Control theory for stochastic distributed parameter systems,an engineering perspective

The main purpose of this paper is to survey some recent progresses on control theory for stochastic distributed parameter systems, i.e., systems governed by stochastic differential equations in infinite dimensions, typically by stochastic partial differential equations. We will explain the new phenomenon and difficulties in the study of controllability and optimal control problems for one dimensional stochastic parabolic equations and stochastic hyperbolic equations. In particular, we shall see that both the formulation of corresponding stochastic control problems and the tools to solve them may differ considerably from their deterministic/finite-dimensional counterparts. More importantly, one has to develop new tools, say, the stochastic transposition method introduced in our previous works, to solve some problems in this field.     

Effects of apparent image velocity and complexity on the dynamic visual field using a high-speed train driving simulator

Train driving is a highly visual task. The visual capabilities of the train driver affects driving safety and driving performance. Understanding the effects of train speed and background image complexity on the visual behavior of the high-speed train driver is essential for optimizing performance and safety. This study investigated the role of the apparent image velocity and complexity on the dynamic visual field of drivers. Participants in a repeated-measures experiment drove a train at nine different speeds in a state-of-the-art high-speed train simulator. Eye movement analysis indicated that the effect of image velocity on the dynamic visual field of high-speed train driver was significant while image complexity had no effect on it. The fixation range was increasingly concentrated on the middle of the track as the speed increased, meanwhile there was a logarithmic decline in fixation range for areas surrounding the track. The extent of the visual search field decreased gradually, both vertically and horizontally, as the speed of train increased, and the rate of decrease was more rapid in the vertical direction. A model is proposed that predicts the extent of this tunnel vision phenomenon as a function of the train speed.Relevance to industryThis finding can be used as a basis for the design of high-speed railway system and as a foundation for improving the operational procedures of high-speed train driver for safety.     

Effects of visual and linguistic anthropomorphic cues on social perception,self-awareness,and information disclosure in a health website

Acknowledging the lack of studies examining both visual and linguistic anthropomorphic cues and the underlying mechanisms of their effects, we investigated how the different modalities of anthropomorphic cues in a health website influenced information disclosure. In a 2 (visual cues: human vs. non-human image) × 2 (linguistic cues: conversational vs. impersonal language) × 2 (question type: less vs. more sensitive questions) between-subjects experiment (N = 254), participants registered with a mock-up health website. We assessed a behavioral outcome of not disclosing personal information and psychological outcomes of social perception and self-awareness as potential mediators. Results revealed distinctive effects of the two modalities of the anthropomorphic cues. Anthropomorphic images, on one hand, increased public and private self-awareness, and public self-awareness in turn led to less information disclosure. Anthropomorphic language, on the other hand, heightened social perception and promoted information disclosure, but social perception did not predict the disclosure. These results indicate unique underlying mechanisms of the effects of anthropomorphism: priming effect of visual cues, and communicative effects of linguistic cues.     

A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

Can child-pedestrians’ hazard perception skills be enhanced?

ObjectiveTraffic collisions yield a substantial rate of morbidity and injury among child-pedestrians. We explored the formation of an innovative hazard perception training intervention – Child-pedestrians Anticipate and Act Hazard Perception Training (CA²HPT). Training was based upon enhancing participants’ ability to anticipate potential hazards by exposing them to an array of traffic scenes viewed from different angles.MethodTwenty-four 7–9-year-olds have participated. Trainees underwent a 40-min intervention of observing typical residential traffic scenarios in a simulated dome projection environment while engaging in a hazard detection task. Trainees were encouraged to note differences between the scenarios presented to them from separate angles (a pedestrian's point-of-view and a higher perspective angle). Next, trainees and control group members were required to perform crossing decision tasks.ResultsTrainees were found to be more aware of potential hazards related to restricted field of view relative to control.ConclusionsChild pedestrians are responsive to training and actively detecting materialized hazards may enrich child-pedestrians’ ability to cross roads.     

An iterative method for suboptimal control of linear time-delayed systems

This article presents a new approach for solving the Optimal Control Problem (OCP) of linear time-delay systems with a quadratic cost functional. The proposed method can also be used for designing optimal control time-delay systems with disturbance. In this study, the Variational Iteration Method (VIM) is employed to convert the original Time-Delay Optimal Control Problem (TDOCP) into a sequence of nonhomogeneous linear two-point boundary value problems (TPBVPs). The optimal control law obtained consists of an accurate linear feedback term and a nonlinear compensation term which is the limit of an adjoint vector sequence. The feedback term is determined by solving Riccati matrix differential equation. By using the finite-step iteration of a nonlinear compensation sequence, we can obtain a suboptimal control law. Finally, Illustrative examples are included to demonstrate the validity and applicability of the technique.     

Model Selection for Unsupervised Learning of Visual Context

This study addresses the problem of choosing the most suitable probabilistic model selection criterion for unsupervised learning of visual context of a dynamic scene using mixture models. A rectified Bayesian Information Criterion (BICr) and a Completed Likelihood Akaike’s Information Criterion (CL-AIC) are formulated to estimate the optimal model order (complexity) for a given visual scene. Both criteria are designed to overcome poor model selection by existing popular criteria when the data sample size varies from small to large and the true mixture distribution kernel functions differ from the assumed ones. Extensive experiments on learning visual context for dynamic scene modelling are carried out to demonstrate the effectiveness of BICr and CL-AIC, compared to that of existing popular model selection criteria including BIC, AIC and Integrated Completed Likelihood (ICL). Our study suggests that for learning visual context using a mixture model, BICr is the most appropriate criterion given sparse data, while CL-AIC should be chosen given moderate or large data sample sizes.