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Computer Science, Software Engineering

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Computer Science, Software Engineering & Robotics Workshop, FGCU, ... Simple Model: Brake Force Computation (2) Title: Slide 1 Author: zalewski Last modified by: – PowerPoint PPT presentation

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Title: Computer Science, Software Engineering


1
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
Estimating Missing Parameters in a Distributed
Real-Time System Anti-Lock Brake System
Simulation Anthony Hadding Mentor Dr. Janusz
Zalewski April 2012
2
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
Real-Time System A computer system with bounded
response time. Time-Triggered System A
real-time computer system that provides responses
at pre-determined time instants.
3
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
The TTTech Development Cluster
  • Chassis, System Nodes
  • Monitoring Node, Disturbance Node

4
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
How the parameter estimation is done?
No
Yes
No
Yes
  • Use other systems, if possible
  • Monitoring subsystem provides increased tolerance
    at expense of accuracy

5
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
Simple Model Brake Force Computation (1)
  • Approximates brake force as a multiple of wheel
    speed.
  • Does not apply brake force in absence of pedal
    message.
  • Absence of wheel speed message results in zero
    force output.

6
Computer Science, Software Engineering Robotics
Workshop, FGCU, April 27-28, 2012
Simple Model Brake Force Computation (2)
  • Computes brake force as a multiple of wheel speed
    in presence of wheel speed message.
  • Absence of pedal message results in brake
    application.
  • Absence of wheel speed message results in a
    linearly decreasing estimate of wheel speed.
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