Increasingly, today’s embedded and system-level chips are multiprocessors (Texas Instruments, Motorola, IBM, Infineon, NEC, Toshiba, Philips, etc.). Moreover, these multiprocessors are usually cores of RISC (Reduced Instruction Set Architecture) and DSP (Digital Signal Processing) engines. The Multiprocessor DSP (MDSP) from Cradle Technologies, Inc. is a single-chip computing platform that combines the classic microprocessor, micro-controller, and digital signal processor chip families. MDSP permits a broad range of streaming applications (like high-speed secure networking, imaging, graphics, multimedia, digital video & communications) to be created entirely in software. This permits tremendous design economies through simplified design, software re-use and support from third-party software-solution providers. In addition, the MDSP architecture yields immediate 1-to-2 orders of magnitude increase in performance, and a similar reduction in cost, and design effort over existing approaches. Another unique aspect of MDSP is its programmable I/O that enables any I/O to be done entirely in software. For the first time, software development methodologies can be utilized and still guarantee real time performance. Solutions can now be realized much faster because intellectual property will be developed, reused, and recombined, much more efficiently and cost effectively. In the short term, this reduces time to market significantly, and solves many of the integration problems that exist today. In the long run, multiple products and product lines can be developed quickly and at a fraction of the cost. In a nutshell, MDSP can be looked as a reconfigurable processor that is cheaper, higher performing, and easier to use than FPGAs.

In this workshop, we will cover the architecture, programmability, and tools for MDSP. A cycle accurate simulator will be available for every Windows workstation for hands-on interactive experience and exercises with MDSP. A MDSP development board will also be used for highlighting the power of MDSP.

Abstract

The course will focus on the use of mathematical modeling and real-time simulation of motor drives in order to prototype their controllers with hardware in the loop (HIL). It will take you from the highly theoretical to “down-and-dirty” empirical in order to develop models with sufficient fidelity using MATLAB/Simulink™ and specialized IGBT and motor model library supply with RT-LAB™ Electrical Dive Simulator. The course will deal deal with the many issues that arise when converting a mathematical model to a real-time simulation for precise hardware-in-the-loop simulation .

In this course, you will learn: 

·   The theory of simulation of IM/BLDC/SRM drives and vehicle power systems and hybrid drive trains

·   The fundamentals of real time simulation,

·   How to create real-time simulations of motor drives and vehicle power and propulsion systems with Hardware-in-the-Loop (HIL)

·   Many issues that arise when converting a mathematical model to a real-time

·   How to select the appropriate time step and integration method as a function of the precision requirement, simulatyion bandwidth, the PWM carrier frequency and HIL system limitation

·   How the above can be applied to your application

You will see first-hand how the use of a model-based design approach, with tools like Simulink and RT-LAB Electrical Drive Simulator, accelerate the design, control and study of motor drives, including how it all comes together in a hands-on demonstration of real-time simulation of IM/BLDC/SRM drives with hardware in the loop capable to simulate motor drive systems with PWM carrier frequency up to 10 kHz.

Hybrid electric vehicles (HEV) use multiple sources of power for propulsion which provides great ease and flexibility to achieve advanced control and driving performance. Antilock braking (ABS) of hybrid vehicles can be easily implemented using iterative learning control, without the expensive and complex hydraulic system. A vehicle model, a slip ratio model, and a vehicle speed observer will be discussed. There will be demo of ABS control simulations using Matlab/Simulink. This one-day workshop will also cover some basics of EV and HEV technologies. 

Duration of workshop: half day

Targeted Audience: This workshop is intended for electrical, mechanical, vehicle manufacturing

and automotive system engineers who would like to extend their knowledge in design and control of

electric and hybrid vehicle systems and components.

Abstract

This talk describes the results obtained within the last two contracts between TACOM TARDEC and the University of Parma. The presentation will focus on vision-based (daylight and infrared) techniques for the localization of human shapes and the estimation of their distance.  The system developed by the Artificial Vision and Intelligent Systems Lab of the University of Parma deals with stereo imagery and is based on both daylight and Far Infrared technology.

Two different approaches have been developed in the last two years: the first is based on daylight images coming from a stereo pair. The processing is based on monocular symmetry detection followed by a refinement of the position using stereo vision. The second is based on stereo FIR imagery: first hot areas are detected in a single image, then they are matched using the second image, and the distance of each hot area is estimated. Areas at similar distances are clustered together to form an object. Perspective

constraints allow to reduce false detections.

A live demonstration of the system will conclude the presentation. Prerecorded image sequences will be processed in real-time by a lap-top PC; a user interface will allow to change processing parameters on-the-fly, making it possible to alter the algorithm sensitivity and experience the system behavior in different environments.

Wireless signals are used to replace electrical signal wires in the interconnection of automobile components and modules.  A hybrid consisting of wired "clusters" of automobile components and wireless inter-cluster connections is used.  Goal is to achieve a 50% reduction in signal wires.   Initial (prototype) implementation is Bluetooth-based and uses dash panel switches and lamp assemblies to represent actuators and transducers. Ongoing work includes a re-structuring of the software to function as a layer belowa CAN network and the development of computer models to conduct performance and reliability studies.  Bluetooth pros and cons, and other physical layer possibilities are considered.

Advanced motor drives are continually gaining popularity in motion control applications in

vehicular systems. In particular, electric power steering takes advantage of the high efficiency

characteristics of an advanced motor drive system to replace the inefficient hydraulic power steering system found in most vehicles today. A major challenge holding back the complete acceptance of electric drives by the auto industry is the high cost associated with the electric motor drives. Hysteresis current control and PWM control are the most widely used speed control techniques. Those control methods are usually implemented via closed-loop proportional or proportional-integral controls. Both classic control techniques can be easily implemented on analog or digital components since they are well understood.

The main objective of this presentation is to describe the concept of digital control for advanced motor drives, which is extremely low cost, very simple to implement, and easy to maintain. Concept of digital control is investigated with the help of analysis, simulation, and, finally, with experimental verification. They serve to establish that digital control has practical usefulness. The major benefits of digital control techniques are simplicity and low cost implementation. It will be shown that design procedure involves a simple first order non-homogeneous differential equation. Furthermore, it will also be apparent that few logic gates and comparators can accomplish its hardware implementation, which, in turn, can lead to an extremely low cost application specific integrated circuit (ASIC) capable of performing digital control of the motor with few external bias components.

As an example, a digital controller called conduction-angle digital control is presented in detail. It deals with the motor drive as a digital system, which operates at a few predefined states that result in redefined motor speeds. Speed regulation is achieved by switching from one state to the other during operation. That makes the concept of the controller extremely simple for integrated circuit development. The digital controller is based on nothing more than a couple of “IF and  THEN” statements.  This presentation also explains how different experimental setups are created with the dSPACE rapid prototyping and real-time interface system. dSPACE is introduced in detail. Hardware in the loop (HIP) concept and its advantages are presented as well. Software simulation results and experimental results are presented and analyzed.

Gasoline and diesel electric hybrid propulsion technologies, regardless of the source OEM, have selected the twin electric machine power split configuration, also known as electric CVT. Historically, there have been notable developments in power split such as work sponsored by the U.S. DOE in the 1970’s to develop flywheel based hybrid propulsion using hydraulics and independent developments of electric power split by TRW and others. However, it was not until Toyota undertook its project G21 in the mid-1990’s that electric CVT became reality. In their quest for an economical and fuel efficient global vehicle for the 21st century, Toyota Motor Corp. had its engineers focus on power train architectures that would more than halve the CO2 emissions of conventional gasoline power plant vehicles. Project G21 resulted in some 400 power train configurations that were evaluated and down selected until only the single planetary with dual electric motor configuration we know today as the power split was seized upon. Toyota is now in their second generation of Toyota Hybrid System, THS, hybrid propulsion system technology. For their part, General Motors is adapting a variant of the power split referred to as their Advanced Hybrid System-2 mode, AHS-2, used in hybrid bus propulsion by Allison for full size SUV applications. The Ford Motor Company announced the release of its hybrid Escape SUV during the Fall of 2004. The Ford Hybrid System, FHS, is an outgrowth of earlier developments at the Volvo Car Company in conjunction with Aisin-AW, a transmission subsidiary of the Toyota Motor Co., that is

also a variant of the original THS-I power split. In this seminar the three power split concepts will be discussed in depth using simulation and relevant exercises.

Remote Sensing and Control                                    

Dr.  I.  Elhajj, Oakland University

Abstract

The proposed workshop covers the topic of remote sensing and control. Emphasis will be on sensor networks and on the bilateral teleoperation of robots. Sensor networks relate to distributed sensors in remote environments. Bilateral teleoperation is the remote control of robots enhanced with force and other feedback from the remote environment. Both of these research areas are closely related since they face similar challenges and difficulties.

The workshop will introduce the topics giving the motivation and highlighting the major research efforts in each. In addition, the presenter’s research in each field is detailed. Issues to be discussed relating to sensor networks are: Data fusion, scalability, robustness, hardware constraints, topology, and communication. Issues to be covered relating to bilateral teleoperation are: stability, transparency and synchronization. Some of the subtopics to be discussed are: tele-coordination, haptic interfaces and human perception.

The technology enabled by this research is of great value to military and law enforcement agencies. A major objective of Future Combat Systems (FCS) is to remove personnel from harms way. Meeting this objective would be closer to reality when remote control and sensing is possible. The application of this research in military is unlimited and includes; intelligent surveillance and monitoring, targeting, hazard material handling and remote manipulation.

The aim of the workshop is three-fold: 1. Give the attendees an overview of the requirements of remote sensing and control systems 2. Provide attendees with the knowledge required to design and implement such systems 3. Acquaint attendees with the state of knowledge in the field.

Communication Networks for the Next-Generation Vehicles                         

Dr.   S.  Mahmud, Wayne State University

Abstract

The demand for drive-by-wire, telematics, entertainment, multimedia, pre-crash warning, hit avoidance, remote diagnostic, software update, etc. will significantly increase the complexity of the future commercial and military in-vehicle communication networks. New types of communication networks will also be necessary to satisfy the requirements of safety and fuel efficiency, and meet the demand for new features. Different sets of vehicle electronic modules will require different types of networks. For example, drive-by-wire and active collision avoidance systems need fault tolerant networks with time-triggered protocols, to guarantee deterministic latencies; multimedia systems need networks with high bandwidth to transfer video files; and body control electronics need low-bandwidth networks to keep the cost down. As the size and complexity of these networks increase, ease of integration has become a major challenge for design engineers. Since the complexity of the network is increasing and the demand for bandwidth is growing, future vehicles will require many partitioned networks. The partitioning of the networks will be done based on the locality as well as the functionality of the modules. One of the challenging issues will be the selection of topology to interconnect various in-vehicle partitioned networks.

Recently, CAN protocol gained wide acceptance among the automotive industry due to its superior performance over other protocols. The workshop will present different features of the CAN protocol, such as basic concepts, arbitration, message format, error handling, message buffering and filtering, CAN Controller, etc. Then the detailed step-by-step design of a TTCAN system will be presented. The technical issues related to the design of TTCAN systems will also be discussed in the workshop. Finally, partitioning of networks within a vehicle will be explained. Some exercise problems will be solved for better understanding of various protocols

Performance and Demonstration of UWB Radar  for Terrain Sensing and Obstacle Detection

Dr. A. Jennings, Time Domain Corporation

UWB impulse radio provides a dual capability to send data via radio communications and to detect, locate, and track various obstacles. In this session, Adrian Jennings of Time Domain Corporation will explore various issues regarding detection of obstacles and terrain mapping as related to autonomous vehicle navigation.  The main emphasis of this workshop will be on the ability of UWB radar to detect, locate, and discern various obstacles that pose a danger to the vehicles movement. There will also be demonstrations of a hand held UWB Radar and a UWB LAN within an armored vehicle that provides a dismounted intercom capability.

A network consists of transmission media: wires, fiber optic cables or ether (in the case of wireless communication), sending units, receiving units, and intermediate units called switches or routers. Sending units convert information from its original digital or analog form into a form compatible with the transmission media. Receiving units convert the received data into an appropriate digital or analog form for storage or processing. Switches and routers direct the data along a path from the source unit to the destination unit. The goal is to deliver an exact or equivalent copy of the original information to the receiving unit. An active network element is capable of performing transformations to the data. Typical active network element applications are compressing and decompressing data in a lossy or lossless manner, encrypting and decrypting data, scanning data for malware such as computer viruses, and converting data from one form to another. One potential application is the communication needs of unmanned vehicles. Unmanned vehicles must communicate with each other and with manned vehicles in a secure and reliable manner. Active elements can intelligently react to battlefield conditions which modify the Quality of Service (QoS) of the channel such as the presence of obstructions (e.g., buildings or rubble) and catastrophic events (e.g., roadside bombs).

The Department of Defense has a crucial need for dynamically and quickly reconfiguring processing environments to effectively respond to changing battlefield conditions, and to increase the survivability of infrastructure and weapon systems at the lowest possible cost. In harsh military applications like battle fields, the demand for real time processing of control, I/O, and communication can determine the effectiveness of a mission. As DoD continues to move more and more towards network centric warfare employing unmanned vehicles, the

requirements for information processing become even more severe. Such future systems will demand processing speeds, inherent fault tolerance, rapid configurability and reconfigurability, low power requirements, and ability to upgrade in the field. This workshop will provide overview of reconfigurable computing and its uses in real time processing for command, control, and communications for military applications. In particular, it will introduce reconfigurable computing as a technology overview, provide in-depth analysis of technologies that facilitate reconfigurable computing, recent advances in the field, and then study the describe military applications with special emphasis on unmanned vehicle operations.