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Decision-Making in Driver-Automation Shared control:A Review and Perspectives

IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1289-1307页

作者： Wenshuo Wang Xiaoxiang Na Dongpu Cao Jianwei Gong Junqiang Xi Yang Xing Fei-Yue Wang IEEE California PATH University of CaliforniaBerkeleyCA 94720 USA Department of Engineering University of CambridgeCambridge CB21PZU.K. Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L3G1Canada Department of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Research Center for Military Computational Experiments and Parallel Systems TechnologyNational University of Defense TechnologyChangsha 410073China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to *** human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making *** interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of *** open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared ***,we give a further discussion on the key future challenges and *** are likely to shape new potential research directions.

关键词： Automated vehicle decision-making human driver human-vehicle interaction shared control

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Parallel Distance: A New Paradigm of measurement for Parallel Driving

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1169-1178页

作者： Teng Liu Hong Wang Bin Tian Yunfeng Ai Long Chen the Vehicle Intelligence Pioneers Inc. Qingdao 266109 the Department of Automotive Engineering Chongqing UniversityChongqing 400044China the Mechanical and Mechatronics Engineering Department Waterloo UniversityN2L 3G1Canada the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510006China

In this paper, a new paradigm named parallel distance is presented to measure the data information in parallel driving system. As an example, the core variables in the parallel driving system are measured and evaluated in the parallel distance framework. First, the parallel driving 3.0 system included control and management platform, intelligent vehicle platform and remote-control platform is introduced. Then,Markov chain(MC) is utilized to model the transition probability matrix of control commands in these systems. Furthermore, to distinguish the control variables in artificial and physical driving conditions, different distance calculation methods are enumerated to specify the differences between the virtual and real signals. By doing this, the real system can be guided and the virtual system can be im-proved. Finally, simulation results exhibit the merits and multiple applications of the proposed parallel distance framework.

关键词： Artificial and physical system parallel distance parallel driving 3.0 parallel system rotational and accelerator signal

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The 110kV Live-Maintaining Robot control System Design for Substation Equipment in complex Working Conditions 42

The 110kV Live-Maintaining Robot Control System Design for S...

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42nd Chinese control Conference, CCC 2023

作者： Hu, Chenyu Chen, Xin Li, Chengyu Huang, Guangxian Zhou, Cheng Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Future Technology China University of Geosciences Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Distribution Department Xianning437000 China State Grid Hubei Electric Power Co. Ltd Operations and Maintenance Department Xianning xian'An District Power Supply Company Xianning437000 China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

Live-maintaining work is essential for continuous power supply to the substation. To improve the safety and efficiency of live-maintaining work, this paper proposes an equipotential live-maintaining robot system suitable for 110kV voltage levels. Considering the narrow space, complex working conditions and strong electromagnetic interference in substations, binocular vision technology, manipulator trajectory planning algorithm based on time-energy optimization, high voltage electromagnetic shielding technology are utilized to develop the system, and the live-maintaining robot is successfully applied in actual substation. By accurately identifying and locating the joint bolts and insulator, the robot system can achieve equipotential live-disassemble, live-assemble the joint bolts within 18 minutes and live-clean insulator within 5 minutes, demonstrating its the effectiveness and practicability. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electromagnetic pulse

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Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control

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Applied Mathematics and Mechanics(English Edition) 2019年第1期40卷 111-126页

作者： Zhaoyue XU Lin DU Haopeng WANG Zichen DENG School of Natural and Applied Science Northwestern Polytechnical University School of Aeronautics Northwestern Polytechnical University Ministry of Industry and Information Technology(MIIT) Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Department of Engineering Mechanics Northwestern Polytechnical University

Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this paper, a particle swarm optimization(PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of *** the above verify the immense potential applications of the PSO method in multibody system dynamics.

关键词： robotic dynamics multibody system symplectic method particle swarm optimization(PSO)algorithm instantaneous optimal control

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Heatmap-based vanishing point boosts lane detection

arXiv

引用

arXiv 2020年

作者： Liu, Yin-Bo Zeng, Ming Meng, Qing-Hao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University China

Vision-based lane detection (LD) is a key part of autonomous driving technology, and it is also a challenging problem. As one of the important constraints of scene composition, vanishing point (VP) may provide a useful clue for lane detection. In this paper, we proposed a new multi-task fusion network architecture for high-precision lane detection. Firstly, the ERFNet was used as the backbone to extract the hierarchical features of the road image. Then, the lanes were detected using image segmentation. Finally, combining the output of lane detection and the hierarchical features extracted by the backbone, the lane VP was predicted using heatmap regression. The proposed fusion strategy was tested using the public CULane dataset. The experimental results suggest that the lane detection accuracy of our method outperforms those of state-of-the-art (SOTA) *** Codes 68T45 (Primary) 68T07 (Secondary) Copyright © 2020, The Authors. All rights reserved.

关键词： Network architecture

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EDOLAB: An Open-Source Platform for Education and Experimentation with Evolutionary Dynamic Optimization Algorithms

arXiv

引用

arXiv 2023年

作者： Peng, Mai Yazdani, Delaram She, Zeneng Yazdani, Danial Luo, Wenjian Li, Changhe Branke, Juergen Nguyen, Trung Thanh Gandomi, Amir H. Yang, Shengxiang Jin, Yaochu Yao, Xin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Research Institute Faculty of Engineering and Technology Liverpool John Moores University United Kingdom School of Computer Science and Technology Harbin Institute of Technology China Guangdong Provincial Key Laboratory of Novel Security Intelligence Technologies School of Computer Science and Technology Harbin Institute of Technology Peng Cheng Laboratory China School of Artificial Intelligence Anhui University of Sciences & Technology China Information Systems Management and Analytics in Warwick Business School University of Warwick United Kingdom Faculty of Engineering & Information Technology University of Technology Sydney Australia Obuda University Hungary School of Computer Science and Informatics De Montfort University United Kingdom Department of Artificial Intelligence School of Engineering Westlake University China School of Computer Science University of Birmingham United Kingdom

Many real-world optimization problems exhibit dynamic characteristics, posing significant challenges for traditional optimization techniques. Evolutionary Dynamic Optimization Algorithms (EDOAs) are designed to address these challenges effectively. However, in existing literature, the reported results for a given EDOA can vary significantly. This inconsistency often arises because the source codes for many EDOAs, which are typically complex, have not been made publicly available, leading to error-prone re-implementations. To support researchers in conducting experiments and comparing their algorithms with various EDOAs, we have developed an open-source MATLAB platform called the Evolutionary Dynamic Optimization laboratory (EDOLAB). This platform not only facilitates research but also includes an educational module designed for instructional purposes. The education module allows users to observe: a) a 2-dimensional problem space and its morphological changes following each environmental change, b) the behaviors of individuals over time, and c) how the EDOA responds to environmental changes and tracks the moving optimum. The current version of EDOLAB features 25 EDOAs and four fully parametric benchmark generators. © 2023, CC BY-NC-SA.

关键词： Optimization algorithms

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Blockchain-based Consensus Study on Distributed control systems

Blockchain-based Consensus Study on Distributed Control Syst...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Jing Zhu Hongchang Deng Xiang Li Yong Yuan Feiyue Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Institute of Systems Engineering Macau University of Science and Technology Macau China School of Mathematics Renmin University of China Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In this paper, two blockchain-based consensus mechanisms are proposed for distributed control systems, those are the proof-of-work-based (PoW-based) and proof-of-stake-based (PoS-based) consensus mechanisms. The basic idea and process of these blockchain-based consensus mechanisms are introduced, giving rise to the dynamic, impartial and efficient consensus compared with the consensus protocol achieved by traditional control theories.

关键词： Digital twin Conferences Decentralized control Process control control theory Consensus protocol Computational efficiency

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A Parallel control Method for Zero-Sum Game with Unknown Time-Varying System

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The International Journal of Intelligent control and systems 2024年第1期29卷 37-41页

作者： Qinglai Wei Zhenhua Zhu Jie Zhang Fei-Yue Wang 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 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

In this paper,based on ACP(ACP:artificial societies,computational experiments,and parallel execution)approach,a parallel control method is proposed for zero-sum games of unknown time-varying *** process of constructing a sequence of artificial systems,implementing the computational experiments,and conducting the parallel execution is *** artificial systems are constructed to model the real *** experiments adopting adaptive dynamic programming(ADP)are shown to derive control laws for a sequence of artificial *** purpose of the parallel execution step is to derive the control laws for the real ***,simulation experiments are provided to show the effectiveness of the proposed method.

关键词： Zero-sum games parallel control ACP(ACP:artificial societies computational experiments and parallel execution) adaptive dynamic programming(ADP)

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The Combination of Two control Strategies for Series Hybrid Electric Vehicles

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 596-608页

作者： Can Luo Zhen Shen Simos Evangelou Gang Xiong Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Cloud Computing Center Chinese Academy of Sciences IEEE Department of Electrical and Electronic Engineering Imperial College London Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

关键词： DC-Link voltage control power follower control strategy series hybrid electric vehicles tuning

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3D face landmarking with denoise auto-encoder networks 11

3D face landmarking with denoise auto-encoder networks

引用

11th International Conference on Digital Image Processing, ICDIP 2019

作者： Wang, Liang Gai, Shaoyan Guo, Shuai School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Cardiff University CF103AT United Kingdom

ISBN: (数字)9781510630765

ISBN: (纸本)9781510630758

3D Facial landmarking plays an important role on 3D face recognition and face expression recognition. However, the most of methods underperform when faces have occluded region such as hair, glasses or finger. To solve this problem, a coarseto-fine method is proposed, containing several denoising auto-encoder networks (denoted as DANs). DANs not only can recover the lost information but improve the accuracy of landmarking. Tests based on Bosphorus dataset show a 100% of good landmarking under 6mm precision of mean error, which demonstrates that our algorithm achieves the state-of-theart performance. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Statistical tests

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