An evaluation framework for stereo-based driver assistance

This is the post-print version of the Article - Copyright @ 2012 Springer VerlagThe accuracy of stereo algorithms or optical flow methods is commonly assessed by comparing the results against the Middlebury database. However, equivalent data for automotive or robotics applications rarely exist as they are difficult to obtain. As our main contribution, we introduce an evaluation framework tailored for stereo-based driver assistance able to deliver excellent performance measures while circumventing manual label effort. Within this framework one can combine several ways of ground-truthing, different comparison metrics, and use large image databases. Using our framework we show examples on several types of ground truthing techniques: implicit ground truthing (e.g. sequence recorded without a crash occurred), robotic vehicles with high precision sensors, and to a small extent, manual labeling. To show the effectiveness of our evaluation framework we compare three different stereo algorithms on pixel and object level. In more detail we evaluate an intermediate representation called the Stixel World. Besides evaluating the accuracy of the Stixels, we investigate the completeness (equivalent to the detection rate) of the StixelWorld vs. the number of phantom Stixels. Among many findings, using this framework enables us to reduce the number of phantom Stixels by a factor of three compared to the base parametrization. This base parametrization has already been optimized by test driving vehicles for distances exceeding 10000 km

Deep Learning Framework for Wireless Systems: Applications to Optical Wireless Communications

Optical wireless communication (OWC) is a promising technology for future wireless communications owing to its potentials for cost-effective network deployment and high data rate. There are several implementation issues in the OWC which have not been encountered in radio frequency wireless communications. First, practical OWC transmitters need an illumination control on color, intensity, and luminance, etc., which poses complicated modulation design challenges. Furthermore, signal-dependent properties of optical channels raise non-trivial challenges both in modulation and demodulation of the optical signals. To tackle such difficulties, deep learning (DL) technologies can be applied for optical wireless transceiver design. This article addresses recent efforts on DL-based OWC system designs. A DL framework for emerging image sensor communication is proposed and its feasibility is verified by simulation. Finally, technical challenges and implementation issues for the DL-based optical wireless technology are discussed.Comment: To appear in IEEE Communications Magazine, Special Issue on Applications of Artificial Intelligence in Wireless Communication

Design Decisions Under Risk and Uncertainty

In the contemporary world of engineering, engineers strive towards designing reliable and robust artifacts while considering and attempting to control manufacturing costs. In due course they have to deal with some sort of uncertainty. Many aspects of the design are the result of properties that are defined within some tolerances, of measurements that are appropriate, and of circumstances and environmental conditions that are out of their control. This uncertainty was typically handled by using factors of safety, and resulted in designs that may have been overly conservative. Therefore, understanding and handling the uncertainties is critical in improving the design, controlling costs and optimizing the product. Since the engineers are typically trained to approach problems systematically, a stepwise procedure which handles uncertainties efficiently should be of significant benefit. This thesis revises the literature, defines some terms, then describes such a stepwise procedure, starting from identifying the sources of uncertainty, to classifying them, handling these uncertainties, and finally to decision making under uncertainties and risk. The document elucidates the methodology introduced by Departments of Mathematical Science and Mechanical Engineering, which considers the after effects of violation of a constraint as a criterion along with the reliability percentage of a design. The approach distinguishes between aleatory and epistemic uncertainties, those that can be assumed to have a certain distribution and those that can only be assumed to be within some bounds. It also attempts to deal with the computational cost issue by approximating the risk surface as a function of the epistemic uncertain variables. The validity of this hypothesis, for this particular problem, is tested by approximating risk surfaces using various numbers of scenarios

Improvement in planning and resource management for an automotive company’s parts feeding system

The increasing sophistication of the automotive market and the constant change in customer requirements increases companies’ concern to ensure efficient internal logistic flows in line with Just-In-Time philosophy and Lean principles, to deal with wastes and variability. Variability arises from the growing differentiation of products, from the adoption of multi and mixed model assembly lines, and from the uncertainty in customer demand resulting from the worldwide outbreak of COVID-19. Considering the automotive supplier company as research subject, several problems were found to be compromising the efficiency of one of its in-plant parts’ feeding systems, the most critical problem being the lack of planning and management of resources (human and material) needed to perform the logistic service. Through Action-Research methodology stages, the actions taken culminated in the development of a simulation and decision-support tool for the component supply system resource management and efficiency improvement. The simulations made revealed reliable and adjusted results of workload and workforce to face the variations in customer demand and the existing product mix. After the tool creation, resource planning and balancing was no longer based on managers experience and empirical knowledge only but based on scientific knowledge: concise and reliable data from information systems, measurements, study of times, and literature review on in-plant milk run systems, lean, just-in-time and continuous improvement techniques.info:eu-repo/semantics/publishedVersio

An assembly oriented design framework for product structure engineering and assembly sequence planning

The paper describes a novel framework for an assembly-oriented design (AOD) approach as a new functional product lifecycle management (PLM) strategy, by considering product design and assembly sequence planning phases concurrently. Integration issues of product life cycle into the product development process have received much attention over the last two decades, especially at the detailed design stage. The main objective of the research is to define assembly sequence into preliminary design stages by introducing and applying assembly process knowledge in order to provide an assembly context knowledge to support life-oriented product development process, particularly for product structuring. The proposed framework highlights a novel algorithm based on a mathematical model integrating boundary conditions related to DFA rules, engineering decisions for assembly sequence and the product structure definition. This framework has been implemented in a new system called PEGASUS considered as an AOD module for a PLM system. A case study of applying the framework to a catalytic-converter and diesel particulate filter sub-system, belonging to an exhaust system from an industrial automotive supplier, is introduced to illustrate the efficiency of the proposed AOD methodology

Model Predictive Control as a Function for Trajectory Control during High Dynamic Vehicle Maneuvers considering Actuator Constraints

Autonomous driving is a rapidly growing field and can bring significant transition in mobility and transportation. In order to cater a safe and reliable autonomous driving operation, all the systems concerning with perception, planning and control has to be highly efficient. MPC is a control technique used to control vehicle motion by controlling actuators based on vehicle model and its constraints. The uniqueness of MPC compared to other controllers is its ability to predict future states of the vehicle using the derived vehicle model. Due to the technological development & increase in computational capacity of processors and optimization algorithms MPC is adopted for real-time application in dynamic environments. This research focuses on using Model predictive Control (MPC) to control the trajectory of an autonomous vehicle controlling the vehicle actuators for high dynamic maneuvers. Vehicle Models considering kinematics and vehicle dynamics is developed. These models are used for MPC as prediction models and the performance of MPC is evaluated. MPC trajectory control is performed with the minimization of cost function and limiting constraints. MATLAB/Simulink is used for designing trajectory control system and interfaced with CarMaker for evaluating controller performance in a realistic simulation environment. Performance of MPC with kinematic and dynamic vehicle models for high dynamic maneuvers is evaluated with different speed profiles

Set-based design of mechanical systems with design robustness integrated

This paper presents a method for parameter design of mechanical products based on a set-based approach. Set-based concurrent engineering emphasises on designing in a multi-stakeholder environment with concurrent involvement of the stakeholders in the design process. It also encourages flexibility in design through communication in terms of ranges instead of fixed point values and subsequent alternative solutions resulting from intersection of these ranges. These alternative solutions can then be refined and selected according to the designers’ preferences and clients’ needs. This paper presents a model and tools for integrated flexible design that take into account the manufacturing variations as well as the design objectives for finding inherently robust solutions using QCSP transformation through interval analysis. In order to demonstrate the approach, an example of design of rigid flange coupling with a variable number of bolts and a choice of bolts from ISO M standard has been resolved and demonstrated

Constraint-handling techniques for generative product design systems in the mass customization context

Generative product design systems used in the context of mass customization are required to generate diverse solutions quickly and reliably without necessitating modification or tuning during use. When such systems are employed to allow for the mass customization of product form, they must be able to handle mass production and engineering constraints that can be time-consuming to evaluate and difficult to fulfill. These issues are related to how the constraints are handled in the generative design system. This article evaluates two promising sequential constraint-handling techniques and the often used weighted sum technique with regard to convergence time, convergence rate, and diversity of the design solutions. The application used for this purpose was a design system aimed at generating a table with an advanced form: a Voronoi diagram based structure. The design problem was constrained in terms of production as well as stability, requiring a timeconsuming finite element evaluation. Regarding convergence time and rate, one of the sequential constraint-handling techniques performed significantly better than the weighted sum technique. Nevertheless, the weighted sum technique presented respectable results and therefore remains a relevant technique. Regarding diversity, none of the techniques could generate diverse solutions in a single search run. In contrast, the solutions from different searches were always diverse. Solution diversity is thus gained at the cost of more runs, but no evaluation of the diversity of the solutions is needed. This result is important, because a diversity evaluation function would otherwise have to be developed for every new type of design. Efficient handling of complex constraints is an important step toward mass customization of nontrivial product forms