Abstract: Systems, methods, and other embodiments described herein relate to determining a type and an issue time of a vehicle control command based on an estimated realization delay. In one embodiment, a method includes identifying a first realization delay associated with a first control command and identifying a second realization delay associated with a second control command. The second control command is issued after the first control command is issued. The method includes issuing the first control command at an issue time that is based on the first realization delay and the second realization delay, and realizing the first control command on a vehicle.

Abstract: System, methods, and other embodiments described herein relate to vehicle maneuvering using predictive control with automated driving and contingency planning to preserve safety and increase comfort. In one embodiment, a method includes receiving, by a controller, an operator command associated with a vehicle maneuver while automated driving is engaged. The method also includes adjusting a motion command associated with the vehicle maneuver by applying a predictive control according to motion estimates outputted from the automated driving and the operator command, the predictive control using motion constraints that are constant between time intervals for the vehicle maneuver. The method also includes controlling, by the controller, a vehicle using the motion command for a time step during the time intervals.

Abstract: Systems and methods of using a common control scheme to autonomously controlling a vehicle during semi-autonomous and fully autonomous driving modes are provided. In particular, embodiments of the presently disclosed technology incorporate reference tracking for driving input and vehicle state into this common control scheme. In some embodiments, this common control scheme may be implemented using Model Predictive Control (MPC).

Abstract: A system for controlling a vehicle having an autonomous mode and a semi-autonomous mode includes one or more processors and a memory in communication with the one or more processors. The memory stores a command generating module and a transmission module. The command generating module causes the one or more processors to generate, in response to an input, at least one control signal for controlling the vehicle by an envelope control system. The envelope control system utilizes a common control scheme for both the semi-autonomous mode and the autonomous mode, wherein the input is a driver input when the vehicle is in the semi-autonomous mode and the input is a pseudo-driver input when the vehicle is in the autonomous mode. The transmission module causes the one or more processors to transmit the at least one control signal to a vehicle motion controller, wherein the vehicle motion controller controls the movement of the vehicle.

Abstract: Systems and methods for automatically generating solver code for a nonlinear model predictive controller are disclosed. In one embodiment, a method of automatically generating solver code for a nonlinear model predictive control solver includes receiving an optimal control problem code, wherein the optimal control problem code represents an optimal control problem comprising a cost function, one or more constraints, and a continuous time model representing dynamics of a system. The method further includes receiving a discretization method preference, a linearization point preference, and a parameter specification, and encoding the optimal control problem into an optimization problem by discretizing the optimal control problem according to the discretization method preference, and linearizing the optimal control problem according to the linearization point preference. The method further includes generating the solver code from the optimization problem.

Abstract: A system for controlling a vehicle having an autonomous mode and a semi-autonomous mode includes one or more processors and a memory in communication with the one or more processors. The memory stores a command generating module and a transmission module. The command generating module causes the one or more processors to generate, in response to an input, at least one control signal for controlling the vehicle by an envelope control system. The envelope control system utilizes a common control scheme for both the semi-autonomous mode and the autonomous mode, wherein the input is a driver input when the vehicle is in the semi-autonomous mode and the input is a pseudo-driver input when the vehicle is in the autonomous mode. The transmission module causes the one or more processors to transmit the at least one control signal to a vehicle motion controller, wherein the vehicle motion controller controls the movement of the vehicle.

Abstract: The invention relates to a ladle bottom being part of a metallurgical ladle for treating a metal melt as well as a corresponding metallurgical ladle.

Abstract: The invention is directed to a simple and new method for the homogeneous synthesis of cellulose ethers. Ionic liquids are not only used as solvent, but also as reaction media for the homogeneous etherification of cellulose. The dissolved cellulose is treated with the etherification agent in the absence of organic and/or inorganic bases and in the absence and/or in the presence of moderate amounts of water. The obtained cellulose ethers show new distributions of substitution on the polymer chain, resulting in new properties and applications.

Abstract: The invention is directed to a simple and new method for the homogeneous synthesis of cellulose ethers. Ionic liquids are not only used as solvent, but also as reaction media for the homogeneous etherification of cellulose. The dissolved cellulose is treated with the etherification agent in the absence of organic and/or inorganic bases and in the absence and/or in the presence of moderate amounts of water. The obtained cellulose ethers show new distributions of substitution on the polymer chain, resulting in new properties and applications.