡❡r ✈❡❧♦❝✐t② ❛♥❞ t✉r♥ r❛❞✐✉s✳
φ =vLrL
=vCrC
=vRrR
✭✶✸✮
rL = rC − L/2
rR = rC + L/2✭✶✹✮
rC = rL + L/2
rC =vL
φ+ L/2
rC =vLrRvR
+ L/2
rC =vLvR
(rC + L/2) + L/2
rC
(
1−vLvR
)
=
(
vLvR
+ 1
)
L/2
rC (vR − vL) = (vR + vL)L/2
rC =vR + vLvR − vL
L/2
κC =vR − vLvR + vL
2/L
✭✶✺✮
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✹
❙♦❧✈❡ ❢♦r vL ✉s✐♥❣ κC ❛♥❞ vC ❛s ✐♥♣✉ts✳
φ =vLrL
= vCκC
vLrL
= vCκC
vLrC − L/2
= vCκC
vL = vCκC(rC − L/2)
vL = vC(1− κCL/2)
vR = vC(1 + κCL/2)
✭✶✻✮
■❢ ❞❡s✐r❡❞✱ t❤❡ ❧❡❢t ❛♥❞ r✐❣❤t ✈❡❧♦❝✐t✐❡s ❝❛♥ ❛❧s♦ ❜❡ ❝❛❧❝✉❧❛t❡❞ ✉s✐♥❣ ✐♥♣✉ts ♦❢ vC ❛♥❞ φ✳
❇✳✷ P✉r❡ ♣✉rs✉✐t ❝♦♥tr♦❧❧❡r
❚❤❡ ♣✉r❡ ♣✉rs✉✐t ♣❛t❤ tr❛❝❦✐♥❣ ❛❧❣♦r✐t❤♠ ❛s ✉s❡❞ ✐♥ ❧❛♥❞✲❜❛s❡❞ ♥❛✈✐❣❛t✐♦♥ ❬✶✵❪✳ ❚❤✐s ❛♣♣❧✐❝❛t✐♦♥ ✇❛s ✐♥s♣✐r❡❞❜② ❆❙■✬s ●✉✐❞❡❧✐♥❡ ❘♦❜♦t✐❝ ❈♦♥✈♦② ❙②st❡♠ ❬✾❪✳ ❆ ❝✐r❝❧❡ ✐s ❞r❛✇♥ ✇✐t❤ t❤❡ ❢♦❧❧♦✇❡r t❛♥❣❡♥t t♦ t❤❡ ❝✐r❝❧❡ ❛♥❞t❤❡ ♣r❡❞❡❝❡ss♦r ❛s ❛ ♣♦✐♥t ♦♥ t❤❡ ❝✐r❝❧❡✳ ❆ ♥❡✇ ✈❡❤✐❝❧❡ r❡❢❡r❡♥❝❡ ❢r❛♠❡ ✐s ✉s❡❞ t♦ s✐♠♣❧✐❢② ❝❛❧❝✉❧❛t✐♦♥s✳
• x ✐♥❡rt✐❛❧ ❢r❛♠❡ ① ❝♦♦r❞✐♥❛t❡✳
• y ✐♥❡rt✐❛❧ ❢r❛♠❡ ② ❝♦♦r❞✐♥❛t❡✳
• φ ✐♥❡rt✐❛❧ ❢r❛♠❡ ✈❡❤✐❝❧❡ ❤❡❛❞✐♥❣✳
• θ ✈❡❤✐❝❧❡ ❢r❛♠❡ ❤❡❛❞✐♥❣ t♦ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡✳
• d ✐♥t❡r✲✈❡❤✐❝❧❡ ❞✐st❛♥❝❡✳
• ex ✈❡❤✐❝❧❡ ❢r❛♠❡ ❧♦♥❣✐t✉❞✐♥❛❧ ❡rr♦r✳
• ey ✈❡❤✐❝❧❡ ❢r❛♠❡ ❧❛t❡r❛❧ ❡rr♦r ey = l cos θ✳
• r ❝✐r❝❧❡ r❛❞✐✉s✳
• κ ❝✐r❝❧❡ ❝✉r✈❛t✉r❡✳
❋♦❧❧♦✇❡r
Pr❡❝❡❡❞✐♥❣ ✈❡❤✐❝❧❡
dr
r
ex
ey
❋✐❣✉r❡ ✻✿ ❚❤❡ ❝♦♦r❞✐♥❛t❡ ❢r❛♠❡ ❢♦r t❤❡ ♣✉r❡ ♣✉rs✉✐t ❝♦♥tr♦❧❧❡r✳
ex = cos(φ)(xn+1 − xn) + sin(φ)(yn+1 − yn)
ey = − sin(φ)(xn+1 − xn) + cos(φ)(yn+1 − yn)✭✶✼✮
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✺
θ = arcsin(ex/d)
θ = arccos(ey/d)
θ = arctan(ex/ey)
✭✶✽✮
ex = d sin θ
ey = d cos θ✭✶✾✮
e2x + e2y = d2 ✭✷✵✮
(r − ey)2 + e2x = r2 ✭✷✶✮
(r − ey)2 + e2x = r2
r2 − 2rey + e2y + e2x = r2
e2y + e2x = 2ey
d2 = 2rey
r =d2
2ey
✭✷✷✮
κ =1
r=
2eyd2
=2 cos θ
d✭✷✸✮
❙t❡❡r✐♥❣ ✐s ♥♦t ✐♥❞❡♣❡♥❞❡♥t ♦❢ ✈❡❧♦❝✐t②✳ ❆s ✈❡❧♦❝✐t② ✐♥❝r❡❛s❡s✱ t❤❡ ❛✈❛✐❧❛❜❧❡ ❝✉r✈❛t✉r❡ ❞❡❝r❡❛s❡s✳
❇✳✸ ▲♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r
❆♥② ❧♦♥❣✐t✉❞✐♥❛❧ ❝♦♥tr♦❧❧❡r ❝❛♥ ❜❡ ✉s❡❞ ✐♥ t❤✐s s②st❡♠✳ ❍❡r❡ ❛r❡ s♦♠❡ ♣♦t❡♥t✐❛❧ s②st❡♠s✳
❇✐❞✐r❡❝t✐♦♥❛❧ ✐♠♣❡❞❛♥❝❡ ♠♦❞❡❧ ■✬♠ ❣♦✐♥❣ t♦ ✉s❡ ❙♦♦✲❨❡♦♥❣ ❨✐✬s ■♠♣❡❞❛♥❝❡ ❝♦♥tr♦❧ ✇✐t❤ s♦♠❡ ❜❛s✐❝❛❧t❡r❛t✐♦♥s✳ ❚❤✐s s②st❡♠ ✉s❡s ❢♦r❝❡s ❜❡t✇❡❡♥ ✈❡❤✐❝❧❡s ❛s ❛❝❝❡❧❡r❛t✐♦♥ ✐♥♣✉ts✳
• dn ✐s t❤❡ ❞❡s✐r❡❞ ✐♥t❡r✲✈❡❤✐❝❧❡ ❞✐st❛♥❝❡✳
• vn ✐s t❤❡ ✈❡❧♦❝✐t②✳
• ddes ✐s t❤❡ ❞❡s✐r❡❞ ✐♥t❡r✲✈❡❤✐❝❧❡ ❞✐st❛♥❝❡✳
dn =√
(xn+1 − xn)2 + (yn+1 − yn)2 ✭✷✹✮
v =k
m(dn − ddes)−
k
m(dn−1 − ddes) +
c
m(vn+1 − vn)−
c
m(vn − vn−1) ✭✷✺✮
❯♥✐❞✐r❡❝t✐♦♥❛❧ ❝♦♥st❛♥t ❞✐st❛♥❝❡
v =k
m(dn − ddes) +
c
m(vn+1 − vn) ✭✷✻✮
❚❤✐s s②st❡♠ ✐s t❤❡ s✐♠♣❧❡st t♦ ✐♠♣❧❡♠❡♥t✱ ❜✉t t❤❡ ♣❧❛t♦♦♥ ✐s♥✬t str✐♥❣ st❛❜❧❡✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✻
❯♥✐❞✐r❡❝t✐♦♥❛❧ ❝♦♥st❛♥t t✐♠❡
v =k
m(dn − h ∗ vn) +
c
m(vn+1 − vn) ✭✷✼✮
❈ ❈♦❞❡ t♦ ✐♥t❡r❢❛❝❡ ✇✐t❤ t❤❡ ✈❡❤✐❝❧❡ ♣❧❛t♦♦♥
★ ❚❤✐s ♣r♦❣r❛♠ ❧ ✐ s t ❡ ♥ s t♦ ❛♥ ①❜❡❡ ♠♦❞✉❧❡ ♦♥ ❈❖▼✶✹✱ ❛♥❞ s❡♥❞s★ ♥❡❝❡ s s❛ r② ❝♦♠♠❛♥❞s t♦ t❤❡ ①❜❡❡ ♠♦❞✉❧❡ ♦♥ ❈❖▼✶✺✳✐♠♣♦rt s ❡ r ✐ ❛ ❧✐♠♣♦rt t✐♠❡✐♠♣♦rt s②s✐♠♣♦rt ♥✉♠♣② ❛s ♥♣✐♠♣♦rt s ✐ ❣ ♥ ❛ ❧
s ❡ r ❂ s ❡ r ✐ ❛ ❧ ✳ ❙ ❡ r ✐ ❛ ❧ ✭ ✬❈❖▼✶✺✬ ✱ ✶✶✺✷✵✵ ✱ t ✐♠❡♦✉t ❂✵✳✵✶✼✮❜❛❝❦ ❂ s ❡ r ✐ ❛ ❧ ✳ ❙ ❡ r ✐ ❛ ❧ ✭ ✬❈❖▼✶✹✬ ✱ ✶✶✺✷✵✵ ✱ t ✐♠❡♦✉t❂✷✮❞❡ ❢ s ✐❣♥❛ ❧❴❤❛♥❞❧❡r ✭ s ✐ ❣♥❛ ❧ ✱ ❢r❛♠❡ ✮ ✿
♣ r ✐ ♥ t ✭ ✬❭ ♥❈♦♥tr♦❧ ❈ ✇❛s ♣r❡ s s❡❞ ✳ ◆♦✇ s❡♥❞✐♥❣ t❤❡ ❦ ✐ ❧ ❧ s ✐ ❣ ♥ ❛ ❧ ✳ ❭ ♥ ✬ ✮t ❂ t✐♠❡ ✳ t✐♠❡ ✭ ✮✇❤✐ ❧ ❡ ✭ t✐♠❡ ✳ t✐♠❡ ✭ ✮ − t ❁ ✶✵ ✮ ✿
s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ ❝❭♥ ✬ ✮♣ r ✐ ♥ t ✬ ❘❡❛ ❧ ❧② ❞♦♥❡ ♥♦✇❭♥ ✬s②s ✳ ❡ ① ✐ t ✭✵ ✮
s ✐ ❣ ♥ ❛ ❧ ✳ s ✐ ❣ ♥ ❛ ❧ ✭ s ✐ ❣ ♥ ❛ ❧ ✳ ❙■●■◆❚ ✱ s ✐❣♥❛ ❧❴❤❛♥❞❧❡r ✮
❧ ❂❬✵ ❪ ∗ ✻s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ t ❭♥ ✬ ✮s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ t ❭♥ ✬ ✮s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ t ❭♥ ✬ ✮s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ t ❭♥ ✬ ✮s ❡ r ✳ ✇r ✐ t ❡ ✭ ✬ t ❭♥ ✬ ✮t✵ ❂ t✐♠❡ ✳ t✐♠❡ ✭ ✮t❂t✵✇❤✐ ❧ ❡ ✶ ✿
♦✉ t s t r ✐ ♥ ❣ ❂ ❜❛❝❦ ✳ r ❡ ❛❞ ❧ ✐ ♥ ❡ ✭ ✮♦✉ t s t r ✐ ♥ ❣ ❂ ♦✉ t s t r ✐ ♥ ❣ ❬✶ ✿ −✶ ❪❝♦✉♥t❡r❂✶❢ ♦ r ✐ ✱ ❦ ✐♥ ③ ✐♣ ✭ ♦✉ t s t r ✐ ♥ ❣ ❬ ✵ ✿ ✿ ✷ ❪ ✱ ♦✉ t s t r ✐ ♥ ❣ ❬ ✶ ✿ ✿ ✷ ❪ ✮ ✿
❧ ❬ ❝♦✉♥t❡r ❪❂ ♥♣ ✳ ❢ r♦♠❜✉❢ ❢ ❡ r ✭ ❜✉ ❢ ❢ ❡ r ✭ ✐✰❦ ✮ ✱ ❞t②♣❡❂♥♣ ✳ ❢ ❧ ♦ ❛ t ✶ ✻ ✮ ❬ ✵ ❪❝♦✉♥t❡r ❂ ❝♦✉♥t❡r ✰ ✶
❧ ❬ ✵ ❪ ❂ t✐♠❡ ✳ t✐♠❡ ✭ ✮ − t♣ r ✐ ♥ t ✧❭♥t✐♠❡ ✱ ❭ t❝❛r❚✐♠❡ ✱ ❭ t✈ ✱ ❭ t① ✱ ❭ t② ✱ ❭ t❤❡❛❞✐♥❣ ✧♣ r ✐♥ t ❬✧✪✵✳✷ ❢ ✧ ✪ ✐ ❢ ♦ r ✐ ✐♥ ❧ ❪
♣ r ✐ ♥ t ✧ ❋✐♥ ✐ s❤❡❞ ❭♥✧
❆ ❘❡❢❡r❡♥❝❡s
❬✶❪ ❘✳ ❘❛❥❛♠❛♥✐✱ ❱❡❤✐❝❧❡ ❞②♥❛♠✐❝s ❛♥❞ ❝♦♥tr♦❧✳ ❙♣r✐♥❣❡r✱ ✷✵✶✶✳
❬✷❪ ❈✳ ❈❤✐❡♥ ❛♥❞ P✳ ■♦❛♥♥♦✉✱ ✏❆✉t♦♠❛t✐❝ ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣✱✑ ✐♥ ❆♠❡r✐❝❛♥ ❈♦♥tr♦❧ ❈♦♥❢❡r❡♥❝❡✱ ✶✾✾✷✳ ■❊❊❊✱✶✾✾✷✱ ♣♣✳ ✶✼✹✽✕✶✼✺✷✳
▲❛t❡r❛❧ ❈♦♥tr♦❧ ♦❢ ❛ ❱❡❤✐❝❧❡ P❧❛t♦♦♥ ▼✐t❝❤❡❧❧✱ ❍②♠❛s ✶✼
❬✸❪ ▼✳ ❨✳ ❆❜✉❛❧❤♦✉❧✱ ▼✳ ▼❛r♦✉❢✱ ❖✳ ❙❤❛❣❞❛r✱ ❛♥❞ ❋✳ ◆❛s❤❛s❤✐❜✐✱ ✏P❧❛t♦♦♥✐♥❣ ❝♦♥tr♦❧ ✉s✐♥❣ ✈✐s✐❜❧❡ ❧✐❣❤t❝♦♠♠✉♥✐❝❛t✐♦♥s✿ ❆ ❢❡❛s✐❜✐❧✐t② st✉❞②✱✑ ✐♥ ■♥t❡❧❧✐❣❡♥t ❚r❛♥s♣♦rt❛t✐♦♥ ❙②st❡♠s✲✭■❚❙❈✮✱ ✷✵✶✸ ✶✻t❤ ■♥t❡r✲♥❛t✐♦♥❛❧ ■❊❊❊ ❈♦♥❢❡r❡♥❝❡ ♦♥✳ ■❊❊❊✱ ✷✵✶✸✱ ♣♣✳ ✶✺✸✺✕✶✺✹✵✳
❬✹❪ ❚✳ ❋✉❥✐♦❦❛ ❛♥❞ ▼✳ ❖♠❛❡✱ ✏❱❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣ ❝♦♥tr♦❧ ✐♥ ❧❛t❡r❛❧ ❞✐r❡❝t✐♦♥ ❢♦r ♣❧❛t♦♦♥✐♥❣✱✑ ❱❡❤✐❝❧❡ ❙②st❡♠❉②♥❛♠✐❝s✱ ✈♦❧✳ ✷✾✱ ♥♦✳ ❙✶✱ ♣♣✳ ✹✷✷✕✹✸✼✱ ✶✾✾✽✳
❬✺❪ ❚✳ ❈✳ ◆❣✱ ❏✳ ■✳ ●✉③♠❛♥✱ ❛♥❞ ▼✳ ❉✳ ❆❞❛♠s✱ ✏❆✉t♦♥♦♠♦✉s ✈❡❤✐❝❧❡✲❢♦❧❧♦✇✐♥❣ s②st❡♠s✿ ❆ ✈✐rt✉❛❧ tr❛✐❧❡r ❧✐♥❦♠♦❞❡❧✱✑ ✐♥ ■♥t❡❧❧✐❣❡♥t ❘♦❜♦ts ❛♥❞ ❙②st❡♠s✱ ✷✵✵✺✳✭■❘❖❙ ✷✵✵✺✮✳ ✷✵✵✺ ■❊❊❊✴❘❙❏ ■♥t❡r♥❛t✐♦♥❛❧ ❈♦♥❢❡r❡♥❝❡♦♥✳ ■❊❊❊✱ ✷✵✵✺✱ ♣♣✳ ✸✵✺✼✕✸✵✻✷✳
❬✻❪ P✳ P❡tr♦✈✱ ✏◆♦♥❧✐♥❡❛r ❛❞❛♣t✐✈❡ ❝♦♥tr♦❧ ♦❢ ❛ t✇♦✲✈❡❤✐❝❧❡ ❝♦♥✈♦②✱✑ ❖♣❡♥ ❈②❜❡r♥❡t✐❝s ✫ ❙②st❡♠✐❝s ❏♦✉r♥❛❧✱✈♦❧✳ ✸✱ ♣♣✳ ✼✵✕✼✽✱ ✷✵✵✾✳
❬✼❪ ❉✳ ❨❛♥❛❦✐❡✈ ❛♥❞ ■✳ ❑❛♥❡❧❧❛❦♦♣♦✉❧♦s✱ ✏❆ s✐♠♣❧✐✜❡❞ ❢r❛♠❡✇♦r❦ ❢♦r str✐♥❣ st❛❜✐❧✐t② ❛♥❛❧②s✐s ✐♥ ❛❤s✱✑ ✐♥Pr♦❝❡❡❞✐♥❣s ♦❢ t❤❡ ✶✸t❤ ■❋❆❈ ❲♦r❧❞ ❈♦♥❣r❡ss✱ ✶✾✾✻✱ ♣♣✳ ✶✼✼✕✶✽✷✳
❬✽❪ ❉✳ ❈r✐♣♣s✱ ✏❯♥♠❛♥♥❡❞ ❣r♦✉♥❞ ✈❡❤✐❝❧❡s✿ ❍✐❣❤ ❧❡✈❡❧ s②st❡♠ ♠♦❞❡❧✱✑ ✷✵✶✺✱ ❞❛t❡ r❡✢❡❝ts ❞❛t❡ ♦❜t❛✐♥❡❞✱♥♦t t❤❡ ❝r❡❛t✐♦♥ ❞❛t❡✳
❬✾❪ ❏✳ ▲✳ ❋❡rr✐♥✱ ✏❈♦♥tr♦❧s ♦❢ ❛ t❡t❤❡r✲❜❛s❡❞ r♦❜♦t✐❝ ❝♦♥✈♦②✱✑ ▼❛st❡r✬s t❤❡s✐s✱ ❯t❛❤ ❙t❛t❡ ❯♥✐✈❡rs✐t②✱ ✷✵✵✼✳
❬✶✵❪ ❘✳ ❈✳ ❈♦✉❧t❡r✱ ✏■♠♣❧❡♠❡♥t❛t✐♦♥ ♦❢ t❤❡ ♣✉r❡ ♣✉rs✉✐t ♣❛t❤ tr❛❝❦✐♥❣ ❛❧❣♦r✐t❤♠✱✑ ❉❚■❈ ❉♦❝✉♠❡♥t✱ ❚❡❝❤✳❘❡♣✳✱ ✶✾✾✷✳
Chapter 4
System Handbook
53
SATS Vehicle Platoon Handbook
Secure Automated Transportation Systems GroupElectrical and Computer Engineering
Utah State UniversityLogan, Utah
April 30, 2015
2
Contents
1 System Design 111.1 Project Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.1 Vehicle Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.2.2 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.3.1 Micro-Controller Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 171.3.2 PWM Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191.3.3 Encoder Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211.3.4 Lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.3.5 Ultrasonic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.3.6 Doppler Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.3.7 Accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.3.8 XBee Wireless Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.3.9 Main PCB Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2 Instructions 292.1 Vehicle Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.1.1 Quadrature Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.1.2 Battery Padding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.1.3 Wire Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.1.4 PCB Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332.1.5 Electronics Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2 Platoon Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352.3 Controller Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.3.1 Longitudinal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372.3.2 Lateral control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372.3.3 Low level lateral control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372.3.4 Low level velocity control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3
4 CONTENTS
List of Figures
1.1 Light Weight BattleKit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.2 Output of the Team Tentacle Torque / Amp-Hour Calculator for the standard vehicle
configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141.3 High voltage wiring schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161.4 Top level system architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.5 PWM output at frequency of 300Hz . . . . . . . . . . . . . . . . . . . . . . . . . . . 211.6 US Digital encoder pin layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.7 Quadrature encoder signal output . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.8 PING ultrasonic theory of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.9 Main PCB schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261.10 Main PCB layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1 Battery wiring configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312.2 PCB wiring configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312.3 Motor control wiring configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322.4 Kill switch wiring configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322.5 Electronics platform configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 332.6 Vehicles with 1m spacing between rear tires. . . . . . . . . . . . . . . . . . . . . . . . 352.7 Vehicle with the kill switch in the off (horizontal) position. . . . . . . . . . . . . . . 352.8 Tiva C microcontroller in debug mode. . . . . . . . . . . . . . . . . . . . . . . . . . . 352.9 Vehicle platoon main loop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5
6 LIST OF FIGURES
List of Tables
1.1 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.2 Sensor cable standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.3 TivaC EK-TM4C123GXL pin assignments . . . . . . . . . . . . . . . . . . . . . . . . 181.4 TivaC EK-TM4C123GXL pin assignments . . . . . . . . . . . . . . . . . . . . . . . . 191.5 Table of system states available and the associated software variables. . . . . . . . . 191.6 Default PWM input values for AF160 DC motor controller. . . . . . . . . . . . . . . 20
2.1 Battery padding dimensions (cm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.2 Required wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312.3 PWM wire to wire connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332.4 PWM and QEI connection to the PCB . . . . . . . . . . . . . . . . . . . . . . . . . . 332.5 Electronics platform connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342.6 Low level velocity control gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7
8 LIST OF TABLES
Revision History
Rev Description Author Contact Date1 Daniel Dunn [email protected] 1/1/20152 Added instructions chapter Samuel
[email protected] 4/24/2015
345678910
9
10 LIST OF TABLES
Chapter 1
System Design
1.1 Project Description
The intent of this project is to construct a platoon of autonomous vehicles. The lead vehicle isunder the direct control of an operator via 2.4GHz radio transmitted command signals. Eachvehicle after the lead vehicle (follower vehicles) will run in a completely autonomous mode. Eachfollower vehicle will track the vehicle directly in front of it. The follower vehicles must maintaina given time headway separation from the preceding vehicle. The time headway input is given inseconds, the relative distance between vehicles is then a function of the current velocity of thatvehicle multiplied by the time headway. The vehicle platoon must be able to travel in excessof 20mph while maintaining the proper inter-vehicle spacing as well as maintain stability as theplatoon accelerates and decelerates.
Initially the main focus of this project is to maintain the inter-vehicle spacing and platoonstability. Therefore, the required longitudinal controller has been designed first. However, beforethe platoon can operate properly a lateral control system will need to be implemented as well.
The purpose of building this vehicle platoon is to test various vehicle platooning control measuresthat have been suggested in industry and academia. The objective is to bring attention to theflaws in many of these suggested designs by physically demonstrating conditions that will causeinstability in the platoon. Instability could be introduced by a vehicle (attacker) that does notfollow the control law of the platoon, perhaps someone trying to cause destructive collisions.
Initially this project will consist of one lead vehicle and one follower vehicle. This design must bescalable. The intent is to fully implement a platoon of 10 vehicles for demonstration purposes. Thevehicles chosen for this project are differential steer with two 4 diameter wheel on each side. Eachvehicle has two dc motors, each motor drives two wheels on one side of the vehicle. The motorsare driven by a two channel motor controller that accepts PWM input signals. The duty cycle ofthis signal will be the output from the longitudinal and lateral controllers. These controllers areimplemented discretely in the C coding language.
Initially ultrasonic sensors will be used to measure the relative distance between vehicles. Thisdistance is the main feedback to the longitudinal controller. Two encoders are installed on eachvehicle, one per motor, the output is used as a minor velocity feedback loop to the controllers.Additionally a Doppler radar sensor on each vehicle is used to measure the relative velocity betweenthe current and preceding vehicles. The output of this sensor will be used in a feed forward
11
12 CHAPTER 1. SYSTEM DESIGN
configuration to the longitudinal controller.
To ensure that the platoon can be remotely shut down each vehicle will have an XBee wirelessmodule on-board. The modules will transmit a pulse signal that will be monitored by a watchdogtimer aboard each vehicle. If the pulse is interrupted the platoon will be stopped and set in a safeoff state.
Each vehicle must also have additional onboard memory. This will allow the data output fromeach sensor to be stored aboard each vehicle. This data can be uploaded to a computer and usedto create plots of the real time performance of the controllers aboard each vehicle as well as theinteraction between vehicles.
All of the functions of the vehicle described above are implemented on a Texas Instruments EK-TM4C123GXL ARM Cortex M4F micro-controller. There will be one microcontroller aboard eachvehicle running with a clock frequency of 20MHz. The following resources of the microcontrollerare being used to implement this project:
• Pulse Width Modulation (PWM) modules 0 and 1
• I2C module 0
• Quadrature Encoder Input (QEI) modules 0 and 1
• UART modules 0 and 1
• GPIO ports for TTL input and output
1.2. HARDWARE 13
1.2 Hardware
1.2.1 Vehicle Specifications
Figure 1.1: Light Weight BattleKit
Standard Vehicle Configuration (battlekits.com)Light weight kitLength: 45 cmWidth: 39.6 cmWeight: 16.78 kg (including motors, controller, and 2 batteries)Gear ratio 3.4 (high speed ratio)Wheel diameter 10.13 cm (4in) (measured circumference 31.8 cm)System voltage 36V (3 - 12V sealed lead acid (SLA) batteries in series)(./data sheets/UB1250 D5741.pdf)2 - E30-150 AmpFlow motors (battlekits.com/robot motors.htm)AmpFlow 160 motor controller (./data sheets/AF160 Manual.pdf)Differential steerAverage acceleration 7.8 m/s2
Theoretical top speed 13.32 m/s (29.8 mph)(members.toast.net/joerger/squid/newtorquecalc.htm)
14 CHAPTER 1. SYSTEM DESIGN
Figure 1.2: Output of the Team Tentacle Torque / Amp-Hour Calculator for the standard vehicleconfiguration
Enhanced Vehicle Configuration
Light weight kitDimensions and weight same as standard configurationGear ratio 3.4 (high speed ratio)Wheel diameter 12.7 cm (5in)System voltage 36V (3 - 12V sealed lead acid (SLA) batteries in series)(./data sheets/UB1250 D5741.pdf)2 - F30-150 AmpFlow motors (battlekits.com/robot motors.htm)AmpFlow 160 motor controller (./data sheets/AF160 Manual.pdf)Differential steerAverage acceleration 10.0 m/s2
Theoretical top speed 20.21 m/s (45.2 mph)(members.toast.net/joerger/squid/newtorquecalc.htm)
The main wiring diagram for each vehicle is shown in Figure1.3. As per the recommendations inthe AF160 data sheet a flyback diode has been specified across the terminals of the main disconnectswitch. The purpose of this diode is to dissapate voltage spikes caused when the motors turn offand generate reverse RMS.
1.2.2 Sensors
A variety of sensors are used for this project. These sensors provide the feedback necessary toimplement a control scheme to maintain desired inter-vehicle separations and velocities.
1.2. HARDWARE 15
• Lidar range finder provides inter-vehicle seperation distance and relative velocity betweenvehicles.
• Encoders, provide velocity of left and right wheel pairs, and cumulative distance traveled.
• Ultrasonic (optional), provides inter-vehicle seperation distance. The difference between sub-sequent sensor readings can be used to estimate relative velocity between vehicles.
• Radar (optional), Doppler shift is used to calculate the relative velocity between vehicles.
• Accelerometer, provides acceleration in X, Y, Z directions. The acceleration can be integratedto give estimates of velocity for short time durations.
• XBee, provides wireless communication based on the IEEE 802.15.4 protocol.
ROBOT SENSORSSensor Manufacturer Part No.Lidar Pulsed Light LL-905PIN-01
Encoders US Digital E2-500-375-IE-D-G-BUltrasonic PARALLAX INC. PING #28015Radar PARALLAX INC. X-Band Motion Detector #32213
Accelerometer DFROBOT SEN0032XBee Digi International XBP24BZ7SIT-004
Table 1.1: Sensors
Sensor Cables
The battle kit robot platform used for this project uses the standard servo cable scheme for thePWM inputs. Because of this I decided to keep this wiring scheme for the rest of the sensors.
SENSOR CABLESPIN 1 GND BROWN WIREPIN 2 +5V RED WIREPIN 3 SIGNAL ORANGE WIREPIN 5 OPTIONAL YELLOW WIRE
Table 1.2: Sensor cable standard
1.3 System Architecture
Distance and
Velocity
Sensor
Right and Left
Motor
Encoders
Accelerometer
Right Motor
Battery Pack
Left Motor
Motor Driver
Right
Channel
Left Channel
µ controller
Longitudinal
Control
Lateral
Control
Wireless
Communication
Module
PWM
PWM
UART
36V DC
36V DC
36V DCTTLI2CI2C
High Level
Platooning
Controller
Low Level Controller
Ground Station
Data Collection
Figure 1.4: Top level system architecture
1.3.1 Micro-Controller Configuration
As mentioned before the micro-controller use for this project is the Texas Instruments TivaC EK-TM4C123GXL ARM Cortex M4F. The on-board peripheral driver library is utilized to configurethe required peripheral devices. The complete software developer package EK-TM4C123GXL-KEIL which includes, TivaWare for C Series and Keil RVMDK for the Tiva C Series TM4C123GLaunchPad, can be found at: http://www.ti.com/tool/sw-ek-tm4c123gxl. Once the package isdownloaded concise installation instructions can be found in the Documentation folder. Followthe instructions in the Quickstart-Driver-Installation-spmu287.pdf to setup the drivers required toflash the micro-controller. Follow the instructions in the Quickstart-Eval-Kit-Keil-spmu355.pdf toflash a simple program to the board and learn how to configure your own project. Utilizing thisdevelopment package the micro-controller has been configured as follows:
• System clock set at 20Mhz using PLL with crystal reference.
• GPIOA PIN6 set to input. (discontinued)
• (discontinued) GPIOA PIN6 interrupt set to rising edge.
• (discontinued) GPIOB PIN4 used as input and output.
17
• (discontinued) GPIOB PIN4 interrupt set to both edges.
• Timer0 set periodic count-down, the count value is set in a function used to set the main loopsample time.
• Timer0 interrupt set for to interrupt on a timeout event.
• (discontinued) Timer1 set periodic count-up, used to determine ultrasonic sensor time offlight.
• (discontinued) Timer2 set periodic count-up, used to determine Doppler sensor time of flight.
• UART0 enabled for 15200 baud, this UART operates over the USB programming port.
• UART1 enabled for 15200 baud, this UART is used to send data through the XBee wirelesslink.
• PWM0 and PWM1 enabled, PWM0 is used to output longitudinal control signals, PWM1for lateral control signals.
• QEI0 and QEI1 enbled, these peripherals are used to gather distance and velocity input fromthe motor encoders.
• IC20 is enabled and used to program the lidar and accelerometer and receive data from thesesensors.
PB5 is for possible future expansion with the addition of a second ultrasonic sensor. It hascurrently not been configured. The following tables show the pin assignments of the TivaC micro-controller:
FIRST ROW OF DOUBLE HEADER PINSPin # Device Pin # Device+3.3v Sensor Power VBUSPB5 Ultrasonic1 Trigger/Signal GNDPB0 UART1 U1Rx PD0 Lidar Power EnablePB1 UART1 U1Tx PD1 Lidar ModePE4 Radio RX Input PD2PE5 Radio RX Input PD3 QEI0 IndexPB4 Ultrasonic0 Trigger/Signal PE1 Radio RX InputPA5 PE2 Radio RX InputPA6 Doppler Radar Out PE3 Radio RX InputPA7 Doppler Radar Enable PF1
Table 1.3: TivaC EK-TM4C123GXL pin assignments
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SECOND ROW OF DOUBLE HEADER PINSPin # Device Pin # DevicePF2 GNDPF3 PB2 I2C0 SCLPB3 I2C0 SDA PE0 Radio RX InputPC4 QEI1 Index PF0PC5 QEI1 PhA RSTPC6 QEI1 PhB PB7 PWM1PC7 PB6 PWM0PD6 QEI0 PhA PA4PD7 QEI0 PhB PA3PF4 PA2
Table 1.4: TivaC EK-TM4C123GXL pin assignments
NOTE: PA0 and PA1 correspond to UART0 UORx, and UART0 U0Tx respectively. Thesepins are not broken out.
Sensor Data
The readings from the various sensors are stored in a custom data structure VEHICLE which is aninstance of a custom data type structVEHICLE t defined inVP globals.h. These measurementswill be used as the input to the system control loops.
VEHICLE.{variable}State System Variable Units Type
Velocity of right wheels right velocity meter/sec floatVelocity of left wheels left velocity meter/sec floatVelocity center of mass velocity meter/sec float
Relative velocity delta velocity meter/sec floatAbsolute distance traveled distance meter floatRelative distance delta distance meter float
Acceleration along X x accel meter/sec/sec floatAcceleration along Y y accel meter/sec/sec floatAcceleration along Z z accel meter/sec/sec float
Table 1.5: Table of system states available and the associated software variables.
1.3.2 PWM Configuration
The AF160 motor controller used for this project determines the period of the PWM signal as wellas what duty cycle corresponds to reverse, stop, and forward. By default the AF160 recognizes thefollowing ranges of PWM input, These values correspond with the standard pulse widths used forservo actuators:
• 1.0mSec pulse width, motor output full reverse
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• 1.5mSec pulse width, zero motor output
• 2.0mSec pulse width, motor output full forward
• Maximum PWM signal frequency 300Hz
Input to AF160 Motor ControllerPWM Pulse Width (300Hz) Duty Cycle Motor Output
1.0 mSec -100% Full Reverse Velocity1.5 mSec 0% Zero Velocity2.0 mSec 100% Full Forward Velocity
Table 1.6: Default PWM input values for AF160 DC motor controller.
The maximum PWM frequency of 300Hz is used to insure the output is updated as quickly aspossible. This gives this component of the system the highest possible bandwidth. It is importantthat the low level components of the control system have high bandwidth because the bandwidthof each progressive level of control must be lower than its subsystems. The higher the bandwidth ofthe subsystems, the higher the bandwidth of the top level system. The top level system bandwidthwill determine the overall time response of the system as a whole.
To achieve the desired signal pulse width the timer reload value for the PWM modules of themicro-controller is calculated as follows:
PWMtimer reload =system clock frequency
2∗ (desired pulse width in mSec)
For a system clock speed of 20MHz the PWM timer reload value for zero motor output is 15000.This is used as the default base value any required control effort will add to this base value up toa maximum PWM timer reload value of 20000. This corresponds to the max 2mSec pulse width.
Module PWM0 is used to output the control effort for longitudinal motion. PWM1 will beused to output the lateral control effort. As of the writing of this document only the longitudinalcontrol is being designed. It will be important to verify the interaction between the longitudinaland lateral control schemes. I believe that the AF160 will take half the PWM1 control effort outputand add this to one motor output and subtract from the other. This will result in the overall netlongitudinal output being equal in the forward travel direction of the robot. As of yet this theoryhas not been verified. This will detirmine how the robot turns, whether it pivots about the centerof mass or skews to the left or right when turning.
The relationship between control input to the AF160 and the system response will be discussedin later sections. A system model will then be developed and used to design appropriate controlschemes.
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Motor Full Reverse
Motor Zero Output
Motor Full Forward
Period 3.3mSec
1.0mSec Pulse Width
1.5 mSec Pulse Width
2.0mSec Pulse Width
Figure 1.5: PWM output at frequency of 300Hz
1.3.3 Encoder Configuration
Two quadrature encoders are used for this project. One encoder for the right motor and one forthe left motor. The encoders are used to track the rotation of the motor shafts. The number ofrotations during a specific time period is linearly related to the velocity of the motor shaft.
The index of each encoder can be used to track the number of rotations. This can be used totrack estimate the cumulative distance traveled by the robot. However, if the wheels slip or spinon the operating surface this measurement will be innacurate.
The output of the encoders is connected to the quadrature encoder input modules of the TivaC.The velocity of the left and right sets of wheels on the robots can be calculated as follows:
meters
sec= QEICOUNT ∗
samples
sec∗
rev
encoder PPR∗
1
gear ratio∗ π ∗ (diameter of wheel in meters)
The QEI modules can be configured for quadrature encoder input. In this case the Pulses PerRevolution (PPR) will be four times the Cycles Per Revolution (CPR). I have however, founda descrepancy in this process. The particular encoder used for this project is 500 CPR. Usingquadrature encoding the PPR should be 2000. When I use this divisor the velocity calculatedusing the above equation is half what I expect to see. I performed a simple experiment by runningthe motor for a short period of time and capturing the number of encoder pulses counted by themicro-controller during the test period. I also attached a piece of string to one of the wheels of therobot and allowed it to wrap around the wheel as it rotated. By comparing the linear measurementof the string wrapped around the wheel versus number of encoder counts I calculated that I amgetting 1000 PPR not the 2000 expected. I am not sure at this point if the micro-controller isimproperly configured or the encoders are not actually 500 CPR. This dilemma will requre furtherinvestigation.
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For future reference I have included drawings of the pin layout for the US Digital encoders usedfor this project shown in Fig. 1.6. The phase relationship between the encoder signal outputs isshown in Fig. 1.7.
GN
D
5 4 3 2 1
IND
EX
CH
A+5
V D
CC
H B 5 4 3 2 1
GN
DIN
DE
XC
H A
+5V
DC
CH
B
Encoder Front View Encoder Top View
Figure 1.6: US Digital encoder pin layout
Channel A
Channel B
Index
Figure 1.7: Quadrature encoder signal output
1.3.4 Lidar
The Lidar-LITE range sensing module is being used for this project. The Lidar module is preferableto the Ultrasonic Sensors due to the 40m range. This section will be completed as characterizationis performed.
1.3.5 Ultrasonic Sensors
An ultrasonic sensor is used for this project to measure the distance between vehicles. Currentlythe main program loop on the TivaC is based off the maximum time required to recieve a readingfrom the PING ultrasonic sensor. I have allowed 20mSec which is just longer than the time requiredto recieve a maximum distance reading.
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Theory of Operation (from PING ultrasonic documentation). The PING sensor detects objectsby emitting a short ultrasonic burst and then ”listening” for the echo. Under control of a hostmicrocontroller (trigger pulse), the sensor emits a short 40 kHz (ultrasonic) burst. This bursttravels through the air at about 1130 feet per second, hits an object and then bounces back to thesensor. The PING))) sensor provides an output pulse to the host that will terminate when the echois detected, hence the width of this pulse corresponds to the distance to the target.
To receive the signal from the ultrasonic sensor GPIOB PIN4 is used as an input/output.The pin must first be cofigured as output to send the tout pulse to the sensor. The pin is thenconfigured as input and the GPIOB interrupt is enabled to detect the rising and falling edge ofthe input pulse. The width of this pulse is captured using timer1 configured as a single 32-bitwide timer. A 32-wide timer must be used to capture the maximum pulse width correspondingto (.0185) ∗ (20000000) = 370000, while using a 20MHz clock speed. The pulse width is used tocalculate the real value in meters:
distance (meters) =(speed of sound) ∗ tIN
2
speed of sound (meters/sec) = 331.5 + 0.6 ∗ (temp of air (celcius))
The surrounding air temperature will change the distance measurement by 4 % in a temperaturerange of 50oF to 90oF. This can cause measurement error in the range of centimeters. For nowI have used the speed of sound corresponding to an air temperature of 70oF. An air temperaturesensor could be added to correct this issue.
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© Parallax, Inc. • PING)))TM Ultrasonic Distance Sensor (#28015) • v1.3 6/13/2006 Page 3
Figure 1.8: PING ultrasonic theory of operation
1.3.6 Doppler Radar
This section will be completed when a Doppler radar has been selected.
1.3.7 Accelerometer
The ADXL345 accelerometer is being used for this project. This section will be completed ascharacterization is performed.
1.3.8 XBee Wireless Module
The XBee
1.3.9 Main PCB Design
The PCB was designed to support the following components:
• XBee Wireless Module
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• Accelerometer
• Lidar
• 2 Quadrature Encoders
• 2 Pulse Width Modulation Channels
• Tiva C Launchpad Micro-Controller
• I2C Expansion
• 2 Ultrasonic Sensors
• Doppler
25
28
Chapter 2
Instructions
29
2.1 Vehicle Assembly
The purpose of this section is to detail the vehicle assembly procedure as used by the SecureAutonomous Transportation Systems (SATS) Group. If any alterations to the vehicle platoon areperformed, the updates should be detailed in this document.
2.1.1 Quadrature Encoders
Installation process of the E2-500-375-IE-D-G-B Optical Kit Encoder.
1. Remove one motor and gear assembly using a 3/32” allen wrench on the 9 bolts that attachthe assembly to the base.
2. Attach the encoder base to each motor. Groove side out. The U shaped groove should faceup. 3/8 length screws.
3. Slide the counter tab (round, clear) onto the motor shaft.
4. Move the encoder (brown with pins) onto the encoder base. The pins face up, with the grooveon the motor side.
2.1.2 Battery Padding
Cut foam padding to fit the dimensions in Table 2.1. Carefully insert the batteries with the terminalspointed toward the right side of the vehicle, as shown in Figure 2.1.
Using hot glue, affix the 22 x 3.5 x 2.5 pad to the underside of the electronics platform. Thepiece should be 6cm from the front with 1cm on either side.
Table 2.1: Battery padding dimensions (cm)
Qty. Length Width Depth
2 21.5 9 2.52 14 9 1.51 22 3.5 2.5
2.1.3 Wire Connections
Motor
Attach the motor cables to the corresponding spaces on the motor controller board. The motorcontroller board is at the rear of the vehicle. This will assist in locating the right and left channels.
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Table 2.2: Required wires
Qty. Name Color Length (cm) Gauge Connector 1 Connector 2
4 Motor R, Blk - - Ring terminal -2 Motor controller R, Blk 45 8 Ring terminal Wire1 Battery long R 90 8 Female quick slide Wire1 Blk 70 8 Female quick slide Wire2 Battery short Blk 20 8 Female quick slide Female quick slide2 Kill switch R, Blk 35 8 Large ring terminal Wire2 Charger R, Blk 25 12 Anderson Wire2 PCB R, Blk 30 12 Wire Wire2 PWM ribbon Blu, V, Gry 70 40 Female pin header Male pin2 QEI ribbon Br,R,O,Y,Gn 70 40 Female pin header Female pin header
Battery
Attach the female quick slides of the batterylong and short cables to the terminals of thebatteries, as shown in Figure 2.1.
Figure 2.1: Battery wiring configuration.
Attach the wire end of the battery long ca-bles to the power block, as shown in Figure2.2.
Figure 2.2: PCB wiring configuration.
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Motor Controller
Attach the ring terminals of the motor con-troller cables to the motor controller board,as shown in Figure 2.3Attach the wire ends of the motor controllercables to the power block, as shown in Figure2.2.
Figure 2.3: Motor control wiring configuration
Kill Switch
Attach the ring terminals of the kill switchcables to the kill switch, as shown in Figure2.4. Wrap the ring terminals in electric tape.
Figure 2.4: Kill switch wiring configurationAttach the ring terminals of the kill switch cables to the power block, as shown in Figure 2.2.
Charger
Attach the wire ends of the charger cables to the power block, as shown in Figure 2.2.
PCB
Attach the wire ends of the PCB cables to the power block, as shown in Figure 2.2.
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PWM Ribbon
Attach each PWM ribbon to the corresponding PWM wire from the motor controller board (right,left), as shown in Table 2.3. Attach each PWM ribbon to the corresponding PWM port on thePCB, as shown in Table 2.4.
Table 2.3: PWM wire to wire connection
MCB PWM PWM Cable
O BluR VBr Gry
Table 2.4: PWM and QEI connection to the PCB
Cable PCB Port
PWM Left PWM 0PWM Right PWM 1
QEI Left QEI 1QEI Right QEI 0
QEI ribbon
Attach each QEI ribbon to the its corresponding QEI module, as shown in Table 2.4.
2.1.4 PCB Assembly
Refer to the PCB drawing in Figure 1.10. The only correction for the system is to replace R10 witha wire.
2.1.5 Electronics Platform
Place all items on the platform using Figure and Table 2.5 as guide. After the components areplaced, perform the wire connections described in Section 2.1.3.
Figure 2.5: Electronics platform configuration.
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Table 2.5: Electronics platform connection
Item Qty Diameter Length (inch)
Angle iron bolt 2 #8 1/2Kill switch bolt 2 #8 1/2
Power block bolt 2 #8 1/2Electronics platform mounting bolt 4 #8 1/2
PCB spacer 4PCB bolt 4 #4-40 3/8
34
2.2 Platoon Operation
The vehicle platoon is configured to begin on a command from the leader. In order to preventinjury, follow these instructions in order.
1. Place vehicles in a straight line with 1 meterbetween the rear tires of each vehicle. SeeFigure 2.6.
Figure 2.6: Vehicles with 1m spacing between reartires.
2. Turn off all kill switches (horizontal posi-tion). See Figure 2.7.
Figure 2.7: Vehicle with the kill switch in the off(horizontal) position.
3. Set the microcontroller to debug mode. SeeFigure 2.8.
Figure 2.8: Tiva C microcontroller in debug mode.
4. Compile the uVision project with the macro LEADER defined. With the kill switch off,program the lead vehicle.
5. Compile the uVision project with the macro LEADER undefined. With the kill switch off,program the follower vehicles.
6. Start follower vehicles:
• Turn on the kill switch (vertical position).
• Set the microcontroller to device mode.
35
7. Start lead vehicle:
• Connect the Right PWM channel to the ELEV channel of the AR400 Receiver. Groundis the gray wire.
• Connect the Left PWM channel to the AILE channel of the AR400 Receiver. Ground isthe gray wire.
• Turn on the vehicle kill switch (vertical position).
• Set the microcontroller to device mode.
8. Turn on the RC Radio. The lead vehicle is controlled via the right joystick.
9. Enjoy!
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2.3 Controller Manipulation
This section outlines the process to insert or alter a control law. The super-loop structure isdescribed, followed by a description of how to insert or alter various control laws. The softwareutilizes TivaWare 1.1, programmed in Keil uVision 4.
The main loop (shown in Figure 2.9) consists of 5 distinct sections:
• Update sensors
• Lateral and longitudinal control
• Low level control
• Communication
• Timing
When altering a controller, it is very important to refrain from altering anything besides the con-troller. Refer to the SATS Vehicle Platoon API for more information on the software flow.
2.3.1 Longitudinal control
The longitudinal controller accepts the required inputs and returns a velocity. If the control lawutilized gives an acceleration, this must be manipulated to result in a velocity command.
2.3.2 Lateral control
The example lateral controller accepts the required inputs and returns a curvature. If the controllaw utilized returns a change in heading (φ), the low level lateral controller 2.3.3 must be alteredto accept φ as an input.
2.3.3 Low level lateral control
The low level lateral control accepts velocity and curvature commands, returning desired right andleft velocity set points.
2.3.4 Low level velocity control
The low level velocity control utilizes a PID to control the desired velocity. This function returns aPWM command in range (-1,1). The gains in Table 2.6 result in a maximum settling time of 0.5s.
Table 2.6: Low level velocity control gains
Gain Value
Proportional 1.5Integral 3.7Derivative 0.01
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while (! kill_car)
{
// Update sensors
updateEncoders (&ENCODER , &VEHICLE);
readLidar ();
// Lateral and longitudinal control
longitudinal_constant_distance (&VEHICLE , &PRECEDING_VEHICLE , &
CONTROLLER_SET_POINT);
pure_pursuit_control (&VEHICLE , &PRECEDING_VEHICLE , &
CONTROLLER_SET_POINT);
// Low level control
differential_control (& CONTROLLER_SET_POINT);
u1 = PID_control(CONTROLLER_SET_POINT.right_velocity , VEHICLE.
right_velocity , pid_kp , pid_ki , pid_kd , -1.0, 9.0, SAMPLE_TIME ,
.01, &R_integrator , &R_differentiator , &R_error_dl);
u2 = PID_control(CONTROLLER_SET_POINT.left_velocity , VEHICLE.
left_velocity , pid_kp , pid_ki , pid_kd , -1.0, 9.0, SAMPLE_TIME ,
.01, &L_integrator , &L_differentiator , &L_error_dl);
// Send steering command
PWMPulseWidthSet(PWM0_BASE , PWM_OUT_0 , (PWM_BASE_PULSE + u2 *
5000.0));
PWMPulseWidthSet(PWM0_BASE , PWM_OUT_1 , (PWM_BASE_PULSE - u1 *
5000.0));
// Communication
// Execute timing operations
time_stamp += SAMPLE_TIME;
milliSecDelayUntil ();
}
Figure 2.9: Vehicle platoon main loop.
38
92 CHAPTER 4. SYSTEM HANDBOOK
Chapter 5
Reflection
93
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❘❡s❡❛r❝❤
❚❤❡ ✜rst ❜✐❣ ❝❤❛❧❧❡♥❣❡ ♦❢ ✇♦r❦✐♥❣ ♦♥ ♠② t❤❡s✐s ✇❛s ♠② ✉tt❡r ❛♥❞ ❝♦♠♣❧❡t❡ ❧❛❝❦ ♦❢ ❡①♣❡r✐❡♥❝❡ ✇✐t❤ ❝♦♥tr♦❧
s②st❡♠s✳ ■ st❛rt❡❞ ❜② ❞✐✈✐♥❣ ✐♥t♦ t❤❡ ❝✉rr❡♥t ❧✐t❡r❛t✉r❡ ♦♥ ✈❡❤✐❝❧❡ ❢♦❧❧♦✇✐♥❣❀ ♠② ❣♦❛❧ ✇❛s t♦ ✐♠♣❧❡♠❡♥t ❛♥
✶
❛✈❛✐❧❛❜❧❡ ❝♦♥tr♦❧❧❡r ✐♥ ▼❛t❧❛❜✳ ■t t♦♦❦ ♠♦♥t❤s ❜❡❢♦r❡ ■ ❤❛❞ ❛ ✇♦r❦✐♥❣ s✐♠✉❧❛t✐♦♥✳ ❆s ♠② ❞❡❛❞❧✐♥❡s ✢❡✇ ❜②✱
■ st❛rt❡❞ t♦ ❣❡t ♥❡r✈♦✉s ❛❜♦✉t ✇❤❡t❤❡r ■ ✇❛s ❣♦✐♥❣ t♦ ❤❛✈❡ ❛ ♣r♦❞✉❝t t♦ ♣r❡s❡♥t ❜② t❤❡ ❡♥❞ ♦❢ t❤❡ ②❡❛r✳
■ ✜♥❛❧❧② ❣♦t ♦♥❡ ♦❢ t❤❡ ❝♦♥tr♦❧❧❡rs ✇♦r❦✐♥❣ ❜② ◆♦✈❡♠❜❡r✱ ❢♦❧❧♦✇❡❞ ❜② ❛♥♦t❤❡r ✐♥ ❉❡❝❡♠❜❡r✳ ❆❢t❡r ❧♦♦❦✐♥❣
❛t t❤♦s❡ t✇♦ ❝♦♥tr♦❧❧❡rs✱ ■ ❞❡t❡r♠✐♥❡❞ t❤❛t ♥♦ ❡❛s② s♦❧✉t✐♦♥ ✇❛s r❡❛❞✐❧② ❛✈❛✐❧❛❜❧❡✱ s♦ ■ ❞❡✈❡❧♦♣❡❞ ❛ t❤✐r❞
❝♦♥tr♦❧❧❡r t❤❛t ✇♦✉❧❞ ❜❡ ❡❛s② t♦ ✇♦r❦ ✇✐t❤✳ ❚❤✐s ✇❛s ❜❛s❡❞ ❧❛r❣❡❧② ♦✛ ♦❢ t❤❡ t❤❡s✐s ♦❢ ❛ r❡❝❡♥t ❣r❛❞✉❛t❡
✭❋❡rr✐♥✱ ✷✵✵✼✮✳ ❚❤✐s ❝♦♥tr♦❧❧❡r ♦✉t♣❡r❢♦r♠❡❞ t❤❡ ♦t❤❡rs ✐♥ s✐♠✉❧❛t✐♦♥✱ s♦ ✐t ✇❛s s❡❧❡❝t❡❞ ❢♦r ✐♠♣❧❡♠❡♥t❛t✐♦♥✳
■t ✇❛s ❛ ♣r♦✉❞ ♠♦♠❡♥t ✇❤❡♥ t❤❡ ❝♦♥tr♦❧❧❡r t❤❛t ■ ❞❡s✐❣♥❡❞ ✇♦r❦❡❞ ❜❡tt❡r t❤❛♥ t❤❡ s②st❡♠s ■ ❤❛❞ ❢♦✉♥❞
❢r♦♠ ♣r♦❢❡ss✐♦♥❛❧ ❥♦✉r♥❛❧s✳ ■t ✐s q✉✐t❡ ❛♣♣❛r❡♥t t❤❛t ♠♦st ♦❢ t❤❡ ♣❛♣❡rs ■ ❤❛❞ r❡❛❞ ✇❡r❡ ♠♦r❡ ❝♦♥❝❡r♥❡❞ ✇✐t❤
♣r♦❞✉❝✐♥❣ ❛ ♥♦✈❡❧ ♠❡t❤♦❞ t❤❛♥ ❞❡✈❡❧♦♣✐♥❣ ❛ ❝♦♥tr♦❧❧❡r t❤❛t s✐♠♣❧② ✇♦r❦s✳ ❚❤✐s ✇❛s t❤❡ ✜rst t✐♠❡ t❤❛t ■
s❛✇ t❤❛t ♠② r❡s❡❛r❝❤ ♠❛tt❡r❡❞ ♦✉ts✐❞❡ ♦❢ ♠② ❧❛❜✳ ■ r❡❛❧✐③❡❞ ✇❤❛t ■ ✇❛s ❞♦✐♥❣ ✇❛s s♦♠❡t❤✐♥❣ ✇❤❡r❡ ■ ❝♦✉❧❞
❝♦♥tr✐❜✉t❡ t♦ t❤❡ s❝✐❡♥t✐✜❝ ❝♦♠♠✉♥✐t② ❛t ❧❛r❣❡✳
❆t t❤✐s ♣♦✐♥t ■ ♣r❡♣❛r❡❞ ❛ ♣♦st❡r ❢♦r t❤❡ ❙t✉❞❡♥t ❘❡s❡❛r❝❤ ❙②♠♣♦s✐✉♠ t❤❛t ♦✉t❧✐♥❡❞ t❤❡ ✇♦r❦ t❤❛t ■ ❤❛❞
❞♦♥❡ ✉♣ t♦ t❤✐s ♣♦✐♥t✳ ❚❤❡ s②♠♣♦s✐✉♠ ✇❛s ❛ str❛♥❣❡ ❡①♣❡r✐❡♥❝❡ ❢♦r ♠❡ ❜❡❝❛✉s❡ ■ ❤❛❞ ♣r❡♣❛r❡❞ ✇✐t❤ t❤❡
♣♦st❡r✱ ❜✉t ■ ❤❛❞♥✬t t❤♦r♦✉❣❤❧② ♣r❡♣❛r❡❞ ❛ s♣❡❡❝❤ t♦ ❣✐✈❡ t♦ t❤❡ ✐♥t❡r❡st❡❞ ❝r♦✇❞ ♦❢ ♣❡♦♣❧❡ ✇❤♦ ❛♣♣r♦❛❝❤❡❞
♠❡✳ ❚❤✐s ❧❛❝❦ ♦❢ ♣r❡♣❛r❛t✐♦♥ ❡♥s✉r❡❞ t❤❛t t❤❡ ❥✉❞❣❡ ✇❛s t❤❡ ✜rst ♣❡rs♦♥ t♦ ❛♣♣r♦❛❝❤ ♠② ♣♦st❡r✳ ■ ♠❛♥❣❧❡❞
t❤❡ ♣r❡s❡♥t❛t✐♦♥✱ ❛♥❞ t❤❡ ❥✉❞❣❡ t❤♦✉❣❤t ■ ❞✐❞♥✬t ❞♦ ❛♥② ✇♦rt❤✇❤✐❧❡ ✇♦r❦✳ ❚❤✐s ✇❛s ❛ st❛r❦ ❝♦♥tr❛st t♦ t❤❡
❡❧❛t✐♦♥ ■ ❤❛❞ ❢❡❧t ❛t ♣r♦❞✉❝✐♥❣ t❤❡ ✇♦r❦✐♥❣ ❝♦♥tr♦❧❧❡r✳ ❚❤✐s s❤♦✇❡❞ ♠❡ t❤❛t ✐t✬s ✈❡r② ✐♠♣♦rt❛♥t t♦ ♠❛❦❡ s✉r❡
t❤❛t ❛♥② ♣r♦❞✉❝t ■ ♣r❡s❡♥t ♠✉st ❜❡ s♦❧❞ ✇❡❧❧✳
❲❤✐❧❡ ■ ✇❛s ❞♦✐♥❣ r❡s❡❛r❝❤ ♦♥ ❝♦♥tr♦❧❧❡rs✱ ■ st✐❧❧ ❤❛❞ t♦ ❛ss❡♠❜❧❡ t❤❡ ✈❡❤✐❝❧❡s t♦ ❜❡ ✉s❡❞ ❢♦r ✐♠♣❧❡♠❡♥✲
t❛t✐♦♥✳ ❖♥ t♦♣ ♦❢ ♠② ♠❛♥② ❤♦✉rs ✇♦r❦✐♥❣ ♦♥ t❤❡ ❝❛rs✱ ■ ❧❡❞ ❛ t❡❛♠ ♦❢ s✐① ♣❡♦♣❧❡ ✐♥ ❝♦♥str✉❝t✐♦♥ ❡✛♦rts✱
r❡s✉❧t✐♥❣ ✐♥ r♦✉❣❤❧② ✶✺✵ ❤♦✉rs ♦❢ ✇♦r❦✳ ❚❤❡ ♠♦st ❞✐✣❝✉❧t ♣❛rt ♦❢ t❤✐s ✇❛s t♦ ❡♥s✉r❡ t❤❛t ❡✈❡r②♦♥❡ ❤❛❞ ❛
♠❡❛♥✐♥❣❢✉❧ ♣❛rt ♦❢ t❤❡ ♣r♦❥❡❝t t♦ ✇♦r❦ ♦♥✳
❲r✐t✐♥❣ t❤❡ s♦❢t✇❛r❡ ❢♦r ♠② t❤❡s✐s ✇❛s t❤❡ ♠♦st ❢r✉str❛t✐♥❣ t✐♠❡✳ ■♥t❡r❢❛❝✐♥❣ ✇✐t❤ s❡♥s♦rs ❛♥❞ ♦t❤❡r
♣❡r✐♣❤❡r❛❧s t❤❛t ■ ✇❛s ✇♦r❦✐♥❣ ✇✐t❤ ✇❛s ✈❡r② ❜✉❣❣②✳
❆❢t❡r ■ ✇❛s ❤❛✈✐♥❣ tr♦✉❜❧❡s ✇✐t❤ ❡①❝❡ss ❞❡❧❛②s✱ ■ s♣♦❦❡ ✇✐t❤ ❉r✳ ●❡r❞❡s ❛❜♦✉t ♠❡t❤♦❞s t♦ ✜① t❤❡ ♣r♦❜❧❡♠✳
❍❡ s✉❣❣❡st❡❞ t❤❛t ■ r❡✇r✐t❡ t❤❡ s♦❢t✇❛r❡ t♦ ♣❡r❢♦r♠ ♦♣❡r❛t✐♦♥s ❛s ♥❡❡❞❡❞ ✐♥st❡❛❞ ♦❢ ✐♥ ❛ s❡q✉❡♥t✐❛❧ ♠❛♥♥❡r✳
❚❤✐s ♠❛❞❡ ♠❡ ♥❡r✈♦✉s✱ ❜❡❝❛✉s❡ ■ ❤❛❞ t♦ ♣r❡s❡♥t t❤❡ ✇♦r❦✐♥❣ ✈❡❤✐❝❧❡s ✐♥ ❛ ♠❛tt❡r ♦❢ ❞❛②s✳ ■♥st❡❛❞ ♦❢ ❢r❡tt✐♥❣
✷
❛❜♦✉t t❤❡ r❡q✉❡st✱ ■ ♠❛❞❡ t❤❡ ♠♦❞✐✜❝❛t✐♦♥s t♦ t❤❡ ❝♦❞❡✳ ❚❤✐s ❛❞❞✐t✐♦♥ ✇♦r❦❡❞ ♠♦r❡ r❡❧✐❛❜❧② t❤❛♥ t❤❡ ♦r✐❣✐♥❛❧
♣r♦❣r❛♠ str✉❝t✉r❡✳
❆♥♦t❤❡r ❜✐❣ str✉❣❣❧❡ ✇✐t❤ t❤❡ ♣r♦❥❡❝t ❞❡✈❡❧♦♣♠❡♥t ✇❛s t❤❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♣r♦t♦❝♦❧✳ ❚❤❡ ❝❛rs ✇♦✉❧❞ ❣❡t
❤✉♥❣ ✉♣ ♦♥ ✐♥t❡r✲✈❡❤✐❝❧❡ ❝♦♠♠✉♥✐❝❛t✐♦♥✱ ❛♥❞ ❛♥②t❤✐♥❣ s❡♥t ❢r♦♠ ♠② ❝♦♠♣✉t❡r ✇♦✉❧❞ ❝❛✉s❡ t❤❡ ✈❡❤✐❝❧❡s t♦
❢r❡❡③❡ ✉♣✳ ■ tr✐❡❞ t♦ ❛❧t❡r t❤❡ ♣r❡✲❜✉✐❧t ✐♥t❡r❢❛❝❡ ❢♦r t❤❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ❛♥❞ r❡❞✉❝❡ t❤❡ ♠❡ss❛❣❡ s✐③❡✱ ❜✉t
♥♦t❤✐♥❣ ✇♦r❦❡❞✳ ❚❤✐s ✇❛s t❤❡ ✜♥❛❧ r❡s✉❧t ♦❢ t❤❡ s②st❡♠ ✖ ❛ ✈❡❤✐❝❧❡ ✇♦✉❧❞ ♦❝❝❛s✐♦♥❛❧❧② r❡❝❡✐✈❡ ❛ ♣♦s✐t✐♦♥
✈❡❝t♦r ❢r♦♠ t❤❡ ♣r❡❝❡❞✐♥❣ ✈❡❤✐❝❧❡ ❛♥❞ r✉s❤ t♦ ❝♦♠♣❡♥s❛t❡✳
■ ✇❛s ✇r❡st❧✐♥❣ ✇✐t❤ t❤❡ ❝♦♠♠✉♥✐❝❛t✐♦♥ ♣r♦❜❧❡♠ t❤r♦✉❣❤ ✜♥❛❧s ✇❡❡❦✳ ❚❤✐s ✇❛s ✐♥ ♣r❡♣❛r❛t✐♦♥ ❢♦r t❤❡
s❡❝♦♥❞ ♣✉❜❧✐❝ ❢♦r✉♠ ✇❤❡r❡ ■ ♣r❡s❡♥t❡❞ ♠② r❡s❡❛r❝❤✱ ❊❧❡❝tr✐❝❛❧ ❛♥❞ ❈♦♠♣✉t❡r ❊♥❣✐♥❡❡r✐♥❣ ❙❡♥✐♦r ❉❡s✐❣♥
◆✐❣❤t✳ ❆❢t❡r ♠❛♥② ❧❛t❡ ♥✐❣❤ts ✐♥ ♣r❡♣❛r❛t✐♦♥ ❢♦r t❤✐s ❡✈❡♥t✱ t❤❡ s②st❡♠ ❞✐❞♥✬t r❡❧✐❛❜❧② ❢✉♥❝t✐♦♥ ❛s ✐♥t❡♥❞❡❞✳
■t ✇❛s ✈❡r② ❢r✉str❛t✐♥❣ t♦ ❞♦ s♦✱ ❜✉t ■ st♦♣♣❡❞ ❞❡✈❡❧♦♣♠❡♥t t❤❡ ❞❛② ❜❡❢♦r❡ t❤❡ ♣r❡s❡♥t❛t✐♦♥ t♦ ❛❧❧♦✇ t✐♠❡ ❢♦r
❞♦❝✉♠❡♥t❛t✐♦♥✳ ■ t♦♦❦ t❤❡ ❝❛rs ♦✉t t♦ ❯❙❯✬s t❡st tr❛❝❦ ❛♥❞ ❝❛♣t✉r❡❞ s♦♠❡ ✈✐❞❡♦ ♦❢ t❤❡ ✈❡❤✐❝❧❡s ❜❡❤❛✈✐♥❣ ✐♥
❛♥ ❡rr❛t✐❝ ♠❛♥♥❡r✳
❙✐♥❝❡ ❝♦♠♣❧❡t✐♥❣ t❤❡ r❡q✉✐r❡♠❡♥ts ❢♦r t❤✐s ♣r♦❥❡❝t✱ ■ ❤❛✈❡ ❝♦♥t✐♥✉❡❞ ❢♦r✇❛r❞ ✇✐t❤ t❤❡ ✇♦r❦✱ ❛♥❞ ■ ✐♥t❡♥❞
t♦ ✉t✐❧✐③❡ t❤❡ s②st❡♠ ■ ❞❡✈❡❧♦♣❡❞ ❛s ❛ ♣❧❛t❢♦r♠ t♦ ❜✉✐❧❞ ❢✉t✉r❡ r❡s❡❛r❝❤ ♦♥✳ ▼② ♠❛st❡r✬s t❤❡s✐s ✇✐❧❧ ❢♦❝✉s ♦♥
✉t✐❧✐③✐♥❣ s✐❣♥❛❧s ♦❢ ♦♣♣♦rt✉♥✐t② t♦ ♠❛✐♥t❛✐♥ ♣❧❛t♦♦♥ st❛❜✐❧✐t② ✐♥ ❛❞✈❡rs❡ ❡♥✈✐r♦♥♠❡♥ts✳
❋✐♥❛❧ ❘❡✢❡❝t✐♦♥
❖✈❡r❛❧❧✱ t❤❡ ✇♦r❦ ■ ❞✐❞ ♦♥ ♠② t❤❡s✐s ❣❛✈❡ ♠❡ ✐♥s✐❣❤t ✐♥t♦ ✇❤❛t r❡s❡❛r❝❤❡rs ♠✐❣❤t ❞♦ ✐♥ ♠② ✜❡❧❞✳ ❚❤r♦✉❣❤
♠♦st ♦❢ t❤❡ ❡✛♦rt✱ ■ ❞✐❞♥✬t ❡♥❥♦② t❤❡ ♣r♦❝❡ss✳ ■ ❢❡❧t ❧✐❦❡ ■ ❞✐❞♥✬t ✉♥❞❡rst❛♥❞ ✇❤❛t ✇❛s ❣♦✐♥❣ ♦♥✱ ❛♥❞ ■ ❝♦✉❧❞♥✬t
✜❣✉r❡ ♦✉t ❤♦✇ t♦ ♠❛❦❡ ♣r♦❣r❡ss✳ ❆❢t❡r ♠♦♥t❤s ♦❢ ✇♦r❦✐♥❣ t❤❛t ✇❛②✱ s✉❞❞❡♥❧② ■ ✉♥❞❡rst♦♦❞ ✇❤❛t ✇❛s ❣♦✐♥❣
♦♥✱ ❛♥❞ ■ ❡♥❥♦②❡❞ t❤❡ ✇♦r❦ ♠✉❝❤ ♠♦r❡✳
❉❡s♣✐t❡ t❤❡ ♠❛♥② str✉❣❣❧❡s ♦✈❡r t❤❡ ♣❛st ②❡❛r✱ t❤✐s ❡①♣❡r✐❡♥❝❡ ❤❡❧♣❡❞ ♠❡ ❜❡❝♦♠❡ ❛ ❜❡tt❡r ❡♥❣✐♥❡❡r✳
❇❡❝❛✉s❡ ♦❢ ♠② ♣r♦❥❡❝t✱ ■ ❢❡❡❧ ❝♦♥✜❞❡♥t t❤❛t ■ ✇✐❧❧ ❜❡ ❛❜❧❡ t♦ ❛♣♣r♦❛❝❤ ✈❛r✐♦✉s r♦❜♦t✐❝s ♣r♦❥❡❝ts ✐♥ t❤❡ ❢✉t✉r❡
❛♥❞ ✉♥❞❡rst❛♥❞ ❤♦✇ t♦ str✉❝t✉r❡ ❛ ♣❧❛♥ ❢♦r ❛♥❞ ❝♦♠♣❧❡t❡ ❛ ❧❛r❣❡ ♣r♦❥❡❝t✳ ❚❤❡ t❤❡s✐s ❞❡✈❡❧♦♣♠❡♥t ♣r♦❝❡ss
tr✉❧② ❤❛s ❜❡❡♥ ❛ ❝❛♣st♦♥❡ ♦❢ ♠② ✉♥❞❡r❣r❛❞✉❛t❡ ❡①♣❡r✐❡♥❝❡✳
✸
Chapter 6
Professional Author Bio
Sam Mitchell recently completed the requirements for the USU Bachelor’s ofScience Degree in Electrical Engineering, with a Minor in Mathematics. Duringhis time at USU, Sam served as the USU IEEE Student Branch Chair. Whileserving in this capacity, he organized two outreach conferences with over 100high school and college participants. Sam was also the recipient of the followingawards: USU’s Presidential Scholarship, Dean’s List five times, D. Walter Dan-sie Engineering Scholarship, and an URCO Grant for his honors thesis. Sam hasstarted pursuing a Master’s Degree at USU, studying the security and stabilityof automated highway systems.
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