A practical solution for counting traffic is analysed in this paper. The goal was to develop a solution that focuses on more CPU processing than on placing many complex sensors. This approach should reduce costs of both deployment and maintenance of such system. The proposed solution is to use video footage from a properly placed camera as input data. Vehicle movement is detected using optical flow algorithm. A great deal of post-processing is used to cope with problems that arise from this method of movement detection. Since the video of the entire crossroad is available, it is possible to fully analyse vehicle movement and produce turning movement counts and efficiently estimate (time varying) origin-destination trip tables if enough crossroads are monitored this way. The solution was developed in Simulink using Video and Image Processing Toolbox and custom blocks.

This paper presents the distributed control system for elevators (DECS). Based on the characteristics of the today installed elevator systems, the electric traction elevator has been chosen for this paper. Conventional elevator control systems (ECS) have several disadvantages compared to modern control systems (large number of cables, safety issues, etc.). An alternative to conventional ECS is the DECS. A DECS based on the CAN (Controller Area Network) protocol is presented in this paper. The presented ECS consists of three modules: CU Elevator (CU – Control Unit), CU Cabin, CU Floor. The mentioned modules, control principles and implementation methods based on the PIC 18F458 microcontroller are presented in detail. A description of the CAN protocol design with message scheduling on the bus is given. Messages with an 11 bit identifier without a data field have been used for the distributed control system synthesis. The time analysis of bus availability/traffic demonstrates the adequacy of the distributed control system Based on the defined messages and 5 presented modes of operation, an algorithm of operation has been formed for every control system module. Finally experimental results are presented that have been obtained from a developed CAN based elevator control system. The conducted tests have confirmed the functionality of the elevator control system.

In this paper we present a driver for the DC machine based on a matrix converter. 3 – Phase matrix converter with one and two output DC voltages is considered. Mathematical relations for the Venturini control algorithm of the matrix converter have been derived. On the basis of mathematical relations working range for both AC/DC converters have been defined. Also relations for the design of the converter output filter have been derived. Simulations have been performed in software package PSIM.

The purpose of this paper is to analyse and implement PI control for the permanent magnet DC motor. The control algorithm is realised using Siemens S7-200 programmable logic controller (PLC). The complex motor system is composed of DC motor, driver and tachogenerator. The main objective is to achieve a satisfactory time response of the system output under disturbances like death zone, nonlinearity, measurement noise and external load acting. The PI controller is designed in the programming environment on a previously identified nonlinear motor system. Then the PI controller is embedded into the S7-200 PLC. The effectiveness of this controller are tested in both simulation mode and experiments.

In this paper we present a design and implementation of a modern elevator control system. The conventional elevator control system has several disadvantages (complicated circuits, a large number of wires, sensitivity to noise, low level security, etc). An alternative to conventional elevator control systems is a distributed elevator control system. This paper describes a network-based elevator control system via Controller Area Network (CAN). We will show the design of a CAN network with message scheduling. This paper presents the results obtained from the experiment on a real model, i.e. the CAN based elevator control system.

In this paper we present one of the concepts of vehicle seat vibration isolation, using five fuzzy controllers together with neural network, combining it into a hybrid system. We used fuzzy controllers as a part of a semi-active vehicle suspension system, which consists of semi-active air spring and passive damper. System is implemented between the cabin floor and vehicle seat. Fuzzy controllers are designed to adjust the stiffness of the air spring, in order to isolate the vertical vibrations that are being caused by rough road surfaces. Each controller is tuned for different road type. Which controller is active depends on the output of the neural network, representing one of the four roads. Input data for fuzzy controller are vehicle seat deflection and velocity of the vehicle seat deflection. Measure of the quality of suspension is the SEAT value, which is calculated as a quotient of effective seat vertical acceleration and effective cabin vertical acceleration (ISO 2631-1 standard). Small SEAT-value means good isolation of the seat, regarding the vibrations. This paper presents the results obtained from both the MATLAB simulations and the experiment on the real model.

In this paper we present one of the concepts of vehicle seat vibration damping, using a fuzzy controller. We used a fuzzy controller as a part of a semi-active vehicle suspension system, which consists of semi-active air spring and semi-active damper. System is implemented between the cabin floor and vehicle seat. Fuzzy controller is designed to adjust the stiffness of the air spring and damping of the oil damper, in order to isolate the vertical vibrations that are being caused by rough road surfaces. Input data for fuzzy controller are cabin floor acceleration, vehicle seat deflection and velocity of the vehicle seat deflection. Measure of the quality of suspension is the SEAT value, which is calculated as a quotient of effective seat vertical acceleration and effective cabin vertical acceleration (ISO 2631-1 standard).

In a modern vehicle systems one of the main goals to achieve is driver's safety, and many sophisticated systems are made for that purpose. Vibration isolation for the vehicle seats, and at the same time for the driver, is one of the challenging problems. Parameters of the controller used for the isolation can be tuned for a different road types, making the isolation better (specially for the vehicles like dampers, tractors, field machinery, bulldozers, etc.). In this paper we propose the method where neural networks are used for road type recognition. The main goal is to obtain a good road recognition for the purpose of better vibration damping of a driver's semi active controllable seat. The recognition of a specific road type will be based on the measurable parameters of a vehicle. Discrete Fourier Transform of measurable parameters is obtained and used for the neural network learning. The dimension of the input vector, as the main parameter that decides the speed of road recognition, is varied.

Inamodern vehicle systems oneofthemaingoals to Dmy achieve isdriver 'ssafety, andmanysophisticated systems aremade DummyAccelertion forthat purpose. Vibration isolation forthevehicle seats, andatthe Sensorl_/atio same timeforthedriver, isoneofthechallenging problems. Ss SeatCushlion Parameters ofthecontroller usedfor theisolation canbetunedfor adifferent roadtypes, making theisolation better (specially forthe = .no vehicles like dampers, tractors, field machinery, bulldozers, etc.). In Seat Acceleraton splacement Sensor this paperwepropose themethod whereneural networks areused Seat Eleratzon forroadtype recognition. Themaingoalistoobtain agoodroad Sels_ recognition forthepurposeofbetter vibration damping ofa driver 'ssemiactive controllable seat.Therecognition ofaspecific P Spn;;; roadtype will bebased onthemeasurable parameters ofavehicle.Cabin Acceleration Discrete Fourier Transform ofmeasurable parameters isobtained Sedsor andusedfortheneural network learning. Thedimension ofthe Cabin Position Sensor input vector, asthemainparameter that decides thespeed ofroad recognition, isvaried. Hydral llyl le|

The teleoperation (telerobotic) systems often face two key challenges: the existence of communication delays between the master and slave site as well as the addition of force feedback to improve the user's sense of presence. The first goal of this paper is that the slave manipulator should track the position of the master manipulator and the second goal is that the environmental force acting on the slave, when it contacts a remote environment, be accurately transmitted to the master. For solving both problems we proposed the symmetric impedance matched teleoperation systems with a wave filter in feedback loop. Simulations results using a single-degree of freedom master/slave system are presented showing the performance of the resulting system.