Abstract: A system for controlling a motion of a vehicle includes a memory to store a set of analytical functions corresponding to a set of patterns of elementary paths. Each pattern represents a continuous path and each analytical function is determined for a corresponding pattern to provide an analytical solution for input states of the vehicle defining a continuous path connecting the input states by a sequential compositions of the elementary paths following the corresponding pattern. The system includes a path planner to select from the memory, in response to receiving an initial state and a target state of the vehicle, an analytical function corresponding to a minimum cost of the continuous curvature path connecting the initial state with the target state and to analytically determine parameters of the continuous curvature path using the selected analytical function and a controller to control the motion of the vehicle according to the parameters of the continuous curvature path.

Abstract: Devices and methods for determining a schedule of unicast transmissions between wireless transceivers using a principal controller. A receiver receives information of a set of transmissions between the transceivers for a period of time, a priority of each transmission, and a topology of a network of transceivers, i.e. neighborhood nodes having controllers and devices. A processor sequentially partitions the transmissions based on priority and the topology of the network, groups of concurrent transmissions that do not interfere with each other, beginning with a highest priority group, and ending, with a lowest ending priority group. Apply a predetermined optimization assignment, comparing all transactions according to the priority optimization assignment, to determine a prioritized order of transmission for each transmission in each group.

Abstract: Angular speed of a rotor of an induction motor without an encoder for rotor position and speed sensing is controlled by first sensing stator currents and voltages of the induction motor. A dynamic gain estimator is designed by applying a state transformation to a model of the induction motor. A states of the induction motor is estimated by applying the dynamic gain estimator to the currents and the voltages, and then the state is used to control the angular speed of the rotor of the induction motor.

Abstract: A method and a system for an automated parking determines, using the geometry of the vehicle and the map of the parking space, a collision free geometric path connecting an initial state of the vehicle with a target state of parked vehicle through a set of waypoints and determines, using a kinematic model of the vehicle, a set of kinematic subgraphs forming a kinematic graph having multiple nodes connected with kinematic edges. Each waypoint defines a position and orientation of the vehicle, each kinematic subgraph connects a pair of neighboring waypoints of the geometric path, each node defines a state of the vehicle, and each kinematic edge connecting two nodes defines a collision free kinematic path connecting the two nodes according to kinematics of the vehicle. A kinematic path is selected form the kinematic graph and a reference trajectory tracking the kinematic path as a function of time is determined using a dynamic model of the vehicle.

Abstract: An electric motor is controlled using a feedback signal that includes an error between the measured current and the estimated current determined using the measured current, the measured voltage, and a model of the motor. A feedback gain is determined as an error function of a feedback signal and a speed of the motor is estimated using a product of the feedback gain and the feedback signal. The voltage of the motor is determined using a difference between the estimated speed of the motor and a reference speed of the motor and the motor us controlled using the determined voltage.

Abstract: A heat transfer device includes a layered structure having a first layer of a first material having a first thermal conductivity and a first thickness and a second layer of a second material having a second thermal conductivity and a second thickness, the second layer being connected to the first layer. In the layered structure, the first thermal conductivity is different from the second thermal conductivity, and wherein the first thickness is different from the second thickness.

Abstract: A method controls an angular speed of an induction motor by measuring a stator current and a stator voltage of the induction motor to determine an estimated stator current, an estimated rotor flux amplitude, and an estimated rotor speed. A first virtual control signal is based on a reference rotor speed and the estimated rotor speed. A second virtual control signal is based on the first virtual control signal and an estimated electromagnetic torque. A third virtual control signal is based on a reference rotor flux reference and the estimated rotor flux amplitude. A fourth virtual control signal is based on the third virtual control signal and an estimate of the third virtual control signal. Then, control input voltages are applied to the induction motor based on the second virtual control signal and the fourth virtual control signal.

Abstract: Methods and systems for estimating a state of charge (SoC) of a battery are disclosed. A method determines a first joint Gaussian distribution of values of the SoC given a set of historical measured physical quantities of the state of the battery and a corresponding set of historical values of the SoC of the battery. The method determines a second joint Gaussian distribution of SoC using the set of historical measured physical quantities and the corresponding set of historical values of the SoC, current measurement physical quantities of the battery and the first joint Gaussian distribution. Finally, the method determines a mean and a variance of the current value of the SoC of the battery from the second joint Gaussian distribution. The mean is an estimate of the current SoC of the battery, and the variance is a confidence of the estimate.

Abstract: A method controls the operation of the door system using one or combination of parameters of a reduced order model of the door system. The operation includes moving at least one door of the door system. The method measures a signal representing the operation of the door system and filters the measured signal by removing at least one dynamic of the measured signal absent from a frequency response of the reduced order model of the door system. The method also updates parameters of the reduced order model of the door system to reduce an error between the filtered signal and an estimated signal of the operation estimated using the updated reduced order model of the door system. The parameters of the reduced order model include a mass parameter and a friction parameter.

Abstract: A system and method controls a rotor angular speed of an induction motor by first sensing an operation condition of the induction motor to produce measured signals, which are transformed by applying a state transformation to an induction motor model to produce a transformed induction motor model. Transformed state estimates of the transformed induction motor model are produced based on the measured signals. An inverse of the state transformation is applied to the transformed state estimates to produce state estimates of the induction motor model, which are then used to determine control input voltages for the induction motor, based on the state estimates, to control the rotor angular speed of the induction motor.

Abstract: An electric motor is controlled using a feedback signal that includes an error between the measured current and the estimated current determined using the measured current, the measured voltage, and a model of the motor. A feedback gain is determined as an error function of a feedback signal and a speed of the motor is estimated using a product of the feedback gain and the feedback signal. The voltage of the motor is determined using a difference between the estimated speed of the motor and a reference speed of the motor and the motor us controlled using the determined voltage.

Abstract: Angular speed of a rotor of an induction motor without an encoder for rotor position and speed sensing is controlled by first sensing stator currents and voltages of the induction motor. A dynamic gain estimator is designed by applying a state transformation to a model of the induction motor. A states of the induction motor is estimated by applying the dynamic gain estimator to the currents and the voltages, and then the state is used to control the angular speed of the rotor of the induction motor.

Abstract: A motion-control system for moving a mass according to different tasks includes at least one controllable actuator for performing the different tasks and an input module for receiving a specific task to perform. The system also includes a controller for controlling a performance of the specific task by the controllable actuator according to a specific control law and a tunable actuator having a tunable parameter of mechanical response, wherein the tunable actuator is mechanically arranged in the system, such that different values of the tunable parameter change dynamics of the system. An optimization module of the system jointly selects a value of the tunable parameter and the specific control law based on the specific task.

Abstract: A method controls the operation of the door system using one or combination of parameters of a reduced order model of the door system. The operation includes moving at least one door of the door system. The method measures a signal representing the operation of the door system and filters the measured signal by removing at least one dynamic of the measured signal absent from a frequency response of the reduced order model of the door system. The method also updates parameters of the reduced order model of the door system to reduce an error between the filtered signal and an estimated signal of the operation estimated using the updated reduced order model of the door system. The parameters of the reduced order model include a mass parameter and a friction parameter.

Abstract: The rechargeable battery parameter estimation apparatus includes: a current measurement part for measuring a current flowing through a rechargeable battery, the current measurements having an offset error; a first coefficient calculation part for calculating a first coefficient, which is a partial derivative of an estimated value of an state of charge (SoC) of the battery with respect to the offset error; a second coefficient calculation part for calculating a second coefficient, which is a partial derivative of the estimated value of the SoC with respect to a capacity error, which is a difference of a typical full charge capacity from an actual full charge capacity of the battery; and an error estimation part for estimating the offset error and the capacity error from derivative information including the first coefficient and the second coefficient, the current flowing through the battery, and the estimated value of the SoC.

Abstract: A method controls an angular speed of an induction motor by measuring a stator current and a stator voltage of the induction motor to determine an estimated stator current, an estimated rotor flux amplitude, and an estimated rotor speed. A first virtual control signal is based on a reference rotor speed and the estimated rotor speed. A second virtual control signal is based on the first virtual control signal and an estimated electromagnetic torque. A third virtual control signal is based on a reference rotor flux reference and the estimated rotor flux amplitude. A fourth virtual control signal is based on the third virtual control signal and an estimate of the third virtual control signal. Then, control input voltages are applied to the induction motor based on the second virtual control signal and the fourth virtual control signal.

Abstract: A system and method controls a rotor angular speed of an induction motor by first sensing an operation condition of the induction motor to produce measured signals, which are transformed by applying a state transformation to an induction motor model to produce a transformed induction motor model. Transformed state estimates of the transformed induction motor model are produced based on the measured signals. An inverse of the state transformation is applied to the transformed state estimates to produce state estimates of the induction motor model, which are then used to determine control input voltages for the induction motor, based on the state estimates, to control the rotor angular speed of the induction motor.

Abstract: An operation of a system is controlled according to a control trajectory represented by a solution of a set of differential equations satisfying boundary conditions, wherein the set of differential equations includes ordered piecewise differential equations. The set of differential equations is parameterized to produce a first set of parameters representing values of the solution at switching times and a second set of parameters representing values of the switching times. The first and the second sets of parameters are determined alternately until the boundary conditions are satisfied to produce the solution; and the control trajectory is generated based on the solution to control the operation of the system.

Abstract: A method estimates a state-of-charge (SoC) of a battery by constructing a set of two or more battery models. Each battery model is associated with an adaptive SOC estimator. A set of intermediate SOCs is estimated using the models and the associate adaptive SoC estimators. Then, the set of intermediate SoCs are fused to obtain a final SoC of the battery.

Abstract: A method controls a set of semi-active actuators arranged in an elevator system represented with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance proportional to a sum of disturbances from the set of disturbances. The method determines the virtual disturbance during an operation of the elevator car using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance, and determines amplitude of a virtual force of the virtual semi-active actuator using the model and the virtual disturbance. A gain of a controller for controlling the set of semi-active actuators is adjusted based on the amplitude of the virtual force and a reference force of the virtual semi-active actuator.