1. NabinGurung Control Systems and Modeling 1

2. Control Systems Researched on Control Systems applications and necessities on UvX. Established goals based on Control requirements. Background reading on Control Systems design. Such as Mathematical and Simulink models. NabinGurung 2

3. Mathematical Models of Systems Key element in design of the control systems. Formulate the mathematical models and fundamental necessary assumptions based on basic principles. Laplace Transform of a differential equations. Block manipulations. NabinGurung 3

4. Modelling of UxV/Environment Interaction (Control System Output Real World Effect) 4 NabinGurung

5. Real world Control problems for UxV Optimal motion planning and obstacle avoidance. Mission criticality Road profile User interface Real time Control Signal or communication loss Under steer Slippage Group 6 -Suiryu 5

7. Acquire inputs : Using Sensors

8. Image correction

9. Feature detection

10. Check flow field

11. Choice 1 : Kalman filter

14. Active Braking

15. Active Steering

17. Next Step Continue to build understanding of the Principles of Process Control Refinements on insights of Real control problems and designing solutions Build test model to run in Simulink to test the Real world Effects on the Vehicle. Group 6 -Suiryu 10

18. Reference [1] http://www.vehicledynamics-expo.com/05vdx_conf/pres/day2/zuurbier.pdf [2]http://userweb.port.ac.uk/~liuh/PhDTheses/thesis-cjt-150509.pdf Group 6 -Suiryu 11