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2005 IEEE Intelligent Vehicles Symposium

作者： Li, Li Wang, Fei-Yue Zhou, Qunzhi IEEE Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States

ISBN: (纸本)0780389611

Lateral control of vehicles on automated highways often requires accurate estimation of sideslip angle, yaw rate and lateral velocity, which are difficult to measure directly. Thus, several observers (virtual sensors) were developed in the last decade. In order to solve the unhandled estimation inaccuracy problem caused by system parameter variation and/or model uncertainty, a robust observer has been proposed in this paper. It maintains the good disturbance rejection property that derived form previous research, and simultaneously provides acceptable tolerance to model variance and uncertainty. Specially, effects of displacements of sensory, dynamics variance caused by mass/vclocity/friction-coefficients change or nonlinear characteristics are studied. Simulations demonstrate the usefulness of the proposed observer. © 2005 IEEE.

关键词： Intelligent vehicle highway systems

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Cooperative driving and lane changing at blind crossings

Cooperative driving and lane changing at blind crossings

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2005 IEEE Intelligent Vehicles Symposium

作者： Li, Li Wang, Fei-Yue Kim, Hungman IEEE Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Engineering School Northwestern Polytechnic University Fremont CA 94539

ISBN: (纸本)0780389611

Cooperative driving technology with aid of intervehicle communication attracts increasing interests recently. Under cooperative driving guidance, motion of individual vehicles can be conducted in a more safe and smooth manner. In this paper, cooperative driving at blind crossing (crossing without traffic lights) is studied. A concept named "safe driving patterns" is proposed to represent collision free movements of all encountered vehicles at crossings. The algorithm to determine a "safe driving pattern" is presented, too. The solution space of all allowable movement schedules is then described by a spanning tree in terms of safe driving patterns. Moreover, the corresponding trajectory planning technique considering lane changing around crossings is also discussed. © 2005 IEEE.

关键词： Street traffic control

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An LMI approach to robust vehicle steering controller design

An LMI approach to robust vehicle steering controller design

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8th International IEEE Conference on Intelligent Transportation systems

作者： Li, Li Wang, Fei-Yue Zhou, Qunzhi IEEE United States Dept. of Systems and Industrial Engineering Univ. of Arizona Tucson AZ 85719 United States Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Dept. of Systems and Industrial Engineering Univ. of Arizona Tucson AZ United States

ISBN: (纸本)0780392159

Being parallel to frequency domain robust steering controller designs, time domain approaches attract considerable interest in the last decade. Based on previous research results, a synthesized time design framework is proposed in this paper. The design task is constructed as a multi-objective optimization problem which simultaneously considers system stabilization, disturbance rejection, actuator saturation and time delay. A mixed L1/H ∞ robust controller is finally obtained by solving a set of linear matrix equalities (LMI) that guarantee driving performance requirements. Simulations show the effectiveness of the proposed design method. © 2005 IEEE.

关键词： Automobile steering equipment

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Multivariate regression model selection with KIC for extrapolation cases

Multivariate regression model selection with KIC for extrapo...

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International Joint Conference on Neural Networks (IJCNN)

作者： A.-K. Seghouane Systems Engineering And Complex Systems Program NICTA Canberra ACT Australia

The Kullback information criterion, KIC and its multivariate bias-corrected version, KIC/sub VC/ are two alternatively developed criteria for model selection. The two criteria can be viewed as estimators of the expected Kullback symmetric divergence. In this paper, a new criterion is proposed in order to select a well fitted model for an extrapolation case. The proposed criterion is named, PKIC, where "P" stands for prediction, and is derived as an exact unbiased estimator of an adapted cost function that is based on the Kullback symmetric divergence and the future design matrix. PKIC is an unbiased estimator of its cost function assuming that the true model is correctly specified or overfitted. A simulation study illustrating that model selection with PKIC performs well for some extrapolation cases is presented.

关键词： Multivariate regression Extrapolation Computer aided software engineering Predictive models Covariance matrix Australia Cost function Symmetric matrices systems engineering and theory Electronic mail

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Optimal trajectory planning of manipulators subject to motion constraints

Optimal trajectory planning of manipulators subject to motio...

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12th International Conference on Advanced Robotics, 2005. ICAR '05

作者： Shen, Yueshi Hüper, Knut Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra ACT 0200 Australia National ICT Australia Limited Systems Engineering and Complex Systems Program Locked Bag 8001 Canberra ACT 2601 Australia

ISBN: (纸本)0780391772

This paper presents a novel approach to plan an optimal joint trajectory for a manipulator robot performing a compliant motion task. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically calculate the joint trajectory's intermediate discretized points, instead of solving a corresponding nonlinear, implicit Euler-Lagrange equation. Secondly, we interpolate these points to get the final joint curve in a way such that the motion constraints will always be sustained throughout the movement. An example of motion planning for a 4-degree-of-freedom robot WAM will be given at the end of this paper. © 2005 IEEE.

关键词： Manipulators

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Generalizations of the Rayleigh quotient iteration for the iterative refinement of the eigenvectors of real symmetric matrices

Generalizations of the Rayleigh quotient iteration for the i...

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2005 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP '05

作者： Nikpour, Maziar Hüper, Knut Manton, Jonathan H. Centre for Systems Engineering and Applied Mechanics Department of Mathematical Engineering Catholic University of Louvain 1348 Louvain-la-Neuve Belgium National ICT Australia Canberra Research Laboratory Systems Engineering and Complex Systems Program Locked Bag 8001 Canberra ACT 2601 Australia Department of Electrical and Electronic Engineering University of Melbourne Vic. 3010 Australia

ISBN: (纸本)0780388747

We present new algorithms for refining the estimates of the eigenvectors of a real symmetric matrix. Using techniques from calculus, we show that the algorithms converge locally cubically fast. By this we mean that locally all eigenvalue-eigenvector pairs simultaneously converge at a cubic rate. This is in contrast to well known shifted QR algorithms, which depending on the shifting strategy employed, have only one (or at most a small subset) of the eigenvalue-eigenvector pairs converging cubically at any one time. The algorithms are well suited to the situation where one needs to compute the eigenvectors of a perturbed matrix A + E based on a good estimate of the eigenvectors of a matrix A. Such a situation frequently appears in tracking applications. © 2005 IEEE.

关键词： Iterative methods

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Developing and improving transportation systems: The structure and operation of IEEE intelligent transportation systems society

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IEEE Transactions on Intelligent Transportation systems 2005年第3期6卷 261-264页

作者： Wang, Fei-Yue Herget, Charles Zeng, Daniel IEEE ITSS Chinese Academy of Sciences Institute of Automation Beijing 100080 China University of Arizona Department of Systems and Industrial Engineering Tucson AZ 85721 United States IEEE ITSS Herget Associates Alameda CA 94501 United States IEEE ITSS University of Arizona Department of Management Information Systems Tucson AZ 85721 United States Program for Advanced Research in Complex Systems University of Arizona Tucson Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences ITS Department of the IEEE Intelligent Systems IEEE ITS Society IEEE SMC Board of Governors Herget Associates Alameda CA IEEE Standards ITS US Department of Transportation Department of Management Information Systems University of Arizona INFORMS AAAI and ACM IEEE ITS Society Technical Activities of the Chinese Association for Science and Technology United States

This editorial introduces the structure and operation of the IEEE Intelligent Transportation systems Society (ITSS). A brief history of the ITSS is presented, along with its mission, organizational structure, and a re... 详细信息

关键词： Transportation

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IVS O5: New developments and research trends for intelligent vehicles

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IEEE Intelligent systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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An LMI approach to robust vehicle steering controller design

An LMI approach to robust vehicle steering controller design

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International Conference on Intelligent Transportation

作者： Li Li Fei-Yue Wang Qunzhi Zhou Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Department of Systems and Industrial Engineering Program for Advanced Research in Complex Systems University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences China

Being parallel to frequency domain robust steering controller designs, time domain approaches attract considerable interest in the last decade. Based on previous research results, a synthesized time design framework is proposed in this paper. The design task is constructed as a multi-objective optimization problem which simultaneously considers system stabilization, disturbance rejection, actuator saturation and time delay. A mixed L/sub 1//H/sub /spl infin// robust controller is finally obtained by solving a set of linear matrix equalities (LMI) that guarantee driving performance requirements. Simulations show the effectiveness of the proposed design method.

关键词： Robust control Actuators Motion control Vehicle dynamics Frequency domain analysis Automatic control Design methodology Road accidents Intelligent vehicles Automated highways

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A watch in developments of intelligent tire inspection and monitoring

A watch in developments of intelligent tire inspection and m...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Li Li Fei-Yue Wang Qunzhi Zhou Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA The Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences Beijing China

The comfort and safety of driving tightly depends on good working condition of the vehicle tires. However, it is not easy for people to estimate tire pressure, temperature and tire/road friction force etc. correctly, especially when driving on road. As a result, numerous novel tire sensors and inspection devices were developed in the last two decades to make driving more safe and comfortable. In addition, these approaches also related to scrap tire pollution and highway noise reduction. This paper presents a brief survey of the recent advances in this field with a special focus on SAW tire sensors.

关键词： Watches Tires Inspection Monitoring Vehicle safety Roads Employee welfare Vehicle driving Temperature sensors Friction

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