Abstract
Urban mobility is often considered as one of the main facilitators for greener and more sustainable urban development. However, nowadays it requires a significant shift towards cleaner and more efficient urban transport which would support for increased social and economic concentration of resources in cities. A high priority for cities around the world is to support residents’ mobility within the urban environments while at the same time reducing congestions, accidents, and pollution. However, developing a more efficient and greener (or in one word, smarter) urban mobility is one of the most difficult topics to face in large metropolitan areas. In this thesis, we approach this problem from the perspective of rapidly evolving ICT landscape which allow us to build mobility solutions without the need for large investments or sophisticated sensor technologies. In particular, we propose to leverage Mobile Crowdsensing (MCS) paradigm in which citizens use their mobile communication and/or sensing devices to collect, locally process and analyse, as well as voluntary distribute geo-referenced information. The mobility data crowdsensed from volunteer residents (e.g., events, traffic intensity, noise and air pollution, etc.) can provide valuable information about the current mobility conditions in the city, which can, with the adequate data processing algorithms, be used to route and manage people flows in urban environments. Therefore, in this thesis we combine two very promising Smart Mobility enablers – MCS and journey/route planning, and thus bring together to some extent distinct research challenges. We separate our research objectives into two parts, i.e., research stages: (1) architectural challenges in designing MCS systems and (2) algorithmic challenges in MCS-driven route planning applications. We aim to demonstrate a logical research progression over time, starting from fundamentals of human-in-the-loop sensing systems such as MCS, to route optimisation algorithms tailored for specific MCS applications. While we mainly focus on algorithms and heuristics to solve NP-hard routing problems, we use real-world application examples to showcase the advantages of the proposed algorithms and infrastructures. Urban rörlighet anses ofta vara en av de främsta möjliggörarna för en hållbar statsutveckling. Idag skulle det dock kräva ett betydande skifte mot renare och effektivare stadstransporter vilket skulle stödja ökad social och ekonomisk koncentration av resurser i städerna. En viktig prioritet för städer runt om i världen är att stödja medborgarnas rörlighet inom stadsmiljöer medan samtidigt minska trafikstockningar, olyckor och föroreningar. Att utveckla en effektivare och grönare (eller med ett ord; smartare) stadsrörlighet är en av de svåraste problemen att bemöta för stora metropoler. I denna avhandling närmar vi oss problemet från det snabba utvecklingsperspektivet av IT landskapet i städer vilket möjliggör byggandet av rörlighetslösningar utan stora stora investeringar eller sofistikerad sensortenkik. I synnerhet föreslår vi utnyttjandet av den mobila rörlighetsavkännings, eng. Mobile Crowdsensing (MCS), paradigmen i vilken befolkningen exploaterar sin mobilkommunikation och/eller mobilasensorer med syftet att frivilligt samla, distribuera, lokalt processera och analysera geospecifik information. Rörlighetavkänningssdata (t.ex. händelser, trafikintensitet, buller och luftföroreningar etc.) inhämtad från frivilliga i befolkningen kan ge värdefull information om aktuella rörelsesförhållanden i stad vilka, med adekvata databehandlingsalgoriter, kan användas för att planera människors rörelseflöden inom stadsmiljön. Såtillvida kombineras i denna avhandling två mycket lovande smarta rörlighetsmöjliggörare, eng. Smart Mobility Enablers, nämligen MCS och rese/ruttplanering. Vi kan därmed till viss utsträckning sammanföra forskningsutmaningar från dessa två delar. Vi väljer att separera våra forskningsmål i två delar, dvs forskningssteg: (1) arkitektoniska utmaningar vid design av MCS-system och (2) algoritmiska utmaningar för tillämpningar av MCS-driven ruttplanering. Vi ämnar att visa en logisk forskningsprogression över tiden, med avstamp i mänskligt dirigerade rörelseavkänningssystem som MCS och ett avslut i automatiserade ruttoptimeringsalgoritmer skräddarsydda för specifika MCS-applikationer. Även om vi förlitar oss på heuristiska lösningar och algoritmer för NP-svåra ruttproblem förlitar vi oss på äkta applikationer med syftet att visa på fördelarna med algoritm- och infrastrukturförslagen. La movilidad urbana es considerada una de las principales desencadenantes de un desarrollo urbano sostenible. Sin embargo, hoy en día se requiere una transición hacia un transporte urbano más limpio y más eficiente que soporte una concentración de recursos sociales y económicos cada vez mayor en las ciudades. Una de las principales prioridades para las ciudades de todo el mundo es facilitar la movilidad de los ciudadanos dentro de los entornos urbanos, al mismo tiempo que se reduce la congestión, los accidentes y la contaminación. Sin embargo, desarrollar una movilidad urbana más eficiente y más verde (o en una palabra, más inteligente) es uno de los temas más difíciles de afrontar para las grandes áreas metropolitanas. En esta tesis, abordamos este problema desde la perspectiva de un panorama TIC en rápida evolución que nos permite construir movilidad sin la necesidad de grandes inversiones ni sofisticadas tecnologías de sensores. En particular, proponemos aprovechar el paradigma Mobile Crowdsensing (MCS) en el que los ciudadanos utilizan sus teléfonos móviles y dispositivos, para nosotros recopilar, procesar y analizar localmente información georreferenciada, distribuida voluntariamente. Los datos de movilidad recopilados de ciudadanos que voluntariamente quieren compartirlos (por ejemplo, eventos, intensidad del tráfico, ruido y contaminación del aire, etc.) pueden proporcionar información valiosa sobre las condiciones de movilidad actuales en la ciudad, que con el algoritmo de procesamiento de datos adecuado, pueden utilizarse para enrutar y gestionar el flujo de gente en entornos urbanos. Por lo tanto, en esta tesis combinamos dos prometedoras fuentes de movilidad inteligente: MCS y la planificación de viajes/rutas, uniendo en cierta medida los distintos desafíos de investigación. Hemos dividido nuestros objetivos de investigación en dos etapas: (1) Desafíos arquitectónicos en el diseño de sistemas MCS y (2) Desafíos algorítmicos en la planificación de rutas aprovechando la información del MCS. Nuestro objetivo es demostrar una progresión lógica de la investigación a lo largo del tiempo, comenzando desde los fundamentos de los sistemas de detección centrados en personas, como el MCS, hasta los algoritmos de optimización de rutas diseñados específicamente para la aplicación de estos. Si bien nos centramos en algoritmos y heurísticas para resolver problemas de enrutamiento de clase NP-hard, utilizamos ejemplos de aplicaciones en el mundo real para mostrar las ventajas de los algoritmos e infraestructuras propuestas. "p"QC 20180926Abstract
Urban mobility is often considered as one of the main facilitators for greener and more sustainable urban development. However, nowadays it requires a significant shift towards cleaner and more efficient urban transport which would support for increased social and economic concentration [...]Abstract
The automotive industry is undergoing a revolution where the more traditional mechanical values are replaced by an ever increasing number of Advanced Driver Assistance Systems (ADAS) where advanced algorithms and software development are taking a bigger role. Increased safety, reduced emissions and the possibility of completely new business models are driving the development and most automotive companies have started projects that aim towards fully autonomous vehicles. For industrial applications that provide a closed environment, such as mining facilities, harbors, agriculture and airports, full implementation of the technology is already available with increased productivity, reliability and reduced wear on equipment as a result. However, it also gives the opportunity to create a safer working environment when human drivers can be removed from dangerous working conditions. Regardless of the application an important part of any mobile autonomous system is the motion planning layer. In this thesis sampling-based motion planning algorithms are used to solve several non-holonomic and kinodynamic planning problems for car-like robotic vehicles in different application areas that all present different challenges. First we present an extension to the probabilistic sampling-based Closed-Loop Rapidly exploring Random Tree (CL-RRT) framework that significantly increases the probability of drawing a valid sample for platforms with second order differential constraints. When a tree extension is found infeasible a new acceleration profile that tries to brings the vehicle to a full stop before the collision occurs is calculated. A resimulation of the tree extension with the new acceleration profile is then performed. The framework is tested on a heavy-duty Scania G480 mining truck in a simple constructed scenario. Furthermore, we present two different driver assistance systems for the complicated task of reversing with a truck with a dolly-steered trailer. The first is a manual system where the user can easily construct a kinematically feasible path through a graphical user interface. The second is a fully automatic planner, based on the CL-RRT algorithm where only a start and goal position need to be provided. For both approaches, the internal angles of the trailer configuration are stabilized using a Linear Quadratic (LQ) controller and path following is achieved through a pure-pursuit control law. The systems are demonstrated on a small-scale test vehicle with good results. Finally, we look at the planning problem for an autonomous vehicle in an urban setting with dense traffic for two different time-critical maneuvers, namely, intersection merging and highway merging. In these situations, a social interplay between drivers is often necessary in order to perform a safe merge. To model this interaction a prediction engine is developed and used to predict the future evolution of the complete traffic scene given our own intended trajectory. Real-time capabilities are demonstrated through a series of simulations with varying traffic densities. It is shown, in simulation, that the proposed method is capable of safe merging in much denser traffic compared to a base-line method where a constant velocity model is used for predictions.Abstract
The automotive industry is undergoing a revolution where the more traditional mechanical values are replaced by an ever increasing number of Advanced Driver Assistance Systems (ADAS) where advanced algorithms and software development are taking a bigger role. Increased safety, reduced [...]Abstract
In freight transportation, a waybill is an important document that contains essential information about a consignment. The focus of this thesis is on a multi-purpose electronic waybill (e-Waybill) service, which can provide the functions of a paper waybill, and which is capable of storing, at least, the information present in a paper waybill. In addition, the service can be used to support other existing Intelligent Transportation System (ITS) services by utilizing on synergies with the existing services. Additionally, information entities from the e-Waybill service are investigated for the purpose of knowledge-building concerning freight flows. A systematic review on state-of-the-art of the e-Waybill service reveals several limitations, such as limited focus on supporting ITS services. Five different conceptual e-Waybill solutions (that can be seen as abstract system designs for implementing the e-Waybill service) are proposed. The solutions are investigated for functional and technical requirements (non-functional requirements), which can potentially impose constraints on a potential system for implementing the e-Waybill service. Further, the service is investigated for information and functional synergies with other ITS services. For information synergy analysis, the required input information entities for different ITS services are identified; and if at least one information entity can be provided by an e-Waybill at the right location we regard it to be a synergy. Additionally, a service design method has been proposed for supporting the process of designing new ITS services, which primarily utilizes on functional synergies between the e-Waybill and different existing ITS services. The suggested method is applied for designing a new ITS service, i.e., the Liability Intelligent Transport System (LITS) service. The purpose of the LITS service isto support the process of identifying when and where a consignment has been damaged and who was responsible when the damage occurred. Furthermore, information entities from e-Waybills are utilized for building improved knowledge concerning freight flows. A freight and route estimation method has been proposed for building improved knowledge, e.g., in national road administrations, on the movement of trucks and freight. The results from this thesis can be used to support the choice of practical e-Waybill service implementation, which has the possibility to provide high synergy with ITS services. This may lead to a higher utilization of ITS services and more sustainable transport, e.g., in terms of reduced congestion and emissions. Furthermore, the implemented e-Waybill service can be an enabler for collecting consignment and traffic data and converting the data into useful traffic information. In particular, the service can lead to increasing amounts of digitally stored data about consignments, which can lead to improved knowledge on the movement of freight and trucks. The knowledge may be helpful when making decisions concerning road taxes, fees, and infrastructure investments.Abstract
In freight transportation, a waybill is an important document that contains essential information about a consignment. The focus of this thesis is on a multi-purpose electronic waybill (e-Waybill) service, which can provide the functions of a paper waybill, and which is capable of [...]Abstract
The understanding and conceptualization of cities and its constituent systems such as transportation and healthcare as open and complex is shifting the debates around the technical and communicative rationales of planning. Viewing cities in a holistic manner presents methodological challenges, where our understanding of complexity is applied in a tangible fashion to planning processes. Bridging the two rationales in the tools and methodologies of planning is necessary for the emergence of a 'non-linear rationality' of planning, one that accounts for and is premised upon complexity. Simulations representing complex systems provide evidence and support for planning, and have the potential to serve as an interface between the more abstract and political decision making and the material city systems. Moving beyond current planning methods, this thesis explores the role of simulations in planning. Recognizing the need for holistic representations, the thesis integrates multiple disparate simulations into a holistic whole achieving complex representations of systems. These representations are then applied and studied in an interactive environment to address planning problems in different contexts. The thesis contributes an approach towards the development of complex representations of systems; improvements on participatory methods to integrate computational simulations; a nuanced understanding of the relative value of simulation constructs; technologies and frameworks that facilitate the easy development of integrated simulations that can support participatory planning processes. The thesis develops contributions through experiments which involved problems and stakeholders from real world systems. The approach towards development of integrated simulations is realized in an open source framework. The framework creates computationally efficient, scalable and interactive simulations of complex systems, which used in a participatory manner delivers tangible plans and designs. "p"QC 20170602Abstract
The understanding and conceptualization of cities and its constituent systems such as transportation and healthcare as open and complex is shifting the debates around the technical and communicative rationales of planning. Viewing cities in a holistic manner presents methodological [...]Abstract
Modern vehicles have electrical architectures whose complexity grows year after year due to feature growth corresponding to customer expectations. The latest of the expectations, automation of the dynamic driving task however, is poised to bring about some of the largest changes seen so far. In one fell swoop, not only does required functionality for automated driving drastically increase the system complexity, it also removes the fall-back of the human driver who is usually relied upon to handle unanticipated failures after the fact. The need to architect thus requires a greater rigour than ever before, to maintain the level of safety that has been associated with the automotive industry. The work that is part of this thesis has been conducted, in close collaboration with our industrial partner Scania CV AB, within the Vinnova FFI funded project ARCHER. This thesis aims to provide a methodology for architecting during the concept phase of development, using industrial practices and principles including those from safety standards such as ISO 26262. The main contributions of the thesis are in two areas. The first area i.e. Part A contributes, (i) an analysis of the challenges of architecting automated driving, and serves as a motivation for the approach taken in the rest of this thesis, i.e. Part B where the contributions include, (ii) a definition of a viewpoint for functional safety according to the definitions of ISO 42010, (iii) a method to systematically extract information from legacy components and (iv) a process to use legacy information and architect in the presence of uncertainty to provide a work product, the Preliminary Architectural Assumptions (PAA), as required by ISO 26262. The contributions of Part B together comprise a methodology to architect the PAA. A significant challenge in working with the industry is finding the right fit between idealized principles and practical utility. The methodology in Part B has been judged fit for purpose by different parts of the organization at Scania and multiple case studies have been conducted to assess its usefulness in collaboration with senior architects. The methodology was found to be conducive in both, generating the PAA of a quality that was deemed suitable to the organization and, to find inadequacies in the architecture that had not been found earlier using the previous non-systematic methods. The benefits have led to a commissioning of a prototype tool to support the methodology that has begun to be used in projects related to automation at Scania. The methodology will be refined as the projects progress towards completion using the experiences gained. A further impact of the work is seen in two patent filings that have originated from work on the case studies in Part B. Emanating from needs discovered during the application of the methods, these filed patents (with no prior publications) outline the future directions of research into reference architectures augmented with safety policies, that are safe in the presence of detectable faults and failures. To aid verification of these ideas, work has begun on identifying critical scenarios and their elements in automated driving, and a flexible simulation platform is being designed and developed at KTH to test the chosen critical scenarios. Efterfrågan på nya funktioner leder till en ständigt ökande komplexitet i moderna fordon, speciellt i de inbyggda datorsystemen. Införande av autonoma fordon utgör inte bara det mest aktuella exemplet på detta, utan medför också en av de största förändringar som fordonsbranschen sett. Föraren, som ”back-up” för att hantera oväntade situationer och fel, finns inte längre där vid höggradig automation, och motsvarande funktioner måste realiseras i de inbyggda system vilket ger en drastisk komplexitetsökning. Detta ställer systemarkitekter för stora utmaningar för att se till att nuvarande nivå av funktionssäkerhet bibehålls. Detta forskningsarbete har utförts i nära samarbete med Scania CV AB i det Vinnova (FFI)-finansierade projektet ARCHER. Denna licentiatavhandling har som mål att ta fram en metodik för konceptutveckling av arkitekturer, förankrat i industriell praxis och principer, omfattande bl.a. de som beskrivs i funktionssäkerhetsstandards som ISO 26262. Avhandlingen presenterar resultat inom två områden. Det första området, del A, redovisar, (i) en analys av utmaningar inom arkitekturutveckling för autonoma fordon, vilket också ger en motivering för resterande del av avhandlingen. Det andra området, del B, redovisar, (ii) en definition av en ”perspektivmodell” (en s.k. ”viewpoint” enligt ISO 42010) för funktionssäkerhet, (iii) en metod för att systematiskt utvinna information från existerande komponenter, och (iv) en process som tar fram en arbetsprodukt för ISO 26262 – Preliminära Arkitektur-Antaganden (PAA). Denna process använder sig av information från existerande komponenter – resultat (iii) och förenklar hantering av avsaknad/osäker information under arkitekturarbetet. Resultaten från del B utgör tillsammans en metodik för att ta fram en PAA. En utmaning i forskning är att finna en balans mellan idealisering och praktisk tillämpbarhet. Metodiken i del B har utvärderats i flertalet industriella fallstudier på Scania i samverkan med seniora arkitekter från industrin, och har av dessa bedömts som relevant och praktiskt tillämpningsbar. Erfarenheterna visar att metodiken stödjer framtagandet av PAA’s av lämplig kvalitet och ger ett systematiskt sätt att hantera osäkerhet under arkitekturutvecklingen. Specifikt så gjorde metoden det möjligt att identifiera komponent-felmoder där arkitekturen inte var tillräcklig för åstadkomma önskad riskreducering, begränsningar som inte hade upptäckts med tidigare metoder. Ett prototypverktyg för att stödja metodiken har utvecklats och börjat användas på Scania i projekt relaterade till autonoma fordon. Metodiken kommer sannolikt att kunna förfinas ytterligare när dessa projekt går mot sitt slut och mer erfarenheter finns tillgängliga. Arbetet i del B har vidare lett till två patentansökningar avseende koncept som framkommit genom fallstudierna. Dessa koncept relaterar till referensarkitekturer som utökats med policies för personsäkerhet (Eng. ”safety”) för att hantera detekterbara felfall, och pekar ut en riktning för framtida forskning. För att stödja verifiering av dessa koncept har arbete inletts för att identifiera kritiska scenarios för autonom körning. En flexibel simuleringsplattform håller också på att designas för att kunna testa kritiska scenarios. Vinnova-FFI funded Project ARCHERAbstract
Modern vehicles have electrical architectures whose complexity grows year after year due to feature growth corresponding to customer expectations. The latest of the expectations, automation of the dynamic driving task however, is poised to bring about some of the largest changes seen [...]Abstract
Over the past decade, fast technological and industrial advances have been happening in the area of autonomous Systems of Systems (SoS). A SoS is built upon integration of several systems, where the complexity of such a structure is exponentially higher which brings challenges to its analysis. However, it also has provided a large set of new opportunities in domains such as air traffic control, defense, construction industry, etc. It is expected that fully autonomous and cooperating systems will increase the production efficiency, while decreasing (potentially completely replacing) the human effort in harmful environments. In order to enable this, we need to make sure that critical properties of SoS, such as safety and security are guaranteed. We believe that it is not sufficient anymore to analyze and guarantee these properties independently, but we have to be able to address safety and security in a joint effort. Communications in systems with any type of real-time requirements, where data validity is based on its freshness, rely on clock synchronization (CSyn) allowing its subsystems to cooperate and work coherently. Considering reliable and predictable communication as one of the main assets contributing to correct functionality of such systems, protecting CSyn from malicious adversaries should be one of the highest priority efforts in SoS. In this paper we show how CSyn breaches can influence security, and ultimately safety of complex and autonomous SoS, further we identify a missing piece to consider in safety assurance, namely assurance with respect to reliable communications between systems within the SoS. We demonstrate how an outcome of a security analysis can be used as input for the overall safety analysis and we use an autonomous quarry as an example application to illustrate our findings.Abstract
Over the past decade, fast technological and industrial advances have been happening in the area of autonomous Systems of Systems (SoS). A SoS is built upon integration of several systems, where the complexity of such a structure is exponentially higher which brings challenges to [...]Abstract
Systems of systems (SoS) have been introduced in early 1990s in air traffic control domain, defense and information technologies. Systems like this contain a set of components, being systems itself, with constituent components retaining operational independence. The definition and configuration of SoS have evolutionary nature and emergent behavior is one of the many important characteristics to be mentioned. Over the past ten years fast technological and industrial advances in the domain of autonomous and cooperating systems started to occur, which created new opportunities to use the benefits of SoS. In the near future, fully autonomous and cooperating systems are expected to become our reality and increase the production efficiency, while decreasing the human effort in harmful environments. There exist the need to make sure that critical properties of SoS, such as safety and security are guaranteed as a joint effort, since it is not sufficient anymore to address these properties independently in the development process. In this paper an overview of the most common approaches and methods used to provide reasoning about joint safety and security is provided, as well as a check of the latest updates in standards related to these properties SafeCOP - Safe Cooperating Cyber-Physical Systems using Wireless Communication Closing the safety-security gap in software intensive systems SAFSEC-CPS -- Securing the safety of autonomous cyber-physical systemAbstract
Systems of systems (SoS) have been introduced in early 1990s in air traffic control domain, defense and information technologies. Systems like this contain a set of components, being systems itself, with constituent components retaining operational independence. The definition and [...]Abstract
utomated testing is an essential component of Continuous Integration (CI) and Delivery (CD), such as scheduling automated test sessions on overnight builds. That allows stakeholders to execute entire test suites and achieve exhaustive test coverage, since running all tests is often infeasible during work hours, i.e., in parallel to development activities. On the other hand, developers also need test feedback from CI servers when pushing changes, even if not all test cases are executed. In this paper we evaluate similarity-based test case selection (SBTCS) on integration-level tests executed on continuous integration pipelines of two companies. We select test cases that maximise diversity of test coverage and reduce feedback time to developers. Our results confirm existing evidence that SBTCS is a strong candidate for test optimisation, by reducing feedback time (up to 92% faster in our case studies) while achieving full test coverage using only information from test artefacts themselves. Software Center: Aspects of Automated TestingAbstract
utomated testing is an essential component of Continuous Integration (CI) and Delivery (CD), such as scheduling automated test sessions on overnight builds. That allows stakeholders to execute entire test suites and achieve exhaustive test coverage, since running all tests is often [...]