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Challenges and possibilities of overtaking strategies for autonomous vehicles

Periodica Polytechnica Transportation engineering 2020年第4期48卷 320-326页

作者： Hegedűs, Tamás Németh, Balázs Gáspár, Péter Department of Control for Transportation and Vehicle Systems Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Stoczek street 2 BudapestH-1111 Hungary Institute for Computer Science and Control Kende street 13-17 BudapestH-1111 Hungary

This paper present three distinct probability-based methods for decision making and trajectory planning layers of overtaking maneuvering functionality for autonomous vehicles. The computation time of the proposed decision-making algorithms may be high, because the number of describing parameters of the traffic situations may vary in a high range. The presented clustering-based, graph-based and dynamic-based methods differ in the complexity of their computation algorithms. Since the decision-making process may require considerable online computation effort, a neural-network-based approach is presented for implementation purposes. © 2020 Budapest University of Technology and Economics. All rights reserved.

关键词： Decision making

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Eight Become One: the EURECA-PRO University Network

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BHM Berg- und Huttenmannische Monatshefte 2022年第10期167卷 462-471页

作者： Kircher, Volkmar Feiel, Susanne Bongaerts, Jan C. Sishchuk, Julia Drebenstedt, Carsten Lagoudakis, Michail Fragkedaki, Konstantina García-Llamas, Paula Suárez-Corona, Adriana Fernández-Raga, María Baelo-Álvarez, Roberto Górski, Marcin Pawelczyk, Marek Hochstein, Synnöve Walter, Stefanie Speck, Maria Ravas, Oana Van Hellemont, Elke Vancauwenbergh, Sadia Resources Innovation Center Leoben Montanuniversität Leoben Leoben Austria Public Relations Office International Relations and University Cooperation Montanuniversität Leoben Leoben Austria Faculty of Business Administration Technische Universität Bergakademie Freiberg Freiberg Germany EURECA-PRO Head of work package education and studies Technische Universität Bergakademie Freiberg Freiberg Germany EURECA-PRO Head of educational council Technische Universität Bergakademie Freiberg Freiberg Germany School of Electrical and Computer Engineering Technical University of Crete Chania Greece EURECA-PRO European University Technical University of Crete Chania Greece Department of General and Specific Didactics and Educational Theory University of León Leon24071 Spain Department of Mathematical Sciences Universidad de León León24071 Spain Department of Applied Physics University of León León24071 Spain Faculty of Civil Engineering Silesian University of Technology Gliwice Poland Department of Measurements and Control Systems Silesian University of Technology Gliwice Poland Fakultät Medien Hochschule Mittweida Mittweida Germany International Relation Office University of Petroşani Petroşani Romania Rector’s Office Hasselt University Hasselt Belgium Directorate Research Library and Internationalisation Hasselt University Hasselt Belgium

The United Nations Sustainable Development Goal 12 is the foundation of the European University on Responsible Consumption and Production consortium (EURECA-PRO). This article introduces the eight EURECA-PRO partner universities: Montanuniversität Leoben (Austria), Technische Universität Bergakademie Freiberg (Germany), Technical University of Crete (Greece), University of León (Spain), Silesian University of Technology (Poland), Mittweida University of Applied Sciences (Germany), University of Petroşani (Romania), and Hasselt University (Belgium). In addition, each university’s role within the alliance and unique research and study programmes are outlined. The synergy created by EURECA-PRO enables the pursuit of an ambitious research agenda with five research "Lighthouse Missions" as well as the implementation of joint study programmes. © 2022, The Author(s).

关键词： Sustainable development

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Network Analysis Identifies Circulating miR-155 as Predictive Biomarker of Type 2 Diabetes Mellitus Development in Obese Patients: A Pilot Study

Journal of Liquid Biopsy, The

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Journal of Liquid Biopsy, The 2023年 1卷 100070-100070页

作者： Catanzaro, G. Conte, F. Trocchianesi, S. Splendiani, E. Bimonte, V. D'Antonio, F. Paci, P. Morano, S. Migliaccio, S. Ferretti, E. Department of Experimental Medicine Sapienza University of Rome Rome Italy Institute for Systems Analysis and Computer Science "A. Ruberti" (IASI) National Research Council (CNR) Rome Italy Department of Movement Human and Health Sciences University of Foro Italico Rome Italy Department of Computer Control and Management Engineering Sapienza University Rome Italy

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Compositional Synthesis of Symbolic Models for Infinite Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1868-1873页

作者： Abdalla Swikir Navid Noroozi Majid Zamani Department of Electrical and Computer Engineering Technical University of Munich Germany Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany Computer Science Department University of Colorado BoulderUSA. Institute of Informatics Ludwig Maximilian University Munich Germany

In this paper, we provide a compositional method for the construction of symbolic models (a.k.a. finite abstractions) for infinite networks of discrete-time control systems. The concrete infinite network and its symbolic model are related by a so-called alternating simulation function which allows one to quantify the mismatch between the output behavior of the infinite interconnection of concrete subsystems and that of their symbolic models. We show that such an alternating simulation function can be obtained compositionally by assuming some small-gain type conditions and composing so-called local alternating simulation functions constructed for subsystems. Assuming certain stability property of concrete subsystems, we also provide a technique to synthesize their symbolic models together with their corresponding local alternating simulation functions. Finally, we apply our results to a traffic network divided into infinitely many cells.

关键词： Compositionality interconnected systems small-gain condition infinite networks symbolic models

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Challenges and problems in the design of smart intersections 16

Challenges and problems in the design of smart intersections

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16th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2018

作者： Szőcs, Dávid Németh, Balázs Department of Control for Transportation and Vehicle Systems Faculty of Transportation Engineering and Vehicle Engineering Budapest University of Technology and Economics Budapest Műegyetem rkp. 3. Hungaryr BudapestH-1111 Hungary Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

The main goal of the project is to assure a collusion-free passage through the intersection in the shortest possible traveling time. Firstly, the order of the incoming vehicle is proposed. Using the mentioned order, a nonlinear optimization method is proposed, with the minimum traveling time of the participants, without their collusion is guaranteed. Based on the optimized result a database is created. The second part of the optimization uses this database to solve an another type of problem, when the vehicles steps in the intersection at different moment. Also mentionable the correct choosing of initial values in this part, because it has influence to the degree of optimization. After that, most of the situations can be solved, even if the vehicles have different step-in-time parameters. © 2019 Budapest University of Technology and Economics. All rights reserved.

关键词： Global optimization

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Deep learning-aided model predictive control of wind farms for AGC considering the dynamic wake effect

arXiv

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arXiv 2020年

作者： Chen, Kaixuan Lin, Jin Qiu, Yiwei Liu, Feng Song, Yonghua State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing100087 China Department of Electrical and Computer Engineering University of Macau 999078 China

To provide automatic generation control (AGC) service, wind farms (WFs) are required to control their operation dynamically to track the time-varying power reference. Wake effects impose significant aerodynamic interactions among turbines, which remarkably influence the WF dynamic power production. The nonlinear and high-dimensional nature of dynamic wake model, however, brings extremely high computation complexity and obscure the design of WF controllers. This paper overcomes the control difficulty brought by the dynamic wake model by proposing a novel control-oriented reduced order WF model and a deep-learning-aided model predictive control (MPC) method. Leveraging recent advances in computational fluid dynamics (CFD) to provide high-fidelity data that simulates WF dynamic wake flows, two novel deep neural network (DNN) architectures are specially designed to learn a dynamic WF reduced-order model (ROM) that can capture the dominant flow dynamics. Then, a novel MPC framework is constructed that explicitly incorporates the obtained WF ROM to coordinate different turbines while considering dynamic wake interactions. The proposed WF ROM and the control method are evaluated in a widely-accepted high-dimensional dynamic WF simulator whose accuracy has been validated by realistic measurement data. A 9-turbine WF case and a larger 25-turbine WF case are studied. By reducing WF model states by many orders of magnitude, the computational burden of the control method is reduced greatly. Besides, through the proposed method, the range of AGC signals that can be tracked by the WF in the dynamic operation is extended compared with the existing greedy controller. Copyright © 2020, The Authors. All rights reserved.

关键词： Model predictive control

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Fast Monte Carlo Simulation of Dynamic Power systems under Continuous Random Disturbances

arXiv

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arXiv 2020年

作者： Qiu, Yiwei Lin, Jin Chen, Xiaoshuang Liu, Feng Song, Yonghua State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing100084 China Department of Electrical and Computer Engineering University of Macau 999078 China

—Continuous-time random disturbances from the renewable generation pose a significant impact on power system dynamic behavior. In evaluating this impact, the disturbances must be considered as continuous-time random processes instead of random variables that do not vary with time to ensure accuracy. Monte Carlo simulation (MCs) is a nonintrusive method to evaluate such impact that can be performed on commercial power system simulation software and is easy for power utilities to use, but is computationally cumbersome. Fast samplings methods such as Latin hypercube sampling (LHS) have been introduced to speed up sampling random variables, but yet cannot be applied to sample continuous disturbances. To overcome this limitation, this paper proposes a fast MCs method that enables the LHS to speed up sampling continuous disturbances, which is based on the Itô process model of the disturbances and the approximation of the Itô process by functions of independent normal random variables. A case study of the IEEE 39-Bus System shows that the proposed method is 47.6 and 6.7 times faster to converge compared to the traditional MCs in evaluating the expectation and variance of the system dynamic response. Copyright © 2020, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Automated Injuries Classification on Postmortem Images: A Deep Learning Approach with Different Neural Networks Architectures

SSRN

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SSRN 2023年

作者： Kalinowska, Kamila Barbara Zawieska, Dorota Puchala, Sebastian Markiewicz, Jakub Stefan Kot, Patryk Wilkowski, Artur Krajewski, Pawel Fudalej, Marcin Soltyszewski, Ireneusz Department of Photogrammetry Remote Sensing and Spatial Information Systems Warsaw University of Technology Politechniki 1 Square Warsaw00-661 Poland Institute of Computer Science Warsaw University of Technology Politechniki 1 Square Warsaw00-661 Poland Research Institute Liverpool John Moores University Byrom Street LiverpoolL3 3AF United Kingdom Institute of Control and Computation Engineering Warsaw University of Technology Politechniki 1 Square Warsaw00-661 Poland Forensic Medicine Department Medical University of Warsaw 61 Żwirki and Wigury Street Warsaw02-091 Poland

The paper discusses a deep learning approach for automatically detecting the two most important classes of injuries (bruises and abrasions) with the use of semantic segmentation. First, a dataset of postmortem images of injuries is completed and fitting data pre-processing, and annotation methods for algorithm training and evaluation are developed. Second, end-to-end U-Net, FPN and LinkNet semantic segmentation network-based injuries detection algorithms are implemented on EfficientNetB3 and ResNet50 backbones. Third, an optimisation strategy for the network is employed to improve the algorithm's detection performance based on the data features of injuries. This technique entails data augmentation utilising a custom loss function and a combination of image transformation and class balancing. The experimental results demonstrated promising performance with high sensitivity and specificity for our best model called TIPPI (92,7% and 98,9%, respectively). TIPPI may be used to automatically analyse postmortem images. © 2023, The Authors. All rights reserved.

关键词： Metadata

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Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions

Visual Coverage Maintenance for Quadcopters Using Nonsmooth ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Riku Funada María Santos Takuma Gencho Junya Yamauchi Masayuki Fujita Magnus Egerstedt Department of Aerospace Engineering and Engineering Mechanics The University of Texas Austin TX USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for preventing the appearance of holes in-between the fields of views among trios of robots. Because this condition can be expressed as logically combined constraints, control nonsmooth barrier functions are implemented to enforce it. An algorithm which extends control nonsmooth barrier functions to hybrid systems is implemented to manage the switching among barrier functions caused by the changes of the robots composing trio. The performance and validity of the proposed algorithm are evaluated in simulation as well as on a team of quadcopters.

关键词： Visualization Monitoring Robot sensing systems Switches Space missions

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Barrier lyapunov function-based fixed-time FTC for high-order nonlinear systems with predefined tracking accuracy

Research Square

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Research Square 2021年

作者： Wang, Xiaolin Xu, Jihui Lv, Maolong Zhang, Lei Zhao, Zilong Department of Equipment Management UAV Engineering College Air Force Engineering University Shaanxi Xi’an710051 China Delft Center for Systems and Control Delft University of Technology Mekelweg 2 Delft2628 CD Netherlands Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Van Mourik Broekmanweg 6 Delft2628 XE Netherlands

This article proposes a fixed-time adaptive fault-tolerant control methodology for a larger class of high-order nonlinear systems subject to full-state constraints and actuator faults. In contrast with the state-of-the-art results, the distinguishing feature of our control design consists in proposing a novel high-order tan-type barrier Lyapunov function (BLF) which ensures state variables to be some asymmetric time-varying compact sets under tan-type constraints and expands the application range of tan-type BLF (i.e., from low-order to high-order, from symmetric time-invariant to asymmetric time-varying). Apart from this, the proposed control design ensures the tracking errors converge to specified residual sets within fixed-time and makes the size of the convergence regions of tracking errors adjustable a priori by means of a new BLF-based tuning function and a projection operator. A variable-separable lemma is delicately embedded into the control design to extract the control terms in a linear-like fashion which not only overcomes the difficulty that virtual control signals appear in a non-affine manner, but also solves the problem of actuator faults. Comparative simulations results finally validate the effectiveness of the proposed scheme. © 2021, CC BY.

关键词： Lyapunov functions

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