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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Liu, Teng Yang, Chao Hu, Chuanzheng Wang, Hong Li, Li Cao, Dongpu Wang, Fei-Yue State Key Laboratory of Automotive Simulation and Control Jilin University China Vehicle Intelligence Pioneers Inc. Qingdao Shandong266109 China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou Jiangsu221004 China Mechanical and Mechatronics Engineering Department Waterloo University N2L 3G1 Canada Faculty of Department of Automation Tsinghua University China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538644522

This paper proposes a learning-based predictive control technique for self-driving hybrid electric vehicle (HEV). This approach is a hierarchical framework. The higher-level is a human-like driver model, which is applied to predict accelerations in the car following situation to replicate a human driver's demonstrations. The lower-level is a reinforcement learning (RL)-based controller, which enforces the battery and fuel consumption constraints to improve energy efficiency of HEV. In addition, we present induced matrix norm (IMN) to handle cases that the training data cannot provide sufficient information on how to operate in current driving situation. Simulation results illustrate that the proposed method can reproduce human driver's driving style and promote fuel economy. © 2018 IEEE.

关键词： Reinforcement learning

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Design and Analysis of a Horizontal Quasi-Zero Stiffness Vibration Isolator by Combining Rolling-Ball and Disk Springs in Parallel

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Journal of Beijing Institute of Technology 2017年第4期26卷 468-476页

作者： Gaofeng Guan Dengfeng Xu Yu Zhu Qiang Li Qiang Yu School of Mechatronics Engineering University of Electronic Science and Technology of China Chengdu 611731 China State Key Lab of Tribology Tsinghua University Beijing 100084 China Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control Tsinghua University Beijing 100084 China School of Information Engineering Wuchang University of Technology Wuhan 430223 China

Combining disk springs having negative stiffness with a rolling-ball in parallel is proposed in this paper. It is used to reduce the system stiffness and the positioning error in a non-ideal *** characteristics of a disk spring are analyzed. The dynamic equation of its motion has been obtained based on Newton＇s second law. After definition of a error margin,the dynamic equation of the motion can be treated as a Duffing oscillator,and the influences of non-dimensional parameters on the stiffness and transmissibility are studied. The natural frequency and transmissibility are achieved in a linearization range,where the ratio of linear to nonlinear items is small *** influence of mass ratio and non-dimensional parameters on natural frequency are analyzed. Finally,a comparison of numerical example demonstrates that the QZS system can realize a lower stiffness within an increased range.

关键词： quasi-zero stiffness （QZS） vibration isolation natural frequency transmissibility

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Evaluation of Human Postural System Dynamical Behavior via Developed Statokinesigram Trajectory

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IFAC-PapersOnLine 2017年第1期50卷 15062-15067页

作者： Barbolyas, B. Suttova, K. Vachalek, J. Belavy, C. Hucko, B. Dedik, L. Institute of automation measurement and applied informatics Faculty of Mechanical Engineering STU in Bratislava Nam. slobody 17 Bratislava812 31 Slovakia Laboratory of motor control Institute of Normal and Pathological Physiology Slovak Academy of Sciences Sienkiewiczova 1 Bratislava813 71 Slovakia Institute of applied mechanics and mechatronics Faculty of Mechanical Engineering STU in Bratislava Nam. Slobody 17 Bratislava812 31 Slovakia

Presented study deals with the formulation of a model of the postural system behavior in the form of transfer function derived from Development Statokinesigram Trajectory (DST). As compared with statokinesigram, a DST shows a minimal signs of chaotic behavior while it takes anteroposterior and mediolateral postural sway direction into account together. Proposed method provides an alternative approach to established methodology based on the Center of Pressure (CoP) in evaluating the autoregulation control process in humans. For demonstration of DST application, CoP signals of young and healthy participants without and with bilateral vibration stimulus located on Achilles tendons were registered. Data analysis involves DST construction and numerical parameter estimation of the proposed model. Quadratic criterion showed that there is a disproportion between actual and mean DST time profile that was proposed as a sensitive parameter of posture control quality in all tested subjects in quiet stance condition. © 2017

关键词： Quality control Tendons Biomedical systems Biosignals Center of pressure interpretation Model formulation Postural system

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhu, Jianliang Ai, Yunfeng Tian, Bin Cao, Dongpu Scherer, Sebastian School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781538644522

With the universal application of camera in intelligent vehicles, visual place recognition has become a major problem in intelligent vehicle localization. The traditional solution is to make visual description of place images using hand-crafted feature for matching places, but this description method is not very good for extreme variability, especially for seasonal transformation. In this paper, we propose a new method based on convolutional neural network (CNN), by putting images into the pre-trained network model to get automatically learned image descriptors, and through some operations of pooling, fusion and binarization to optimize them, then the similarity result of place recognition is presented with the Hamming distance of the place sequence. In the experimental part, we compare our method with some state-of-the-art algorithms, FABMAP, ABLE-M and SeqSLAM, to illustrate its advantages. The experimental results show that our method based on CNN achieves better performance than other methods on the representative public datasets. © 2018 IEEE.

关键词： Hamming distance

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End-to-End Driving Activities and Secondary Tasks Recognition Using Deep Convolutional Neural Network and Transfer Learning

End-to-End Driving Activities and Secondary Tasks Recognitio...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Xing, Yang Tang, Jianlin Liu, Hong Lv, Chen Cao, Dongpu Velenis, Efstathios Wang, Fei-Yue Advanced Vehicle Engineering Centre Cranfield University BedfordMK43 0AL United Kingdom Vehicle Intelligence Pioneers Ltd Qingdao China Jiangsu XCMG Construction Machinery Research Institute Ltd. No. 26 Tuolanshan Road Economic Development Zone Xuzhou Jiangsu221004 China School of Mechanical and Mechatronics Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538644522

Drivers' decision and their corresponding behaviors are important aspects that can affect the driving safety, and it is necessary to understand the driver behaviors in real-time. In this study, an end-to-end driving-related tasks recognition system is proposed. Specifically, seven common driving activities are identified, which are normal driving, right mirror checking, rear mirror checking, left mirror checking, using in-vehicle video device, texting, and answering mobile phone. Among these, the first four activities are regarded as normal driving tasks, while the rest three are divided into distraction group. The images are collected using a consumer range camera, namely, Kinect. In total, five drivers are involved in the naturalistic data collection. Before training the identification model, the raw images are first segmented using a Gaussian mixture model (GMM) to extract the driver region from the background. Then, a pre-trained deep convolutional neural network (CNN) model is trained to classify the behaviors, which directly takes the processed RGB images as the input and outputs the identified label. In this work, the AIexNet is selected as the pre-trained CNN model. Then, to reduce the training cost, the transfer learning mechanism is applied to the CNN model. An average of 79\% detection accuracy is achieved for the seven driving tasks. The proposed integration model can be used as a low-cost driver distraction and dangerous tasks recognition modeL. © 2018 IEEE.

关键词： Neural network models

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Progress on scanning beam interference lithography tool with high environmental robustness for patterning large size grating with nanometre accuracy 17

Progress on scanning beam interference lithography tool with...

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17th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2017

作者： Wang, Leijie Zhang, Ming Zhu, Yu Lu, Sen Yang, Kaiming Lan, Bin State Key Laboratory of Tribology Beijing Key Lab. of Precision/Ultra-precision Manufacturing Equipments and Control Department of Mechanical Engineering Tsinghua University Beijing100084 China School of Mechatronics Engineering University of Electronic Science and Technology Chengdu611731 China

ISBN: (纸本)9780995775107

The novel tool mainly consists of a homodyne frequency-shifting interference pattern phase locking system and a substrate stage with a grating interferometer system for XY displacement measurement. The phase locking system employs a special self-made homodyne redundant phase measuring interferometer (HRPMI) as the sensor and two acousto-opto modulators (AOM) as the actuator. By this configure, the phase locking system is very simplified and the power in several tens of micro-Watt is enough. The grating interferometer system works by combining four interferometer arrays on the fixed metrology frame and four grating rulers on the moving substrate stage. Due to the short dead optical path, the system is very environmental robust even if in a large environmental enclosure without demanding stability. The errors of the tool caused by different kinds of sources and imperfections are very complicated and can be separated into several categories. Detail error evaluation for two categories has been done for the initial experimental setup and both errors are several nanometres (3a, A=251.1nm). controlling accuracy of the initial experimental setup achieves ±4.17nm (3a, A=251.1nm).

关键词： Interferometers

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Dynamic and static behaviors of multilayered magneto-electro-elastic laminates with viscoelastic interfaces based on Winkler-Pasternak foundation

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AIP Conference Proceedings 2019年第1期2196卷

作者： M. Hamidi S. Zaki M. Aboussaleh 1Team M2I Sciences and Engineering Laboratory ENSAM Moulay Ismail University Meknes Morocco 2Team M2AI Mechanical Mechatronics and Control Laboratory ENSAM Moulay Ismail University Meknes Morocco

In this communication, the state space method is used to analyze the dynamic behavior in Laplace domain of laminated magneto-electro-elastic rectangular plates with viscoelastic interfaces and simply supported boundary conditions based on a Winkler-Pasternak elastic Foundation, and then it is transferred to the time domain by the Fourier inversion method. The Kelvin-Voigt model is used to take into accounted the viscoelastic interface effects. The mathematical formulation is elaborated in a general form and an arbitrary number of layers as well as the orthotropic behavior can be considered. The methodology is based on the mixed formulation, in which basic unknowns are formed by collecting displacements, stresses, electrical displacements, electrical potential, magnetic induction and magnetic potential. As special case, multilayered rectangular plate is analyzed under the surface loading with simply supported boundary conditions based on an elastic foundation. A variant numerical tests shown the effect of the Winkler-Pasternak Foundation on a magneto-electro-elastic rectangular plates dynamic behavior and may contribute to optimize the design and the manufacturing of these materials.

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Static and dynamic behavior of multilayered magneto-electro-elastic laminates with viscoelastic interfaces under different boundary conditions

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AIP Conference Proceedings 2019年第1期2196卷

In this communication, a methodological approach based on the combination of the state space method and the differential quadrature method (SS-DQM) is used to analyze the static and dynamic behavior of magneto-electro-elastic rectangular plates with viscoelastic interfaces based on a Winkler-Pasternak elastic support and with different boundary conditions. The state space method is used to estimate the solution in the thickness direction with an arbitrary number and different types of layers, whereas the DQM method is used to take into account all the boundary conditions. Afterward, to convert the obtain solutions from Laplace domain to temporary one we use the inverse Laplace transform.

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Artifact test design for improving the performance of the SLM process

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AIP Conference Proceedings 2019年第1期2196卷

作者： Z. Faraj S. Zaki M. Aboussaleh 1Team M2I Sciences and Engineering Laboratory ENSAM Moulay Ismail University Meknes Morocco 2Team M2AI Mechanical Mechatronics and Control Laboratory ENSAM Moulay Ismail University Meknes Morocco

The work contained in this document consists in optimizing and improving the selective laser melting manufacturing process, this technology which, despite having been studied for more than twenty years, remains not completely controlled, because it sometimes happens that the parts obtained contain defects that qualify them as non-compliant or even machine stops in the middle of manufacturing. These problems are usually due to a design that is not adapted to the process. This work seeks to minimize these stops, to do this, test trays have been printed to evaluate the machine’s performance and study the feasibility of the parts produced by selective laser melting.

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CPSS-based Signal Forwarding Method at Relays for Full-duplex Cooperative Vehicular Networks

CPSS-based Signal Forwarding Method at Relays for Full-duple...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Han, Shuangshuang Ma, Houxue Wang, Xiao Liu, Hong Cao, Dongpu Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Shandong266000 China Qingdao Huituo Intelligent Machine Company Qingdao China JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD Xuzhou Jiangsu221004 China Mechanical and Mechatronics Engineering University of Waterloo 200 University Avenue Wes WaterlooONN2L 3G1 Canada Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

ISBN: (纸本)9781538644522

With increasing popularity of Internet of Vehicles (IoV), concerns for reliable and low complexity communication techniques are proposed due to the requirements of signal reliability and transmission delay for vehicles. Meanwhile, the explosive and pervasive use of social network applications further adds drivers' social relationships and behavioural characteristics into it, and makes it a cyber-physical-social system (CPSS). This paper proposes and analyzes an improved forward scheme for full deplex cooperative vehicular networks in terms of its CPSS features. The proposed CPSS-based forwarding (CPSS-F) strategy forwards a soft estimate of the received signal based on social historic data at the relay node (vehicle/infrastructure) to the destination node (vehicle/infrastructure), which achieves improved reliability than the two conventional strategies in cooperative networks, i.e., amplify-and-forward (AF) and decode-and-forward (DF). Furthermore, the proposed CPSS-F relay achieves performance gains and complexity reduction compared to the conventional AF and DF. Experimental results further confirm the advantages of the proposed CPSS-F for cooperative vehicular networks. The proposed CPSS-F approach is easily extended to other cooperative vehicular social networks, for example, multi-way, half-duplex, or large-antenna networks. © 2018 IEEE.

关键词： Complex networks

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