Abstract
This paper addresses the tracking problem of the state variables of a nonlinear planar dynamic model of an overactuated electric vehicle with four-wheel independent drive (4WID) topology. In order to track the state variables of the system it is proposed a new sliding mode controller based on a nonlinear planar model. The controller explores the overactuated system in order to redistribute the control effort to the remaining actuators when a fault occurs. Although the system has multiple solutions due to the access of the torque applied in each wheel independently, there could be particular fault events where the remaining healthy actuators may not be able to maintain the system stability. In those particular cases the inclusion of the steering control variable is an important advantage as it allows the controller to manipulate the control effort in any directions. The proposed controller is validated in various driving scenarios with different fault schemes. The simulations are carried out with a high-fidelity vehicular model provided by the simulation software Carsim in co-simulation with Matlab/Simulink.

Abstract
This paper presents a method that allows mobile devices to be globally self-localised in indoor localisation systems by transmitting to them data from position reference anchors. The objective is to establish a reliable one-way down-link communication through signals used in the localisation process in a typically strong fading and multipath channel environment. This is accomplished by using signal processing techniques, including coding and forward error correction, to transmit data using a specific transmission control protocol. Experimental results, using audio as the signal between anchors and the mobile device, demonstrate successful data transmission in realistic scenarios like a common noisy and reverberant room. Spread spectrum noise-like masked signals 49 dB below background noise were sufficient to attain correct data reception at four metres distance between a loudspeaker anchor and a mobile device's microphone.

Abstract
Modern electric vehicles are most often designed with actuator redundancy and in-wheel propulsion, a combination that appears particularly suitable for the design of motion controllers that can optimally blend multiple objectives, such as dynamic, safety and driver-oriented. This paper considers such a technological setting and concentrates on the design of a path-following algorithm with minimum-time features, with the aim of combining performance and energy-oriented optimization of the vehicle motion. Specifically, an approximate minimum-time trajectory is obtained by appropriate convexification of the resulting optimization problem. The effectiveness of the approach is assessed by means of simulation tests carried out on the CarSim vehicle simulation environment.

Abstract
This study presents a scheme to detect and isolate faults in over-actuated electric vehicles. Although this research work is still emerging, it already provides a view of the main challenges on the problem and discusses some possible approaches that can be useful to overcome the key difficulties. This paper intends to present a fault detection algorithm based on Unknown Input Observer (UIO). The residuals are built through the difference of signals between the measured outputs and the output estimations from the observer. The main idea is to detect fault in the electric motors and steering wheel actuator. The algorithm is presented and tested with some fault scenarios using the co-simulation tool between Simulink/MATLAB and the high-fidelity model from Carsim software.

Abstract
This paper presents a new approach to an audio-based indoor localization system. By using audio signals emitted by a public address sound system, mobile devices may globally localize themselves in an indoor environment where global navigation satellite systems are not viable or reliable. The use of data hiding techniques such as spread spectrum coding or echo hiding has allowed to convey information to a receiver avoiding people’s perception of the added audio content. Results demonstrate a relatively quite good localization with centimetre accuracy and precision and successful data transmission using barely perceptible audio signals.

Abstract
The automation of road vehicles has become a necessity to improve the efficiency and safety of this system. In a vehicle formation it is important to maintain a safety distance between the vehicles. The control of a vehicle spacing distance and longitudinal velocity can be achieved through the implementation of a model-based predictive controller. This implementation of a cooperative adaptive cruise control allows the access of another vehicle state information through vehicular communication technology and promote state prediction and ultimately system stability. The optimization algorithm performs the computation of the control input in a control horizon window and ensures that the spacing error takes only positive values. The results of the proposed controller are evaluated through the computational tool Simulink in the two-vehicle platoon. The controller is implemented in the precedent vehicle. To assess the performance of the proposed controller different control parameters and constraints were used.