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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Navigation strategy for a quadruped robot on soft flat ground

Navigation strategy for a quadruped robot on soft flat groun...

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作者： Ikeda, Masaaki Izumi, Kiyotaka Watanabe, Keigo Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Okayama University Okayama Japan

ISBN: (纸本)9781424474530

Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII. ©ICROS.

关键词： Mobile robots

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Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

Evaluating fuzzy voice commands by user guided visual attent...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Buddhika, A.G. Jayasekara, P. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784907764296

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as "very little." The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as "move carefully." A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used. © 2009 SICE.

关键词： Fuzzy logic

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An underactuated control for VTOL aerial robots with four rotors via a chained form transformation

An underactuated control for VTOL aerial robots with four ro...

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作者： Tanaka, Kouki Watanabe, Keigo Izumi, Kiyotaka Okamura, Kensaku Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288020

We present a new control strategy for a VTOL aerial robot. A kinematics control law is derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is shown to demonstrate the effectiveness of our approach. ©ISAROB 2008.

关键词： Antennas

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control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Control of three-link underactuated manipulators using a swi...

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作者： Ichida, Keisuke Izumi, Kiyotaka Watanabe, Keigo Uchida, Nobuhiro Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

In general, manipulators used for industry and academic laboratory have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it needs to design parameters related to energy regions and gains of some partly stable controllers based on the computed torque method. The switching method is here applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. ©ISAROB 2007.

关键词： Manipulators

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Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Central pattern generators based on Matsuoka oscillators for...

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作者： Liu, Guang Lei Habib, Maki K. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention to generate rhythmic motion for biped robots that resemble human-like locomotion. This paper describes the design of a neural oscillator based gait rhythm generator using a network of Matsuoka oscillators to generate a walk pattern for biped robots. This includes proper consideration of oscillator's parameters, such as a time constant adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The paper examines the characteristics of a CPG network with six oscillators and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possibilities of inhibitions and excitations. The kinematics and dynamic of a five-link biped robot has been modeled and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG based control strategy are implemented and tested through simulation. ©ISAROB 2007.

关键词： Machine design

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Improvement of group performance of job distributed mobile robots by emotionally biased control system

Improvement of group performance of job distributed mobile r...

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作者： Banik, Sajal Chandra Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

This paper deals with the implementation of emotions in mobile robots performing a specified task in a group to develop intelligent behavior and easier form of communication. The overall group performance depends on the individual performance, group communication and synchronization of cooperation. With the emotional capability, each robot can distinguish the changed environment, can understand colleague robot's state, enables adaptation and reacts with changed world. The adaptive behavior of a robot is derived from the dominating emotion in an intelligent manner. In our control architecture, emotion plays a role to select the control precedence among the alternatives like behavior modes, cooperation plans and goals. Emotional interaction is happened among the robots and a robot is biased by the emotional state of the colleague robot in performing task. Here emotional control is used for better understanding to read the colleague's internal state, for faster communication and better performance eliminating dead time. ©ISAROB 2007.

关键词： Multi agent systems

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Automatic detection of apnea and EEG arousals for sleep apnea syndrome

Automatic detection of apnea and EEG arousals for sleep apne...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Matsuoka, Genya Sugi, Takenao Kawana, Fusae Nakamura, Masatoshi Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Electrical and Electric Engineering Saga University Saga Japan Department of Clinical Physiology Toranomon Hospital Tokyo Japan

ISBN: (纸本)9784907764296

Sleep apnea/hypopnea syndrome (SAHS) is one of serious sleep disorders. EEG arousals due to the apnea hypopnea are frequently appeared in polysomnographic (PSG) record in patients with SAHS. Tn this study, the method for detecting EEG arousals and apnea interval in PSG record was proposed for supporting visual inspection to classify respiratory levels and EEG arousals. Two threshold values were established for classi fying the sleep apnea conditions and threshold values for detecting EEG arousals were then determined according to the results of apnea interval detection. Proposed automatic detection method will be an effective for diagnosis support system. © 2009 SICE.

关键词： Sleep research

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Voice-based control of a robotic forceps by using displayed image and auxiliary information

Voice-based control of a robotic forceps by using displayed ...

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作者： Watanabe, Keigo Tokunaga, Takuya Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288037

A method of using an image related to three-dimensional movement and of auxiliary information is proposed for controlling a robotic forceps with voice instructions, where information on the tip-position in three-dimension and on the distance of the previous movement is viewed as the auxiliary one. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realize a user-friendly interface. ©ISAROB 2009.

关键词： Membership functions

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A computational model of emotion through the perspective of benevolent agents for a cooperative task

A computational model of emotion through the perspective of ...

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ISBN: (纸本)9784990288020

This paper deals with a computational model of emotions and its application for cooperative benevolent agents. A stochastic emotion model based on Markov theory is adapted to perform their well organized tasks to achieve goal. The emotional model consists of four basic emotions: joy, anger, fear and sad. Different emotional behavior is obtained by updating the state transition matrix of stochastic model. Perception of stimuli has an impact on emotion inducing factors and thus, affects on emotion dynamics. With the developed model, a Matlab based simulation is performed to analyze the behavior of the agents with the emotional capability. ©ISAROB 2008.

关键词： Stochastic models

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