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Description
Recently, automation, shared use, and electrification are proposed and viewed as the “three revolutions” in the future transportation sector to significantly relieve traffic congestion, reduce pollutant emissions, and increase transportation system sustainability. Motivated by the three revolutions, this research targets on the passenger-focused scheduled transportation systems, where (1) the public transit systems provide high-quality ridesharing schedules/services and (2) the upcoming optimal activity planning systems offer the best vehicle routing and assignment for household daily scheduled activities.
The high quality of system observability is the fundamental guarantee for accurately predicting and controlling the system. The rich information from the emerging heterogeneous data sources is making it possible. This research proposes a modeling framework to systemically account for the multi-source sensor information in urban transit systems to quantify the estimated state uncertainty. A system of linear equations and inequalities is proposed to generate the information space. Also, the observation errors are further considered by a least square model. Then, a number of projection functions are introduced to match the relation between the unique information space and different system states, and its corresponding state estimate uncertainties are further quantified by calculating its maximum state range.
In addition to optimizing daily operations, the continuing advances in information technology provide precious individual travel behavior data and trip information for operational planning in transit systems. This research also proposes a new alternative modeling framework to systemically account for boundedly rational decision rules of travelers in a dynamic transit service network with tight capacity constraints. An agent-based single-level integer linear formulation is proposed and can be effectively by the Lagrangian decomposition.
The recently emerging trend of self-driving vehicles and information sharing technologies starts creating a revolutionary paradigm shift for traveler mobility applications. By considering a deterministic traveler decision making framework, this research addresses the challenges of how to optimally schedule household members’ daily scheduled activities under the complex household-level activity constraints by proposing a set of integer linear programming models. Meanwhile, in the microscopic car-following level, the trajectory optimization of autonomous vehicles is also studied by proposing a binary integer programming model.
The high quality of system observability is the fundamental guarantee for accurately predicting and controlling the system. The rich information from the emerging heterogeneous data sources is making it possible. This research proposes a modeling framework to systemically account for the multi-source sensor information in urban transit systems to quantify the estimated state uncertainty. A system of linear equations and inequalities is proposed to generate the information space. Also, the observation errors are further considered by a least square model. Then, a number of projection functions are introduced to match the relation between the unique information space and different system states, and its corresponding state estimate uncertainties are further quantified by calculating its maximum state range.
In addition to optimizing daily operations, the continuing advances in information technology provide precious individual travel behavior data and trip information for operational planning in transit systems. This research also proposes a new alternative modeling framework to systemically account for boundedly rational decision rules of travelers in a dynamic transit service network with tight capacity constraints. An agent-based single-level integer linear formulation is proposed and can be effectively by the Lagrangian decomposition.
The recently emerging trend of self-driving vehicles and information sharing technologies starts creating a revolutionary paradigm shift for traveler mobility applications. By considering a deterministic traveler decision making framework, this research addresses the challenges of how to optimally schedule household members’ daily scheduled activities under the complex household-level activity constraints by proposing a set of integer linear programming models. Meanwhile, in the microscopic car-following level, the trajectory optimization of autonomous vehicles is also studied by proposing a binary integer programming model.
ContributorsLiu, Jiangtao (Author) / Zhou, Xuesong (Thesis advisor) / Pendyala, Ram (Committee member) / Mirchandani, Pitu (Committee member) / Lou, Yingyan (Committee member) / Arizona State University (Publisher)
Created2018
Description
Lidar has demonstrated its utility in meteorological studies, wind resource assessment, and wind farm control. More recently, lidar has gained widespread attention for autonomous vehicles.
The first part of the dissertation begins with an application of a coherent Doppler lidar to wind gust characterization for wind farm control. This application focuses on wind gusts on a scale from 100 m to 1000 m. A detecting and tracking algorithm is proposed to extract gusts from a wind field and track their movement. The algorithm was implemented for a three-hour, two-dimensional wind field retrieved from the measurements of a coherent Doppler lidar. The Gaussian distribution of the gust spanwise deviation from the streamline was demonstrated. Size dependency of gust deviations is discussed. A prediction model estimating the impact of gusts with respect to arrival time and the probability of arrival locations is introduced. The prediction model was applied to a virtual wind turbine array, and estimates are given for which wind turbines would be impacted.
The second part of this dissertation describes a Time-of-Flight lidar simulation. The lidar simulation includes a laser source module, a propagation module, a receiver module, and a timing module. A two-dimensional pulse model is introduced in the laser source module. The sampling rate for the pulse model is explored. The propagation module takes accounts of beam divergence, target characteristics, atmosphere, and optics. The receiver module contains models of noise and analog filters in a lidar receiver. The effect of analog filters on the signal behavior was investigated. The timing module includes a Time-to-Digital Converter (TDC) module and an Analog-to-Digital converter (ADC) module. In the TDC module, several walk-error compensation methods for leading-edge detection and multiple timing algorithms were modeled and tested on simulated signals. In the ADC module, a benchmark (BM) timing algorithm is proposed. A Neyman-Pearson (NP) detector was implemented in the time domain and frequency domain (fast Fourier transform (FFT) approach). The FFT approach with frequency-domain zero-paddings improves the timing resolution. The BM algorithm was tested on simulated signals, and the NP detector was evaluated on both simulated signals and measurements from a prototype lidar (Bhaskaran, 2018).
The first part of the dissertation begins with an application of a coherent Doppler lidar to wind gust characterization for wind farm control. This application focuses on wind gusts on a scale from 100 m to 1000 m. A detecting and tracking algorithm is proposed to extract gusts from a wind field and track their movement. The algorithm was implemented for a three-hour, two-dimensional wind field retrieved from the measurements of a coherent Doppler lidar. The Gaussian distribution of the gust spanwise deviation from the streamline was demonstrated. Size dependency of gust deviations is discussed. A prediction model estimating the impact of gusts with respect to arrival time and the probability of arrival locations is introduced. The prediction model was applied to a virtual wind turbine array, and estimates are given for which wind turbines would be impacted.
The second part of this dissertation describes a Time-of-Flight lidar simulation. The lidar simulation includes a laser source module, a propagation module, a receiver module, and a timing module. A two-dimensional pulse model is introduced in the laser source module. The sampling rate for the pulse model is explored. The propagation module takes accounts of beam divergence, target characteristics, atmosphere, and optics. The receiver module contains models of noise and analog filters in a lidar receiver. The effect of analog filters on the signal behavior was investigated. The timing module includes a Time-to-Digital Converter (TDC) module and an Analog-to-Digital converter (ADC) module. In the TDC module, several walk-error compensation methods for leading-edge detection and multiple timing algorithms were modeled and tested on simulated signals. In the ADC module, a benchmark (BM) timing algorithm is proposed. A Neyman-Pearson (NP) detector was implemented in the time domain and frequency domain (fast Fourier transform (FFT) approach). The FFT approach with frequency-domain zero-paddings improves the timing resolution. The BM algorithm was tested on simulated signals, and the NP detector was evaluated on both simulated signals and measurements from a prototype lidar (Bhaskaran, 2018).
ContributorsZhou, Kai (Author) / Calhoun, Ronald (Thesis advisor) / Chen, Kangping (Committee member) / Tang, Wenbo (Committee member) / Peet, Yulia (Committee member) / Krishnamurthy, Raghavendra (Committee member) / Arizona State University (Publisher)
Created2019
Description
Laser radars or lidar’s have been used extensively to remotely study winds within the atmospheric boundary layer and atmospheric transport. Lidar sensors have become an important tool within the meteorology and the wind energy community. For example, Doppler lidars are used frequently in wind resource assessment, wind turbine control as well as in atmospheric science research. A Time of Flight based (ToF) direct detection lidar sensor is used in vehicles to navigate through complex and dynamic environments autonomously. These optical sensors are used to map the environment around the car accurately for perception and localization tasks that help achieve complete autonomy.
This thesis begins with a detailed discussion on the fundamentals of a Doppler lidar system. The laser signal flow path to and from the target, the optics of the system and the core signal processing algorithms used to extract velocity information, were studied to get closer to the hardware of a Doppler lidar sensor. A Doppler lidar simulator was built to study the existing signal processing algorithms to detect and estimate doppler frequency, and radial velocity information. Understanding the sensor and its processing at the hardware level is necessary to develop new algorithms to detect and track specific flow structures in the atmosphere. For example, the aircraft vortices have been a topic of extensive research and doppler lidars have proved to be a valuable sensor to detect and track these coherent flow structures. Using the lidar simulator a physics based doppler lidar vortex algorithm is tested on simulated data to track a pair of counter rotating aircraft vortices.
At a system level the major components of a time of flight lidar is very similar to a Doppler lidar. The fundamental physics of operation is however different. While doppler lidars are used for radial velocity measurement, ToF sensors as the name suggests provides precise depth measurements by measuring time of flight between the transmitted and the received pulses. The second part of this dissertation begins to explore the details of ToF lidar system. A system level design, to build a ToF direct detection lidar system is presented. Different lidar sensor modalities that are currently used with sensors in the market today for automotive applications were evaluated and a 2D MEMS based scanning lidar system was designed using off-the shelf components.
Finally, a range of experiments and tests were completed to evaluate the performance of each sub-component of the lidar sensor prototype. A major portion of the testing was done to align the optics of the system and to ensure maximum field of view overlap for the bi-static laser sensor. As a laser range finder, the system demonstrated capabilities to detect hard targets as far as 32 meters. Time to digital converter (TDC) and an analog to digital converter (ADC) was used for providing accurate timing solutions for the lidar prototype. A Matlab lidar model was built and used to perform trade-off studies that helped choosing components to suit the sensor design specifications.
The size, weight and cost of these lidar sensors are still very high and thus making it harder for automotive manufacturers to integrate these sensors into their vehicles. Ongoing research in this field is determined to find a solution that guarantees very high performance in real time and lower its cost over the next decade as components get cheaper and can be seamlessly integrated with cars to improve on-road safety.
This thesis begins with a detailed discussion on the fundamentals of a Doppler lidar system. The laser signal flow path to and from the target, the optics of the system and the core signal processing algorithms used to extract velocity information, were studied to get closer to the hardware of a Doppler lidar sensor. A Doppler lidar simulator was built to study the existing signal processing algorithms to detect and estimate doppler frequency, and radial velocity information. Understanding the sensor and its processing at the hardware level is necessary to develop new algorithms to detect and track specific flow structures in the atmosphere. For example, the aircraft vortices have been a topic of extensive research and doppler lidars have proved to be a valuable sensor to detect and track these coherent flow structures. Using the lidar simulator a physics based doppler lidar vortex algorithm is tested on simulated data to track a pair of counter rotating aircraft vortices.
At a system level the major components of a time of flight lidar is very similar to a Doppler lidar. The fundamental physics of operation is however different. While doppler lidars are used for radial velocity measurement, ToF sensors as the name suggests provides precise depth measurements by measuring time of flight between the transmitted and the received pulses. The second part of this dissertation begins to explore the details of ToF lidar system. A system level design, to build a ToF direct detection lidar system is presented. Different lidar sensor modalities that are currently used with sensors in the market today for automotive applications were evaluated and a 2D MEMS based scanning lidar system was designed using off-the shelf components.
Finally, a range of experiments and tests were completed to evaluate the performance of each sub-component of the lidar sensor prototype. A major portion of the testing was done to align the optics of the system and to ensure maximum field of view overlap for the bi-static laser sensor. As a laser range finder, the system demonstrated capabilities to detect hard targets as far as 32 meters. Time to digital converter (TDC) and an analog to digital converter (ADC) was used for providing accurate timing solutions for the lidar prototype. A Matlab lidar model was built and used to perform trade-off studies that helped choosing components to suit the sensor design specifications.
The size, weight and cost of these lidar sensors are still very high and thus making it harder for automotive manufacturers to integrate these sensors into their vehicles. Ongoing research in this field is determined to find a solution that guarantees very high performance in real time and lower its cost over the next decade as components get cheaper and can be seamlessly integrated with cars to improve on-road safety.
ContributorsBhaskaran, Sreevatsan (Author) / Calhoun, Ronald J (Thesis advisor) / Dahm, Werner (Committee member) / Huang, Huei-Ping (Committee member) / Chen, Kang Pin (Committee member) / Choukulkar, Aditya (Committee member) / Arizona State University (Publisher)
Created2018
ContributorsEvans, Bartlett R. (Conductor) / Schildkret, David (Conductor) / Glenn, Erica (Conductor) / Concert Choir (Performer) / Chamber Singers (Performer) / ASU Library. Music Library (Publisher)
Created2018-03-16
ContributorsOwen, Ken (Conductor) / McDevitt, Mandy L. M. (Performer) / Larson, Brook (Conductor) / Wang, Lin-Yu (Performer) / Jacobs, Todd (Performer) / Morehouse, Daniel (Performer) / Magers, Kristen (Performer) / DeGrow, Gary (Performer) / DeGrow, Richard (Performer) / Women's Chorus (Performer) / Sun Devil Singers (Performer) / ASU Library. Music Library (Publisher)
Created2004-03-24
ContributorsMetz, John (Performer) / Sowers, Richard (Performer) / Collegium Musicum (Performer) / ASU Library. Music Library (Publisher)
Created1983-01-29
ContributorsEvans, Bartlett R. (Conductor) / Glenn, Erica (Conductor) / Steiner, Kieran (Conductor) / Thompson, Jason D. (Conductor) / Arizona Statesmen (Performer) / Women's Chorus (Performer) / Concert Choir (Performer) / Gospel Choir (Conductor) / ASU Library. Music Library (Publisher)
Created2019-03-15
ContributorsKillian, George W. (Performer) / Killian, Joni (Performer) / Vocal Jazz Ensemble (Performer) / ASU Library. Music Library (Publisher)
Created1992-11-05
ContributorsButler, Robb (Conductor) / McCreary, Kimilee (Conductor) / Bakko, Nicki L. (Conductor) / Schreuder, Joel (Conductor) / Larson, Matthew (Performer) / Ortman, Mory (Performer) / Graduate Chorale I (Performer) / Graduate Chorale II (Performer) / ASU Library. Music Library (Publisher)
Created1999-12-02
ContributorsGarrett, Jennifer (Conductor) / FitzPatrick, Carole (Performer) / Aspnes, Lynne (Performer) / Campbell, Andrew (Pianist) (Performer) / Ryan, Russell (Performer) / Rockmaker, Jody (Performer) / Kocour, Mike (Performer) / McLin, Katherine (Performer) / Larson, Brook Carter (Conductor) / Women's Chorus (Performer) / Men's Chorus (Performer) / ASU Library. Music Library (Publisher)
Created2009-05-04