Aviation accidents are currently one of the leading causes of significant injuries and deaths worldwide. This entices researchers to investigate aircraft safety using data analysis approaches based on an advanced mach...Aviation accidents are currently one of the leading causes of significant injuries and deaths worldwide. This entices researchers to investigate aircraft safety using data analysis approaches based on an advanced machine learning algorithm.To assess aviation safety and identify the causes of incidents, a classification model with light gradient boosting machine (LGBM)based on the aviation safety reporting system (ASRS) has been developed. It is improved by k-fold cross-validation with hybrid sampling model (HSCV), which may boost classification performance and maintain data balance. The results show that employing the LGBM-HSCV model can significantly improve accuracy while alleviating data imbalance. Vertical comparison with other cross-validation (CV) methods and lateral comparison with different fold times comprise the comparative approach. Aside from the comparison, two further CV approaches based on the improved method in this study are discussed:one with a different sampling and folding order, and the other with more CV. According to the assessment indices with different methods, the LGBMHSCV model proposed here is effective at detecting incident causes. The improved model for imbalanced data categorization proposed may serve as a point of reference for similar data processing, and the model’s accurate identification of civil aviation incident causes can assist to improve civil aviation safety.展开更多
This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’...This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.展开更多
By using split Hopkinson pressure bar, optical microscopy and electronic microscopy, we investigate the influence of initial microstructures on the adiabatic shear behavior of high-strength Ti-5Al-5V-5Mo-3Cr(Ti-5553) ...By using split Hopkinson pressure bar, optical microscopy and electronic microscopy, we investigate the influence of initial microstructures on the adiabatic shear behavior of high-strength Ti-5Al-5V-5Mo-3Cr(Ti-5553) alloy with lamellar microstructure and bimodal microstructure. Lamellar alloy tends to form adiabatic shearing band(ASB) at low compression strain, while bimodal alloy is considerably ASBresistant. Comparing with the initial microstructure of Ti-5553 alloy, we find that the microstructure of the ASB changes dramatically. Adiabatic shear of lamellar Ti-5553 alloy not only results in the formation of recrystallized β nano-grains within the ASB, but also leads to the chemical redistribution of the alloying elements such as Al, V, Cr and Mo. As a result, the alloying elements distribute evenly in the ASB.In contrast, the dramatic adiabatic shear of bimodal alloy might give rise to the complete lamination of the globular primary a grain and the equiaxial prior β grain, which is accompanied by the dynamic recrystallization of a lamellae and β lamellae. As a result, ASB of bimodal alloy is composed of a/β nanomultilayers. Chemical redistribution does not occur in ASB of bimodal alloy. Bimodal Ti-5553 alloy should be a promising candidate for high performance armors with high mass efficiency due to the processes high dynamic flow stress and excellent ASB-resistance.展开更多
This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity a...This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.展开更多
In the present study,the unique three-dimensional graphene coated nickel(Ni/C)foam reinforced silicon carbide(Ni/C@SiC)composites were first obtained via the precursor impregnation and pyrolysis(PIP)processes.The micr...In the present study,the unique three-dimensional graphene coated nickel(Ni/C)foam reinforced silicon carbide(Ni/C@SiC)composites were first obtained via the precursor impregnation and pyrolysis(PIP)processes.The microstructure images indicated that the SiC fillers were successfully prepared in the skeleton pores of the Ni/C foam.The influence of the PIP cycles on the microwave absorption performances was researched,and the results indicated that after the primary PIP process,Ni/C@SiC-I possessed the optimal microwave absorbing performance with a minimum reflection loss(RL)of-25.87 d B at 5.28 GHz and 5.00 mm.Besides,the RL values could be below-10.00 dB from 5.88 GHz to 7.74 GHz when the corresponding matching thickness was 3.85 mm.However,the microwave absorption properties of Ni/C@SiC-II and Ni/C@SiC-Ⅲwere tremendously degraded as the PIP times increased.At last,the electromagnetic parameter,dielectric loss,attenuation constant as well as impedance matching coefficient were further investigated to analyze the absorbing mechanism,which opened a new path for the certain scientific evaluation of the absorbing materials and had extremely important to the defence technology.展开更多
SiC aerogel presents several advantageous features like lightweight and high temperature resistance when applied as microwave absorbing material.In this paper,SiC aerogel was prepared eventually followed by the sol-ge...SiC aerogel presents several advantageous features like lightweight and high temperature resistance when applied as microwave absorbing material.In this paper,SiC aerogel was prepared eventually followed by the sol-gel and carbonization reduction process.The results showed that the effective electromagnetic microwave absorption capacity of SiC aerogel was highly increased after being pyrolyzed at 1500℃,which presented a minimum reflection loss value of-57.80 dB at 3.10 mm and 9.86 GHz.Besides,the electromagnetic parameters of SiC aerogel with different paraffin ratios were discussed as well as the varying electromagnetic microwave absorption performances.The minimum reflection loss value first rose then fell as the SiC/paraffin ratio increased,which demonstrated the importance of SiC content.This study establishes the theoretical foundation for the subsequent functional application of SiC aerogel.展开更多
The well-designed composite with satisfactory electromagnetic microwave absorption at high temperatures remains a serious challenge.Herein,we fabricated a resorcinol-formaldehyde/silica dioxide composite aerogel(RF/Si...The well-designed composite with satisfactory electromagnetic microwave absorption at high temperatures remains a serious challenge.Herein,we fabricated a resorcinol-formaldehyde/silica dioxide composite aerogel(RF/SiO_(2))with a three-dimensional network structure using sol-gel,atmospheric pressure drying technique as well as heat-treated processes to achieve enhanced microwave absorption capabilities in the low frequency range.The pristine RF/SiO_(2)aerogel presented a typical micropores structure with a surface area,porous volume,and density of 146.82 m^(2)/g,62.40%,and 0.28 cm^(3)/g,respectively.Remarkably,the RF/SiO_(2)aerogel showed an effective absorption bandwidth of 3.56 GHz and a minimum reflection loss value of-46.10 d B at 2.25 mm after being heat-treated at 1500°C,while the maximum effective absorption bandwidth was 3.60 GHz at 2.30 mm.The intricate three-dimensional networks possessed remarkable impedance matching,multiple attenuation mechanisms,interfacial polarization,and dielectric loss,which were attributed to the exceptional ability to absorb electromagnetic microwaves.It offered a fresh approach to creating adaptable and effective microwave absorption materials in military defense.展开更多
Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net...Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.展开更多
This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,cons...This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller simultaneously.To avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis method.Secondly,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting problem.Since most natural phenomena have nonlinear properties,the direct method must be the better one.Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.展开更多
This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind di...This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.展开更多
基金supported by the National Natural Science Foundation of China Civil Aviation Joint Fund (U1833110)Research on the Dual Prevention Mechanism and Intelligent Management Technology f or Civil Aviation Safety Risks (YK23-03-05)。
文摘Aviation accidents are currently one of the leading causes of significant injuries and deaths worldwide. This entices researchers to investigate aircraft safety using data analysis approaches based on an advanced machine learning algorithm.To assess aviation safety and identify the causes of incidents, a classification model with light gradient boosting machine (LGBM)based on the aviation safety reporting system (ASRS) has been developed. It is improved by k-fold cross-validation with hybrid sampling model (HSCV), which may boost classification performance and maintain data balance. The results show that employing the LGBM-HSCV model can significantly improve accuracy while alleviating data imbalance. Vertical comparison with other cross-validation (CV) methods and lateral comparison with different fold times comprise the comparative approach. Aside from the comparison, two further CV approaches based on the improved method in this study are discussed:one with a different sampling and folding order, and the other with more CV. According to the assessment indices with different methods, the LGBMHSCV model proposed here is effective at detecting incident causes. The improved model for imbalanced data categorization proposed may serve as a point of reference for similar data processing, and the model’s accurate identification of civil aviation incident causes can assist to improve civil aviation safety.
基金the National Natural Science Foundation of China(61933010)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.
基金the National Natural Science Foundation of China(Grant No.11872317)Science Challenge Project(Grant No.TZ2018001)the Fundamental Research Funds for the Central Universities(Grant No.3102019ZX001).
文摘By using split Hopkinson pressure bar, optical microscopy and electronic microscopy, we investigate the influence of initial microstructures on the adiabatic shear behavior of high-strength Ti-5Al-5V-5Mo-3Cr(Ti-5553) alloy with lamellar microstructure and bimodal microstructure. Lamellar alloy tends to form adiabatic shearing band(ASB) at low compression strain, while bimodal alloy is considerably ASBresistant. Comparing with the initial microstructure of Ti-5553 alloy, we find that the microstructure of the ASB changes dramatically. Adiabatic shear of lamellar Ti-5553 alloy not only results in the formation of recrystallized β nano-grains within the ASB, but also leads to the chemical redistribution of the alloying elements such as Al, V, Cr and Mo. As a result, the alloying elements distribute evenly in the ASB.In contrast, the dramatic adiabatic shear of bimodal alloy might give rise to the complete lamination of the globular primary a grain and the equiaxial prior β grain, which is accompanied by the dynamic recrystallization of a lamellae and β lamellae. As a result, ASB of bimodal alloy is composed of a/β nanomultilayers. Chemical redistribution does not occur in ASB of bimodal alloy. Bimodal Ti-5553 alloy should be a promising candidate for high performance armors with high mass efficiency due to the processes high dynamic flow stress and excellent ASB-resistance.
基金supported by the National Natural Science Foundation of China(61673327)the Industrial Development and Foster Project of Yangtze River Delta Research Institute of NPU,Taicang(CY20210202)+1 种基金the Fundamental Research Funds for the Central Universities(G2021KY05116,G2022WD01026)the Basic Research Programs of Taicang(TC2021JC28)。
文摘This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.
基金supported by the Fundamental Research Funds for the Central Universities (Grant No. D5000210522 and D5000200408)Jiangsu Planned Projects for Postdoctoral Research Funds, National Natural Science Foundation of China [grant number 51772151]+2 种基金Natural Science Foundation of Shaanxi Province (Grant No. 2021JQ-117)Basic Research Programs of Taicang (Grant No.TC2020JC10)Natural Science Foundation of Shandong Province (Grant No. ZR2020QE180)
文摘In the present study,the unique three-dimensional graphene coated nickel(Ni/C)foam reinforced silicon carbide(Ni/C@SiC)composites were first obtained via the precursor impregnation and pyrolysis(PIP)processes.The microstructure images indicated that the SiC fillers were successfully prepared in the skeleton pores of the Ni/C foam.The influence of the PIP cycles on the microwave absorption performances was researched,and the results indicated that after the primary PIP process,Ni/C@SiC-I possessed the optimal microwave absorbing performance with a minimum reflection loss(RL)of-25.87 d B at 5.28 GHz and 5.00 mm.Besides,the RL values could be below-10.00 dB from 5.88 GHz to 7.74 GHz when the corresponding matching thickness was 3.85 mm.However,the microwave absorption properties of Ni/C@SiC-II and Ni/C@SiC-Ⅲwere tremendously degraded as the PIP times increased.At last,the electromagnetic parameter,dielectric loss,attenuation constant as well as impedance matching coefficient were further investigated to analyze the absorbing mechanism,which opened a new path for the certain scientific evaluation of the absorbing materials and had extremely important to the defence technology.
基金supported by various grants including the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2021A1515111155 and 2022A1515111200)Basic Research Programs of Taicang(Grant Nos.TC2023JC03 and TC2022JC08)+2 种基金Natural Science Foundation of Shaanxi Province(Grant No.2023JC-QN-0380)Nantong Natural Science Foundation(Grant No.JC2023011)Shanghai Central Guidance Fund for Local Science and Technology Development(Grant No.YDZX20233100004009)。
文摘SiC aerogel presents several advantageous features like lightweight and high temperature resistance when applied as microwave absorbing material.In this paper,SiC aerogel was prepared eventually followed by the sol-gel and carbonization reduction process.The results showed that the effective electromagnetic microwave absorption capacity of SiC aerogel was highly increased after being pyrolyzed at 1500℃,which presented a minimum reflection loss value of-57.80 dB at 3.10 mm and 9.86 GHz.Besides,the electromagnetic parameters of SiC aerogel with different paraffin ratios were discussed as well as the varying electromagnetic microwave absorption performances.The minimum reflection loss value first rose then fell as the SiC/paraffin ratio increased,which demonstrated the importance of SiC content.This study establishes the theoretical foundation for the subsequent functional application of SiC aerogel.
基金supported by the Fundamental Research Funds for the Central Universities(Grant Nos.D5000210522 and D5000210517)China Postdoctoral Science Foundation(Grant No.2021M702665)+2 种基金Natural Science Foundation of Shaanxi Province(Grant Nos.2022JQ-482 and 2023-JC-QN-0380)Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2021A1515111155,2022A1515111200 and 2022A1515011191)Basic Research Programs of Taicang(Grant Nos.TC2021JC01,TC2021JC21,and TC2022JC08)。
文摘The well-designed composite with satisfactory electromagnetic microwave absorption at high temperatures remains a serious challenge.Herein,we fabricated a resorcinol-formaldehyde/silica dioxide composite aerogel(RF/SiO_(2))with a three-dimensional network structure using sol-gel,atmospheric pressure drying technique as well as heat-treated processes to achieve enhanced microwave absorption capabilities in the low frequency range.The pristine RF/SiO_(2)aerogel presented a typical micropores structure with a surface area,porous volume,and density of 146.82 m^(2)/g,62.40%,and 0.28 cm^(3)/g,respectively.Remarkably,the RF/SiO_(2)aerogel showed an effective absorption bandwidth of 3.56 GHz and a minimum reflection loss value of-46.10 d B at 2.25 mm after being heat-treated at 1500°C,while the maximum effective absorption bandwidth was 3.60 GHz at 2.30 mm.The intricate three-dimensional networks possessed remarkable impedance matching,multiple attenuation mechanisms,interfacial polarization,and dielectric loss,which were attributed to the exceptional ability to absorb electromagnetic microwaves.It offered a fresh approach to creating adaptable and effective microwave absorption materials in military defense.
基金supported in part by the National Key Laboratory of Air-based Information Perception and Fusion and the Aeronautical Science Foundation of China (Grant No. 20220001068001)National Natural Science Foundation of China (Grant No.61673327)+1 种基金Natural Science Basic Research Plan in Shaanxi Province,China (Grant No. 2023-JC-QN-0733)China IndustryUniversity-Research Innovation Foundation (Grant No. 2022IT188)。
文摘Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.
基金Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller simultaneously.To avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis method.Secondly,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting problem.Since most natural phenomena have nonlinear properties,the direct method must be the better one.Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.
基金supported by National Natural Science Foundation of China (Grant Nos.52072309 and 62303379)Beijing Institute of Spacecraft System Engineering Research Project (Grant NO.JSZL2020203B004)+1 种基金Natural Science Foundation of Shaanxi Province,Chinese (Grant NOs.2023-JC-QN-0003 and 2023-JC-QN-0665)Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities (Grant NO.2022IT189)。
文摘This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.
