Jung, Rolf
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- SOTIF (5)
- ADS (3)
- Functional Safety (3)
- HADF (3)
- Highly Automated Driving (3)
- CarMaker (2)
- Cybersecurity Management System (2)
- DIN EN ISO 13849 (2)
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In recent decades, research in both academic and industry has focused on the area of highly automated driving systems and is expected to do so in the near future. The scenario-based analysis is widely used in automated vehicles that requires simulation-based vehicle control estimation. One of the assist system is transverse guidance that is inescapable for highly automated driving system. The transverse guidance assist system deals with the longitudinal and lateral behavior of the vehicle. For a specific use case, merging functions like adaptive cruise control and lane keeping assist system are considered. The paper is focused on the development of transverse guidance that forms the combined lateral and longitudinal control of highly automated driving system like Lane Change maneuver planning in highway scenario. Moreover, the parameters are demonstrated for the model and performance of the model has been shown for the use case scenario. The proposed approach is then evaluated for a scenario in a simulation environment modeled using MATLAB/Simulink.
A new, precise, scalable multi-purpose gripper system for academic research purposes is proposed. The multi-purpose gripper is intended to be easily adapted to different tasks and object sizes. The gripper system is driven by two separate motor-gear-lead spindle units, operated by a small CNC control. Software running on the CNC unit is completely open source. A novelty for a gripper in this constellation is an interlock-line that may for example be used for a safety door, allowing to stop movement of the gripper fingers and thus being capable to avoid the bruise of an operator’s finger or arm part. This paper describes the steps mechanical parts were designed and simulated to allow a lightweight concept leaving some payload even for relatively small industrial robots used in academic research. Stability of the gripper fingers was tested by pressing the gripper finger towards each other by hand while “blocking” the movement with a finger showing no visible bending effect of the gripper parts. To test the concept of the gripper system, a first prototype is under construction. Parts of the gripper system were simulated, 3D-printed with poly-lactic-acid (PLA) and mounted to a small laboratory robot. The CNC-gripping function will be furthermore optimized and tested at the prototype.
More and more old machines have the problem that their control electronics’ lifecycle comes to its intended end of life, whilst the mechanics itself and process capability is still in very good condition. This article shows an example of a reactive ion etcher originally built in 1988, which was refitted with a new control concept. The original control unit was repaired several times based on manufacturer’s obsolescence management. At start of the retrofit project the integrated circuits were no longer available for further repair of the original control unit. Safety, repeatability and stability of the process were greatly improved.
A new, freely programmable, scalable control system for academic research purposes was developed. The intention was, to have a control unit capable of handling multiple PT1000 temperature sensors at reasonable accuracy and temperature range, as well as digital input signals and providing more powerful output signals at 230V AC than conventional control units. To take full advantage of the system, control-loops are run in real time. The whole system runs independently of a personal computer. The two on-board RS232 connectors allow to connect further units to use more sensors or actuators or to connect other laboratory equipment, as required. To allow usage for long-time experiments, systematically electronic components with low failure-in-time (FIT) rate have been chosen in order to achieve high life expectancy. This paper describes the third prototype, which now provides stable measurements, and an improvement in accuracy compared to the previous designs. A rough estimation about the expected mean time between failures is given. As test case, a thermal solar system to produce hot tap water and assist heating in a single-family house was implemented. The solar fluid pump was power-controlled and several temperatures at different points in the hydraulic system were measured and used in the control algorithms. The hardware design proved suitable to test several different control strategies and their corresponding algorithms for the thermal solar system.
A new, freely programmable, scalable control system for academic research purposes was developed. The intention was, to have a control unit capable of handling multiple PT1000 temperature sensors at reasonable accuracy and temperature range, as well as digital input signals and providing powerful output signals. To take full advantage of the system, control-loops are run in real time. The whole eight bit system with very limited memory runs independently of a personal computer. The two on board RS232 connectors allow to connect further units or to connect other equipment, as required in real time. This paper describes the software architecture for the third prototype that now provides stable measurements and an improvement in accuracy compared to the previous designs. As test case a thermal solar system to produce hot tap water and assist heating in a single-family house was implemented. The solar fluid pump was power-controlled and several temperatures at different points in the hydraulic system were measured and used in the control algorithms. The software architecture proved suitable to test several different control strategies and their corresponding algorithms for the thermal solar system.
In “concept for a new precise academic gripper” the mechanical aspects of the new gripper were presented [3]. In this paper, the idea is improved and expanded towards a clever control part. This paper mainly focuses on the functional ideas and the state of research concerning the imaging tasks. Experiment and intermediate results of the imaging process are discussed. Different approaches of skin colour detection in diverse colour spaces have been tested. Skin colour detection is investigated whether skin colour can be monitored to improve work safety in terms of functional safety. To enhance versatility, several ideas are combined to form a clever gripping device.
This paper investigates the scenario catalog generation and scenario reduction approaches for a complete Highly Automated Driving Function (HADF). Such approaches focus on the clustering and/or grouping of scenarios by applying a simple stochastic process at an early stage of development. Dealing with an enormous number of scenarios considering Functional Safety (FuSa), Safety Of The Intended Functionality (SOTIF)including cybersecurity desires intelligent approaches for HADF’s scenario reduction. The reduction of scenarios in HADF is a challenge for automotive researchers since it relates to a large number of parameters (like environmental aspects). The main contributions of the scenario generation and reduction approach proposed in this work are the following: (1) contribution to a complete scenario catalog for a dedicated HADF, (2) logical scenario optimization with parameter distribution, and (3) optimize discretization step for finding semiconcrete scenarios that can be executed. Furthermore, the optimization method incorporating the Monte-Carlo(MC) experiment with the CarMaker simulation yields a systematic approach to modeling reduced scenarios without redundancy to support safety.
To provide overall safety to the automotive domain both vehicle safety and security need to be considered. Cybersecurity is a key to define the quality of the autonomous vehicle by introducing safe and secure development and risk assessment. The implementation of the Over-The-Air (OTA) updates in the automotive industry brought many facilities to the drier and the Original Equipment Manufacturer (OEM). The amount of cost-saving from OTA for OEMs is assumed over several billion. So, research is essential for safe and secure OTA updates in the autonomous vehicle. However, Highly Automated Driving Functions (HADFs) have already raised the necessity of secure development because a threat can lead to harm in certain scenarios including the functional insufficiencies as mentioned in Safety Of The Intended Functionality (SOTIF) of the system. Scenario-based Hazard Analysis and Risk Assessment (HARA) is extensively used in automated vehicle systems and can support for further development of scenario-based threat analysis for OTA updates. Additionally, the scenario-based analysis represents the alliance of safety and security during product development. Therefore, this paper illustrates the scenario-based analysis and assessment of threats including the OTA feature. Furthermore, demonstrates the processes step-by-step to perform Threat Analysis and Risk Assessment (TARA) against potential vulnerabilities to obtain a set of cybersecurity goals for a HADF.
Scenario-based Hazard Analysis and Risk Assessment (HARA) is an effective and realistic way in terms of vehicle automation capability identification (e.g. SAE/NHTSA automation level). For autonomous driving where the system heavily interacts with its environment by means of sensor (fusion) and actuators, hazard consideration has to be expanded from E/E system malfunctioning behavior to also cover Safety Of The Intended Functionality (SOTIF) including cybersecurity. Scenario-based HARA can capture how to analyze hazards considering Functional Safety (FuSa) and SOTIF, but their relation and inter dependencies need to be represented in a systematic way. Moreover, powerful methods like System Theoretic Process Analysis (STPA) are used to identify, define, and analyze hazards but not risk assessments. Therefore, we investigate state-of-the-art on scenario-based HARA and propose an extended HARA that combines FuSa and SOTIF. In particular, we consider (a) functional scenario representation and selection of scenarios (e.g. drawing basic and accident scenarios in HARA) and (b) methods to find the relation and interactions of FuSa and SOTIF at once for each HAD function. Moreover, we execute a scenario-based HARA method with extension by means of demonstrating the process in an applicable case i.e. a transverse guidance assist system and disclose outcome.