Decision-Making in Driver-Automation Shared Control:A Review and Perspectives

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to control.The human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making processes.The interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of humans.Many open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared schemes.Finally,we give a further discussion on the key future challenges and opportunities.They are likely to shape new potential research directions.

Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control(MPC) controller driving the vehicle along an optimal safe path.The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.

The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation

Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.

A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable

The driver-automation shared driving is a transition to fully-autonomous driving,in which human driver and vehicular controller cooperatively share the control authority.This paper investigates the shared steering control of semi-autonomous vehicles with uncertainty from imprecise parameter.By considering driver’s lane-keeping behavior on the vehicle system,a driver-automation shared driving model is introduced for control purpose.Based on the interval type-2(IT2)fuzzy theory,moreover,the driver-automation shared driving model with uncertainty from imprecise parameter is described using an IT2 fuzzy model.After that,the corresponding IT2 fuzzy controller is designed and a direct Lyapunov method is applied to analyze the system stability.In this work,sufficient design conditions in terms of linear matrix inequalities are derived,to guarantee the closed-loop stability of the driver-automation shared control system.In addition,an H∞performance is studied to ensure the robustness of control system.Finally,simulation-based results are provided to demonstrate the performance of proposed control method.Furthermore,an existing type-1 fuzzy controller is introduced as comparison to verify the superiority of the proposed IT2 fuzzy controller.

M/S Controller Area Network(CAN) System Using Shared-Clock Scheduler

The Controller Area Network (CAN) is a well established control network for automotive and automation control applications. Time-Triggered Controller Area Network (TTCAN) is a recent development which introduces a session layer,for message scheduling,to the existing CAN standard,which is a two layer standard comprising of a physical layer and a data link layer. TTCAN facilitates network communication in a time-triggered fashion,by introducing a Time Division Multiple Access style communication scheme. This allows deterministic network behavior,where maximum message latency times can be quantified and guaranteed. In order to solve the problem of determinate time latency and synchronization among several districted units in one auto panel CAN systems,this paper proposed a prototype design implementation for a shared-clock scheduler based on PIC18F458 MCU. This leads to improved CAN system performance and avoid the latency jitters and guarantee a deterministic communication pattern on the bus. The real runtime performance is satisfied.

SHARED CONTROL METHOD FOR COMBINATION STATE CONVERSION OF ELECTRO－MECHANICAL EQUIPMENT

The theory of shared control combines organically the control of every controlled ele-ments and with it all the controlled elements share the same control element. Applying theschemes of shared control searched by assembly programs, an integrated control of all the ele-ments is fulfilled. The distinguishing point of the method is that the maximum control output canbe obtained with the least input information. Hence it is the optimum for the conversion of com-bination states. Finally, a thared rotary valve is designed, and it is the simplest with only onegroup of control holes.

Adaptive Consistent Management to Prevent System Collapse on Shared Object Manipulation in Mixed Reality

A concurrency control mechanism for collaborative work is akey element in a mixed reality environment. However, conventional lockingmechanisms restrict potential tasks or the support of non-owners, thusincreasing the working time because of waiting to avoid conflicts. Herein, wepropose an adaptive concurrency control approach that can reduce conflictsand work time. We classify shared object manipulation in mixed reality intodetailed goals and tasks. Then, we model the relationships among goal,task, and ownership. As the collaborative work progresses, the proposedsystem adapts the different concurrency control mechanisms of shared objectmanipulation according to the modeling of goal–task–ownership. With theproposed concurrency control scheme, users can hold shared objects andmove and rotate together in a mixed reality environment similar to realindustrial sites. Additionally, this system provides MS Hololens and Myosensors to recognize inputs from a user and provides results in a mixed realityenvironment. The proposed method is applied to install an air conditioneras a case study. Experimental results and user studies show that, comparedwith the conventional approach, the proposed method reduced the number ofconflicts, waiting time, and total working time.

Cross-Domain Bilateral Access Control on Blockchain-Cloud Based Data Trading System

Data trading enables data owners and data requesters to sell and purchase data.With the emergence of blockchain technology,research on blockchain-based data trading systems is receiving a lot of attention.Particularly,to reduce the on-chain storage cost,a novel paradigm of blockchain and cloud fusion has been widely considered as a promising data trading platform.Moreover,the fact that data can be used for commercial purposes will encourage users and organizations from various fields to participate in the data marketplace.In the data marketplace,it is a challenge how to trade the data securely outsourced to the external cloud in a way that restricts access to the data only to authorized users across multiple domains.In this paper,we propose a cross-domain bilateral access control protocol for blockchain-cloud based data trading systems.We consider a system model that consists of domain authorities,data senders,data receivers,a blockchain layer,and a cloud provider.The proposed protocol enables access control and source identification of the outsourced data by leveraging identity-based cryptographic techniques.In the proposed protocol,the outsourced data of the sender is encrypted under the target receiver’s identity,and the cloud provider performs policy-match verification on the authorization tags of the sender and receiver generated by the identity-based signature scheme.Therefore,data trading can be achieved only if the identities of the data sender and receiver simultaneously meet the policies specified by each other.To demonstrate efficiency,we evaluate the performance of the proposed protocol and compare it with existing studies.

Adaptive active inceptor design under shared control architecture for nonlinear pilot-induced oscillations

This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III PIOs.One innovation of this paper is that an intelligent shared control architecture is developed based on the intelligent active inceptor technique,i.e.,Smart Adaptive Flight Effective Cue(SAFE-Cue).A deep reinforcement learning approach namely Deep Deterministic Policy Gradient(DDPG)method is chosen to design a gain adaptation mechanism for the SAFE-Cue module.By doing this,the gains of the SAFE-Cue will be intelligently tuned once nonlinear PIOs triggered;meanwhile,the human pilot will receive a force cue from the SAFE-Cue,and will consequently adapting his/her control policy.The second innovation of this paper is that the reward function of the DDPG based gain adaptation approach is constructed according to flying qualities.Under the premise of considering failure situation,task completion qualities and pilot workload are also taken into account.Finally,the proposed approach is validated using numerical simulation experiments with two types of scenarios:lower actuator rate limits and airframe damages.The Inceptor Peak Power-Phase(IPPP)metric is adopted to analyze the human-vehicle system simulation results.Results and analysis show that the DDPG based sharing control approach can well address nonlinear PIO problems consisting of Categories Ⅱ and Ⅲ PIO events.

Distributed Control of Multiple-Bus Microgrid With Paralleled Distributed Generators

A microgrid is hard to control due to its reduced inertia and increased uncertainties. To overcome the challenges of microgrid control, advanced controllers need to be developed.In this paper, a distributed, two-level, communication-economic control scheme is presented for multiple-bus microgrids with each bus having multiple distributed generators(DGs) connected in parallel. The control objective of the upper level is to calculate the voltage references for one-bus subsystems. The objectives of the lower control level are to make the subsystems' bus voltages track the voltage references and to enhance load current sharing accuracy among the local DGs. Firstly, a distributed consensusbased power sharing algorithm is introduced to determine the power generations of the subsystems. Secondly, a discrete-time droop equation is used to adjust subsystem frequencies for voltage reference calculations. Finally, a Lyapunov-based decentralized control algorithm is designed for bus voltage regulation and proportional load current sharing. Extensive simulation studies with microgrid models of different levels of detail are performed to demonstrate the merits of the proposed control scheme.

Improved spectrum sharing algorithm based on feedback control information in cognitive radio networks

In order to avoid the system performance deterioration caused by the wireless fading channel and imperfect channel estimation in cognitive radio networks, the spectrum sharing problem with the consideration of feedback control information from the primary user is analyzed. An improved spectrum sharing algorithm based on the combination of the feedback control information and the optimization algorithm is proposed. The relaxation method is used to achieve the approximate spectrum sharing model, and the spectrum sharing strategy that satisfies the individual outage probability constraints can be obtained iteratively with the observed outage probability. Simulation results show that the proposed spectrum sharing algorithm can achieve the spectrum sharing strategy that satisfies the outage probability constraints and reduce the average outage probability without causing maximum transmission rate reduction of the secondary user.

Privacy Protection Based Access Control Scheme in Cloud-Based Services

With the rapid development of computer technology, cloud-based services have become a hot topic. They not only provide users with convenience, but also bring many security issues, such as data sharing and privacy issue. In this paper, we present an access control system with privilege separation based on privacy protection(PS-ACS). In the PS-ACS scheme, we divide users into private domain(PRD) and public domain(PUD) logically. In PRD, to achieve read access permission and write access permission, we adopt the Key-Aggregate Encryption(KAE) and the Improved Attribute-based Signature(IABS) respectively. In PUD, we construct a new multi-authority ciphertext policy attribute-based encryption(CP-ABE) scheme with efficient decryption to avoid the issues of single point of failure and complicated key distribution, and design an efficient attribute revocation method for it. The analysis and simulation result show that our scheme is feasible and superior to protect users' privacy in cloud-based services.

Achieving Fine-Grained and Flexible Access Control on Blockchain-Based Data Sharing for the Internet of Things

The traditional centralized data sharing systems have potential risks such as single point of failures and excessive working load on the central node.As a distributed and collaborative alternative,approaches based upon blockchain have been explored recently for Internet of Things(IoTs).However,the access from a legitimate user may be denied without the pre-defined policy and data update on the blockchain could be costly to the owners.In this paper,we first address these issues by incorporating the Accountable Subgroup Multi-Signature(ASM)algorithm into the Attribute-based Access Control(ABAC)method with Policy Smart Contract,to provide a finegrained and flexible solution.Next,we propose a policy-based Chameleon Hash algorithm that allows the data to be updated in a reliable and convenient way by the authorized users.Finally,we evaluate our work by comparing its performance with the benchmarks.The results demonstrate significant improvement on the effectiveness and efficiency.

Load Sharing Performance of the Main Drive System in the Shield Machine and Improvement of Control Method

Shield machine is the major technical equipment badly in need in national infrastructure construction. The service conditions of shield machine are extremely complex. The driving interface load fluctuation caused by geological environment changes and multi field coupling of stress field may lead into imbalance of redundant drive motors output torque in main driving system. Therefore, the shield machine driving synchronous control is one of the key technologies of shield machine. This paper is in view of the shield machine main driving synchronous control, achieving the system＇s adaptive load sharing. From the point of view of cutterhead load changes, nonlinear factors of mechanical transmission mechanism and the control system synchronization performance, the authors analyze the load sharing performance of shield machine main drive system in the event of load mutation. The paper proposes a data-driven synchronized control method applicable to the main drive system. The effectiveness of the method is verified through simulation and experimental methods. The new method can make the system synchronization error greatly reduced, thus it can effectively adapt to load mutation, and reduce shaft broken accident.

Controlled quantum state sharing of arbitrary two-qubit states with five-qubit cluster states

In this paper, we propose a controlled quantum state sharing scheme to share an arbitrary two-qubit state using a five-qubit cluster state and the Bell state measurement. In this scheme, the five-qubit cluster state is shared by a sender （Alice）, a controller （Charlie）, and a receiver （Bob）, and the sender only needs to perform the Bell-state measurements on her particles during the quantum state sharing process, the controller performs a single-qubit projective measurement on his particles, then the receiver can reconstruct the arbitrary two-qubit state by performing some appropriate unitary transformations on his particles after he has known the measured results of the sender and the controller.

An Adaptive Wireless Power Sharing Control for Multiterminal HVDC

Power sharing among multiterminal high voltage direct current terminals(MT-HVDC)is mainly developed based on a priority or sequential manners,which uses to prevent the problem of overloading due to a predefined controller coefficient.Furthermore,fixed power sharing control also suffers from an inability to identify power availability at a rectification station.There is a need for a controller that ensures an efficient power sharing among the MT-HVDC terminals,prevents the possibility of overloading,and utilizes the available power sharing.A new adaptive wireless control for active power sharing among multiterminal(MT-HVDC)systems,including power availability and power management policy,is proposed in this paper.The proposed control strategy solves these issues and,this proposed controller strategy is a generic method that can be applied for unlimited number of converter stations.The rational of this proposed controller is to increase the system reliability by avoiding the necessity of fast communication links.The test system in this paper consists of four converter stations based on three phase-two AC voltage levels.The proposed control strategy for a multiterminal HVDC system is conducted in the power systems computer aided design/electromagnetic transient design and control(PSCAD/EMTDC)simulation environment.The simulation results significantly show the flexibility and usefulness of the proposed power sharing control provided by the new adaptive wireless method.

Human-Robot Collaborative Planning for Navigation Based on Optimal Control Theory

Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participation in the robotic control process when the navigation module is running raises the share control issue. This work presents a new approach for two agents collaborative planning using the optimal control theory and the three-layer architecture. In particular, the problem of a human and a navigation module collaborative planning for a trajectory following is analyzed. The collaborative plan executed by the platform is a weighted summation of each agent control signal. As a result, the proposed architecture could be set to work in autonomous mode, in human direct control mode or in any aggregation of these two operating modes. A collaborative obstacle avoidance maneuver is used to validate this approach. The proposed collaborative architecture could be used for smart wheelchairs, telerobotics and unmanned vehicle applications.

Study on the Current-Sharing Control System of the TF Power Supply for a Superconducting Tokamak

The superconducting toroidal field （TF） plays an important role in a superconducting tokamak, whose power supply was developed based on the feedback control principle. In this paper, superconducting tokamaks in different countries are described, and the TF power supply of the International Thermonuclear Experimental Reactor （ITER） is taken as an example to study the current-sharing characteristics in the current-stabilized stage. Firstly, the mathematical model of the TF power supply is established, and then the 3-loop control method is put forward for achieving the stability and reliability of current-stabilization and current-sharing. Furthermore, further studies indicate that the current-sharing controller has no influence on the current-stabilized control, and current-stabilizing and current-sharing can be realized at the same time. All the work done provides valuable references for the current-sharing design of the TF power supply for a superconducting tokamak, and all these studies lay a solid foundation for developing superconducting tokamaks.

Design of Real-Time Document Control Based on Zigbee and Surface Electromyography (sEMG)

The human-computer interaction (HCI) is now playing a great role in computer technology. This study introduces an automatic document control technique which is based on the human hand waving movements. The recognition of hand movement is realized according to the surface electromyography (sEMG). A collector is set on the forearm. The sEMG signal is recorded and conveyed to a PC terminal by using wireless Zigbee. An automatic algorithm is developed in order to extract the characteristics of sEMG, recognize the waving movements, and transmit to document control command. The developed human-computer interaction technique can be used as a new gallery for teaching, as well as an assistant tool for disabled person.

What defines non-outstanding shares transfer premium in China？

We study the sample of 311 non-outstanding shares transfers from 2003 to 2004. The object of this study is to determine the extent to which premium can be explained by financial factors of firms. The intrinsic value of transferred shares with control right is different from the others. We find that the larger percent of share transferred, the higher premium will be paid. Current liability ratio interpreting the premium of non-outstanding shares transfers is negative related to short term debt. Price ratio can determine the premium level when the ratio of transfer share under 30 percent