检索结果-内蒙古大学图书馆

Set-based Scheduling for Highway Entry of Autonomous Vehicles ⁎

IFAC-PapersOnLine 2020年第2期53卷 15396-15403页

作者： Jan Eilbrecht Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

This paper proposes a framework for generation of collision-free reference trajectories in a cooperative multi-agent setting. The approach is hierarchical: a high-level controller schedules groups of cooperating agents, for which trajectories are then determined by a lower-level trajectory planner. Admissible behaviors of a cooperative group are encoded by so-called maneuvers, which are modeled by hybrid automata. This allows to plan trajectories by solving hybrid optimal control problems. controllable sets characterize the solution sets of these problems and are used for quick assessment of feasibility prior to planning. This enables the high-level controller to quickly assess the feasibility of different maneuver options and cooperative groups. Special emphasis is put on safety and feasibility of the framework. The efficacy of the approach is demonstrated by simulation of a highway entry scenario for autonomous vehicles.

关键词： Coordinating control Autonomous Systems Autonomous Driving Scheduling Hybrid Systems Integrated Traffic Management

来源：评论

学校读者我要写书评

暂无评论

Functional Simulation of automotive Lidar and Camera Sensors

Functional Simulation of automotive Lidar and Camera Sensors

引用

AmE 2020 - Automotive meets Electronics;11th GMM-Symposium

作者： Katharina Bartsch Niklas Stannartz Manuel Schmidt Torsten Bertram TU Dortmund University Institute of Control Theory and Systems Engineering

ISBN: (纸本)9783800752027

This paper presents a method to simulate various automotive sensors based on functional properties. An extraction of the road users in the surroundings is determined by Deep Learning based object detectors to generate a sufficient perception of the vehicle environment. Simultaneously, it is important that the data processing runs in real time and with a high detection accuracy to ensure a safe maneuvering of the vehicle. For this reason the object detectors considered in this paper are the single shot multibox detector with MobileNet as base network for image processing and the Sparsely Embedded Convolutional Detection detector for lidar point clouds. The dataset used for the evaluation is KITTI. The detection accuracies for different object distances are investigated and compared. To create a functional simulation for the different sensor systems, the evaluation of the object detection for various sensor types is used to model the respective sensor behavior and its properties. The modeled object detectors are evaluated with respect to the detection accuracies of the real detectors. These sensor models can then be used in simulations for different sensor topologies.

关键词： detector Sensors simulating Object detection Lidar Road users Sensor systems vehicle Automotive sensors automotive engineering

来源：评论

学校读者我要写书评

暂无评论

Confinement and Collective Escape of Active Particles

引用

Physical Review Letters 2022年第10期128卷 108001-108001页

作者： Igor S. Aranson Arkady Pikovsky Departments of Biomedical Engineering Chemistry and Mathematics Penn State University University Park Pennsylvania 16802 USA Institute for Physics and Astronomy University of Potsdam Karl-Liebknecht-Strasse 24/25 14476 Potsdam-Golm Germany Department of Control Theory Nizhny Novgorod State University Gagarin Avenue 23 606950 Nizhny Novgorod Russia

Active matter broadly covers the dynamics of self-propelled particles. While the onset of collective behavior in homogenous active systems is relatively well understood, the effect of inhomogeneities such as obstacles and traps lacks overall clarity. Here, we study how interacting, self-propelled particles become trapped and released from a trap. We have found that captured particles aggregate into an orbiting condensate with a crystalline structure. As more particles are added, the trapped condensates escape as a whole. Our results shed light on the effects of confinement and quenched disorder in active matter.

关键词： Clustering Collective behavior Coupled oscillators Dissipative dynamics Flocking Spatiotemporal chaos Swarming Synchronization transition Active matter Theories of collective dynamics & active matter

来源：评论

学校读者我要写书评

暂无评论

A Small-Gain Approach for Three-Dimensional Integrated Guidance and control in Pursuit-Evasion Games

A Small-Gain Approach for Three-Dimensional Integrated Guida...

引用

第32届中国控制与决策会议

作者： Han Yan Mingzhe Hou Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Center for Control Theory and Guidance Technology Harbin Institute of Technology

A three-dimensional（3 D） integrated guidance and control（IGC） design approach for pursuit-evasion game is proposed by using small-gain theorem in this *** 3 D IGC model is formulated by combining nonlinear pursuer（missile） dynamics with nonlinear dynamics describing pursuit-evasion ***-gain theorem and input-to-state stability（ISS） theory are iteratively utilized to design virtual controls（desired attack angle,sideslip angle and attitude angular rates）,and eventually an IGC law is *** is proven that,with the proposed IGC law,the stability of the overall system can be guaranteed,and the line-of-sight（LOS） rate converges into a small neighborhood of zero as *** algorithm is also tested by using computer simulations against a maneuvering evader.

关键词： Integrated guidance and control Small-gain theorem Input-to-state stability Robustness

来源：评论

学校读者我要写书评

暂无评论

Eminent destruction of organics and pathogens concomitant with power generation in a visible light-responsive photocatalytic fuel cell with NiFe2O4/ZnO pine tree-like photoanode and CuO/Cu2O nanorod cathode

引用

Chemosphere 2023年 344卷

作者： Lam, Sze-Mun Sin, Jin-Chung Warren Tong, Meng Wei Zeng, Honghu Li, Haixaing Huang, Liangliang Lin, Hua Lim, Jun-Wei College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541004 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China Faculty of Engineering and Green Technology Universiti Tunku Abdul Rahman Jalan Universiti PerakBandar Barat Kampar31900 Malaysia HICoE-Centre for Biofuel and Biochemical Research Institute of Self-Sustainable Building Department of Fundamental and Applied Sciences Universiti Teknologi PETRONAS Perak Darul Ridzuan Seri Iskandar32610 Malaysia Department of Biotechnology Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India

Environmental conservation and energy scarcity have become two core challenges with the ever-increasing advancement of industry, particularly chemical energy rich wastewater comprising refractory organics and pathogenic microbes. Here, a multifunctional photocatalytic fuel cell (PFC) was devised using NiFe2O4 nanoparticle-loaded on pine tree-like ZnO/Zn (NiFe2O4/ZnO/Zn) photoanode and CuO/Cu2O nanorods-loaded on Cu (CuO/Cu2O/Cu) cathode for extracting electricity upon wastewater treatment. When fed with Rhodamine B (RhB) dyestuff, the NiFe2O4/ZnO/Zn-PFC provided the maximum power density (Pmax) of 0.539 mW cm−2 upon visible light irradiation with an average RhB degradation of 85.2%, which were 2.8 and 2.7 times higher than ZnO/Zn, respectively. The remarkable enhanced NiFe2O4/ZnO/Zn-PFC performance was owing to the synergistic effect of pine tree-like structure and Z-scheme heterostructure. The pine tree-like with high surface area was not only for effective harnessing photon energies but also provided more directional routes for rapid segregation and transport of carriers and higher interface contacting areas with electrolyte. Through a series of systematic characterizations, the Z-scheme heterostructure mechanism of the system and organics degradation pathway were also speculated. Additionally, the performance of the NiFe2O4/ZnO/Zn-PFC in industry printing wastewater showed Pmax of 0.600 mW cm−2, which was considerably impressive as real wastewater was challenging to accomplish. The phytotoxicity outcome also manifested that the comprehensive toxicity of RhB was eradicated after PFC treatment. Lastly, the excellent recyclability and the pronounced bactericidal effect towards Escherichia coli and Staphylococcus aureus were other attributions which enabled the NiFe2O4/ZnO/Zn-PFC for possible practical application. © 2023 Elsevier Ltd

关键词： Zinc oxide

来源：评论

学校读者我要写书评

暂无评论

Knowledge-aware Graph Transformer for Pedestrian Trajectory Prediction

Knowledge-aware Graph Transformer for Pedestrian Trajectory ...

引用

International Conference on Intelligent Transportation

作者： Yu Liu Yuexin Zhang Kunming Li Yongliang Qiao Stewart Worrall You-Fu Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China School of Automation Guangdong Polytechnic Normal University Guangzhou China Australian Centre for Field Robotics The University of Sydney NSW Australia Australian Institute for Machine Learning The University of Adelaide SA Australia Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities SUSTech Shenzhen China

Predicting pedestrian motion trajectories is crucial for path planning and motion control of autonomous vehicles. Accurately forecasting crowd trajectories is challenging due to the uncertain nature of human motions in different environments. For training, recent deep learning-based prediction approaches mainly utilize information like trajectory history and interactions between pedestrians, among others. This can limit the prediction performance across various scenarios since the discrepancies between training datasets have not been properly incorporated. To overcome this limitation, this paper proposes a graph transformer structure to improve prediction performance, capturing the differences between the various sites and scenarios contained in the datasets. In particular, a self-attention mechanism and a domain adaption module have been designed to improve the generalization ability of the model. Moreover, an additional metric considering cross-dataset sequences is introduced for training and performance evaluation purposes. The proposed framework is validated and compared against existing methods using popular public datasets, i.e., ETH and UCY. Experimental results demonstrate the improved performance of our proposed scheme.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Driver State Regulation via Real-Time Neurofeedback in Partially Automated Driving

Driver State Regulation via Real-Time Neurofeedback in Parti...

引用

International Conference on Intelligent Transportation

作者： Khazar Dargahi Nobari Katharina Bartsch Franz Albers Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

Improving driver performance in critical driving situations is the key to increased road safety. In SAE Level 3 of automation, the driver is retained as a fallback in critical situations. Once the system reaches its limits, the distracted driver must overtake the driving task and is responsible for the present and upcoming situations. This contribution proposes a new method to impact driver performance by regulating the driver's arousal level. The arousal level of the driver is determined by detecting the driver's brain activity, and proper auditory feedback is issued to reduce the arousal towards the optimal value. The suggested approach utilizes neurofeedback to downregulate the driver's arousal via self-regulation in critical driving situations. The results show that the proposed neurofeedback supports the drivers to self-regulate their arousal during simple and difficult driving tasks and reach the optimal arousal level. The proposed approach is especially helpful in driving intervals with high criticality where the driver has to consecutively make decisions and react under demanding conditions.

关键词： Vehicles Task analysis Feedback amplifiers Manuals Electroencephalography Roads Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Interaction-Aware Trajectory Prediction based on a 3D Spatio-Temporal Tensor Representation using Convolutional-Recurrent Neural Networks 31

Interaction-Aware Trajectory Prediction based on a 3D Spatio...

引用

31st IEEE Intelligent Vehicles Symposium, IV 2020

作者： Kruger, Martin Novo, Anne Stockem Nattermann, Till Bertram, Torsten Zf Group Department of Automated Driving and Integral Cognitive Safety Düsseldorf40547 Germany Institute of Control Theory and Systems Engineering Tu Dortmund University Dortmund44227 Germany

Predicting the future trajectories for all vehicles relevant to the ego vehicle is a crucial, yet unsolved challenge to master automated driving. This paper proposes a combination of two lines of research for predicting all the trajectories of a group of vehicles of arbitrary size, considering the mutual interactions possible. Treating the prediction of other vehicles as a planning task for themselves enables the application of the artificial potential field approach. Modeling the driving situation as a potential field turns the trajectory prediction problem back to its original domain - utility space. Humans generate trajectories (that should be predicted) during driving by balancing costs and rewards, which lead to a total utility. The main difficulty inherent to the potential field approach is the hard problem of parameter tuning. Therefore, it is not directly used for prediction. Instead, the potential field representation is used as input for a neural network, which predicts a distribution over trajectories based on distinct maneuvers. This allows a multi-modal prediction for each vehicle and reflects the pattern recognition character. © 2020 IEEE.

关键词： Vehicles

来源：评论

学校读者我要写书评

暂无评论

Single Degree of Freedom Model Predictive control with Variable Horizon

Single Degree of Freedom Model Predictive Control with Varia...

引用

American control Conference

作者： Artemi Makarow Christoph Rosmann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper proposes a sampling-based model predictive control scheme with a single degree of freedom in control. A variable horizon and stabilizing terminal conditions ensure recursive feasibility, asymptotic stability, and improvement of the closed-loop performance. The initial derivation leads to a computationally demanding mixed-integer nonlinear programming problem. To address this issue, the paper presents an algorithm that seeks the optimal horizon while rolling out a finite number of control input candidates. The proposed derivative-free optimization even finds the control invariant terminal set online at reasonable computational overhead. The approach is straightforward to implement and aims for fast, albeit small-scale systems. A comparative analysis with a fixed-horizon scheme and standard model predictive control on a nonlinear benchmark system shows high closed-loop performance with low computational effort.

关键词： Asymptotic stability Optimization Nonlinear systems Trajectory Predictive control Benchmark testing Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Model Predictive control of the Vertical Gradient Freeze Crystal Growth Process

引用

IFAC-PapersOnLine 2021年第6期54卷 218-225页

作者： Stefan Ecklebe Tom Buchwald Patrick Rüdiger Jan Winkler Institute of Control Theory Technische Universität Dresden 01062 Dresden Germany Institute of Traffic Engineering Brandenburg University of Technology Cottbus-Senftenberg 03046 Cottbus Germany Institute of Natural Materials Technology Technische Universität Dresden 01062 Dresden Germany

This contribution presents the application of nonlinear model predictive control to the Vertical Gradient Freeze crystal growth process. Due to the time-varying spatial extent of the crystal and melt during growth, this process is characterised by two coupled free boundary problems that form a so called two-phase Stefan problem which is of nonlinear nature. To apply model predictive control to this process, a simplified, spatially distributed representation of the system is derived and transferred into a spatially lumped form by means of the finite element method. For this model, a nonlinear control problem is formulated, that takes process limitations into account and tries to satisfy different quality objectives by formulating demands on the systems spatiotemproal temperature distribution. This provides the foundation for the presented predictive control design. Finally, the approximated model and the controller are verified for different real-world scenarios that include model errors and parameter uncertainties.

关键词： Vertical Gradient Freeze Two-phase Stefan problem Distributed parameter systems Free boundary value problem Nonlinear control systems Predictive control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：