Behavioral event detection and rate estimation for autonomous vehicle evaluation

Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations typically focus on estimating the frequency of (undesirable) behavioral events. While rate estimation would be straight-forward with complete data, in the autonomous driving setting this estimation is greatly complicated by the fact that detecting these events within large driving logs is a non-trivial task that often involves human reviewers. In this article, we outline a streaming partial tiered event review configuration that ensures both high recall and high precision on the events of interest. In addition, the framework allows for valid streaming estimates at any phase of the data collection process, even when labels are incomplete, for which we develop the maximum likelihood estimate and show it is unbiased. Constructing honest and effective confidence intervals (CI) for these rate estimates, particularly for rare safety-critical events, is a novel and challenging statistical problem due to the complexity of the data likelihood. We develop and compare several CI approximations, including a novel gamma CI method that approximates the exact but intractable distribution with a weighted sum of independent Poisson random variables. There is a clear trade-off between statistical coverage and interval width across the different CI methods, and the extent of this trade-off varies depending on the specific application settings (e.g., rare vs. common events). In particular, we argue that our proposed CI method is the best-suited when estimating the rate of safety-critical events where guaranteed coverage of the true parameter value is a prerequisite to safely launching a new ADS on public roads.     

一类三阶自治系统的积分法

研究一类三阶自治系统的积分方法,证明了在一定条件下,这类系统的积分问题归结为求解由该方程的系数所确定的Riccati方程     

Finitely smooth normal form of an autonomous system with two pure imaginary roots

We consider the problem of finitely smooth normalization of a system of ordinary differential equations whose linear part has two eigenvalues, while the other eigenvalues lie outside the imaginary axis.     

非线性自治振动系统同宿解的广义双曲函数摄动法

提出广义的双曲函数摄动法,用于求解强非线性自治振子的同宿解,克服一般摄动步骤中派生方程须存在显式精确同宿解的限制．以广义双曲函数作为摄动步骤的基本函数,拓展了基于双曲函数的摄动法的适用范围．对同时含2,3次和含4次强非线性项的系统进行求解分析,验证了方法的有效性和精度．     

Design models for unit load storage and retrieval systems using autonomous vehicle technology and resource conserving storage and dwell point policies

Computationally efficient design conceptualization models are proposed for automated unit load storage and retrieval systems based on autonomous vehicle technology. Vehicle and lift travel times and the probability distribution for 12 service scenarios occurring under realistic operating assumptions are formulated and used to generate expected transaction service times. Additional measures of system performance including transaction waiting time and vehicle utilization are formulated for systems using random storage and point-of-service-completion dwell point rules. The models provide a practical means of predicting key aspects of system performance based on five design variables that drive the majority of system costs. They are illustrated in the context of a conceptualization study adapted from an actual system installation.     

Multiclass multicriteria mixed equilibrium on networks and uniform link tolls for system optimum

In this paper, we consider a unified framework of multiclass multicriteria mixed equilibrium, and the existence of uniform link tolls supporting such a mixed equilibrium as a system optimum. The network users are divided into different classes, and each class of traveler perceives his/her disutility associated with a route as a combination of two criteria given, respectively, by the travel time disutility and the time-irrelevant travel disutility. And users in a common class follow either user equilibrium (UE) principle or Cournot–Nash (CN) principle. A variational inequality model characterizing the multiclass multicriteria UE–CN mixed equilibrium behavior is developed. By utilizing the dual theory, we establish the existence of uniform link tolls supporting such mixed equilibrium as a system optimum.     

Design of $n$-dimensional multi-scroll Jerk chaotic system and its performances

Based on three-order Jerk and high-order Jerk chaotic systems, a general approach is proposed to generate $n$-dimensional multi-scroll Jerk chaotic attractors via nonlinear control. Dynamics of the $n$-dimensional multi-scroll Jerk chaotic systems are analyzed by means of the largest Lyapunov exponent and multi-scale permutation entropy complexity. As an experimental verification, four-dimensional Jerk chaotic attractors are implemented by analog circuits. Results of the numerical simulation are consistent with that of the hardware experiments. It shows that the method of obtaining complex Jerk chaotic attractors is effective.     

The Toda system and multiple-end solutions of autonomous planar elliptic problems

We prove the existence of a new class of entire, positive solutions for the classical elliptic problem Δu−u+up=0 in R², when p>2. The solutions we construct are obtained by perturbing the function

     

A hybrid feedback control strategy for autonomous waypoint transitioning and loitering of unmanned aerial vehicles

We consider the problem of autonomously controlling a fixed-wing aerial vehicle to visit a neighborhood of a pre-defined waypoint, and when nearby it, loiter around it. To solve this problem, we propose a hybrid feedback control strategy that unites two state-feedback controllers: a transit controller capable of steering or transitioning the vehicle to nearby the waypoint and a loiter controller capable of steering the vehicle about a loitering radius. The aerial vehicle is modeled on a level flight plane with system performance characterized in terms of the aerodynamic, propulsion, and mass properties. Thrust and bank angle are the control inputs. Asymptotic stability properties of the individual control algorithms, which are designed using backstepping, as well as of the closed-loop system, which includes a hybrid algorithm uniting the two controllers, are established. In particular, for this application of hybrid feedback control, Lyapunov functions and hybrid systems theory are employed to establish stability properties of the set of points defining loitering. The analytical results are confirmed numerically by simulations.     

Bounds for the optimal critical claim size of a bonus system

The optimal critical claim size of a bonus system determines whether to file a claim with the insurance company after having an accident. The aim of this paper is to demonstrate, within the framework of a simple model, how bounds for the optimal critical claim size can be constructed when only incomplete information on the claim amount distribution is available.     

Exact boundary observability for a kind of second-order quasilinear hyperbolic system

In this paper, by means of a constructive method based on the existence and uniqueness of the semi-global classical solution, we establish the local exact boundary observability for a kind of second-order quasilinear hyperbolic system in which the number of positive eigenvalues and the number of negative ones are not equal. As an application, we obtain the one-sided local exact boundary observability and two-sided local exact boundary observability with fewer observed values for first-order quasilinear hyperbolic systems of diagonal form with boundary conditions in which the diagonal variables corresponding to the positive eigenvalues and those corresponding to the negative ones are decoupled.     

A network queuing approach for evaluation of performance measures in autonomous vehicle storage and retrieval systems

A network queuing approach is used to estimate performance measures for Autonomous Vehicle Storage and Retrieval (AVS/R) Systems using opportunistic interleaving. The model exploits the distribution of cycle types and random storage assumptions to estimate the proportion of single and dual command cycles in a system. Comparable in accuracy and computational efficiency to procedures based on standard queuing models, the proposed technique provides the additional advantage of flexibility for modeling the interfaces between a storage system and the overall material flow system in a facility. The procedure is demonstrated for a range of problem scenarios.     

Hybrid block replacement and inspection policies for a multi-component system with heterogeneous component lives

Novel replacement policies that are hybrids of inspection maintenance and block replacement are developed for an n identical component series system in which the component parts used at successive replacements arise from a heterogeneous population. The heterogeneous nature of components implies a mixed distribution for time to failure. In these circumstances, a hybrid policy comprising two phases, an early inspection phase and a later wear-out replacement phase, may be appropriate. The policy has some similarity to burn-in maintenance. The simplest policy described is such a hybrid and comprises a block-type or periodic replacement policy with an embedded block or periodic inspection policy. We use a three state failure model, in which a component may be good, defective or failed, in order to consider inspection maintenance. Hybrid block replacement and age-based inspection, and opportunistic hybrid policies will also arise naturally in these circumstances and these are briefly investigated. For the simplest policy, an approximation is used to determine the long-run cost and the system reliability. The policies have the interesting property that the system reliability may be a maximum when the long-run cost is close to its minimum. The failure model implies that the effect of maintenance is heterogeneous. The policies themselves imply that maintenance is carried out more prudently to newer than to older systems. The maintenance of traction motor bearings on underground trains is used to illustrate the ideas in the paper.     

Dynamic modelling and input-energy comparison for the elevator system

The elevator system driven by a permanent magnet synchronous motor (PMSM) is studied in this paper. The mathematical model of the elevator system includes the electrical and mechanical equations, and the dimensionless forms are derived for the purpose of practicable upward and downward movement. In this paper, the trapezoidal, cycloidal, five-degree (5-D) and seven-degree (7-D) polynomial and industry trajectories are designed and compared numerically in various motion and the absolute input energies. From numerical simulations, it is found that the trapezoidal trajectory consumes the minimum energy; the 7-D polynomial trajectory consumes the maximum one. The less end-point constraints are required, the less energy is consumed. Finally, the proposed sliding mode controller (SMC) is employed to demonstrate the robustness and well tracking control performance numerically.     

Transient analysis of a Markovian loss system with heterogeneous inputs for time congestion measurement

This paper presents transient analyses for a Markovian loss system with heterogeneous inputs. Results are applied to the analysis of the measured time congestion of this system. Transient analyses show the properties of system recovery and covariance functions. The measured time congestion is analyzed and approximations are proposed using these properties. These results are significant for management and control in the Integrated Services Digital Network.     

Solutions with internal jump for an autonomous elliptic system of FitzHugh–Nagumo type

Systems of elliptic partial differential equations which are coupled in a noncooperative way, such as the FitzHugh–Nagumo type studied in this paper, in general do not satisfy order preserving properties. This not only results in technical complications but also yields a richer solution structure. We prove the existence of multiple nontrivial solutions. In particular we show that there exists a solution with boundary layer type behaviour, and we will give evidence that this autonomous system for a certain range of parameters has a solution with both a boundary and an internal layer. The analysis uses results from bifurcation theory, variational methods, as well as some pointwise a priori estimates. The final section contains some numerically obtained results.     

An optimal control problem for a pest, predator, and plant system

The paper is devoted to an optimal control problem for a system of three nonlinear parabolic equations from population dynamics. The equations model a trophic chain consisting of a predator, a pest and a plant species. The existence and uniqueness of the positive solution for the system are proved. The control variable is connected with the action of a pesticide. Our goal is to minimize the density of the pest and to maximize the plant density. The existence of the optimal solution is proved. The first and second order optimality conditions are established.     

广义线性自治时洁系统振动的充要条件

本用Laplace变换法把RDDE振动的充要条件推广到广义情形。     

Non‐autonomous homogeneous rational difference equations of degree one: convergence and monotone solutions for second and third order case

Consider the non‐autonomous equations: where and also These are some non‐autonomous homogeneous rational difference equations of degree one. A reduction in order is consi‐dered. Convergence and monoton character of positive solutions are studied. Copyright © 2013 John Wiley & Sons, Ltd.