On Structural and Safety Properties of Head-to-Tail String Stability in Mixed Platoons

The interaction between automated and human-driven vehicles in mixed (human/automated) platoons is far from understood. To study this interaction, the notion of head-to-tail string stability was proposed in the literature. Head-to-tail string stability is an extension of the standard string stability concept where, instead of asking every vehicle to achieve string stability, a lack of string stability is allowed due to human drivers, provided it can be suitably compensated by automated vehicles sparsely inserted in the platoon. This work introduces a theoretical framework for the problem of head-to-tail string stability of mixed platoons: it discusses a suitable vehicle-following human driver model to study mixed platoons, and it gives a reduced-order design strategy for head-to-tail string stability only depending on three gains. The work further discusses the safety limitations of the head-to-tail string stability notion, and it shows that safety improvements can be attained by an appropriate reduced-order design strategy only depending on two additional gains. To validate the effectiveness of the design, linear and nonlinear simulations show that the string stability/safety trade-offs of the proposed reduced-order design are comparable with those resulting from full-order designs.</p

On Resilient Control for Secure Connected Vehicles: A Hybrid Systems Approach

According to the Internet of Things Forecast conducted by Ericsson, connected devices will be around 29 billion by 2022. This technological revolution enables the concept of Cyber-Physical Systems (CPSs) that will transform many applications, including power-grid, transportation, smart buildings, and manufacturing. Manufacturers and institutions are relying on technologies related to CPSs to improve the efficiency and performances of their products and services. However, the higher the number of connected devices, the higher the exposure to cybersecurity threats. In the case of CPSs, successful cyber-attacks can potentially hamper the economy and endanger human lives. Therefore, it is of paramount importance to develop and adopt resilient technologies that can complement the existing security tools to make CPSs more resilient to cyber-attacks. By exploiting the intrinsically present physical characteristics of CPSs, this dissertation employs dynamical and control systems theory to improve the CPS resiliency to cyber-attacks. In particular, we consider CPSs as Networked Control Systems (NCSs), which are control systems where plant and controller share sensing and actuating information through networks. This dissertation proposes novel design procedures that maximize the resiliency of NCSs to network imperfections (i.e., sampling, packet dropping, and network delays) and denial of service (DoS) attacks. We model CPSs from a general point of view to generate design procedures that have a vast spectrum of applicability while creating computationally affordable algorithms capable of real-time performances. Indeed, the findings of this research aspire to be easily applied to several CPSs applications, e.g., power grid, transportation systems, and remote surgery. However, this dissertation focuses on applying its theoretical outcomes to connected and automated vehicle (CAV) systems where vehicles are capable of sharing information via a wireless communication network. In the first part of the dissertation, we propose a set of LMI-based constructive Lyapunov-based tools for the analysis of the resiliency of NCSs, and we propose a design approach that maximizes the resiliency. In the second part of the thesis, we deal with the design of DOS-resilient control systems for connected vehicle applications. In particular, we focus on the Cooperative Adaptive Cruise Control (CACC), which is one of the most popular and promising applications involving CAVs

Autonomous driving: a bird's eye view

[Abstract:] The introduction of autonomous vehicles (AV) will represent a milestone in the evolution of transportation and personal mobility. AVs are expected to significantly reduce accidents and congestion, while being economically and environmentally beneficial. However, many challenges must be overcome before reaching this ideal scenario. This study, which results from on-site visits to top research centres and a comprehensive literature review, provides an overall state-of-the-practice on the subject and identifies critical issues to succeed. For example, although most of the required technology is already available, ensuring the robustness of AVs under all boundary conditions is still a challenge. Additionally, the implementation of AVs must contribute to the environmental sustainability by promoting the usage of alternative energies and sustainable mobility patterns. Electric vehicles and sharing systems are suitable options, although both require some refinement to incentivise a broader range of customers. Other aspects could be more difficult to resolve and might even postpone the generalisation of automated driving. For instance, there is a need for cooperation and management strategies geared towards traffic efficiency. Also, for transportation and land-use planning to avoid negative territorial and economic impacts. Above all, safe and ethical behaviour rules must be agreed upon before AVs hit the road.Ministerio de Economía y Competitividad; TRA2016-79019-R/COO

Privacy and trust in the internet of vehicles

The Internet of Vehicles aims to fundamentally improve transportation by connecting vehicles, drivers, passengers, and service providers together. Several new services such as parking space identification, platooning and intersection control--to name just a few--are expected to improve traffic congestion, reduce pollution, and improve the efficiency, safety and logistics of transportation. Proposed end-user services, however, make extensive use of private information with little consideration for the impact on users and third parties (those individuals whose information is indirectly involved). This article provides the first comprehensive overview of privacy and trust issues in the Internet of Vehicles at the service level. Various concerns over privacy are formalised into four basic categories: personal information privacy, multi-party privacy, trust, and consent to share information. To help analyse services and to facilitate future research, the main relevant end-user services are taxonomised according to voluntary and involuntary information they require and produce. Finally, this work identifies several open research problems and highlights general approaches to address them. These especially relate to measuring the trade-off between privacy and service functionality, automated consent negotiation, trust towards the IoV and its individual services, and identifying and resolving multi-party privacy conflicts

Oral application of L-menthol in the heat: From pleasure to performance

When menthol is applied to the oral cavity it presents with a familiar refreshing sensation and cooling mint flavour. This may be deemed hedonic in some individuals, but may cause irritation in others. This variation in response is likely dependent upon trigeminal sensitivity toward cold stimuli, suggesting a need for a menthol solution that can be easily personalised. Menthol’s characteristics can also be enhanced by matching colour to qualitative outcomes; a factor which can easily be manipulated by practitioners working in athletic or occupational settings to potentially enhance intervention efficacy. This presentation will outline the efficacy of oral menthol application for improving time trial performance to date, either via swilling or via co-ingestion with other cooling strategies, with an emphasis upon how menthol can be applied in ecologically valid scenarios. Situations in which performance is not expected to be enhanced will also be discussed. An updated model by which menthol may prove hedonic, satiate thirst and affect ventilation will also be presented, with the potential performance implications of these findings discussed and modelled. Qualitative reflections from athletes that have implemented menthol mouth swilling in competition, training and maximal exercise will also be included

New Waves of IoT Technologies Research – Transcending Intelligence and Senses at the Edge to Create Multi Experience Environments

The next wave of Internet of Things (IoT) and Industrial Internet of Things (IIoT) brings new technological developments that incorporate radical advances in Artificial Intelligence (AI), edge computing processing, new sensing capabilities, more security protection and autonomous functions accelerating progress towards the ability for IoT systems to self-develop, self-maintain and self-optimise. The emergence of hyper autonomous IoT applications with enhanced sensing, distributed intelligence, edge processing and connectivity, combined with human augmentation, has the potential to power the transformation and optimisation of industrial sectors and to change the innovation landscape. This chapter is reviewing the most recent advances in the next wave of the IoT by looking not only at the technology enabling the IoT but also at the platforms and smart data aspects that will bring intelligence, sustainability, dependability, autonomy, and will support human-centric solutions.acceptedVersio