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Edge-Assisted Flexible Platooning of Connected and Automated Vehicles Under Traffic Anomaly

IEEE Transactions on Vehicular Technology 2025年

作者： Gao, Fengkun Yang, Bo Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

The platooning of connected and automated vehicles (CAVs) has the great potential to significantly improve travel experience in terms of safety, comfortableness, and energy efficiency. However, constrained by sensing range and prediction accuracy, the performance of CAV platoon can not be guaranteed in the scenario of mixed traffic consisting of CAVs and human-driven vehicles (HDVs). This is not only due to the uncertainty of HDVs but also related to the occurrence of various traffic anomalies, such as emergency braking and accidents. In this paper, we aim to investigate an efficient control strategy to guarantee the operation of the platoon in mixed traffic, especially in the case of traffic anomalies. To tackle the problem, an edge-assisted platoon control strategy, called E-CACC, is proposed. First, an error-aware flexible tracking policy is designed to adapt to HDV uncertainties and speed prediction errors. Based on the tracking policy, a zone model predictive control (ZMPC) method is then designed to guarantee travel safety and avoid undesired acceleration. Further, a coordination strategy of CAV platoon and roadside unit (RSU) is proposed to prevent the platoon from potential collision in the case of traffic anomalies, where an event-based communication trigger is designed to determine whether and when the platoon establishes communication links with RSU to acquire exogenous sensing data of anomaly segment. Finally, the evaluation results illustrate the effectiveness of the proposed method in improving travel safety and comfortableness. © 1967-2012 IEEE.

关键词： Braking performance

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & Robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Safety-critical control with control Barrier Functions: A Hierarchical Optimization Framework

arXiv

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arXiv 2024年

作者： Xie, Junjun Hu, Liang Qin, Jiahu Yang, Jun Gao, Huijun The Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China The Department of Automation University of Science and Technology of China Hefei230085 China The Department of Aeronautical and Automotive Engineering Loughborough University LeicestershireLE11 3TU United Kingdom The Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs), other constraints and nominal control design. However, the constrained optimization framework involves hyper-parameters to tradeoff different objectives and constraints, which, if not well-tuned beforehand, impact system performance and even lead to infeasibility. In this paper, we propose a hierarchical optimization framework that decomposes the multi-objective optimization problem into nested optimization sub-problems in a safety-first approach. The new framework addresses potential infeasibility on the premise of ensuring safety and performance as much as possible and applies easily in multi-certificate cases. With vivid visualization aids, we systematically analyze the advantages of our proposed method over existing QP-based ones in terms of safety, feasibility and convergence rates. Moreover, two numerical examples are provided that verify our analysis and show the superiority of our proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Transportation Mode Identification with GPS Trajectory Data and GIS Information

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Tsinghua Science and Technology 2021年第4期26卷 403-416页

作者： Ji Li Xin Pei Xuejiao Wang Danya Yao Yi Zhang Yun Yue Department of Automation Tsinghua UniversityNational Laboratory for Information Science and Technology(TNList)Tsinghua UniversityBeijing 100084China National Engineering Laboratory for Public Safety Risk Perception and Control by Big Data(NEL-PSRPC) Beijing 100041China

Global Positioning System(GPS) trajectory data can be used to infer transportation modes at certain times and locations. Such data have important applications in many transportation research fields, for instance,to detect the movement mode of travelers, calculate traffic flow in an area, and predict the traffic flow at a certain time in the future. In this paper, we propose a novel method to infer transportation modes from GPS trajectory data and Geographic Information System(GIS) information. This method is based on feature extraction and machine learning classification algorithms. While using GIS information to improve inference accuracy, we ensure that the algorithm is simple and easy to use on mobile devices. Applied to GeoLife GPS trajectory dataset, our method achieves 91.1% accuracy while inferring transportation modes, such as walking, bike, bus, car, and subway, with random forest classification algorithm. GIS features in our method improved the overall accuracy by 2.5% while raising the recall of the bus and subway transportation mode categories by 3.4% and 18.5%. We believe that many algorithms used in detecting the transportation modes from GPS trajectory data that do not utilize GIS information can improve their inference accuracy by using our GIS features, with a slight increase in the consumption of data storage and computing resources.

关键词： transportation mode Global Positioning System(GPS) Geographic Information System(GIS) random forest

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Development of a UAV-based System for Technical Diagnostics of Overhead Power Lines 24

Development of a UAV-based System for Technical Diagnostics ...

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24th International Conference on Computational Problems of Electrical engineering, CPEE 2023

作者： Kozlovskyi, Oleksandr Trushakov, Dmitro Rendzinyak, Serhiy Korud, Vasyl Central Ukrainian National Technical University Department of Electrical Systems and Energy Management Kropyvnytskyi Ukraine Central Ukrainian National Technical University Department of Automation and Control in Technical Systems Kropyvnytskyi Ukraine Ivan Franko National University of Lviv Faculty of Electronics and Computer Technologies Lviv Ukraine Lviv Polytechnic National University Institute of Power Engineering and Control System Lviv Ukraine

ISBN: (纸本)9798350330342

The problems associated with the operation of overhead power lines and ways of improving control over their condition with the help of UAVs are considered. A structural diagram of the system of technical diagnostics of overhead lines based on UAVs was developed, for which the necessary diagnostic parameters were selected according to informative criteria. An analysis of types of UAVs was carried out in order to determine their suitability and efficiency of use for diagnosing the condition of overhead lines. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Studying the Influence of Working Fluid Temperature on the Performance of an Electrohydraulic Servo System in Dynamic Mode

Studying the Influence of Working Fluid Temperature on the P...

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Automatics and Informatics (ICAI), International Conference

作者： Stanimir Yordanov Krasimir Ormandzhiev Georgi Mihalev Krasen Kostov Veselin Mitev Department of Automation Information and Control Systems Technical University of Gabrovo Gabrovo Bulgaria Department of Power Engineering Technical University of Gabrovo Gabrovo Bulgaria

The paper examines the influence of the working fluid temperature on power losses in an electro-hydraulic servo system. The behavior of the system has been investigated under Proportional-Integral (PI) control at different working fluid temperatures and various control setpoints. An Adaptive PID controller has been synthesized, utilizing feedback from sensors to measure various system parameters (such as temperature, pressure, and RPM), and then adapting the parameters of the P, I, and D components of the controller based on this data to achieve optimal regulation.

关键词：

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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A Deep Learning Approach For Faults Recognition of Dissolved Oxygen Sensor in Wastewater Treatment Plants

A Deep Learning Approach For Faults Recognition of Dissolved...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Liliana Maria Ghinea Mihaela Miron Harsha Ratnaweera Department of Automatic Control and Electrical Engineering Department Faculty of Automation Computers Electrical Engineering and Electronics Galați Romania Department of Computer Science and Information Technology Faculty of Automation Computers Electrical Engineering and Electronics Galați Romania Faculty of Science and Technology Norwegian University of Life Sciences Oslo Norway

Fault diagnosis in wastewater treatment plants (WWTPs) is important to protect communities and ecosystems from toxic elements discharged into water. In this sense, fault identification of sensors plays an important role as they are the key components of the water plants control, especially because environmental legislation is very strict when referring to failures or anomalies in WWTPs. This paper analyzes the performances of two Deep Learning models, a Feedforward Neural Network (FFNN) and a 1D Convolution Neural Network (1DCNN) for identifying five operating states of the dissolved oxygen (DO) sensor: normal and faulty (bias, stuck, spike and precision degradation faults). The experiments were conducted on the Benchmark Simulator Model No 2 (BSM2) developed by the IWA Task Group. The performance of the Deep Learning (DL) classifiers was evaluated via accuracy, precision, recall, and F1-score metrics. The best overall classification accuracy was obtained by FFNN, 98.32% for training and 98.30% for testing.

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Thin Film Spectral Measurement System Developed Based on Micro Spectrometer

Thin Film Spectral Measurement System Developed Based on Mic...

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2023 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2023

作者： Tsai, Ciao-Ming Weng, Ting-Wen Kong, Wei-Yi Yang, Chang-Ting Ko, Cheng-Hao National Tsing Hua University Department of Power Mechanical Engineering Hsinchu Taiwan National Taiwan University of Science and Technology Department of Graduate Institute of Automation and Control Taipei Taiwan Industrial Technology Research Institute Research Fellow Department of Material and Chemical Research Laboratories Hsinchu Taiwan

ISBN: (纸本)9798350302714

Thin film technology has wide applications in several fields such as semiconductor manufacturing, biochemical sensors, solar cells and more. However, the instruments used to detect the properties of thin films remain bulky and expensive. In this study, we use a micro spectrometer fabricated using MEMS (Micro-Electro-Mechanical Systems) technology to design a system for thin film spectral measurements. The performance of this measurement system is validated using a quantum dot film. We also measured the interference spectrum of the quantum dot film in a sealed gas chamber environment. A reaction between the film and water vapor was observed, where the adsorption of water vapor by the film resulted in a shift of the interference spectral peak towards a longer wavelength. Regression analysis revealed a strong correlation (R2>0.95) between the wavelength shift of the peak and the relative humidity within the gas chamber. © 2023 IEEE.

关键词： Thin films

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Measurement-Based control for Minimizing Energy Functions in Quantum Systems

arXiv

引用

arXiv 2023年

作者： Clausen, Henrik Glavind Rahman, Salahuddin Abdul Karabacak, Özkan Wisniewski, Rafal Section for Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure that, under a given feedback control law, ensures convergence to the minimum energy eigenstate of a given energy function. By including quantum non-demolition (QND) measurements in the loop, convergence to a pure state can be ensured from an arbitrary mixed initial state. Based on existing results on strict control Lyapunov functions, we formulate a semidefinite optimization problem, whose solution defines a non-unique control Hamiltonian, which is sufficient to ensure almost sure convergence to the minimum energy eigenstate under the given feedback law and the action of QND measurements. A numerical example is provided to showcase the proposed methodology. © 2023, CC BY-NC-ND.

关键词： Hamiltonians

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