Impacts of Connected and Automated Vehicles on Energy and Traffic Flow: Optimal Control Design and Verification Through Field Testing

This dissertation assesses eco-driving effectiveness in several key traffic scenarios that include passenger vehicle transportation in highway driving and urban driving that also includes interactions with traffic signals, as well as heavy-duty line-haul truck transportation in highway driving with significant road grade. These studies are accomplished through both traffic microsimulation that propagates individual vehicle interactions to synthesize large-scale traffic patterns that emerge from the eco-driving strategies, and through experimentation in which real prototyped connected and automated vehicles (CAVs) are utilized to directly measure energy benefits from the designed eco-driving control strategies. In particular, vehicle-in-the-loop is leveraged for the CAVs driven on a physical test track to interact with surrounding traffic that is virtually realized through said microsimulation software in real time. In doing so, model predictive control is designed and implemented to create performative eco-driving policies and to select vehicle lane, as well as enforce safety constraints while autonomously driving a real vehicle. Ultimately, eco-driving policies are both simulated and experimentally vetted in a variety of typical driving scenarios to show up to a 50% boost in fuel economy when switching to CAV drivers without compromising traffic flow. The first part of this dissertation specifically assesses energy efficiency of connected and automated passenger vehicles that exploit intention-sharing sourced from both neighboring vehicles in a highway scene and from traffic lights in an urban scene. Linear model predictive control is implemented for CAV motion planning, whereby chance constraints are introduced to balance between traffic compactness and safety, and integer decision variables are introduced for lane selection and collision avoidance in multi-lane environments. Validation results are shown from both large-scale microsimulation and through experimentation of real prototyped CAVs. The second part of this dissertation then assesses energy efficiency of automated line-haul trucks when tasked to aerodynamically platoon. Nonlinear model predictive control is implemented for motion planning, and simulation and experimentation are conducted for platooning verification under highway conditions with traffic. Then, interaction-aware and intention-sharing cooperative control is further introduced to eliminate experimentally measured platoon disengagements that occur on real highways when using only status-sharing control. Finally, the performance of automated drivers versus human drivers are compared in a point-to-point scenario to verify fundamental eco-driving impacts -- experimentally showing eco-driving to boost energy economy by 11% on average even in simple driving scenarios

Considerate and Cooperative Model Predictive Control for Energy-Efficient Truck Platooning of Heterogeneous Fleets

Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated convoy of heavy-duty trucks in the form of platooning is one such application designed to maintain close gaps between trucks to exploit drafting benefits and improve fuel economy, and has traditionally been handled with classically-designed connected and adaptive cruise control (CACC). This paper is motivated by demonstrated limitations of such a control strategy, in which a classical CACC was unable to efficiently handle real-world road grade and velocity transient disturbances without the assistance of fleet operator intervention, and is non-adaptive to varied hardware and loading conditions of the operating truck. This automation strategy is addressed by forming a cooperative model predictive control (MPC) for eco-platooning that considers interactions with trailing trucks to incentivize platoon harmonization under road disturbances, velocity transients, and engine limitations, and further improves energy economy by reducing unnecessary engine effort. This is accomplished for each truck by sharing load, maximum engine power, transmission ratios, control states, and intended trajectories with its nearest neighbors. The performance of the considerate and cooperative strategy was demonstrated on a real-world driving scenario against a similar non-considerate control strategy, and overall it was found that the considerate strategy significantly improved harmonization between the platooned trucks in a real-time implementable manner.Comment: Appears in IEEE ACC 2022. 6 pages, 6 figure

Precise segmentation of densely interweaving neuron clusters using G-Cut

脑是宇宙间最为复杂的系统之一，成人的脑中有约1000亿个神经元，单个神经元通常与其它神经元有成千上万个“突触”连接节点，形成拥有百万亿级连接的极其复杂的脑神经网络。当前多数神经元三维重建和分析工具仅适用于单个神经元的形态学重建，难以从神经元簇图像中正确追踪重建出多个神经元，而神经元的重建质量又影响到量化分析神经元的形态学特征及其功能。针对这一问题，课题组提出一种新的三维神经元簇重建工具G-Cut。具体地，为了度量神经元胞体与神经突起间的关联性，课题组从已有的带有标注的大规模神经元形态学数据集统计分析得到其规律和形态学信息。然后将神经元簇的重建问题转化为神经突起之间连接所形成的拓扑连接图的图分割问题，并结合神经元形态学规律和信息，在所有的神经突起与神经元胞体的关联性中寻找重建问题的最优解。通过在不同的合成数据集以及真实的脑组织图像数据集上测试，和已有的方法相比，G-Cut在不同密度和不同规模的神经元簇图像上均获得了更高的重建正确率。该项研究工作由厦门大学，南加州大学，加州大学洛杉矶分校等高校课题组合作完成，厦门大学信息学院智能科学与技术系为第一完成单位，厦门大学博士生李睿和USC博士生Muye Zhu为论文共同第一作者，张俊松博士和南加州大学的Hong-Wei Dong教授为论文共同通讯作者。厦门大学周昌乐教授和南加州大学的Arthur Toga教授为研究提供了大力支持。【Abstract】Characterizing the precise three-dimensional morphology and anatomical context of neurons is crucial for neuronal cell type classification and circuitry mapping. Recent advances in tissue clearing techniques and microscopy make it possible to obtain image stacks of intact, interweaving neuron clusters in brain tissues. As most current 3D neuronal morphology reconstruction methods are only applicable to single neurons, it remains challenging to reconstruct these clusters digitally. To advance the state of the art beyond these challenges, we propose a fast and robust method named G-Cut that is able to automatically segment individual neurons from an interweaving neuron cluster. Across various densely interconnected neuron clusters, G-Cut achieves significantly higher accuracies than other state-of-the-art algorithms. G-Cut is intended as a robust component in a high throughput informatics pipeline for large-scale brain mapping projects.This work was supported by NIH/NIMH MH094360-01A1 (H.W.D.), MH094360-06 (H.W.D.), NIH/NCI U01CA198932-01 (H.W.D.), NIH/NIMH MH106008 (X.W.Y. and H.W.D.), National Nature Science Foundation of China No. 61772440 (J.S.Z.), and National Basic Research Program of China 2013CB329502 (J.S.Z. and C.L.Z.). We thank a support of Graduate Student International Exchange Project of Xiamen University to R.L. and State Scholarship Fund of China Scholarship Council (No. 201406315023) to J.S.Z. 该项研究得到国家自然科学基金、国家重点基础研究发展计划973项目、国家留学基金、厦门大学研究生国际交流项目、美国脑计划和NIH等课题资助

A large, curated, open-source stroke neuroimaging dataset to improve lesion segmentation algorithms.

Accurate lesion segmentation is critical in stroke rehabilitation research for the quantification of lesion burden and accurate image processing. Current automated lesion segmentation methods for T1-weighted (T1w) MRIs, commonly used in stroke research, lack accuracy and reliability. Manual segmentation remains the gold standard, but it is time-consuming, subjective, and requires neuroanatomical expertise. We previously released an open-source dataset of stroke T1w MRIs and manually-segmented lesion masks (ATLAS v1.2, N = 304) to encourage the development of better algorithms. However, many methods developed with ATLAS v1.2 report low accuracy, are not publicly accessible or are improperly validated, limiting their utility to the field. Here we present ATLAS v2.0 (N = 1271), a larger dataset of T1w MRIs and manually segmented lesion masks that includes training (n = 655), test (hidden masks, n = 300), and generalizability (hidden MRIs and masks, n = 316) datasets. Algorithm development using this larger sample should lead to more robust solutions; the hidden datasets allow for unbiased performance evaluation via segmentation challenges. We anticipate that ATLAS v2.0 will lead to improved algorithms, facilitating large-scale stroke research

The genetic architecture of the human cerebral cortex

The cerebral cortex underlies our complex cognitive capabilities, yet little is known about the specific genetic loci that influence human cortical structure. To identify genetic variants that affect cortical structure, we conducted a genome-wide association meta-analysis of brain magnetic resonance imaging data from 51,665 individuals. We analyzed the surface area and average thickness of the whole cortex and 34 regions with known functional specializations. We identified 199 significant loci and found significant enrichment for loci influencing total surface area within regulatory elements that are active during prenatal cortical development, supporting the radial unit hypothesis. Loci that affect regional surface area cluster near genes in Wnt signaling pathways, which influence progenitor expansion and areal identity. Variation in cortical structure is genetically correlated with cognitive function, Parkinson's disease, insomnia, depression, neuroticism, and attention deficit hyperactivity disorder