Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment

The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.

Microstructure modeling and virtual test of asphalt mixture based on three-dimensional discrete element method

The objective of this work is to model the microstructure of asphalt mixture and build virtual test for asphalt mixture by using Particle Flow Code in three dimensions(PFC^(3D))based on three-dimensional discrete element method.A randomly generating algorithm was proposed to capture the three-dimensional irregular shape of coarse aggregate.And then,modeling algorithm and method for graded aggregates were built.Based on the combination of modeling of coarse aggregates,asphalt mastic and air voids,three-dimensional virtual sample of asphalt mixture was modeled by using PFC^(3D).Virtual tests for penetration test of aggregate and uniaxial creep test of asphalt mixture were built and conducted by using PFC^(3D).By comparison of the testing results between virtual tests and actual laboratory tests,the validity of the microstructure modeling and virtual test built in this study was verified.Additionally,compared with laboratory test,the virtual test is easier to conduct and has less variability.It is proved that microstructure modeling and virtual test based on three-dimensional discrete element method is a promising way to conduct research of asphalt mixture.

A virtual test of screening technology based on the AGEIA PhysX

The authors have created a virtual test of vibration particle-screening using Autodesk's 3ds Max software,the MAXScript scripting language and the AGEIA PhysX physics processing unit(PPU).The affect of various parameters on screening efficiency were modeled.The parameters included vibration amplitude,frequency and direction.The length and inclination of the vibrating surface were also varied.The virtual experiment is in basic agreement with results predicted from screening theory.This shows that the virtual screener can be used for preliminary investigations and the results used to evaluate screen design.In addition it can help with theoretical research.

Realization of Reconfigurable Virtual Environments for Virtual Testing

This paper presents the design and implementation of reconfigurable virtual environments (VEs) for virtual testing. It proposes a hybrid design approach that is derived from a so-called integration and composition of the reconfiguration strategy. The designing process has thus evolved from binding virtual objects using reconfiguration rules within the context of virtual testing scenarios. Therefore reconfigurable virtual environments are established with improved flexibility and scalability, tailored to a wide range of virtual testing applications. Those virtual environments integrate virtual testing scenarios, data acquisition, databases, rule mapping and application interfaces, which yield modular testing functions and an open-ended system architecture with a set of extensible interface tools to realize data exchange within reconfigurable VEs. This enables virtual testing scenarios to be reconfigured interactively based on real time data and communication between virtual environments and real environments. A virtual testing application has been implemented using reconfigurable VEs. Keywords Virtual environment - virtual testing - reconfigurable virtual reality Wenyan Wu graduated from Dalian University of Technology, China, with BSc and MSc in 1988 and 1991 respectively. She earned her PhD degree from University of Derby, UK, in 2002. She had taught and researched in Harbin Institute of Technology, China and De Montfort University, UK. She is currently a senior lecturer in simulation and virtual reality at Staffordshire University, UK. Her research interests include computer graphics, Virtual Reality and Augmented Reality system, advanced interface, modelling and simulation, distribution system.Zhengxu Zhao BSc, MSc, PhD, CEng, CITP, MBCS, full Professor in Applied Computing, Director of Virtual Reality Centre. He is also a Cheng Kong Scholar Project Professor in Virtual Reality Technology and Director of Virtual Reality Research Centre at the Southeast University, P R China. Professor Zhao’s research interests include computing graphics and VR systems, industrial process simulation, CIM and manufacturing management systems.

Methodical Approach to Integrate Human Movement Diversity in Real-Time into a Virtual Test Field for Highly Automated Vehicle Systems

Recently, virtual realities and simulations play important roles in the development of automated driving functionalities. By an appropriate abstraction, they help to design, investigate and communicate real traffic scenario complexity. Especially, for edge cases investigations of interactions between vulnerable road users (VRU) and highly automated driving functions, valid virtual models are essential for the quality of results. The aim of this study is to measure, process and integrate real human movement behaviour into a virtual test environment for highly automated vehicle functionalities. The overall system consists of a georeferenced virtual city model and a vehicle dynamics model, including probabilistic sensor descriptions. By motion capture hardware, real humanoid behaviour is applied to a virtual human avatar in the test environment. Through retargeting methods, which enable the independency of avatar and person under test (PuT) dimensions, the virtual avatar diversity is increased. To verify the biomechanical behaviour of the virtual avatars, a qualitative study is performed, which funds on a representative movement sequence. The results confirm the functionality of the used methodology and enable PuT independence control of the virtual avatars in real-time.

Timetabling optimization of classrooms and self-study rooms in university teaching buildings based on the building controls virtual test bed platform considering energy efficiency

The energy consumption of a teaching building can be effectively reduced by timetable optimization.However,in most studies that explore methods to reduce building energy consumption by course timetable optimization,self-study activities are not considered.In this study,an MATLAB-EnergyPlus joint simulation model was constructed based on the Building Controls Virtual Test Bed platform to reduce building energy consumption by optimizing the course schedule and opening strategy of self-study rooms in a holistic way.The following results were obtained by taking a university in Xi’an as an example:(1)The energy saving percentages obtained by timetabling optimization during the heating season examination week,heating season non-examination week,cooling season examination week,and cooling season non-examination week are 35%,29.4%,13.4%,and 13.4%,respectively.(2)Regarding the temporal arrangement,most courses are scheduled in the morning during the cooling season and afternoon during the heating season.Regarding the spatial arrangement,most courses are arranged in the central section of the middle floors of the building.(3)During the heating season,the additional building energy consumption incurred by the opening of self-study rooms decreases when duty heating temperature increases.

Virtual fracture test of asphalt mixture based on discrete element method

In order to study fracture behaviors of asphalt mixtures, virtual tests of the two-dimensional（2D） microstructure based on the discrete element method（ DEM） are designed. The virtual structure of the 2D digital specimen of asphalt mixture is generated based on a particle generation program, in which the gradation and the irregular shapes of aggregates are considered. With the 2D digital specimens, a DEM-based mixture model is established and center-point beam fracture simulation tests are conducted by the DEM. Meanwhile, a series of calibration tests are carried out in laboratory to evaluate the DEM model and validate the methods of virtual fracture tests. The test results indicate that the fracture intensity of asphalt mixtures predicted by the DEM matches very well with the intensity obtained in laboratory. It is concluded that the microstructural virtual tests can be used as a supplemental tool to evaluate fracture properties of asphalt mixtures.

Virtual rutting test of asphalt mixture using discrete element method

In order to investigate the permanent deformation behavior of asphalt mixtures from discontinuity, the virtual rutting test of asphalt mixtures is developed by the discrete element method （DEM）. A digital specimen generation procedure considering aggregate gradation and irregular shape is developed based on the probability theory and the Monte Carlo method. The virtual rutting test is then conducted based on the generated digital specimen. In addition, on the basis of the time-temperature superposition （TTS） principle, a calculation method is used to reduce the computation time of the virtual rutting test. The simulation results are compared with the laboratory measurements. The results show that the calculation method based on the TFS principle in the discrete element （DE） viscoelastic model can significantly reduce the computation time. The deformation law of asphalt mixtures in the virtual rutting test is similar to the laboratory measurements, and the deformation and the dynamic stability of the virtual rutting test are slightly greater than the laboratory measurements. The two-dimensional virtual rutting test can predict the permanent deformation performance of asphalt mixtures.

Testability integrated evaluation method based on testability virtual test data

Testability virtual test is a new test method for testability verification, which has the advantages such as low cost, few restrictions and large sample of test data. It can be used to make up the deficiency of testability physical test. In order to take the advantage of testability virtual test data effectively and to improve the accuracy of testability evaluation, a testability integrated eval- uation method is proposed in this paper based on testability virtual test data. Considering the char- acteristic of testability virtual test data, the credibility analysis method for testability virtual test data is studied firstly. Then the integrated calculation method is proposed fusing the testability vir- tual and physical test data. Finally, certain helicopter heading and attitude system is presented to demonstrate the proposed method. The results show that the testability integrated evaluation method is feasible and effective.

A Fault Sample Simulation Approach for Virtual Testability Demonstration Test

Virtual testability demonstration test has many advantages,such as low cost,high efficiency,low risk and few restrictions.It brings new requirements to the fault sample generation.A fault sample simulation approach for virtual testability demonstration test based on stochastic process theory is proposed.First,the similarities and differences of fault sample generation between physical testability demonstration test and virtual testability demonstration test are discussed.Second,it is pointed out that the fault occurrence process subject to perfect repair is renewal process.Third,the interarrival time distribution function of the next fault event is given.Steps and flowcharts of fault sample generation are introduced.The number of faults and their occurrence time are obtained by statistical simulation.Finally,experiments are carried out on a stable tracking platform.Because a variety of types of life distributions and maintenance modes are considered and some assumptions are removed,the sample size and structure of fault sample simulation results are more similar to the actual results and more reasonable.The proposed method can effectively guide the fault injection in virtual testability demonstration test.

Modeling of Electromagnetic Wave Propagation and Its Applicationin Virtual Test

With the development of virtual test,the computation of the effect of different weather conditions on electromagnetic wave propagation is required in many simulation systems. Firstly,this paper presents a unique point of view for computing the electromagnetic wave attenuation ratio under different weather conditions by means of an independent electromagnetic wave propagation component that can be directly implemented in virtual test, and is easy to configure and easy to reuse. We present an analysis of the principles of electromagnetic wave propagation and the algorithms designed for realization of various propagation models within the electromagnetic wave propagation component. Secondly,this paper presents a use-case analysis and outlines the design of the component,verifies the developed models under various weather conditions,and obtains equivalent values as those obtained theoretically. Finally,we build a virtual test system,verify the system in different weather conditions,and again obtain equivalent values to those obtained theoretically. The algorithms in the electromagnetic wave propagation component are developed in the C language, which substantially improves the computational speed,and meets the real-time requirements of the virtual testing platform.

A Method for Modeling the Virtual Instrument Automatic Test System Based on the Petri Net

Virtual instrument is playing the important role in automatic test system. This paper introduces a composition of a virtual instrument automatic test system and takes the VXIbus based a test software platform which is developed by CAT lab of the UESTC as an example. Then a method to model this system based on Petri net is proposed. Through this method, we can analyze the test task scheduling to prevent the deadlock or resources conflict. At last, this paper analyzes the feasibility of this method.

The engine performance LabVIEW virtual instrument test system design

This paper adopts American National Instruments (NI) Company’s LabVIEW and LabVIEW RT virtual instrument softwareplatform and lots of things for this engine performance LabVIEW virtual instrument test system, such as the matched NI PCI dataCollection Card, NI SCXI signal-adjusting instrument and NI compact FieldPoint (cFP) distributed I/O real time system hardware.This system has realized multi performances’parallel test; and it can complete load, torsional moment, rotate speed, power, pressureand temperature’s real time monitoring automatically according to user’s setting; and finally through TCP/IP protocol it realizes testdata’s teleshare and telecontrol that user put on the test system. This system has such character as short development period, highuse efficiency and low cost, at the same time it has strong extensibility and reusability, so it has very high applied cost.

Virtual Thermal Test System Based on Simulink and Comsol Co-Simulation

A virtual thermal test system was built through the co-simulation using Simulink and Comsol to realize the complete virtualization of the thermal test.Using the co-simulation technology,comprehensive simulation analysis of the control system,electric field and thermal field was realized.The data state of each observation point could be directly observed at one time,including the output state information of the power amplifier,the output state information of the heater,and the thermal state information of the test unit.The virtual thermal test system has a predictive and guiding role for engineering thermal tests,and can realize thermal environment simulation beyond the existing thermal environment ground simulation capabilities,providing a basis for the development of future models.

灌木平茬机切割系统参数优化设计与验证

为分析圆盘锯式切割系统的切割机理,在Solidworks中建立单组圆盘锯及灌木枝条的简化模型,并在动力学分析软件ABAQUS中进行仿真分析,研究灌木切割过程中工作参数与圆锯片参数的关系。同时,以锯片转速、行进速度、枝径为影响因素,以锯切力为评价指标,对其影响的因素进行虚拟正交试验,并用Design Expert动态响应软件进行分析,得到响应面回归方程,得知当圆锯转速为2500r/min、前进速度为0.9m/s时平茬效果较好。用小型灌木平茬机上进行实地试验,结果表明破茬率和留茬高度均能满足农艺要求。

Effectiveness of Virtual Reality for Pediatric Pain and Anxiety Management during Skin Prick Testing

This study investigated the effectiveness of virtual reality (VR) distraction, compared to comic book distraction and no distraction, in reducing pain and anxiety during a medical procedure in a pediatric population: the skin prick test. Although this test has many advantages and is considered to be minimally invasive, it causes anxiety and painful discomfort in children. Ninety-two children aged 7 to 17 years consulting for an allergic test received VR distraction, comic book distraction, or no distraction. Outcome measures included pain score, level of anxiety, and VR measures. The results showed that there were no significant differences between the three groups regarding sex, age, and preprocedural anxiety level. In the distraction groups (VR and comic book), children reported significantly lower pain and procedural anxiety scores than children with no distraction;VR distraction had a more significant effect than comic book distraction. A decrease in anxiety before and during the skin prick test is significantly more significant in VR distraction. This study suggested the effectiveness and feasibility of VR to reduce pain and anxiety during the pediatric skin prick test.

基于整车路面谱的副车架开裂台架试验及仿真

针对前悬架稳定杆与副车架连接处在整车试验场耐久测试过程中出现的疲劳破坏问题,通过对稳定杆进行贴片标定,获得了试验场环境下稳定杆的连杆力和稳定杆扭转相对位移的强化耐久路谱,设计搭建了稳定杆副车架系统的物理台架,并按照耐久性规范进行了台架试验。试验结果表明:该台架试验装置能良好地再现整车耐久路试下的断裂位置,疲劳寿命相对于整车耐久路试的疲劳寿命偏差仅为2.5%。在此基础上,建立了稳定杆与副车架多体的仿真模型,设定了与系统试验台架相同的约束边界,通过虚拟迭代的方法及准静态有限元疲劳寿命分析法对系统进行了仿真分析。仿真得到稳定杆连杆力和稳定杆扭转相对位移信号,与测试结果进行对比分析可以看出,时域下相位和幅值重合度良好,频域下的PSD谱重合度较高,穿级计数载荷统计基本一致,载荷相对损伤均在1附近,相关风险位置处的仿真疲劳寿命与整车耐久试验寿命偏差比为6.25%,获得了较高精度的风险位置载荷,实现了耐久风险位置的复现。最后,基于仿真模型对副车架风险位置处进行了结构优化设计,改进后的方案顺利通过了后续的台架试验和整车耐久路试。

基于TsGAN的自动驾驶汽车高速公路变道切入测试场景自动生成算法

前方相邻车道车辆变道切入自动驾驶车辆所在车道是典型的高速公路自动驾驶高风险场景,在实际高速公路上进行该类场景的复现测试存在非常高的安全风险,虚拟仿真测试是解决该问题的最佳途径之一。为自动生成批量化的高保真高速公路变道切入测试场景,该文提出了一种基于时间序列生成对抗网络(TsGAN)的自动驾驶汽车高速公路变道切入测试场景自动生成算法。该算法以变道切入时刻两车的车头时距和侧向时距为场景危险程度评价指标,从高速公路真实轨迹数据集highD中提取4类不同危险程度的2853个变道切入场景实例,基于TsGAN构建变道切入测试场景生成模型,并利用所提取的真实轨迹数据训练模型;其后,采用所构建的模型生成前车变道轨迹和测试车变道切入时刻前的运行轨迹,通过比较所生成的变道轨迹与真实轨迹之间的分布相似性、频谱误差,验证所生成的轨迹的真实性。该文还分析了所生成的场景中变道切入时刻两车的运动关系及轨迹参数分布,检验了自动生成的场景在自然场景中的覆盖度。结果显示:从轨迹关键参数的分布来看,TsGAN模型生成的变道轨迹与真实轨迹的平均相似度达79.7%,平均频谱误差小于8%,落在最相似真实轨迹缓冲区的轨迹超过83.2%,表明所生成的轨迹具有高真实性;与所采集的真实场景相比,所生成的场景实例覆盖范围更大,在参数区间内分布更均匀,变道切入时刻前方变道车辆与测试车的车头时距和侧向时距分别降低了17.83%和16.37%(平均值),车辆轨迹参数分布区间平均增长了19.44%,表明所生成的场景在自然场景中具有较高的覆盖度;所提出的基于TsGAN的场景生成模型可模拟4种不同危险程度的变道切入测试场景,具有较强的针对性。

一种虚拟试验架构下的舱段结构建模与承载破坏模拟技术

在一种面向产品的飞行器结构强度虚拟试验架构下,发展经典材料弹塑性损伤本构和通用有限元技术,并基于Abaqus内置Python软件开发虚拟试验插件工具,创建飞行器舱段结构人机交互虚拟试验平台,形成了对舱段结构承载破坏过程进行高逼真度模拟的虚拟试验能力。采取逐级验模的精度确认技术,开展从试棒到舱段壳体的虚/实试验对比,验证舱段结构虚拟试验的可行性,结果显示:虚拟试验能对舱段结构的承载破坏情况做高逼真度的模拟,对极限承载能力的预示精度达到4.6%。