@conference {495, title = {CAN Coach: Vehicular Control through Human Cyber-Physical Systems}, booktitle = {Proceedings of the ACM/IEEE 12th International Conference on Cyber-Physical Systems}, year = {2021}, publisher = {Association for Computing Machinery}, organization = {Association for Computing Machinery}, address = {New York, NY, USA}, abstract = {

This work addresses whether a human-in-the-loop cyber-physical system (HCPS) can be effective in improving the longitudinal control of an individual vehicle in a traffic flow. We introduce the CAN Coach, which is a system that gives feedback to the human-in-the-loop using radar data (relative speed and position information to objects ahead) that is available on the controller area network (CAN). Using a cohort of six human subjects driving an instrumented vehicle, we compare the ability of the human-in-the-loop driver to achieve a constant time-gap control policy using only human-based visual perception to the car ahead, and by augmenting human perception with audible feedback from CAN sensor data. The addition of CAN-based feedback reduces the mean time-gap error by an average of 73\%, and also improves the consistency of the human by reducing the standard deviation of the time-gap error by 53\%. We remove human perception from the loop using a ghost mode in which the human-in-the-loop is coached to track a virtual vehicle on the road, rather than a physical one. The loss of visual perception of the vehicle ahead degrades the performance for most drivers, but by varying amounts. We show that human subjects can match the velocity of the lead vehicle ahead with and without CAN-based feedback, but velocity matching does not offer regulation of vehicle spacing. The viability of dynamic time-gap control is also demonstrated. We conclude that (1) it is possible to coach drivers to improve performance on driving tasks using CAN data, and (2) it is a true HCPS, since removing human perception from the control loop reduces performance at the given control objective.

}, keywords = {controller area network, cyber-physical systems, human-in-the-loop, vehicles}, isbn = {9781450383530}, doi = {10.1145/3450267.3450541}, url = {https://doi.org/10.1145/3450267.3450541}, author = {Nice, Matthew and Elmadani, Safwan and Bhadani, Rahul and Bunting, Matt and Sprinkle, Jonathan and Work, Dan} } @article {490, title = {Modeling Human Car-Following Behavior from Demonstration with Recurrent Neural Networks}, year = {2020}, abstract = {

The validity of simulation testing for autonomous vehicles depends on the ability to accurately simulate human driving behavior. This project seeks to train a model on an individual{\textquoteright}s driving data, and to test the ability of the model to predict trajectories that replicate the driver{\textquoteright}s style by using the model in a realistic simulated environment. Specifically, we deployed Recurrent Neural Network (RNN) modeling techniques to create a black-box model of an individual{\textquoteright}s driving behavior. We use our RNN-trained model to simulate a human-driven vehicle in the Robot Operating System (ROS) based CAT Vehicle simulator for autonomous vehicle validation. We hope this work is a step to improve testing environments for validating human behavior replicating car-following models and thereby improve testing environments for autonomous vehicles in general.

}, keywords = {car-following models, driving behavior, recurrent neural network, simulation, trajectory prediction}, author = {Iris Jones and Megan Walter}, editor = {Rahul Bhadani} } @conference {458, title = {Adaptive HSL Filters and Inverse Perspective Transforms in Lane Detection for Autonomous Driving}, booktitle = {CAT Vehicle REU}, year = {2019}, month = {03/2019}, keywords = {autonomous vehicles, computer vision, image processing}, doi = {10.13140/RG.2.2.18919.60327}, url = {http://doi.org/10.13140/RG.2.2.18919.60327}, author = {Hannah Mason and Landon Bentley and Joe MacInnes and Rahul Bhadani and Tamal Bose} } @conference {471, title = {Safety and stability analysis of FollowerStopper}, booktitle = {CAT Vehicle Research Experience for Undergraduates}, year = {2019}, month = {08/2019}, publisher = {The University of Arizona}, organization = {The University of Arizona}, address = {Tucson}, abstract = {

In this paper, we demonstrate that the velocity controller, FollowerStopper, is safe and string unstable. FollowerStopper is a controller that is meant to be implemented on an autonomous vehicle or in an adaptive cruise control (ACC) system. Through mathematical proof, simulation in Simulink, and hardware in the loop implementation on a real autonomous vehicle through the Robot Operating System (ROS) and Gazebo, several results are achieved. It is found that an autonomous vehicle controlled by FollowerStopper will never crash. FollowerStopper will dissipate larger traffic waves from human-driven vehicles but will amplify smaller velocity perturbations that are created within the controller. Given the maximum LiDAR range of 81 m, FollowerStopper will never command a velocity greater than 13.69 m/s

}, keywords = {autonomous vehicles, control systems, intelligent transportation}, url = {http://csl.arizona.edu/content/safety-and-stability-analysis-followerstopper}, author = {Chris Kreienkamp and Daniel Fishbein and Rahul Bhadani and Jonathan Sprinkle} } @proceedings {449, title = {Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller}, volume = {57}, year = {2018}, publisher = {IEEE}, address = {Fontainbleau, Miami Beach, USA}, abstract = {

This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic\ band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with\ the lead vehicle. By assuming that the lead vehicle{\textquoteright}s velocity will be oscillatory, the controller{\textquoteright}s smooth transition between\ modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the\ dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles\ are presented. Analysis shows that\ the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.\ 

}, keywords = {autonomous vehicles, CPS, Traffic}, doi = {10.1109/CDC.2018.8619700}, url = {https://ieeexplore.ieee.org/document/8619700}, author = {Rahul Bhadani and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @article {272, title = {Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments}, journal = {Transportation Research Part C}, volume = {89}, year = {2018}, month = {04/2018}, type = {Journal}, chapter = {205-221}, keywords = {autonomous vehicles, cyber physical systems}, doi = {10.1016/j.trc.2018.02.005}, author = {Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Hannah Pohlmann and Fangyu Wu and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @conference {450, title = {{A LiDAR Error Model for Cooperative Driving Simulations}}, booktitle = {IEEE Vehicular Network Conference}, year = {2018}, month = {12/2018}, publisher = {IEEE}, organization = {IEEE}, address = {Taipei, Taiwan}, abstract = {

Cooperative driving and vehicular network simulations have done huge steps toward high realism.\ They have become essential tools for performance evaluation of any kind of vehicular networking application.\ Yet, cooperative vehicular applications will not be built on top of wireless networking alone, but rather fusing together different data sources including sensors like radars, LiDARs, or cameras.\ So far, these sensors have been assumed to be ideal, i.e., without any measurement error.\ This paper analyzes a set of estimated distance traces obtained with a LiDAR\ sensor and develops a stochastic error model that can be used in cooperative driving simulations.\ After implementing the model within the PLEXE\ simulation framework, we show the impact of the model on a set of cooperative driving control algorithms.

}, keywords = {autonomous vehicles, AV, CAV, LiDAR, self-driving cars, sensor, VNC}, author = {Michele Segata and Renato Lo Cigno and Rahul Bhadani and Matthew Bunting and Jonathan Sprinkle} } @conference {469, title = {A Fuzzy based approach to Dampen Emergent Traffic Waves}, booktitle = {CAT Vehicle Research Experience for Undergraduates}, year = {2017}, month = {01/2017}, publisher = {CAT Vehicle Research Experience for Undergraduates}, organization = {CAT Vehicle Research Experience for Undergraduates}, address = {The University of Arizona}, abstract = {

Adaptive Cruise Control (ACC) and Traffic Aware Cruise Control (TACC) are recent advancements in cruise control design that allow a semi-autonomous vehicle to slow itself when approaching vehicles. The issue with these technologies is that they focus on keeping the distance from a leading vehicle constant. This may lead to unwanted dynamics in the following traffic flow, could result in the creation of traveling waves. \ This paper focuses on maintaining a reference velocity based on the relative position of the preceding vehicle instead of slowing down to maintain a certain following distance. Doing so could reduce the amount of braking the vehicles behind the autonomous vehicle will do. With this kind of technology implemented, the number and duration of traffic jams could be greatly reduced. Simulation results and tests run on the University of Arizona{\textquoteright}s Cognitive Autonomous Test (CAT) Vehicle illustrate the feasibility and success of this new controller.

}, keywords = {Autonomous Systems, Control System}, author = {R{\textquoteright}mani Haulcy and Nathaniel Hamilton and Rahul Bhadani and Jonathan Sprinkle and Daniel B. Work and Nathalie Risso and Benedetto Piccoli and Maria Laura Dell Monache and Benjamin Seibold} } @conference {McKeever:2015:ERC:2846696.2846706, title = {Experience Report: Constraint-based Modeling of Autonomous Vehicle Trajectories}, booktitle = {Proceedings of the Workshop on Domain-Specific Modeling}, year = {2015}, pages = {17{\textendash}22}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Autonomous Systems, cyber-physical systems, metamodeling}, isbn = {978-1-4503-3903-2}, doi = {10.1145/2846696.2846706}, url = {http://doi.acm.org/10.1145/2846696.2846706}, author = {Kennon McKeever and Yegeta Zeleke and Matthew Bunting and Jonathan Sprinkle} } @conference {467, title = {Workshop Preview of the 15th Workshop on Domain Specific Modeling (DSM 2015)}, booktitle = {Companion Proceedings of the 2015 ACM SIGPLAN International Conference on Systems, Programming, Languages and Applications: Software for Humanity}, year = {2015}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-3722-9}, doi = {10.1145/2814189.2833204}, url = {http://doi.acm.org/10.1145/2814189.2833204}, author = {Jeffrey Gray and Jonathan Sprinkle and Juka-Pekka Tolvanen and Matti Rossi} } @conference {whitsitt2014cps, title = {Automatic Verification of Dynamic Constraints in LTI Control Systems Through Model Transformations}, booktitle = {NSF Young Professionals Workshop on Exploring New Frontiers in Cyber-Physical Systems}, year = {2014}, month = {03/2014}, publisher = {NSF}, organization = {NSF}, address = {Washington, DC}, keywords = {Controls, Dynamic Constraints, Model Transformations}, author = {Sean Whitsitt} } @conference {211, title = {Generating a {ROS/JAUS} Bridge for an Autonomous Ground Vehicle}, booktitle = {Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM {\textquoteright}13)}, year = {2013}, pages = {13-18}, publisher = {ACM}, organization = {ACM}, address = {Indianapolis, IN}, abstract = {

Robotic systems have truly benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboticists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that are not blessed with such a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems, and previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application{\textquoteright}s specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.

}, keywords = {autonomous vehicles, Code Generation}, doi = {10.1145/2541928.2541931}, url = {http://dx.doi.org/10.1145/2541928.2541931}, author = {Patrick Morley and Alex Warren and Ethan Rabb and Matthew Bunting and Sean Whitsitt and Jonathan Sprinkle} } @conference {233, title = {How You Can Learn to Stop Worrying and Love Reconfigurable Embedded Systems: A Tutorial}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {213-214}, keywords = {C++ language, C/C++ code, codesign, Computers, Conferences, data streams, embedded hardware, embedded systems, Hardware, hardware tasks, hardware-software codesign, image processing algorithms, JPEG2000 standards, middleware, middleware framework, modeling infrastructure, reconfigurable embedded systems, runtime behaviors, software tasks, software tool, software tools, Transform coding, Tutorials}, doi = {10.1109/ECBS.2013.27}, author = {Nathan Sandoval and Casey Mackin and Roman Lysecky and Jonathan Sprinkle} } @conference {234, title = {Mobile Device Software: Model-Based Architectures and Examples}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {215}, keywords = {API, application program interfaces, canonical UML models, Computational modeling, computer science education, Computers, Conferences, high-level software concepts, mobile computing, mobile device apps, mobile device programming, mobile device software, Mobile handsets, model-based architectures, model-based design, model-based examples, object-oriented programming, Software, software architecture, software engineering, terminology points, Tutorials, unclear starting points, Unified modeling language}, doi = {10.1109/ECBS.2013.28}, author = {Jonathan Sprinkle} } @conference {231, title = {Model-Based Software Synthesis for Self-Reconfigurable Sensor Network in Water Monitoring}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {40-48}, keywords = {accelerometers, Code Generation, communication task, computation task, Computational modeling, concurrent engineering, concurrent tasks specification, control tasks, cyber-physical systems, domain-specific modeling language, drifters, embedded programming, environmental monitoring (geophysics), environmental science computing, floating sensor testbed, formal specification, Global Positioning System, GPS sensors, hand-written code, Instruction sets, mobile computing, mobile phone, mobile radio, mobile sensing platforms, model-based software synthesis, model-integrated computing, program compilers, Programming, self-reconfigurable sensor network, Smart phones, software synthesis, ubiquitous mobile device, Unified modeling language, water flow monitoring, wireless sensor networks}, doi = {10.1109/ECBS.2013.34}, url = {http://dx.doi.org/10.1109/ECBS.2013.34}, author = {Kun Zhang and Jonathan Sprinkle} } @conference {232, title = {System Throughput Optimization and Runtime Communication Middleware Supporting Dynamic Software-Hardware Task Migration in Data Adaptable Embedded Systems}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {59-68}, keywords = {combinatorial explosion, Data adaptability, data adaptable design methodology, data adaptable embedded systems, data configurations, data handling, Data models, data profile correlation, design time optimization, dynamic software-hardware task migration, embedded systems, Field programmable gate arrays, FIFO queues, Firing, Hardware, hardware accelerators, hardware-software codesign, hardware-software communication wrapper, hardware/software codesign, hardware/software communication middleware, heuristic programming, heuristic search methodology, middleware, model-based design, Pareto optimal configurations, Pareto optimisation, Runtime, runtime communication middleware, search problems, simulation-based methodology, system throughput optimization}, doi = {10.1109/ECBS.2013.25}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Roman Lysecky and Jonathan Sprinkle} } @conference {224, title = {The 12th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity}, year = {2012}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1563-0}, doi = {10.1145/2384716.2384784}, url = {http://doi.acm.org/10.1145/2384716.2384784}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference {222, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Companion}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-0942-4}, doi = {10.1145/2048147.2048227}, url = {http://doi.acm.org/10.1145/2048147.2048227}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference {466, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the Compilation of the Co-located Workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE! 2011, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095052}, url = {http://doi.acm.org/10.1145/2095050.2095052}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Jeffrey Gray and Matti Rossi} } @conference {w:jones-dsm-2011, title = {{autoVHDL: a domain-specific modeling language for the auto-generation of VHDL core wrappers}}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \&\#38; VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {71{\textendash}76}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

Reconfigurable embedded hardware is a staple of many applications in defense technology and applied engineering. The integration of various embedded hardware "cores" (i.e., the computing units) is complicated by the unintended complexities inherent in the consistent and correct construction of communication pathways{\textendash}-specified using VHDL. This paper presents a domain-specific modeling approach to reducing this complexity. The results include demonstration of the tool, where generated VHDL code with complex data and processing requirements is simulated.

}, keywords = {code synthesis, domain-specific modeling, embedded systems, reconfigurable computing}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095063}, url = {http://dx.doi.org/10.1145/2095050.2095063}, author = {Erica Jones and Jonathan Sprinkle} } @conference { w:whitsitt-neat-2011, title = {Constrained data acquisition for mobile citizen science applications}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {267{\textendash}272}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

The popularity and ubiquity of personal mobile computing devices{\textendash}-coupled with their powerful sensing capabilities{\textendash}-allow their application in the structured collection of data for societal benefit and science applications. Citizen scientists are willing users and active contributors to scientific research and applications, but if they gather data in an unconstrained or ad hoc manner, their efforts may be of little scientific value. In this paper, we present a user interface for a mobile device which is properly constrained to permit the gathering of valid scientific data. This helps to achieve the goal that any individual with a basic familiarity of the device (but not of the science) should be able to obtain useful data with little learning required. As a use case for this concept, we present a mobile application that allows users to collect location-stamped images to supplement satellite data for climate change research.

}, keywords = {citizen scientist, domain-specific modeling, iphone, mobile phone programming}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095095}, url = {http://dx.doi.org/10.1145/2095050.2095095}, author = {Sean Whitsitt and Armando Barreto and Maribel Hudson and Hussain Al-Helal and Diyang Chu and Kamel Didan and Jonathan Sprinkle} }