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Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

arXiv

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arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd. China BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The College of Artificial Intelligence Xi'an Jiaotong University China The School of Mechanical Engineering Tsinghua University China

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part I for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part II for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part II, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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The neuromuscular control for lower limb exoskeleton- a 50-year perspective

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Journal of Biomechanics 2023年第1期158卷 111738-111738页

作者： Chen, Yu-Ning Wu, Yi-Ning Yang, Bing-Shiang Department of Mechanical Engineering National Yang Ming Chiao Tung University Taiwan Biomechanics and Medical Application Laboratory National Yang Ming Chiao Tung University Division of Neurosurgery Department of Surgery National Taiwan University Hospital Hsin-Chu Branch Taiwan Department of Physical Therapy and Kinesiology University of Massachusetts Lowell MA United States The New England Robotics Validation and Experimentation Center University of Massachusetts Lowell MA United States Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Taiwan Taiwanese Society of Biomechanics Taiwan

Historically, impaired lower limb function has resulted in heavy health burden and large economic loss in society. Although experts from various fields have put large amounts of effort into overcoming this challenge, there is still not a single standard treatment that can completely restore the lost limb function. During the past half century, with the advancing understanding of human biomechanics and engineering technologies, exoskeletons have achieved certain degrees of success in assisting and rehabilitating patients with loss of limb function, and therefore has been spotlighted in both the medical and engineering fields. In this article, we review the development milestones of lower limb exoskeletons as well as the neuromuscular interactions between the device and wearer throughout the past 50 years. Fifty years ago, the lower-limb exoskeletons just started to be devised. We review several prototypes and present their designs in terms of structure, sensor and control systems. Subsequently, we introduce the development milestones of modern lower limb exoskeletons and discuss the pros and cons of these differentiated devices. In addition, we summarize current important neuromuscular control systems and sensors;and discuss current evidence demonstrating how the exoskeletons may affect neuromuscular control of wearers. In conclusion, based on our review, we point out the possible future direction of combining multiple current technologies to build lower limb exoskeletons that can serve multiple aims. © 2023 Elsevier Ltd

关键词： Control systems

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Optimal Estimator Design and Properties Analysis for Interconnected systems with Asymmetric Information Structure

arXiv

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arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

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A method for recognition of dynamic hand gestures based on wrist tendon sounds 22

A method for recognition of dynamic hand gestures based on w...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： He, Bailin Wang, Can Wang, Hao Li, Mengyao Duan, Shengcai Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Samsung Electronics Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Hand gesture recognition are widely applied in game industry and rehabilitation engineering. Some recognition methods based on physiological data are attracting attention. In this paper, a novel method for dynamic hand gesture recognition based on sounds of wrist tendon is proposed. Bone conduction sensors which automatically filter the ambient noise is utilized to collect the wrist tendon sounds of three types of dynamic hand gestures. Continuous Wavelet Transform(CWT) is utilized extract the features of sounds and Support Vector Machine(SVM) is utilized to train the classifier model. Five healthy subjects participated the experiment and the average test accuracy of three classes achieves 92.33%. The proposed method provides an effective perspective for hand gesture recognition. © 2021 IEEE.

关键词： Support vector machines

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A comprehensive channel and feature selection method for myoelectric pattern recognition 22

A comprehensive channel and feature selection method for myo...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Li, Mengyao Ma, Yue Zheng, Liangsheng Wang, Can Feng, Wei Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

The advent of myoelectric control schemes provides promising chances for locomotion empowerment and restoration of those with disabilities. Despite substantial efforts have been made into advancing sEMG-based motion recognition, it may be a little tricky to determine appropriate muscles and features for people with muscle disorders or different muscle use preferences. To mitigate it, an advantageous sEMG channel and feature selection method based on ReliefF algorithm was proposed. Related experiments were conducted on a eight able-bodied subject database to showcase the feasibility and efficiency of the proposed approach, that is, considerably high classification performance was maintained with the original feature set reduced by more than half. Ulteriorly, we also investigated the influences of different number of neighbors or features on classification accuracy for ascertaining the optimal values. The strengths of our proposed method lie in not only customizing channel and feature selection for individual users, but also offering preliminary insight for a general mapping mechanism between human muscles and corresponding motions. © 2021 IEEE.

关键词： Feature Selection

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Cutting force investigation in face milling of additively fabricated nickel alloy 625 via powder bed fusion

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International Journal of Mechatronics and Manufacturing systems 2019年第3-4期12卷 196-210页

作者： Fei, Jixiong Liu, Guoliang Patel, Kaushalendra Özel, Tuǧrul Manufacturing and Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University PiscatawayNJ08854 United States School of Mechanical Engineering Tianjin University Jinnan Tianjin300350 China

The face milling of additively fabricated nickel alloy 625 produced via laser powder bed fusion is experimentally investigated. Typically, cutting forces are the most important factor affects the process outcome in terms of surface finish and chatter vibrations in milling of difficult-to-cut materials. The additively fabricated materials possess different mechanical properties hence their cutting force performance is usually unknown. For additively fabricated nickel alloy 625, the build direction and scan strategy rotation are known to influence the resultant workpiece structure with columnar grains. The peak milling force is found dependent upon the feed direction as well as the layerwise scan rotation employed in fabricating the workpiece. Feeding the cutter against the build direction resulted in lower peak forces with larger deviations, however feeding along the build direction resulted in higher peak forces with lower deviations. The build direction was also observable on fan shaped chip surfaces. © 2019 Inderscience Enterprises Ltd.

关键词： Nickel alloys

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Adaptive Artificial Potential Fields with Orientation Control Applied to Robotic Manipulators

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IFAC-PapersOnLine 2020年第2期53卷 9924-9929页

作者： Caio Cristiano Barros Viturino Ubiratan de Melo Pinto Junior André Gustavo Scolari Conceição Leizer Schnitman LaR - Robotics Laboratory Department of Electrical and Computer Engineering Federal University of Bahia Salvador Brazil CTAI - Training Center in Technology in Industrial Automation Department of Chemical Engineering Federal University of Bahia Salvador Brazil

This paper proposes the integration of an Adaptive Artificial Potential Fields algorithm with a new end effector orientation control technique for real-time robot path planning. The development of autonomous robotic systems has undergone several advances in path planning algorithms. These systems generate object collision-free paths in the robot’s workspace. In this context, the Artificial Potential Fields technique has been the focus of improvements in recent years due to its simplicity of application and efficiency in real-time systems, since it does not require a global mapping of the robot’s workspace. In spite of its efficiency, this technique is susceptible to local minimum problems of different natures, such as Goals Non-Reachable with Obstacles Nearby (GNRON). To solve this problem, we suggest the use of an improvement called Adaptive Artificial Potential Fields used in conjunction with the proposed end effector orientation control technique, which allows reaching a desired orientation of the end effector. The resulting force, generated from the Adaptive Artificial Potential Field, guides the robot end effector to the goal. The Robot Operating System (ROS) framework and a collaborative robot manipulator UR5 are used to validate the proposed method on an approaching task for an object on a 3D printer tray.

关键词： Artificial Potential Field Orientation Control Robotic manipulators Path planning

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Holarchy for line-less mobile assembly systems operation in the context of the internet of production 14

Holarchy for line-less mobile assembly systems operation in ...

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14th CIRP Conference on Intelligent Computation in Manufacturing engineering, CIRP ICME 2020

作者： Buckhorst, Armin Friedrich Montavon, Benjamin Wolfschläger, Dominik Buchsbaum, Melanie Shahidi, Amir Petruck, Henning Kunze, Ike Pennekamp, Jan Brecher, Christian Hüsing, Mathias Corves, Burkhard Nitsch, Verena Wehrle, Klaus Schmitt, Robert Heinrich Department of Production Metrology and Quality Management Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Department of Machine Tools Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Institute of Industrial Engineering and Ergonomics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Department of Communication and Distributed Systems RWTH Aachen University Ahornstr. 55 Aachen52074 Germany

Assembly systems must provide maximum flexibility qualified by organization and technology to offer cost-compliant performance features to differentiate themselves from competitors in buyers' markets. By mobilization of multipurpose resources and dynamic planning, Line-less Mobile Assembly systems (LMASs) offer organizational reconfigurability. By proposing a holarchy to combine LMASs with the concept of an Internet of Production (IoP), we enable LMASs to source valuable information from cross-level production networks, physical resources, software nodes, and data stores that are interconnected in an IoP. The presented holarchy provides a concept of how to address future challenges, meet the requirements of shorter lead times, and unique lifecycle support. The paper suggests an application of decision making, distributed sensor services, recommender-based data reduction, and in-network computing while considering safety and human usability alike. © 2021 The Authors. Published by Elsevier B.V.

关键词： Assembly

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Simultaneous Data Reconciliation and Gross Error Detection Based on Denoising Autoencoder

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Hong Yang Yuan Yuan Zhisheng Chen Xiaodong Xu Biao Luo School of Electrical and Information Engineering Changsha University of Science and Technology Changsha China Department of Chemical and Materials Engineering University of Alberta Edmonton AB Canada School of Automation and the Key Laboratory of Industrial Intelligence and Systems Central South University Changsha China

industrial process data are usually affected by random and gross errors leading to deviation from the true value and violation of process constraints. Traditional data reconciliation methods rely on an accurate process model, which can lead to incorrect reconciliation results if the model is not accurate enough. This article proposes a deep learning approach based on denoising autoencoder (DAE) for dealing with simultaneous data reconciliation and gross error detection (SDR & GED) in steady-state systems without directly using the process models/constraints. Reconciled values that satisfy the process constraints can be gradually obtained by iterative training. In addition, a pretraining method is proposed to accelerate the training procedure. The proposed DAE framework is equipped with a 1-D convolutional neural network, which can reduce the model complexity. Furthermore, DAE is capable of handling a variety of noises so that data with different types of noise distributions can still be reconciled effectively. Finally, loop analysis and process constraints’ construction for the hot section of an olefin plant are performed, and the effectiveness of the proposed method is verified by the study of this system.

关键词： Data models Noise Measurement uncertainty Accuracy Noise reduction Training Feature extraction Pollution measurement Convolutional neural networks Autoencoders

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Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

arXiv

引用

arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Li, Bai Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Na, Xiaoxiang Li, Zixuan Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd United Kingdom BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The College of Mechanical and Vehicle Engineering Hunan University China The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The Centre for Sustainable Road Freight University of Cambridge United Kingdom The School of Mechanical Engineering Tsinghua University China The College of Artificial Intelligence Xi’an Jiaotong University China

关键词： Autonomous vehicles

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