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A Novel Integrated Stability control Based on Differential Braking and Active Steering for Four-axle Trucks

Chinese Journal of mechanical engineering 2019年第1期32卷 174-194页

作者： Buyang Zhang Changfu Zong Guoying Chen Yanjun Huang Ting Xu College of Automotive Engineering Jilin University Changchun 130022 China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun 130022 China College of Mechanical and Mechatronics Engineering University of Waterloo ON N2L 3G1 Canada

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

关键词： Di erential braking Active steering Vertical tire force calculation Multi-axle truck Integrated control

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Planning and Decision-making for Connected Autonomous Vehicles at Road Intersections:A Review

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Chinese Journal of mechanical engineering 2021年第5期34卷 26-43页

作者： Shen Li Keqi Shu Chaoyi Chen Dongpu Cao Department of Civil Engineering Tsinghua UniversityBeijingChina CogDrive Lab Department of Mechanical and Mechatronics EngineeringUniversity of WaterlooWaterlooON N2L 3G1Canada School of Vehicle and Mobility Tsinghua UniversityBeijingChina

Planning and decision-making technology at intersections is a comprehensive research problem in intelligent transportation systems due to the uncertainties caused by a variety of traffic *** wireless communication advances,vehicle infrastructure integrated algorithms designed for intersection planning and decision-making have received increasing *** this paper,the recent studies on the planning and decision-making technologies at intersections are primarily *** general planning and decision-making approaches are presented,which include graph-based approach,prediction base approach,optimization-based approach and machine learning based *** connected autonomous vehicles(CAVs)is the future direction for the automated driving area,we summarized the evolving planning and decision-making methods based on vehicle infrastructure cooperative *** four-way signalized and unsignalized intersection(s)are investigated under purely automated driving traffic and mixed *** study benefit from current strategies,protocols,and simulation tools to help researchers identify the presented approaches’challenges and determine the research gaps,and several remaining possible research problems that need to be solved in the future.

关键词： Planning Decision-making Autonomous intersection management Connected autonomous vehicles

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

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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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ML-ANet:A Transfer Learning Approach Using Adaptation Network for Multi-label Image Classification in Autonomous Driving

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Chinese Journal of mechanical engineering 2021年第5期34卷 107-117页

作者： Guofa Li Zefeng Ji Yunlong Chang Shen Li Xingda Qu Dongpu Cao Institute of Human Factors and Ergonomics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L 3G1Canada Interactive Entertainment Group TencentShanghai 200233China Traffic Operations and Safety Laboratory University of Wisconsin-MadisonMadisonWI 53715USA.

To reduce the discrepancy between the source and target domains,a new multi-label adaptation network(ML-ANet)based on multiple kernel variants with maximum mean discrepancies is proposed in this *** hidden representations of the task-specific layers in ML-ANet are embedded in the reproducing kernel Hilbert space(RKHS)so that the mean-embeddings of specific features in different domains could be precisely *** kernel functions are used to improve feature distribution efficiency for explicit mean embedding matching,which can further reduce domain *** weather and cross-camera adaptation examinations are conducted to verify the effectiveness of our proposed *** results show that our proposed ML-ANet achieves higher accuracies than the compared state-of-the-art methods for multi-label image classification in both the adverse weather adaptation and cross-camera adaptation *** results indicate that ML-ANet can alleviate the reliance on fully labeled training data and improve the accuracy of multi-label image classification in various domain shift scenarios.

关键词： Autonomous vehicles Deep learning Image classification Multi-label learning Transfer learning

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Special assembly of laminated nanocomposite that mimics nacre

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Materials Science and engineering C 2008年第7期28卷 1031-1037页

作者： Lin, Wei Wang, Chang-an Le, Huilong Long, Bin Huang, Yong State Key Lab of New Ceramics and Fine Processing Department of Materials Science and Engineering Tsinghua University Beijing 100084 China Division of Mechanical Engineering and Mechatronics University of Dundee Dundee DD1 4HN United Kingdom

Assembly of organic-inorganic nanocomposite with nacre-like structure has long been considered a valuable bio-inspired route to design materials with excellent mechanical properties. However, effective control of nanostructure and organic content concurrently is a key problem. In this research, a special assembly method-hydrothermal-electrophoretic assembly was introduced into preparing nanocomposite that mimics nacre, both in structure and composition. The two-step assembly process included intercalation of polymer into interlayer space of montmorillonite by hydrothermal process and the subsequent electrophoretic deposition. X-ray diffraction, Fourier transform infrared spectroscopy, thermal gravimetric analysis and scanning electronic microscopy were employed to characterize the structure and composition of the films. Reduced Young's modulus was determined by nanoindentation. Results showed that by constructing brick-and-mortar nanostructure, reduced Young's modulus of the composite film was effectively enhanced even when organic content was low. © 2007 Elsevier B.V. All rights reserved.

关键词： Thermogravimetric analysis

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Analysis of actuation characteristics of CuAlNiMn/Polyimide thin film shape memory alloy

Analysis of actuation characteristics of CuAlNiMn/Polyimide ...

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2019 International mechanical engineering Congress, IMEC 2019

作者： Geetha, M. Dhanalakshmi, K. Jayachandran, S. Palani, I.A. Sathish Kumar, V. Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli620021 India Mechatronics and Instrumentation Lab Discipline of Mechanical Engineering Indian Institute of Technology Indore453331 India Mechanical Engineering Kongunadu College of Engineering and Technology Tiruchirappalli621215 India

The article presents the study of the deformation of an SMA bimorph actuator during static heating. The thermomechanical behavior of thin film CuAlNiMn shape memory alloy (SMA) on polyimide substrate is analyzed using finite element method. The analysis is carried out for three different geometries to obtain the displacement when temperature is varied. The actuation characteristics of the SMA bimorph are studied through direct heating and joule heating techniques. The surface morphology and composition of the bimorph sample are obtained using the Scanning Electron Microscope (SEM). The numerical analysis of the thermomechanical behavior of a thin film CuAlNiMn SMA bimorph is carried out using the finite element method. The procedure is applied for a double-legged cantilever configuration of the bimorph to obtain the actuation in terms of displacement;by varying the temperature. The same is repeated for semi-circular and pentagon shapes of the bimorph to obtain the influence of area on the displacement. It is observed that SMA bimorph displaces with the rise in temperature and the magnitude of displacement increases with the increase in surface area of different geometries. The physical actuation characteristic of CuAlNiMn-polyamide bimorph is studied by thermal heating and electrical heating of the sample, which confirm the shape memory effect of the SMA and provide the displacement characteristics of the bimorph when applying an electrical current. © 2019 Elsevier Ltd.

关键词： Aluminum alloys

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Deep Reinforcement Learning Enabled Decision-Making for Autonomous Driving at Intersections

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Automotive Innovation 2020年第4期3卷 374-385页

作者： Guofa Li Shenglong Li Shen Li Yechen Qin Dongpu Cao Xingda Qu Bo Cheng Institute of Human Factors and Ergonomics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L 3G1Canada Department of Civil and Environmental Engineering University of Wisconsin-MadisonMadisonWI 53706USA School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Automotive Safety and Energy School of Vehicle and MobilityTsinghua UniversityBeijing 100084China

Road intersection is one of the most complex and accident-prone traffic scenarios,so it’s challenging for autonomous vehicles(AVs)to make safe and efficient decisions at the *** of the related studies focus on the solution to a single scenario or only guarantee safety without considering driving *** address these problems,this study proposed a deep reinforcement learning enabled decision-making framework for AVs to drive through intersections automatically,safely and *** mapping relationship between traffic images and vehicle operations was obtained by an end-to-end decision-making framework established by convolutional neural *** images collected at two timesteps were used to calculate the relative velocity between *** decision process was employed to model the interaction between AVs and other vehicles,and the deep Q-network algorithm was utilized to obtain the optimal driving policy regarding safety and *** verify the effectiveness of the proposed decision-making framework,the top three accident-prone crossing path crash scenarios at intersections were simulated,when different initial vehicle states were adopted for better generalization *** results showed that the developed method could make AVs drive safely and efficiently through intersections in all of the tested scenarios.

关键词： Autonomous vehicles Driving safety and efficiency Intersection Decision-making Deep reinforcement learning

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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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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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Passive dynamic analysis: Motivation for use and method extension

Passive dynamic analysis: Motivation for use and method exte...

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IASTED International Conference on engineering and Applied Science, EAS 2012

作者： Short, Joel Stephen Poo, Aun-Neow Ang Jr., Marcelo H. Lim, Chee Wang Control and Mechatronics Laboratory National University of Singapore 9 Engineering Dr. 1 Singapore 117576 Singapore Department of Mechanical Engineering National University of Singapore 9 Engineering Dr. 1 Singapore 117576 Singapore Mechatronics Laboratory Singapore Institute of Manufacturing Technology 71 NanyangDr. Singapore 638075 Singapore

ISBN: (纸本)9780889869523

The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emphasis in research and development towards greater use of passive dynamic methods. Second, a method extension allowing for passive behavior analysis of serial link manipulators, simulated on a two-link robot, will demonstrate the usefulness of such methods. The extension itself will allow for greater investigation into the passive dynamics of serial link manipulators, allowing for characteristics such as actuator efficiency and overall bandwidth capabilities to be analyzed during force and motion tasks. The information presented in this paper will contribute to the passive dynamic methods available as well as promote further investigation into the field of research.

关键词： Actuators

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