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A Survey on an Emerging Safety Challenge for Autonomous Vehicles:Safety of the Intended Functionality

engineering 2024年第2期33卷 17-34页

作者： Hong Wang Wenbo Shao Chen Sun Kai Yang Dongpu Cao Jun Li Tsinghua Intelligent Vehicle Design and Safety Research Institute School of Vehicle and MobilityTsinghua UniversityBeijing 100084China CogDrive Lab Department of Mechanical and Mechatronics EngineeringUniversity of WaterlooWaterlooON N2L3G1Canada College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of *** focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety *** the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation *** research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and ***,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different ***,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

关键词： Safety of the intended functionality Autonomous vehicles Artificial intelligence Uncertainty Verification Validation

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The Impact of Robots’ Facial Emotional Expressions on Light Physical Exercises 15th

The Impact of Robots’ Facial Emotional Expressions on Lig...

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15th International Conference on Social Robotics, ICSR 2023

作者： Abdulazeem, Nourhan Hu, Yue Active and Interactive Robotics Lab Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L3G1 Canada

ISBN: (纸本)9789819987146

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants’ levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study’s emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants’ engagement levels. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robotic arms

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Parallel Driving with Big Models and Foundation Intelligence in Cyber-hysical-ocial Spaces

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Research 2024年第2期2024卷 1-17页

作者： Xiao Wang Jun Huang Yonglin Tian Chen Sun Lie Yang Shanhe Lou Chen Lv Changyin Sun Fei-Yue Wang School of Artificial Intelligence Anhui UniversityHefeiChina Macao University of Science and Technology MacaoChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina MVSLab Department of Mechanical and Mechatronics EngineeringUniversity of Waterloo200 University Ave WestWaterlooON N2L3G1Canada School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

Recent years have witnessed numerous technical breakthroughs in connected and autonomous vehicles (CAVs). On the one hand, these breakthroughs have significantly advanced the development of intelligent transportation systems (ITSs);on the other hand, these new traffic participants introduce more complex and uncertain elements to ITSs from the social space. Digital twins (DTs) provide real-time, data-driven, precise modeling for constructing the digital mapping of physical-world ITSs. Meanwhile, the metaverse integrates emerging technologies such as virtual reality/mixed reality, artificial intelligence, and DTs to model and explore how to realize improved sustainability, increased efficiency, and enhanced safety. More recently, as a leading effort toward general artificial intelligence, the concept of foundation model was proposed and has achieved significant success, showing great potential to lay the cornerstone for diverse artificial intelligence applications across different domains. In this article, we explore the big models embodied foundation intelligence for parallel driving in cyber-physical-social spaces, which integrate metaverse and DTs to construct a parallel training space for CAVs, and present a comprehensive elucidation of the crucial characteristics and operational mechanisms. Beyond providing the infrastructure and foundation intelligence of big models for parallel driving, this article also discusses future trends and potential research directions, and the ?S?goals of parallel driving.

关键词： breakthrough integrate corners

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Vision-Based Dexterous Motion Planning by Dynamic Movement Primitives with Human Hand Demonstration

Vision-Based Dexterous Motion Planning by Dynamic Movement P...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Nuo Chen Ya-Jun Pan Department of Mechanical Engineering Advanced Control and Mechatronics Lab Dalhousie University Halifax Canada

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper proposes a vision-based framework for a 7 -degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous pick-and-place tasks. Most existing works only focus on the position demonstration without considering the orientations. In this paper, by employing a single depth camera, MediaPipe is applied to generate the three-dimensional real-world coordinates of a human hand, thereby comprehensively recording the hand’s motion, encompassing the trajectory of the wrist, orientation of the hand, and grasp motion. A mean filter is applied during data pre-processing to smooth the raw data. The demonstration is designed to pick up an object at a specific angle, navigate around obstacles in its path, and subsequently, deposit it within a sloped container. The robotic system demonstrates its learning capabilities, facilitated by the implementation of dynamic movement primitives, enabling the assimilation of user actions into its trajectories with different start and end points. Experimental studies are carried out to demonstrate the effectiveness of the work.

关键词： Wrist Navigation Robot kinematics Dynamics Robot vision systems Manipulators Trajectory

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A Constant Force Tracking Strategy for Complex Surface Robots Fused with NURBS Speed Planning and Teaching/Learning Mode 5

A Constant Force Tracking Strategy for Complex Surface Robot...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Jinjun, Duan Kunkun, Cui An, Guo Lingyu, Wang Yiming, Bin Minhong, Wan Qiulan, Huang Nanjing University of Aeronautics and Astronautics School of Mechatronics China Nanjing University of Aeronautics and Astronautics College of Mechanical and Electrical Engineering China Zhejiang Lab Hangzhou China Zhejiang University Control Theory and Control Egineering China

ISBN: (纸本)9798350307320

Compliance control technology is particularly im-portant in contact operations such as grinding and polishing, surface tracking, and medical diagnosis. The core technology achieves contact control of a constant force for complex heterogeneous surfaces. However, due to the unknown environmental stiffness/position and dynamic changes, there are some problems, such as poor position/force tracking accuracy and a low degree of complex surface fit. To solve the above problems, a piecewise trajectory planning algorithm based on speed controllable NURBS and a teaching and learning mode constant force tracking strategy based on position/force coordination planning are proposed in this paper. First, a NURBS segmented trajectory planning algorithm with controllable speed is proposed by combining the NURBS trajectory planning algorithm with the T-type speed interpolation algorithm, and constant force tracking control based on the FCPressNURBS instruction set is realized by combining the adaptive admittance control algorithm. Second, based on the concept of teaching and learning modes, the position/force tracking parameters are obtained by the compliant control method, and the learning ideas is used to optimize the constant force tracking trajectory of the robot. Finally, the algorithm is tested on the ROKAE xMate robot, and the results show that the proposed algorithm improves the constant force tracking accuracy of the robot to the complex contact surface in the heterogeneous environment and can realize the adaptive constant force tracking effect of the robot to the unknown environment. © 2023 IEEE.

关键词： Compliance control

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS 2024 - Halifax, OCEANS 2024

作者： Wu, Junzhuo Pan, Ya-Jun Shen, Chao Smith, Sean Witrant, Emmanuel Dalhousie University Advanced Control and Mechatronics Lab Department of Mechanical Engineering HalifaxB3H 4R2 Canada Carleton University Department of Systems and Computer Engineering OttawaK1S-5B6 Canada Université Grenoble Alpes-CNRS GIPSA-lab GrenobleF-38000 France Dalhousie University Departement of Mechanical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798331540081

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves. © 2024 IEEE.

关键词： Water waves

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Study on Characteristics of Surface Pulsed Discharge Over Carbon Foil in Water 7

Study on Characteristics of Surface Pulsed Discharge Over Ca...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Wang, Menglei Han, Ruoyu Bai, Jie Li, Jingran Wang, Yanan Yan, Jiaqi Beijing Institute of Technology State Key Laboratory of Mechatronics Engineering and Control Beijing China Xi'an Jiaotong University State Key Laboratory of Electrical Insulation and Power Equipment Xi'an China School of Electronic Electrical and Mechanical Engineering University of Bristol BS8 1TR United Kingdom

ISBN: (纸本)9798350359558

In this paper, the phenomenon of liquid-solid interfacial discharge along a carbon foil immersed in water medium has been investigated. Based on the multi-physical diagnoses and high-speed photography, the pulsed discharges were performed under different charging voltages and electrode spacing. Compared with the traditional water-gap breakdown, it is found that introducing a carbon foil can significantly diminish the breakdown delay (less than 1 μs) and lower the requirement of applied voltage (kV/cm level). Charging voltage and electrode spacing affect the discharge load voltage, loop current and load power. When the charging voltage increases from 4.5 kV to 6.3 kV, the current peak increases from 2.352 kA to 3.583 kA, the voltage peak increases from 0.690 kV to 1.692 kV, and the power peak increases nearly two times. In addition, the discharge will produce light radiation, and an increase in charging voltage from 4.5 kV to 6.3 kV can increase the intensity of light radiation by 2.39 times. The discharge can also produce pressure waves lasting tens of microseconds and has a bubble effect. When the charging voltage increases from 4.5 kV to 8.9 kV, the maximum radial diameter of the bubble increases from 9.15 mm to 15.35 mm. This study not only enriches the fundamental research problems of liquid-solid interface discharge but also gives an alternative scheme of water gap discharge in technology, which improves the controllability and efficiency of underwater discharge. © 2024 IEEE.

关键词： Shock waves

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A Data-Driven Distributed control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking 27

A Data-Driven Distributed Control Scheme: Learning Multi-Obj...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Zhong, Jiaming Mehrizi, Reza Valiollahi Pant, Yash Vardhan Khajepour, Amir Lab Department of Mechanical and Mechatronics Engineering 200 University Ave West WaterlooONN2L3Gl Canada Group Department of Electrical and Computer Engineering 200 University Ave West WaterlooONN2L3G1 Canada

ISBN: (纸本)9798331505929

Agent-based model predictive control (AMPC) has recently been proposed for vehicle systems with various controllers, such as differential braking and torque vectoring, where controllers are regarded as distributed agents contributing to the same objective. However, this scheme is challenging in handling multiple conflicting objectives with coupled agents. A common approach for such tasks is the integrated MPC, where all objectives and agents are stacked together in one optimization. Nevertheless, as more agents and objectives are involved, the integrated MPC will face challenges like computational burdens and maintenance difficulties in practice. To this end, this paper proposes a learning multi-objective AMPC that can improve design flexibility and computing efficiency. First, under the assumption of information exchange, a multi-objective AMPC tailored from the alternating direction method of multipliers (ADMM) is proposed to decouple the system and achieve the same performance as the integrated scheme iteratively. Second, a learning-based method for initializing iterations is proposed to accelerate convergence. In addition, a data management method is proposed for real-time efficiency, and an authentication module is designed for learning reliability. We compare the proposed scheme against the integrated scheme via a combined path-tracking simulation for autonomous vehicles with various controllers. The proposed scheme achieves the same control performance as the integrated one while reducing the computational time by 43.5 %. Furthermore, the learning-based method saves 88.6% more computational time than without learning, making it suitable for real-time implementation. © 2024 IEEE.

关键词： Predictive control systems

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High-Precision Heading control of an Autonomous Sailboat: A Robust Nonlinear Approach

High-Precision Heading Control of an Autonomous Sailboat: A ...

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OCEANS 2024 - Halifax, OCEANS 2024

作者： Smith, Sean Witrant, Emmanuel Pan, Ya-Jun Université Grenoble Alpes Cnrs GIPSA-lab GrenobleF-38000 France Dalhousie University Department of Mechanical Engineering HalifaxNSB3H 4R2 Canada Dalhousie University Advanced Control and Mechatronics Laboratory Department of Mechanical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798331540081

This article investigates high-precision robust heading control for an autonomous sailboat. First, the mathematical model of an autonomous sailboat is highlighted and discussed, with a particular focus on the heading dynamics that must be robustly controlled under real-world conditions. Typical control difficulties such as system disturbances, modeling uncertainty, control actuation saturation, and measurement noise are considered and addressed with reference to the controller and system modeling. We propose a control method that ensures robust heading control of an autonomous sailboat in the presence of these challenges. A reference simulator in Matlab/Simulink is used as a simulation testbed to demonstrate the benefits of state-of-the-art robust control developments. A multiphase simulation is conducted to compare the advantages and disadvantages of model-based robust control with linear techniques such as proportional-integral-derivative (PID) control. © 2024 IEEE.

关键词： MATlab

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Vision-Based Dexterous Motion Planning by Dynamic Movement Primitives with Human Hand Demonstration

arXiv

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arXiv 2024年

作者： Chen, Nuo Pan, Ya-Jun The Advanced Control and Mechatronics Lab Department of Mechanical Engineering Dalhousie University HalifaxB3H 4R2 Canada

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous pick- and-place tasks. Most existing works only focus on the position demonstration without considering the orientations. In this paper, by employing a single depth camera, MediaPipe is applied to generate the three-dimensional coordinates of a human hand, thereby comprehensively recording the hand’s motion, encompassing the trajectory of the wrist, orientation of the hand, and the grasp motion. A mean filter is applied during data pre-processing to smooth the raw data. The demonstration is designed to pick up an object at a specific angle, navigate around obstacles in its path and subsequently, deposit it within a sloped container. The robotic system demonstrates its learning capabilities, facilitated by the implementation of Dynamic Movement Primitives, enabling the assimilation of user actions into its trajectories with different start and end points. Experimental studies are carried out to demonstrate the effectiveness of the work. Copyright © 2024, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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