Stochastic models of road geometry and wind condition for vehicle energy management and control

Modeling and simulation is commonly used to improve vehicle performance, to optimize vehicle system design, and to reduce vehicle development time. Vehicle performances can be affected by environmental conditions and driver behavior factors, which are often uncertain and immeasurable. To incorporate the role of environmental conditions in the modeling and simulation of vehicle systems, both real and artificial data are used. Often, real data are unavailable or inadequate for extensive investigations. Hence, it is important to be able to construct artificial environmental data whose characteristics resemble those of the real data for modeling and simulation purposes. However, to produce credible vehicle simulation results, the simulated environment must be realistic and validated using accepted practices. This paper proposes a stochastic model that is capable of creating artificial environmental factors such as road geometry and wind conditions. In addition, road geometric design principles are employed to modify the created road data, making it consistent with the real-road geometry. Two sets of real-road geometry and wind condition data are employed to propose probability models. To justify the distribution goodness of fit, Pearson's chi-square and correlation statistics have been used. Finally, the stochastic models of road geometry and wind conditions (SMRWs) are developed to produce realistic road and wind data. SMRW can be used to predict vehicle performance, energy management, and control strategies over multiple driving cycles and to assist in developing fuel-efficient vehicles.

A fresh look at the validity of the diffusion approximation for modeling fluorescence spectroscopy in biological tissue

Fluorescence has become a widely used technique for applications in noninvasive diagnostic tissue spectroscopy. The standard model used for characterizing fluorescence photon transport in biological tissue is based on the diffusion approximation. On the premise that the total energy of excitation and fluorescent photon flows must be conserved, we derive the widely used diffusion equations in fluorescence spectroscopy and show that there must be an additional term to account for the transport of fluorescent photons. The significance of this additional term in modeling fluorescence spectroscopy in biological tissue is assessed.

Robust video/ultrasonic fusion-based estimation for automotive applications

In this paper, we use recently developed robust estimation ideas to improve object tracking by a stationary or nonstationary camera. Large uncertainties are always present in vision-based systems, particularly, in relation to the estimation of the initial state as well as the measurement of object motion. The robustness of these systems can be significantly improved by employing a robust extended Kalman filter (REKF). The system performance can also be enhanced by increasing the spatial diversity in measurements via employing additional cameras for video capture. We compare the performances of various image segmentation techniques in moving-object localization and show that normal-flow-based segmentation yields comparable results to, but requires significantly less time than, optical-flow-based segmentation. We also demonstrate with simulations that dynamic system modeling coupled with the application of an REKF significantly improves the estimation system performance, particularly, when subjected to large uncertainties.

Visual tracking of vehicles using multiresolution analysis and neural network

This paper describes the procedure for detection and tracking of a vehicle from an on-road image sequence taken by a monocular video capturing device in real time. The main objective of such a visual tracking system is to closely follow objects in each frame of a video stream, such that the object position as well as other geometric information are always known. In the tracking system described, the video capturing device is also moving. It is a challenge to detect and track a moving vehicle under a constantly changing environment coupled to real time video processing. The system suggested is robust to implement under different illuminating conditions by using the monocular video capturing device. The vehicle tracking algorithm is one of the most important modules in an autonomous vehicle system, not only it should be very accurate but also must have the safety of other vehicles, pedestrians, and the moving vehicle itself. In order to achieve this an algorithm of multi resolution technique based on Haar basis functions were used for the wavelet transform, where a combination of classification was carried out with the multilayer feed forward neural network. The classification is done in a reduced dimensional space, where principle component analysis (PCA) dimensional reduction technique has been applied to make the classification process much more efficient. The results show the effectiveness of the proposed methodology.

Robust filtering for uncertain discrete-time systems with uncertain noise covariance and uncertain observations

The use of Kalman filtering is very common in state estimation problems. The problem with Kalman filters is that they require full prior knowledge about the system modeling. It is also assumed that all the observations are fully received. In real applications, the previous assumptions are not true all the time. It is hard to obtain the exact system model and the observations may be lost due to communication problems. In this paper, we consider the design of a robust Kalman filter for systems subject to uncertainties in the state and white noise covariances. The systems under consideration suffer from random interruptions in the measurements process. An upper bound for the estimation error covariance is proposed. The proposed upper bound is further minimized by selection of optimal filter parameters. Simulation example shows the effectiveness of the proposed filter.

A generalized data windowing scheme for adaptive conjugate gradient algorithms

The performance of the modified adaptive conjugate gradient (CG) algorithms based on the iterative CG method for adaptive filtering is highly related to the ways of estimating the correlation matrix and the cross-correlation vector. The existing approaches of implementing the CG algorithms using the data windows of exponential form or sliding form result in either loss of convergence or increase in misadjustment. This paper presents and analyzes a new approach to the implementation of the CG algorithms for adaptive filtering by using a generalized data windowing scheme. For the new modified CG algorithms, we show that the convergence speed is accelerated, the misadjustment and tracking capability comparable to those of the recursive least squares (RLS) algorithm are achieved. Computer simulations demonstrated in the framework of linear system modeling problem show the improvements of the new modifications.

An empirical study of neighbourhood decay in Kohonen's self organizing map

In this paper, empirical results are presented which suggest that size and rate of decay of region size plays a much more significant role in the learning, and especially the development, of topographic feature maps. Using these results as a basis, a scheme for decaying region size during SOM training is proposed. The proposed technique provides near optimal training time. This scheme avoids the need for sophisticated learning gain decay schemes, and precludes the need for a priori knowledge of likely training times. This scheme also has some potential uses for continuous learning.

Tracking-as-recognition for articulated full-body human motion analysis

This paper addresses the problem of markerless tracking of a human in full 3D with a high-dimensional (29D) body model Most work in this area has been focused on achieving accurate tracking in order to replace marker-based motion capture, but do so at the cost of relying on relatively clean observing conditions. This paper takes a different perspective, proposing a body-tracking model that is explicitly designed to handle real-world conditions such as occlusions by scene objects, failure recovery, long-term tracking, auto-initialisation, generalisation to different people and integration with action recognition. To achieve these goals, an action's motions are modelled with a variant of the hierarchical hidden Markov model The model is quantitatively evaluated with several tests, including comparison to the annealed particle filter, tracking different people and tracking with a reduced resolution and frame rate.

Spatial activity recognition in a smart home environment using a chemotactic model

Spatial activity recognition is challenging due to the amount of noise incorporated during video tracking in everyday environments. We address the spatial recognition problem with a biologically-inspired chemotactic model that is capable of handling noisy data. The model is based on bacterial chemotaxis, a process that allows bacteria to change motile behaviour in relation to environmental gradients. Through adoption of chemotactic principles, we propose the chemotactic model and evaluate its performance in a smart house environment. The model exhibits greater than 99% recognition performance with a diverse six class dataset and outperforms the Hidden Markov Model (HMM). The approach also maintains high accuracy (90-99%) with small training sets of one to five sequences. Importantly, unlike other low-level spatial activity recognition models, we show that the chemotactic model is capable of recognising simple interwoven activities.

Planning with events and states

We present an overall planning system in which specifications can be described in terms of events and states. The underlying feature of this system is temporal logic, and its expressive power alloys one to deal with simultaneous actions and interacting actions. Moreover, one can represent both goal-oriented positive constraints and prevention-oriented negative constraints. The planning system can generate hierarchical plans and the overall model is capable of handling interacting agents.

New variable step-sizes minimizing mean-square deviation for the lms-type algorithms

The least-mean-square-type (LMS-type) algorithms are known as simple and effective adaptation algorithms. However, the LMS-type algorithms have a trade-off between the convergence rate and steady-state performance. In this paper, we investigate a new variable step-size approach to achieve fast convergence rate and low steady-state misadjustment. By approximating the optimal step-size that minimizes the mean-square deviation, we derive variable step-sizes for both the time-domain normalized LMS (NLMS) algorithm and the transform-domain LMS (TDLMS) algorithm. The proposed variable step-sizes are simple quotient forms of the filtered versions of the quadratic error and very effective for the NLMS and TDLMS algorithms. The computer simulations are demonstrated in the framework of adaptive system modeling. Superior performance is obtained compared to the existing popular variable step-size approaches of the NLMS and TDLMS algorithms. © 2014 Springer Science+Business Media New York.

A decentralized cloud firewall framework with resources provisioning cost optimization

Cloud computing is becoming popular as the next infrastructure of computing platform. Despite the promising model and hype surrounding, security has become the major concern that people hesitate to transfer their applications to clouds. Concretely, cloud platform is under numerous attacks. As a result, it is definitely expected to establish a firewall to protect cloud from these attacks. However, setting up a centralized firewall for a whole cloud data center is infeasible from both performance and financial aspects. In this paper, we propose a decentralized cloud firewall framework for individual cloud customers. We investigate how to dynamically allocate resources to optimize resources provisioning cost, while satisfying QoS requirement specified by individual customers simultaneously. Moreover, we establish novel queuing theory based model M/Geo/1 and M/Geo/m for quantitative system analysis, where the service times follow a geometric distribution. By employing Z-transform and embedded Markov chain techniques, we obtain a closed-form expression of mean packet response time. Through extensive simulations and experiments, we conclude that an M/Geo/1 model reflects the cloud firewall real system much better than a traditional M/M/1 model. Our numerical results also indicate that we are able to set up cloud firewall with affordable cost to cloud customers.

Adaptive intelligent energy management system of plug-in hybrid electric vehicle

Efficient energy management in hybrid vehicles is the key for reducing fuel consumption and emissions. To capitalize on the benefits of using PHEVs (Plug-in Hybrid Electric Vehicles), an intelligent energy management system is developed and evaluated in this paper. Models of vehicle engine, air conditioning, powertrain, and hybrid electric drive system are first developed. The effect of road parameters such as bend direction and road slope angle as well as environmental factors such as wind (direction and speed) and thermal conditions are also modeled. Due to the nonlinear and complex nature of the interactions between PHEV-Environment-Driver components, a soft computing based intelligent management system is developed using three fuzzy logic controllers. The crucial fuzzy engine controller within the intelligent energy management system is made adaptive by using a hybrid multi-layer adaptive neuro-fuzzy inference system with genetic algorithm optimization. For adaptive learning, a number of datasets were created for different road conditions and a hybrid learning algorithm based on the least squared error estimate using the gradient descent method was proposed. The proposed adaptive intelligent energy management system can learn while it is running and makes proper adjustments during its operation. It is shown that the proposed intelligent energy management system is improving the performance of other existing systems. © 2014 Elsevier Ltd.

Risky driving habits and motor vehicle driver injury

Risky driving is an important cause of motor vehicle injury, but there is a lack of good epidemiological data in this field, particularly data comparing risky driving in younger drivers to those of other age groups. We examined the relationship between risky driving habits, prior traffic convictions and motor vehicle injury using cross-sectional data amongst 21,893 individuals in New Zealand, including 8029 who were aged 16–24 years. Those who reported frequently racing a motor vehicle for excitement or driving at 20 km/h or more over the speed limit, and those who had received traffic convictions over the past 12 months, were between two and four times more likely to have been injured while driving over the same time period. Driving unlicensed was a risk factor for older but not younger drivers, and driving at 20 km/h or more above the speed limits was a stronger risk factor for younger (<25 years) than older drivers. These results confirm the need for interventions targeting risky driving and suggest that different strategies may be required for different high-risk groups.