Road grade estimation for look-ahead vehicle control using multiple measurement runs

ABSTRACTUpdating of reservoir models by history matching of 4D seismic data along with production data gives us a better understanding of changes to the reservoir, reduces risk in forecasting and leads to better management decisions. This process of seismic history matching requires an accurate representation of predicted and observed data so that they can be compared quantitatively when using automated inversion. Observed seismic data is often obtained as a relative measure of the reservoir state or its change, however. The data, usually attribute maps, need to be calibrated to be compared to predictions. In this paper we describe an alternative approach where we normalize the data by scaling to the model data in regions where predictions are good. To remove measurements of high uncertainty and make normalization more effective, we use a measure of repeatability of the monitor surveys to filter the observed time‐lapse data.We apply this approach to the Nelson field. We normalize the 4D signature based on deriving a least squares regression equation between the observed and synthetic data which consist of attributes representing measured acoustic impedances and predictions from the model. Two regression equations are derived as part of the analysis. For one, the whole 4D signature map of the reservoir is used while in the second, 4D seismic data is used from the vicinity of wells with a good production match. The repeatability of time‐lapse seismic data is assessed using the normalized root mean square of measurements outside of the reservoir. Where normalized root mean square is high, observations and predictions are ignored. Net: gross and permeability are modified to improve the match.The best results are obtained by using the normalized root mean square filtered maps of the 4D signature which better constrain normalization. The misfit of the first six years of history data is reduced by 55 per cent while the forecast of the following three years is reduced by 29 per cent. The well based normalization uses fewer data when repeatability is used as a filter and the result is poorer. The value of seismic data is demonstrated from production matching only where the history and forecast misfit reductions are 45% and 20% respectively while the seismic misfit increases by 5%. In the best case using seismic data, it dropped by 6%. We conclude that normalization with repeatability based filtering is a useful approach in the absence of full calibration and improves the reliability of seismic data.

<div class="section abstract"><div class="htmlview paragraph">A variety of vehicle controls, from active safety systems to power management algorithms, can greatly benefit from accurate, reliable, and robust real-time estimates of vehicle mass and road grade. This paper develops a parallel mass and grade (PMG) estimation scheme and presents the results of a study investigating its accuracy and robustness in the presence of various noise factors. An estimate of road grade is calculated by comparing the acceleration as measured by an on-board longitudinal accelerometer with that obtained by differentiation of the undriven wheel speeds. Mass is independently estimated by means of a longitudinal dynamics model and a recursive least squares (RLS) algorithm using the longitudinal accelerometer to isolate grade effects. To account for the influences of acceleration-induced vehicle pitching on PMG estimation accuracy, a correction factor is developed from controlled tests under a wide range of throttle levels. The estimation approach is applied to data collected while driving on public roads under a variety of driving conditions, replicating several noise factors associated with daily driving. Thresholds are developed to isolate driving events that are likely to result in quick and accurate mass estimates, and an averaging filter is then applied to these converged values. The algorithm is shown to rapidly deliver estimates within 3% of true vehicle mass.</div></div>

Background/Purpose: The acquisition of three-dimensional ground reaction forces (3D-GRF) during running is crucial for monitoring and assessing running performance. However, limitations often arise in collecting 3D-GRF due to equipment and environmental constraints. Inertial sensors are gaining popularity in running applications because of their convenience, broad applicability, and cost-effectiveness. This study aimed to utilize an inertial sensor for gathering kinematic data during running, establish a high-precision neural network model for continuous 3D-GRF estimation, and investigate estimation variances across different body segments. Method: A total of thirty-three college students (17 male, 16 female) participated in this study. Kinematic and kinetic data were concurrently recorded using inertial sensors placed on the lower back, lateral thigh, anterior lower leg, and dorsum of the foot, while three-dimensional force plates were utilized during running at speeds of 8/10/12 km/h. The dataset was partitioned into training, validation, and test sets at a ratio of 24:3:6. A Long Short-Term Memory Neural Network (LSTM) was developed for training to predict 3D-GRF. Evaluation metrics included coefficients of determination, Root Mean Square Error (RMSE), and Normalized Root Mean Square Error (NRMSE). Models customized for specific body segments underwent a nine-fold cross-validation procedure, employing one-way ANOVA to evaluate estimation variances across different anatomical sites. Results: Estimation outcomes at different sites indicated optimal estimation accuracy at the right thigh. The coefficients of determination for Anteroposterior (AP)-GRF, Mediolateral (ML)-GRF, and Vertical (V)-GRF were 0.81±0.00, 0.55±0.14, and 0.97±0.02, respectively. RMSE values were 0.06±0.01BW, 0.06±0.01BW, and 0.14±0.03BW. Significant variances were observed between the right thigh and other sites in the horizontal plane (p < 0.05). The results from the test set showed correlation coefficients, RMSE, and NRMSE for AP-GRF, ML-GRF, and V-GRF: AP-GRF, 0.94±0.01, 0.06±0.01BW, 4.78%±0.50%; ML-GRF, 0.83±0.08, 0.10±0.01BW, 9.70%±2.41%; V-GRF, 0.99±0.00, 0.14±0.02BW, 2.79%±0.24%. Conclusion/Discussion: 1. The neural network model developed in this study demonstrated exceptional accuracy across three dimensions, facilitating continuous estimation of 3D ground reaction forces during running. Correlation coefficients surpassed 0.8 in every direction, with RMSE values below 0.2BW and NRMSE below 5%. 2. Estimation results from inertial sensors positioned at different sites exhibited diverse levels of disparity. The lateral thigh emerged as the most proficient location for estimation, with the lower back excelling in vertical ground reaction force estimation but displaying comparatively weaker performance in horizontal ground reaction force estimation.

Estimates of road grade/slope can add another dimension of information to existing 2D digital road maps. Integration of road grade information will widen the scope of digital map's applications, which is primarily used for navigation, by enabling driving safety and efficiency applications such as Advanced Driver Assistance Systems (ADAS), eco-driving, etc. The huge scale and dynamic nature of road networks make sensing road grade a challenging task. Traditional methods oftentimes suffer from limited scalability and update frequency, as well as poor sensing accuracy. To overcome these problems, we propose a cost-effective and scalable road grade estimation framework using sensor data from smartphones. Based on our understanding of the error characteristics of smartphone sensors, we intelligently combine data from accelerometer, gyroscope and vehicle speed data from OBD-II/smartphone's GPS to estimate road grade. To improve accuracy and robustness of the system, the estimations of road grade from multiple sources/vehicles are crowd-sourced to compensate for the effects of varying quality of sensor data from different sources. Extensive experimental evaluation on a test route of ~9km demonstrates the superior performance of our proposed method, achieving $5\times$ improvement on road grade estimation accuracy over baselines, with 90\% of errors below 0.3$^\circ$.

The estimation of 3D orientation based on nine-axis inertial measurement unit (IMU) is an essential technology in various applications, from unmanned aerial vehicle to human motion tracking. Various sensor fusion filter algorithms such as Kalman filter (KF) or complementary filter (CF) have been proposed for accurate 3D orientation estimation. However, the degradation of estimation performance due to disturbance components such as magnetic distortion and external acceleration is still a critical issue. An alternative approach for the orientation estimation task is to train a neural network end-to-end with a variety of massive experimental datasets consisting of the raw IMU signals and the ground truth orientations. This paper proposes a recurrent neural network (RNN) for robust IMU-based 3D orientation estimation. Overall, this paper is an extension of the previous work by Weber et al., where the RNN model was used to estimate the quaternion, but only the attitude estimation performance was investigated without considering the heading estimation. The proposed RNN receives a nine-dimensional sensor signal as an input and outputs a unit quaternion representing 3D orientation, and it can robustly estimate the orientation across various motion characteristics and magnetic environments without needing an additional filter algorithm. Verification results showed that the proposed method outperformed the conventional CF and KF algorithms. In particular, in magnetically disturbed conditions, the averaged root mean square error of the proposed RNN approach was reduced by 41.4% and 60.3%, respectively, when compared to the CF and the KF algorithm.

Monitoring natural human gait in real-life environment is essential in many applications including the quantification of disease progression, and monitoring the effects of treatment and alteration of performance biomarkers in professional sports. Nevertheless, reliable and practical techniques and technologies necessary for continuous real-life monitoring of gait is still not available. This paper explores in detail the correlations between the acceleration of different body segments and walking ground reaction forces GRF(t) in three dimensions and proposes three sensory systems, with one, two, and three inertial measurement units (IMUs), to estimate GRF(t) in the vertical (V), medial-lateral (ML), and anterior-posterior (AP) directions. The nonlinear autoregressive moving average model with exogenous inputs (NARMAX) non-linear system identification method was utilized to identify the optimal location for IMUs on the body for each system. A simple linear model was then proposed to estimate GRF(t) based on the correlation of segmental accelerations with each other. It was found that, for the three-IMU system, the proposed model estimated GRF(t) with average peak-to-peak normalized root mean square error (NRMSE) of 7%, 16%, and 18% in V, AP, and ML directions, respectively. With a simple subject-specific training at the beginning, these errors were reduced to 7%, 13%, and 13% in V, AP, and ML directions, respectively. These results were found favorably comparable with the results of the benchmark NARMAX model, with subject-specific training, with 0% (V), 4% (AP), and 1% (ML) NRMSE difference.

Exoskeleton robot is an essential tool in active rehabilitation training for patients with lower limb motor dysfunctions. Accurate and real-time recognition in human motion intention is a great challenge in exoskeleton robot, which can be implemented by continues estimation of human joint angles. In this study, we innovatively proposed a novel feature-based convolutional neural network-bi-directional long-short term memory network (CNN-BiLSTM) model to predict the knee joint angles more accurately and in real time. We validated our method on a public dataset, including surface electromyography(sEMG) and inertial measurement unit (IMU) data of 10 healthy subjects during normal walking. Initially, features extraction from each modal data achieved feature-level fusion. Then the importance of each sEMG and IMU signal feature for knee joint angle prediction was quantified by ensemble feature scorer (EFS) and the number of features required for prediction while ensuring accuracy was simplified by profile likelihood maximization (PLM) algorithm. Finally, the CNN-BiLSTM model was created by using the determined simplest features to further fuse the spatio-temporal correlation of signals. The results indicated that the EFS and PLM algorithm could remove the feature redundancy perfectly and estimation performance would become better when bi-modal gait data were fused. For the estimation performance, the average root mean square error (RMSE), adjusted [Formula: see text] and pearson correlation coefficient (CC) of our algorithm were 4.07, 0.95, and 0.98, respectively, which was better than CNN, BiLSTM and other three traditional machine learning methods. In addition, the model test time was 62.47 ± 0.29 ms, which was less than the predicted horizon of 100 ms. The real-time performance and accuracy are satisfactory. Compared with previous works, our method has great advantages in feature selection and model design, which further improves the prediction accuracy. These promising results demonstrate that the proposed method has considerable potential to be applied to exoskeleton robot control.

Computational modeling, such as finite element analysis, is employed in a range of biomechanics specialties, including impact biomechanics and surgical planning. These models rely on accurate material properties for skeletal muscle, which comprises roughly 40% of the human body. Due to surrounding tissues, compressed skeletal muscle in vivo likely experiences a semi-confined state. Nearly all previous studies investigating passively compressed muscle at the tissue level have focused on muscle in unconfined compression. The goals of this study were to (1) examine the stiffness and time-dependent material properties of skeletal muscle subjected to both confined and unconfined compression (2) develop a model that captures passive muscle mechanics under both conditions and (3) determine the extent to which different assumptions of volumetric behavior affect model results. Muscle in confined compression exhibited stiffer behavior, agreeing with previous assumptions of near-incompressibility. Stress relaxation was found to be faster under unconfined compression, suggesting there may be different mechanisms that support load these two conditions. Finite element calibration was achieved through nonlinear optimization (normalized root mean square error <6%) and model validation was strong (normalized root mean square error <17%). Comparisons to commonly employed assumptions of bulk behavior showed that a simple one parameter approach does not accurately simulate confined compression. We thus recommend the use of a properly calibrated, nonlinear bulk constitutive model for modeling of skeletal muscle in vivo. Future work to determine mechanisms of passive muscle stiffness would enhance the efforts presented here.

The first lactation weekly test day milk yield (WTDMY) records (57233) and monthly test day milk yield (MTDMY) records (11970) spread over a period of 23 years (1984– 2006) sired by 82 bulls of Karan Fries cattle were used to develop the best lactation curve model. The lactation curve parameters of Quadratic cum log model (QCLM), Gamma function (GF), Cobby Le Du model (CLDM), Polynomial regression function (PRF) and Multiphasic logistic function (MLF) were estimated. The average weekly test day milk yield was predicted with high degree of accuracy (R2 &gt; 85%) by all the models with the maximum accuracy (R2 = 99.50%) obtained by polynomial regression function (PRF) and the least fit (R2 = 87.90%) was obtained by Gamma function (GF). However Quadratic cum log model (R2 = 99.20%) was almost equal to polynomial regression function and was better than Cobby Le Du model (R2 = 92.80%). The average root mean square error (RMSE) was found to be minimum with PRF (0.0121 Kg) followed by MLF (Triphasic). Thus the best fit model was polynomial regression function, which was better than other functions for prediction of first lactation WTDMY. The average monthly test day milk yield was predicted with high degree of accuracy (R2 &gt; 75%) by all the models with the maximum accuracy (R2 &gt; 99.41%) obtained by polynomial regression function (PRF) and the least fit was obtained with gamma function (R2 = 79.05%). However, quadratic-cum-log model (R2 = 99.28%) was almost equal to polynomial regression function and was better than CLDM (R2 = 89.50%). The average root mean square error (RMSE) was found to be minimum with PRF (0.0061 kg) followed by QCLM (0.0620). Thus the best fit model was polynomial regression function for prediction of both weekly and monthly test day milk yield of first lactation in Karan Fries cows.

Phenological shifts in plant species are one of the most conspicuous signs of climate change impact on the biosphere. Modeling phenological variations of plant species over broad regions is challenging because of the varied climatic requirements of geographic populations due to local adaptation. In this study, we developed an empirical method to calibrate phenological models of temperate trees using latitude as a predictor to account for local adaptation of populations to a N-S temperature gradient. Fourteen widely distributed tree species in the eastern U.S.A. were investigated using data from the USA-National Phenology Network. We implemented the method in a basic thermal time bud break model to introduce the algorithm of the method and test its effectiveness. For each species, dates of breaking leaf buds were first predicted using a traditional non-spatial model and then with a spatial model that has the critical thermal forcing requirements calibrated for different populations at varied latitudes. As anticipated, non-spatial model predictions that assumed a uniform forcing requirement across latitudes showed consistent and systematic biases at both higher (overestimation-predictions being later) and lower (underestimation-predictions being earlier) latitudes. Spatial models that have been calibrated using our method removed the geographic biases and yielded latitudinal gradients that more closely matched those of the observations. The spatial models also reduced the overall prediction errors from an average root mean square error (RMSE) of 32.2 days to 20.4 days for the training dataset and an average root mean square error for prediction (RMSEP) of 32.2 days to 19.9 days for the testing dataset. This paper is focused on introducing the new calibration method as a preparatory step toward developing operational models that may potentially predict large-scale and range-wide phenological responses of various plant species to climatic changes with improved local accuracy.

This work addresses the challenge of calibrating multiple solid-state LIDAR systems. The study focuses on three different solid-state LIDAR sensors that implement different hardware designs, leading to distinct scanning patterns for each system. Consequently, detecting corresponding points between the point clouds generated by these LIDAR systems-as required for calibration-is a complex task. To overcome this challenge, this paper proposes a method that involves several steps. First, the measurement data are preprocessed to enhance its quality. Next, features are extracted from the acquired point clouds using the Fast Point Feature Histogram method, which categorizes important characteristics of the data. Finally, the extrinsic parameters are computed using the Fast Global Registration technique. The best set of parameters for the pipeline and the calibration success are evaluated using the normalized root mean square error. In a static real-world indoor scenario, a minimum root mean square error of 7 cm was achieved. Importantly, the paper demonstrates that the presented approach is suitable for online use, indicating its potential for real-time applications. By effectively calibrating the solid-state LIDAR systems and establishing point correspondences, this research contributes to the advancement of multi-LIDAR fusion and facilitates accurate perception and mapping in various fields such as autonomous driving, robotics, and environmental monitoring.

Field repeatability of OBC 3D seismic data is investigated for evaluating feasibility of time-lapse (4D) seismic survey for monitoring water saturation in a carbonate reservoir in the Middle East. We use co-located data sets, which were acquired in a small part of a giant 3D survey by re-deployed shots/receivers at a short time interval, between which no reservoir change is supposed. Both pre- and post-stack seismic data are examined using two repeatability indices: normalized root mean square (NRMS) and predictability, each complementarily quantifying the similarity of two seismic traces, i.e., data repeatability. For pre-stack data, source-receiver mis-location along the offset orientation is found to control the repeatability. Post-stack repeatability NRMS evaluated after basic data processing including noise removal, stacking, and time shift, turns out to be around 10 %. The presence of noise and static shift severely degrades repeatability in post-stack. This data-driven repeatability evaluation takes account of the influences from shot/receiver mis-positioning, source-generated coherent and incoherent noise, and location-dependent near surface effect, which conventional approaches may under-estimate. The post-stack repeatability, however, is evaluated in a small area and can be laterally variable, since the 3D seismic data quality is strongly area-dependent. We therefore correlate the NRMS with "snapshot" 3D S/N (SN ratio of a 3D) of a single set of the repeated 3D and then use this relation for extrapolating the NRMS to the entire field through 3D S/N of the full field 3D. Combining this analysis with the result of our rock physics modeling, which reveals the magnitude of expected change in reservoir response, we conclude the feasibility of 4D seismic technique in this field is area-dependent. The proposed procedure provides more realistic area-dependent 4D repeatability than conventional approaches.

A total of 110 patients with obstructive sleep apnea hypoventilation syndrome were selected from January 2017 to December 2018, including 76 cases of men and 34 females, aged 40-50 y and according to the apnea hyponea index, patients were classified into 3 groups of moderate to moderate and 5 apnea hyponea index 20 was divided into group A (36 cases), the 40 of 20 to apnea hyponea index is divided into group B (45 cases) and apnea hyponea index the 40 of 20 to 40 is divided into group B (45 cases) and apnea hyponea index to 40 is divided into group C (29 cases). In the same period in the health check-up center to extract 40 cases without obstructive sleep apnea hypopnea syndrome, arrhythmia and other medical history of health check-up objects. 24 h Holter-monitoring and polysomography monitoring of 4 groups of people, observed and recorded heart rate variability indicators for each group, including all standard deviations for sinus cardiac arrest, standard deviation per 5 min sinus cardiac interstitial period, the average root mean square of successive differences of the total sinus intercardial period difference is divided by the number of individuals of the sinus cardiac interstitial period of 50 ms the average root mean square of successive differences of the total sinus intercardial period difference is divided by the number of individuals of the sinus cardiac inner struggle period of 50 ms divided by the percentage of the total sinus cardiac inner struggle period (proportion of NN50), low frequency and high frequency. Standard deviation of all sinus beats, standard deviation of the mean value of sinus, root mean square of successive differences, proportion of NN50, low frequency and high frequency were lower than those in the control group (p<0.05) in patients with obstructive sleep apnea hypopnea syndrome. The proportion of NN50 and high frequency in group C were lower than A and B (p<0.05) and the low frequency was higher than the proportion of NN50 and high frequency in group C were lower than A and B (p<0.05) and the low frequency was higher than group A, group B and control group (p<0.05). Holter-monitoring is a non-invasive test, the price is not high and it can be a regular test for testing the autonomic nervous function in patients with obstructive sleep apnea hypopnea syndrome.

We present a method to acquire 3D position measurements for decentralized target tracking with an asynchronous camera network. Cameras with known poses have fields of view with overlapping projections on the ground and 3D volumes above a reference ground plane. The purpose is to track targets in 3D space without constraining motion to a reference ground plane. Cameras exchange line-of-sight vectors and respective time tags asynchronously. From stereoscopy, we obtain the fused 3D measurement at the local frame capture instant. We use local decentralized Kalman information filtering and particle filtering for target state estimation to test our approach with only local estimation. Monte Carlo simulation includes communication losses due to frame processing delays. We measure performance with the average root mean square error of 3D position estimates projected on the image planes of the cameras. We then compare only local estimation to exchanging additional asynchronous communications using the Batch Asynchronous Filter and the Sequential Asynchronous Particle Filter for further fusion of information pairs' estimates and fused 3D position measurements, respectively. Similar performance occurs in spite of the additional communication load relative to our local estimation approach, which exchanges just line-of-sight vectors.

Chapter 9 - Repeatability