Semi-autonomous safety critical applications in power systems and transportation systems
Miller, Rebecca Oglesby
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Cyber physical systems have become quite ubiquitous across industries. As new ways to apply these systems evolve, safety and usefulness are top priorities in design and implementation. This thesis addresses the design and testing of two different types of systems, a power line robotic device and cooperative adaptive cruise control for inter-connected vehicles. The power line device is for inspection and cleaning of overhead distribution lines. The focus for this design is on simplicity and compactness. Testing proved the mechanical feasibility. The device can be used for power line asset management by power companies, increasing the safety for linemen by allowing them to inspect the line from the ground. Cooperative adaptive cruise control, a technology implemented by inter-connected vehicles, allows vehicles to safely travel closer together. Wireless communication proves challenging in dense areas such as in high traffic on the freeway and this technology must be able to safely control the speed of the vehicle with unknown communication delay. Testing a controller in a test bed proved the functionality of the controller and the advantage of data sharing in vehicle platoons.