A Learning-Based Framework for Two-Dimensional Vehicle Maneuver Prediction over V2V Networks

Situational awareness in vehicular networks could be substantially improved utilizing reliable trajectory prediction methods. More precise situational awareness, in turn, results in notably better performance of critical safety applications, such as Forward Collision Warning (FCW), as well as comfort applications like Cooperative Adaptive Cruise Control (CACC). Therefore, vehicle trajectory prediction problem needs to be deeply investigated in order to come up with an end to end framework with enough precision required by the safety applications' controllers. This problem has been tackled in the literature using different methods. However, machine learning, which is a promising and emerging field with remarkable potential for time series prediction, has not been explored enough for this purpose. In this paper, a two-layer neural network-based system is developed which predicts the future values of vehicle parameters, such as velocity, acceleration, and yaw rate, in the first layer and then predicts the two-dimensional, i.e. longitudinal and lateral, trajectory points based on the first layer's outputs. The performance of the proposed framework has been evaluated in realistic cut-in scenarios from Safety Pilot Model Deployment (SPMD) dataset and the results show a noticeable improvement in the prediction accuracy in comparison with the kinematics model which is the dominant employed model by the automotive industry. Both ideal and nonideal communication circumstances have been investigated for our system evaluation. For non-ideal case, an estimation step is included in the framework before the parameter prediction block to handle the drawbacks of packet drops or sensor failures and reconstruct the time series of vehicle parameters at a desirable frequency

Locally-Stable Macromodels of Integrated Digital Devices for Multimedia Applications

This paper addresses the development of accurate and efficient behavioral models of digital integrated circuits for the assessment of high-speed systems. Device models are based on suitable parametric expressions estimated from port transient responses and are effective at system level, where the quality of functional signals and the impact of supply noise need to be simulated. A potential limitation of some state-of-the-art modeling techniques resides in hidden instabilities manifesting themselves in the use of models, without being evident in the building phase of the same models. This contribution compares three recently-proposed model structures, and selects the local-linear state-space modeling technique as an optimal candidate for the signal integrity assessment of data links. In fact, this technique combines a simple verification of the local stability of models with a limited model size and an easy implementation in commercial simulation tools. An application of the proposed methodology to a real problem involving commercial devices and a data-link of a wireless device demonstrates the validity of this approac

Behavioral Modelling of Digital Devices Via Composite Local-Linear State-Space Relations

This paper addresses the generation of accurate and efficient behavioral models of digital ICs. The proposed approach is based on the approximation of the device port characteristics by means of composite local linear state-space relations whose parameters can effectively be estimated from device port transient responses via well-established system identification techniques. The proposedmodels have been proven to overcome some inherent limitations of the state-of-the-art models used so far, and they can effectively be implemented in any commercial tool as Simulation Program with Integrated Circuit Emphasis (SPICE) subcircuits or VHDL-AMS hardware descriptions. A systematic study of the performances of the proposed state-space models is carried out on a synthetic test device. The effectiveness of the proposed approach has been demonstrated on a real application problem involving commercial devices and a data link of a mobile phon

Control-focused, nonlinear and time-varying modelling of dielectric elastomer actuators with frequency response analysis

Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input–output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics

Nonlinear interactions in the thalamocortical loop in essential tremor: A model-based frequency domain analysis.

There is increasing evidence to suggest that essential tremor has a central origin. Different structures appear to be part of the central tremorogenic network, including the motor cortex, the thalamus and the cerebellum. Some studies using electroencephalogram (EEG) and magnetoencephalography (MEG) show linear association in the tremor frequency between the motor cortex and the contralateral tremor electromyography (EMG). Additionally, high thalamomuscular coherence is found with the use of thalamic local field potential (LFP) recordings and tremulous EMG in patients undergoing surgery for deep brain stimulation (DBS). Despite a well-established reciprocal anatomical connection between the thalamus and cortex, the functional association between the two structures during "tremor-on" periods remains elusive. Thalamic (Vim) LFPs, ipsilateral scalp EEG from the sensorimotor cortex and contralateral tremor arm EMG recordings were obtained from two patients with essential tremor who had undergone successful surgery for DBS. Coherence analysis shows a strong linear association between thalamic LFPs and contralateral tremor EMG, but the relationship between the EEG and the thalamus is much less clear. These measurements were then analyzed by constructing a novel parametric nonlinear autoregressive with exogenous input (NARX) model. This new approach uncovered two distinct and not overlapping frequency "channels" of communication between Vim thalamus and the ipsilateral motor cortex, defining robustly "tremor-on" versus "tremor-off" states. The associated estimated nonlinear time lags also showed non-overlapping values between the two states, with longer corticothalamic lags (exceeding 50ms) in the tremor active state, suggesting involvement of an indirect multisynaptic loop. The results reveal the importance of the nonlinear interactions between cortical and subcortical areas in the central motor network of essential tremor. This work is important because it demonstrates for the first time that in essential tremor the functional interrelationships between the cortex and thalamus should not be sought exclusively within individual frequencies but more importantly between cross-frequency nonlinear interactions. Should our results be successfully reproduced on a bigger cohort of patients with essential tremor, our approach could be used to create an on-demand closed-loop DBS device, able to automatically activate when the tremor is on

Fuzzy-PID controller on ANFIS, NN-NARX and NN-NAR system identification models for cylinder vortex induced vibration

In this paper, Fuzzy-PID controller on nonlinear system identification models for cylinder due to vortex induced vibration (VIV) has been presented well. Nonlinear system identification models generated after extracting the input-output data from previous paper. The nonlinear model consisted into three methods: Neural Network (NN-NARX) based on the Nonlinear Auto-Regressive with External (Exogenous) Input, Neural Network (NN-NAR) based on the Nonlinear Auto-Regressive and Adaptive Neuro-Fuzzy Inference System (ANFIS). The work has been divided into two main parts: generating the system identification models to predict the system dynamic behavior and using Fuzzy-PID controller to suppress the cylinder vibration arising from the vortices. For system identification models, the best representation for NAR and NARX models has been chosen depend on two variables which are Number of hidden neurons (NE) and number of delay (ND) then using mean Square Error (MSE) to find the best model. Whereas, calculating the lowest MSE when the ND equal to 2 and the value of NE ranging 1-11 then fixing NE which is giving the lowest MSE and calculating it when the ND ranging 1-11. While, for ANFIS model the process consisted of find the lowest MSE at particular number of membership function (MF) with two inputs and generalized bell shape as a type of MF. For the second part, Fuzzy-PID used to attenuate the effect of vortices on the cylinder on the best representation for all methods. However, the consequences presented that the lowest MSE of NAR model equal 2.8452×10-9 when the NE = 6 and ND = 4. While the best model of the NARX method recorded MSE = 1.2714×10-9 at NE and ND equal to 8 and 2 respectively. Also, the lowest MES for ANFIS model recorded 2.5635×10-13 when the MF equal to 2 for input and output. From another hand, Fuzzy-PID controller has been succeeded to reduce the vortex induced vibration on cylinder for all models but particularly on ANFIS model