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RISS 인기검색어
- 검색키워드
- 저자 : A. Al Maashri (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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A Multi-Drone System for Oil Spill Detection: A Simulation and Emulation Platform
A. Al Maashri,J. Ghommam,A. Saleem,N. Nasiri,O. Eldirdiry,H. Bourdoucen,G. Al Rawas,A. Al-Kamzari,A. Ammari 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This paper presents a model for a multi-drone system used for detecting oil spills in seawater. The system is designed to provide an early warning for oil-derivative contamination that may threaten maritime life forms. The system hosts a lightweight machine vision algorithm for detecting oil spills and generating a path for the drones to follow. Also, the system incorporates robust communication; allowing the drones to collaborate as they track the generated path. To achieve autonomous tracking for drones, a robust control scheme is proposed. Specifically, the drone’s dynamics model is decomposed into two subsystems in terms of time scale transformation; leading to inner and outer loop dynamics. A combination of nonlinear integral sliding surface and backstepping procedure is employed to produce appropriate thrust and torque forces, which guarantees robust tracking performances of the drones. The proposed system was verified both in simulation as well as in an indoor multi-drone verification environment. The results attest to the efficacy of the developed model.
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COOPERATIVE CRUISE CONTROLLER FOR HOMOGENEOUS AND HETEROGENEOUS VEHICLE PLATOON SYSTEM
Ashraf Saleem,Ahmed Al Maashri,Muna A. Al-Rahbi,Medhat Awadallah,Hadj Bourdoucen 한국자동차공학회 2019 International journal of automotive technology Vol.20 No.6
Autonomous cars have become a reality due to breakthroughs in technology enablers such as embedded computing systems and artificial intelligence. Automated platooning, which can be employed in autonomous cars, allows grouping of vehicles into platoons. Using this technology in highways brings forth a number of benefits such as improving traffic throughput, increasing fuel efficiency, and reducing collisions. Towards that end, this paper proposes a cooperative cruise controller for both homogeneous and heterogeneous vehicle platoon systems. The controller consists of two control layers; namely, platoon supervisory control layer and cruise control layer. The developed controller was validated and evaluated through an intensive set of simulation scenarios. The results show that the controller outperforms other contenders by 40 % in improving the road capacity. In addition, the results indicate that the controller is capable of handling different traffic scenarios (i.e. homogeneous vs. heterogeneous vehicle platoons) as well as being fault-tolerant to disruptions such as loss of communication between vehicles.
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