This report presents a new adaptive operation strategy for MEMS z-axis gyroscopes. Specifically, a unified methodology is proposed for designing and analyzing the performance of a control algorithm that can identify and, in an adaptive fashion, compensate for most fabrication defects and...

A gyroscope-free inertial navigation system uses only accelerometers to compute navigation trajectories. It is a low-cost navigation system, but its output error diverges at a rate that is an order faster than that of a conventional gyroscope-based system. So integration with an external...

We examine the feasibility of designing an accelerometer-based (or gyroscope-free) inertial navigation system that uses only accelerome-ters to compute the linear and angular motions of a rigid body. The accelerometer output equation is derived to relate the linear and an-gular motions of a...

This report presents adaptive control algorithms for conventional modes of operation of MEMS z-axis gyroscopes. In an open-loop mode, an off-line self-calibration scheme is proposed for estimating fabrication imperfections and enhancing the performance of a gyroscope operating in open-loop mode....

The current lane change maneuver for vehicles in a platoon under the California PATH automated highway system (AHS) architecture is inefficient, because the follower has to split from the rest of the platoon before making a lane change. In this report, we propose to add a lane change within...

This report presents the algorithm development and experimental work of the sensor node signal processing for vehicle detection. The signals used for vehicle detection are acoustic and magnetic signals. The acoustic signals are characterized by short time FFT analysis and two acoustic vehicle...

Wireless magnetic sensor networks offer a very attractive, low-cost alternative to inductive loops for traffic measurement in freeways and at intersections. In addition to vehicle count, occupancy and speed, the sensors yield traffic information (such as vehicle classification) that cannot be...

We study the feasibility of designing an accelerometer-based gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body.

This report describes the implementation of the regulation layer maneuvers for the hierarchical architecture in SmartPath. The report contains information regarding the simulation of automated vehicle control laws in the SmartPath environment. It also provides an overview of the set of maneuvers...

This report addresses the problem of designing safe controllers for the hybrid system composed by the interaction of the regulation and coordination layers in the hierarchical California PATH Automated Highway System (AHS) architecture. Conditions to achieve safe platooning under normal mode of...