There are many sensor fusion frameworks proposed in the literature using different sensors and fusion methods combinations and configurations. More focus has been on improving the accuracy performance; however, the implementation feasibility of these frameworks in an autonomous vehicle is less explored. Some fusion architectures can perform very well in lab conditions using powerful computational resources; however, in real-world applications, they cannot be implemented in an embedded edge computer due to their high cost and computational need. We propose a new hybrid multi-sensor fusion pipeline configuration that performs environment perception for autonomous vehicles such as road segmentation, obstacle detection, and tracking. This fusion framework uses a proposed encoder-decoder based Fully Convolutional Neural Network (FCNx) and a traditional Extended Kalman Filter (EKF) nonlinear state estimator method. It also uses a configuration of camera, LiDAR, and radar sensors that are best suited for each fusion method. The goal of this hybrid framework is to provide a cost-effective, lightweight, modular, and robust (in case of a sensor failure) fusion system solution. It uses FCNx algorithm that improve road detection accuracy compared to benchmark models while maintaining real-time efficiency that can be used in an autonomous vehicle embedded computer. Tested on over 3K road scenes, our fusion algorithm shows better performance in various environment scenarios compared to baseline benchmark networks. Moreover, the algorithm is implemented in a vehicle and tested using actual sensor data collected from a vehicle, performing real-time environment perception.

Of all driving functions, one of the critical maneuvers is the lane merge. A cooperative Nonlinear Model Predictive Control (NMPC)-based optimization method for implementing a highway lane merge of two connected autonomous vehicles is presented using solutions obtained by the direct multiple shooting method. A performance criteria cost function, which is a function of the states and inputs of the system, was optimized subject to nonlinear model and maneuver constraints. An optimal formulation was developed and then solved on a receding horizon using direct multiple shooting solutions; this is implemented using an open-source ACADO code. Numerical simulation results were performed in a real-case scenario. The results indicate that the implementation of such a controller is possible in real time, in different highway merge situations.

In this study, the control of a desiccant-wheel-based evaporative cooling system with a double-layer dew-point cooler system is emphasized. There are two dew-point evaporative coolers in the system and the air taken inside is subjected to pre- and post-cooling processes. The dehumidification process of the air taken in is carried out by the desiccant wheel after the pre-cooling process. A proportional-based control strategy has been developed to adjust the temperature and relative humidity of the room quickly and robustly with different operation modes for actuators to bring comfort with less energy consumption. In addition, an automatic Stop/Run mode has been added to the control strategy to save extra energy. With the developed control strategy, enabling the actuators to switch between the operation modes, more energy savings are achieved compared to both traditional ON/OFF and proportional controls. The accuracy and applicability of the developed control strategy were analyzed and it was observed that the room comfort reached the desired levels successfully under all disruptive effects. The control inputs and the energies consumed by all the actuators were investigated and it was determined that 21.19% more energy savings are provided by adding the automatic Stop/Run feature. With the multi-mode control strategy, a total of 40.90% less energy consumption is achieved compared to the classical ON/OFF control technique. Thus, it is seen that the controller developed for the desiccant-wheel-based evaporative cooler is a viable method to provide fast and robust comfort conditions with less energy.

In factory automation applications, the embedded control system components are often available as off-the-shelf products, while the mechanical components and environment in which they will work are still under development. Thus, the need arises to test control systems without the final assembly. This paper introduces a hardware-in-the-loop (HIL) virtual environment for control system testing, design planning, and operator training. Controller hardware and software are configured as in the actual application, whereas electro-mechanical components are virtually constructed using Unreal Engine 5 and Matlab Simulink. Motion data from the model can be used to optimize the actuator controller, make physical design assessments, and predict possible failure scenarios such as software/hardware malfunctions. The environment is used to validate an industrial gantry robot’s control systems and structural design. The testing is successful in using real-time controller inputs to generate visual display and physical assessments of the robot’s design. Similar techniques can be applied to simulate different robot configurations using Codesys and Unreal Engine 5 or similar programs.

In the article, the application potential of the dew-point cooling tower (DPCT) in selected energy-intensive applications in temperate climates was analyzed and discussed. The applications selected for analysis are power generation with natural gas turbines and chilled water air conditioning systems. The study is based on a mathematical model derived from a modified ε-NTU model. The model was validated against experimental results and showed satisfactory agreement with the experimental data. DPCT was compared with a typical cooling tower limited by the wet-bulb temperature (wet-bulb cooling tower, WBCT). The simulation results showed that DPCT is able to provide significant energy savings in energy-intensive applications; therefore, its application potential in temperate climates can be considered justified. In the case of gas turbines, DPCT was able to generate 2 to 10 percentage points more capacity than operating on outdoor air and 1.8 to 5 percentage points more than operating with WBCT. In the case of air conditioning systems, the system equipped with DPCT achieved EERs (energy efficiency ratios) higher by 1 to 7.2 compared to dry cooling and by 0.3 to 5.1 compared to systems equipped with WBCT. The annual energy savings obtained by the system with DPCT were 14.7 MWh compared to WBCT and 30 MWh compared to dry cooling.