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Hazard-evaluation-oriented Moving Horizon Parallel Steering control for Driver-Automation Collaboration During Automated Driving

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1062-1073页

作者： Hongyan Guo Linhuan Song Jun Liu Fei-Yue Wang Dongpu Cao Hong Chen Chen Lv Partick Chi-Kwong Luk State Key Laboratory of Automotive Simulation and Control and the Department of Con-trol Science and Engineering Jilin University(Campus Nanling)Changchun130025China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China Mechanical and Mechatronics Engineering Department at the University ot Waterloo 200 University Avenue West WaterlooONNZL3G1Canada Department of Automotive Engineering Cranfield UniversityBedfordshire MK43 0ALUK School of Water Energy and EnvironmentCranfield UniversityBedfordshire MK43 0ALUK

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon *** framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable *** automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

关键词： Hazard evaluation intelligent vehicle atera stability moving horizon optimization paralle steering control

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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

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Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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The relationship between rising temperatures and malaria incidence in Hainan, China, from 1984 to 2010: a longitudinal cohort study

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The Lancet Planetary Health 2022年第4期6卷 e350-e358页

作者： Wang, Zengmiao Liu, Yonghong Li, Yapin Wang, Guangze Lourenço, José Kraemer, Moritz He, Qixin Cazelles, Bernard Li, Yidan Wang, Ruixue Gao, Dongqi Li, Yuchun Song, Wenjing Sun, Dingwei Dong, Lu Pybus, Oliver G Stenseth, Nils Chr Tian, Huaiyu State Key Laboratory of Remote Sensing Science Center for Global Change and Public Health College of Global Change and Earth System Science Beijing Normal University Beijing China Ministry of Education Key Laboratory for Biodiversity and Ecological Engineering College of Life Sciences Beijing Normal University Beijing China School of National Security and Emergency Management Beijing Normal University Beijing China Central Theater Center for Disease Control and Prevention of PLA Beijing China Hainan Center for Disease Control and Prevention Haikou China Department of Zoology University of Oxford UK Oxford United Kingdom Harvard Medical School Harvard University Boston MA United States Boston Children's Hospital Boston MA United States Department of Ecology and Evolution University of Chicago Chicago IL United States Institut de Biologie de l’École Normale Supérieure Unité Mixte de Recherche 8197 Centre National de la Recherche Scientifique et École Normale Supérieure Paris France Unité Mixte Internationnale 209 Mathematical and Computational Modeling of Complex Systems Institut de Recherche pour le Développement et Sorbonne Université Bondy France Centre for Ecological and Evolutionary Synthesis Department of Biosciences University of Oslo Oslo Norway Biosystems and Integrative Sciences Institute University of Lisbon Lisbon Portugal Department of Pathobiology and Population Science The Royal Veterinary College UK London United Kingdom

Background: The influence of rising global temperatures on malaria dynamics and distribution remains controversial, especially in central highland regions. We aimed to address this subject by studying the spatiotemporal heterogeneity of malaria and the effect of climate change on malaria transmission over 27 years in Hainan, an island province in China. Methods: For this longitudinal cohort study, we used a decades-long dataset of malaria incidence reports from Hainan, China, to investigate the pattern of malaria transmission in Hainan relative to temperature and the incidence at increasing altitudes. Climatic data were obtained from the local meteorological stations in Hainan during 1984–2010 and the WorldClim dataset. A temperature-dependent R₀ model and negative binomial generalised linear model were used to decipher the relationship between climate factors and malaria incidence in the tropical region. Findings: Over the past few decades, the annual peak incidence has appeared earlier in the central highland regions but later in low-altitude regions in Hainan, China. Results from the temperature-dependent model showed that these long-term changes of incidence peak timing are linked to rising temperatures (of about 1·5°C). Further, a 1°C increase corresponds to a change in cases of malaria from –5·6% (95% CI –4·5 to –6·6) to –9·2% (95% CI –7·6 to –10·9) from the northern plain regions to the central highland regions during the rainy season. In the dry season, the change in cases would be 4·6% (95% CI 3·7 to 5·5) to 11·9% (95% CI 9·8 to 14·2) from low-altitude areas to high-altitude areas. Interpretation: Our study empirically supports the idea that increasing temperatures can generate opposing effects on malaria dynamics for lowland and highland regions. This should be further investigated and incorporated into future modelling, disease burden calculations, and malaria control, with attention for central highland regions under climate change. Funding: S

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A Negotiation-based Right-of-way Assignment Strategy to Ensure Traffic Safety and Efficiency in Lane Changes

arXiv

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arXiv 2019年

作者： Zhao, Can Li, Zhiheng Li, Li Wu, Xiangbin Wang, Fei-Yue Department of Automation Tsinghua University Beijing China Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen China Intel Labs China Intel Corporation Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

It is widely acknowledged that verifying the safety of autonomous driving strategies requires a substantial body of simulation testing and road testing. In recent years, the formal safety methods represented by Responsibility-Sensitive Safety (RSS) have encouraged low-cost autonomous driving safety research, benefitting from its accurate assessment of safety and clear division of responsibilities. However, how to maintain traffic efficiency while ensuring safety remains a challenge. To address this problem, this paper proposes a formulized negotiation-based lane-changing strategy that makes a trade-off between safety and efficiency. Both theoretical analysis and numerical experimental results shows that compared to RSS, our strategy can noticeably improve the success rate of changing lanes on the premise of safety. Copyright © 2019, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Understanding of users' response to the intervention of FDA's new deeming rules in twitter 18

Understanding of users' response to the intervention of FDA'...

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2nd International Conference on Medical and Health Informatics, ICMHI 2018

作者： Luo, Yin Li, Qiudan Sun, Song Zeng, Daniel Leischow, Scott J. School of Management and Economics Beijing Institute of Technology Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing China Department of Management Information Systems University of Arizona TucsonAZ85721 United States Mayo Clinic ScottsdaleAZ85259 United States

ISBN: (纸本)9781450363891

Background: On May 5, 2016, the U.S. Food and Drug Administration (FDA) finalized a rule extending its authority to all tobacco products, including e-cigarettes, cigars, hookah tobacco and pipe tobacco, among others, which aims to help protect Americans from the dangers of tobacco and nicotine, especially the youth. The policy can be seen as a new intervention and become a hot discussion topic among the users in Twitter. Objective: This paper aims to examine the tweets related to the FDA's new policy in the social media, and gain a systematic understanding of users' responses to the intervention and the regulation. Methods: A total of 13864 tweets related to the policy from May 1st, 2016 to May 31st, 2016 were collected and analyzed, the support and opposition viewpoints about the six aspects including Regulation, Health, Industry, Democracy, Science, and Children were summarized, the time-sequence co-occurrence pattern of high-frequency words and the analysis of retweet and user dissemination network were analyzed. Results: Tweets are classified into six broad themes: Regulation, Health, Children, Industry, Science, and Democracy, the number of tweets about the six themes is 7547, 2764, 1678, 795, 670, 45. There are more supports on Regulation, Health, Science, and Children, the ratio of support(opposition) on the four themes are 80.6%(19.4%), 74.9%(25.1%), 85.9%(14.1%), 75.8%(24.2%), respectively, as for the themes of industry and democracy, most users hold the opposing view. The co-occurrence frequencies of gvaping. and "vape", "stocks" and "bigTobacco", "vapingsaveslives" and "vapeivote" are 328, 61, 104. A network with 222 retweets and 361 replies is constructed. Among the 361 replies, there are 62 negative replies accounting for 17.2%, 120 positive replies accounting for 33.2%, and 179 neutral replies accounting for 49.6%. It shows clearly that social media such as Twitter can be employed to gather valuable user feedback effectively and response on the governm

关键词： Tobacco

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Parallel Dispatch:A New Paradigm of Electrical Power System Dispatch

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 311-319页

作者： Jun Jason Zhang Fei-Yue Wang Qiang Wang Dazhi Hao Xiaojing Yang David Wenzhong Gao Xiangyang Zhao Yingchen Zhang Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer Science University of Denver Denver 80210 CO USA State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science (SKL-MCCS CASIA) Beijing 100190 China Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology Changsha 410073 China State Grid Tianjin Electric Power Company Tianjin 300010 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China National Renewable Energy Laboratory Golden CO 80401 USA IEEE

Modern power systems are evolving into sociotechnical systems with massive complexity, whose real-time operation and dispatch go beyond human capability. Thus,the need for developing and applying new intelligent power system dispatch tools are of great practical significance. In this paper, we introduce the overall business model of power system dispatch, the top level design approach of an intelligent dispatch system, and the parallel intelligent technology with its dispatch applications. We expect that a new dispatch paradigm,namely the parallel dispatch, can be established by incorporating various intelligent technologies, especially the parallel intelligent technology, to enable secure operation of complex power grids,extend system operators' capabilities, suggest optimal dispatch strategies, and to provide decision-making recommendations according to power system operational goals.

关键词： ACP knowledge automation power dispatch parallel dynamic programming parallel intelligence paralle learning situational awareness

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Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator control

Toward a Human-Machine Interface Based on Electrical Impedan...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Enhao Zheng Yuhua Li Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of information engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

In this study, we proposed a novel human-machine interface (HMI) for robotic manipulator control. The specific target was to adjust the impedance coefficients of the robot controller in real time by measuring the human forearm muscle contractions. We firstly designed a HMI system. Different from the frequently used sEMG technologies, the interface in our study could detect muscle morphological changes within the skin by the electrical impedance tomography (EIT). The sensing front-end was a soft elastic fabric band which was compatible to different arm shapes. With the specific designed sensing hardware and the re-construction algorithms, EIT images indicating forearm muscle shapes were obtained. We then designed a hybrid positon/impedance controller on a UR5 with the impedance coefficients being tuned in real time by the grasp force estimation. A sigmoid regression algorithm was used to map the EIT images to the grasp forces. After implementation of the whole system, two experiments were carried out. The first experiment was the off-line grasp force estimation. With the 1:1 cross validation, an average R 2 of 0.83±0.04 and an average of the relative root mean square error (RRMSE) of 0.31±0.10 across 5 subjects were yielded. The second experiment was the real-time robot control. Trajectory tracking task with dynamic uncertainties were investigated and grasp forces were estimated in real-time. With higher muscle contraction levels, smaller position errors were observed and shorter time was needed to return to the expected trajectory when there were external disturbances. The results proved the feasibility of the new approach on human-robot interaction tasks. Future endeavours will be made to get more promising results.

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A Hybrid of Hard and Soft Attention for Person Re-Identification

A Hybrid of Hard and Soft Attention for Person Re-Identifica...

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Chinese Automation Congress (CAC)

作者： Xuesong Li Yating Liu Kunfeng Wang Yong Yan Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China College of Information Science and Technology Beijing University of Chemical Technology Beijing China State Grid Zhejiang Electric Power Company LTD Hangzhou China

Existing pedestrian re-identification methods based on deep learning have achieved good results under constrained conditions. However, there exist some challenges including large human pose variations, viewpoint changes, severe occlusions and imprecise detection of persons. So we present a Hard/Soft hybrid Attention Network (HSAN) that combines pose information and attention mechanism to deal with the challenges. Our model includes two main parts: Pose-guided Hard Attention (PHA) and Regional Soft Attention (RSA). PHA uses the keypoints generated by pose estimation to enhance the foreground information, and RSA is learned to eliminate the background clutter. We extract reliable features and locate discriminative regions by using these two modules to handle occlusions, pose changes and background noises. We conduct a lot of experiments on public datasets including DukeMTMC-ReID, Market-1501, and CUHK03, and the results show that our method achieves stateof-the-art performance.

关键词： Pose estimation Task analysis Noise measurement Feature extraction Reliability Machine learning

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Deep learning for object detection and grasping: A survey

Deep learning for object detection and grasping: A survey

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Jia, Qun Cai, Jun Cao, Zhiqiang Wu, Yelan Zhao, Xionglei Yu, Junzhi State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing101408 China School of Computer and Information Engineering Beijing Technology and Business University Beijing100048 China

ISBN: (纸本)9781538680698

Detecting and grasping objects in unstructured environments is an important yet difficult task. Fortunately, the breakthroughs from deep convolutional networks stimulate the development of object detection and grasping. The survey aims to serve as a comparison for region-based and region-free detection framework based on deep learning, and supplies the latest research results of object grasping with deep learning. Firstly, we briefly analyze the object detection and grasping. Then, the representative object detection methods based on deep learning are overviewed. Thirdly, we introduce the application of convolutional neural networks in object grasping. Finally, the potential trends in object detection and grasping based on deep learning are discussed. © 2018 IEEE.

关键词： Object detection

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