1. Proposal of an Autonomous Vehicle Control Architecture (Authors: Claudiu Radu Pozna, Csaba Antonya)
Available in IEEE Explorer. DOI: 10.1109/INES52918.2021.9512914, pp. 000037-000042.
Published in the Proceeding of the IEEE 25th International Conference on Intelligent Engineering Systems 2021 (INES 2021) held on July 7-9, 2021 in Budapest, Hungary.
Abstract. In this paper, a control program architecture is proposed for autonomous vehicles. This set of programs is structured in a hierarchy and it is inspired by the human driver behavior. It contains three levels connected by specific links: the strategic, the tactical, and the operational level. Autonomous vehicles and human-driven vehicles will share the roads in future transportation systems. The human-like driving behavior will allow other participants to predict the autonomous vehicle’s behavior.
2. Saliency Detection in a Virtual Driving Environment for Autonomous Vehicle Behavior Improvement (Authors: Csaba Antonya, Florin Gîrbacia, Cristian Postelnicu, Daniel Voinea, and Silviu Butnariu)
Available in SpringerLink. DOI: 10.1007/978-3-030-87595-4_37, Part of the Lecture Notes in Computer Science book series (LNCS, volume 12980), Springer Charm (Editors: Lucio Tommaso De Paolis, Pasquale Arpaia, Patrick Bourdot)
Published in the Proceeding of The 8th International Conference on Augmented Reality, Virtual Reality and Computer Graphics (SALENTO AVR 2021) held on September 7-10, 2021 in Salento, Italy
Abstract. To make the best decisions in real-world situations, autonomous vehicles require learning algorithms that process a large number of labeled images. This paper aims to compare the automatically generated saliency maps with attention maps obtained with an eye-tracking device in order to provide automated labeling of images for the learning algorithm. To simulate traffic scenarios, we are using a virtual driving environment with a motion platform and an eye-tracking device for identifying the driver’s attention. The saliency maps are generated by post-processing the driver’s view provided by the front camera.
3. How Augmented Reality Could Improve the Student’s Attraction to Learn Mechanisms (Authors: Răzvan Gabriel Boboc, Rareș-Lucian Chiriac and Csaba Antonya)
Available in the journal: Electronics, IF: 2.397, DOI: 10.3390/electronics10020175
Published in MDPI Electronics,10(2):175.
Abstract. Mechanics, along with electronics, is a basic field for the development of high technologies. However, learning mechanics is not an easy task. To meet and adapt to the requirements of students in the digital age, teachers must provide them significant ways to incorporate the latest technologies and applications for their studies. In this study, we explored the application of augmented reality (AR) to improve the learning of the science of Mechanisms. An AR application was implemented and developed for Android-based devices, followed by a qualitative experiment conducted with a sample of 116 students. The study was based on the technology acceptance model and the students’ attitudes towards learning in AR environments were assessed using the structural equation modeling. The results showed that the didactic potential of this application is promising, which is highlighted by the positive attitude about using the application, as well as by the high values obtained for intention to use.
4. The Theoretical Study of an Interconnected Suspension System for a Formula Student Car (Authors: Andrei-Cristian Pridie, Csaba Antonya)
Available in the journal: Applied Sciences, IF: 2.679, DOI: 10.3390/app11125507
Published in MDPI Applied Sciences,11(12), 5507.
Abstract. When it comes to racing applications, the primary engineering goal is to increase the performance envelope of the vehicle for a given set of tires. To achieve this goal, it is necessary to maximize the normal loads on the wheels while at the same time minimizing the tire load variation. The purpose of this paper is to present a mathematical model for a Formula Student car in order to study if performance gains are achieved by replacing the traditional passive suspension with a hydraulically interconnected suspension system. To have a complete picture of the advantages and disadvantages of each system, two vibrating models with 7 degrees of freedom were created in order to simulate the motion response of a Formula Student car to realistic excitations. Two particular interpretations of the results were chosen as important performance indicators. The first one is given by the pitch stability of the chassis relative to the road, which can be linked with a decrease in downforce load variation. The second one is the ability of the wheel to follow the road profile as closely as possible, which can be directly correlated with the amount of mechanical grip of the vehicle. The simulation results indicate that the hydraulically interconnected suspension system offers better results for both proposed cases but at the expense of the roll stability of the vehicle.
5. Interactive Simulation Program for Autonomous Vehicles (Authors: Claudiu Radu Pozna, Csaba Antonya )
Published in the Proceeding of the International Conference on Technology, Engineering and Science (ICONTES 2021) held on November 04-07, 2021 in Antalya, Turkey.
Available in the Eurasia Proceedings of Science, Technology, Engineering & Mathematics (EPSTEM), Volume 16, Issue 26, Pages 26-30, ISSN: 2602-3199. DOI: 10.55549/epstem.1052211
Abstract. The paper presents an interactive simulation program dedicated to autonomous vehicles. The program, developed in the form of an app and written in the Matlab programming language, is a didactic tool, which aims to better understand the phenomena that occur during locomotion. To achieve this goal, the user can easily perform interactive simulations by changing the model parameters. In addition to the mentioned flexibility, the user can perform case studies and scenarios. The structure of the program is obtained by aggregating seven objects (modules), dedicated to studying the contributions of each to the simulation. These modules are for different types of trajectories, for controllers, three types of locomotion models, sensors, different filters, environment models, and for simultaneous localization and mapping. The connection between them is possible through a database. This framework ensures the continuity of the simulations. At the end of the interactive visual simulation, the user is obtaining a holistic report with the results.
6. Transfer of Personal Driving Styles to Autonomous Vehicles (Authors: Silviu Butnariu, Florin Gîrbacia and Csaba Antonya )
Published in the Proceeding of the International Conference on Technology, Engineering and Science (ICONTES 2021) held on November 04-07, 2021 in Antalya, Turkey.
Available in the Eurasia Proceedings of Science, Technology, Engineering & Mathematics (EPSTEM), Volume 16, Pages 69 – 76, 10.55549/epstem.1068550
Abstract. This paper presents a learning model that can be implemented on autonomous vehicles, using a dedicated software platform, based on physics, which can also be used to track the behavior of components and subsystems of the vehicle. In order to prepare the data for entering the software platform, data (position, orientation, acceleration, instantaneous speed) were recorded from a vehicle driven by several drivers on a previously established route. By processing the data, a driving style was established based on the average values recorded, for each subject who participated in the experimental tests. A virtual environment was created to correspond to the real route in which an autonomous vehicle was modeled and the data on the previously established driving style (instantaneous speeds vs. positions) were transferred. Following the running in the virtual environment and the registration of the data about the vehicle’s behavior on the established route, the data obtained by the classical method and the virtual simulation were compared. Thus, corrections can be made to the speed profile implemented for the autonomous vehicle, in order to comply with the limits imposed by the use of this vehicle with passengers: speed limits, longitudinal and lateral acceleration limits, and braking limits.
7. Case Study on the Tactical Level of an Autonomous Vehicle Control (Authors: Claudiu Radu Pozna, Csaba Antonya, Ernő Horváth)
Available in IEEE Explorer. DOI: 10.1109/ICECCME52200.2021.9590868, pp. 1-6.
Published in the Proceeding of the IEEE 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), held on October 7-8, 2021 in Mauritius.
Abstract. In this paper, a case study is presented on the tactical level of autonomous vehicle control. Inspired by human driver behavior, vehicle control is structured in a hierarchy on three levels: the strategic, the tactical, and the operational level. These are connected by specific links, and based on prior information and models, are transforming the input data from the environment into actuator commands on the various degree of freedom of the vehicle. The case study is presenting a simulation of a scenario, detailing the vehicle models with sensors, the collection of behavior, and the behavior selector.
8. The influence of the Advanced Emergency Braking System in critical scenarios for autonomous vehicles (Authors: Laurențiu Carabulea, Claudiu Radu Pozna, Csaba Antonya, Călin Husar, and Alexandra Băicoianu)
Available in the Proceeding of The International SIAR Congress of Automobile and Transport Engineering – „Automotive and Integrated Transport Systems – AITS 2021, held on October 28-30, 2021, organized by the Technical University of Chisinau, Republic of Moldova.
Published in IOP Conference Series: Materials Science and Engineering, 1220 012045, DOI: 10.1088/1757-899X/1220/1/012045
Abstract. This paper proposes the use indications for an Advanced Emergency Braking System (AEBS) module developed in Matlab and included in a Simcenter Prescan simulation. The analyzed indications depend on a Long-Range Radar (LRR) and Short-Range Radar (SRR) beam range, on the speed of the autonomous vehicle and on the time between the detection of the obstacle in front of the autonomous vehicle and the time the obstacle starts to move. The simulated scenario consists of an autonomous vehicle that travels at a certain speed, whereas another vehicle starts to move from a bus station after a sudden stop, challenging the autonomous vehicle to stop in a safe manner and in a short time.
9. Using 3D printing and augmented reality for teaching and learning in mechanical engineering higher education (Authors: Răzvan Gabriel Boboc and Csaba Antonya)
Published in the Proceeding of the 13th annual International Conference on Education and New Learning Technologies (EDULEARN 2021) held on July 05-06, 2021 in Valencia, Spain.
Available in the IATED Digital Library, Pages: 879-885, ISBN: 978-84-09-31267-2, ISSN: 2340-1117, doi: 10.21125/edulearn.2021.0236
Abstract. Nowadays, the convergence of different emerging technologies and the proliferation of mobile devices provide solutions for the creation of new teaching and learning methods at the university level in the field of engineering. This article presents the combination of 3D printing and a Mobile Augmented Reality (MAR) application designed to improve the spatial visualization of students for the Mechanisms discipline within the Faculty of Mechanical Engineering of the Transilvania University of Brasov. 3D printing is used to create laboratory models, which will be used to make it easier to understand the movement of some fundamental mechanisms. Augmented Reality is used to visualize 3D models of mechanisms and to learn the names of their components. The article describes the application development process and presents the result of an evaluation that included a number of 20 students. The application called ARMecs was tested on Android devices and received positive feedback. 3D visualization of moving mechanisms is useful because it gives students a better sensation of dimension and perspective, and they can more easily understand how a mechanism works. Also, integrating text with the names of mechanisms and their components helps them learn faster and retain a longer time in their memories due to the visual connections that are made between the model and the overlapping text. Putting together 3D printed models and animated virtual models, video and text superimposed in the real world brings benefits in understanding and increasing students’ interest in learning.
10. Augmented Reality meets Non-Fungible Tokens: Insights Towards Preserving Property Rights (Authors Mihai Duguleană and Florin Gîrbacia)
Available in the IEEE Explorer, DOI: 10.1109/ISMAR-Adjunct54149.2021.00081, pp. 359-361.
Published in the Proceeding of the 2021 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct), held on October 4-6, 2021 in Bari, Italy.
Abstract. Non-fungible tokens are one of the newest use-cases of blockchain technology. Ethereum Virtual Machine (EVM)-based blockchains such as Ethereum, Binance Smart Chain (BSC), or Polygon/Matic have standardized this type of tokens using interfaces such as ERC721 and ERC1155. This development fostered a connection between blockchain and Mixed Reality technologies, which can now coexist in cohesive applications. In this paper, we present the opportunities and challenges resulting from using Augmented Reality NFTs, with a particular focus on the preservation of property, whether it is physical or purely digital. We present a methodology that can ensure the protection of privacy and the preservation of intellectual property when transitioning assets from the virtual to the physical world.
11. Toward blockchain adoption for automotive industry (Authors: Florin Gîrbacia, Daniel Voinea, Răzvan Boboc, Mihai Duguleană, Cristian Postelnicu)
Published in the Proceeding of The International SIAR Congress of Automobile and Transport Engineering – „Automotive and Integrated Transport Systems – AITS 2021, held on October 28-30, 2021, organized by the Technical University of Chisinau, Republic of Moldova.
Available in IOP Conference Series: Materials Science and Engineering, Volume 1220, 2022, 012026
DOI: 10.1088/1757-899X/1220/1/012026
Abstract. Blockchain proves to be a powerful technology that can drive forward the automotive industry. This paper describes how blockchain has been applied, which automotive areas are most interested in the technology, as well as the benefits and challenges of blockchain for the automotive industry by a systematic literature review. Blockchain offers many advantages, such as: transparency, security, high speed of operations. There are numerous areas where this technology could be applied in the automotive domain: better protection against counterfeit spare parts and materials, effective preventive maintenance, by informing the services based on the data received from the car sensors, monitoring of the cars by the rental companies, the safe storage of the data used by intelligent navigation systems, in order not to affect the safety of the passengers, autonomous transactions, triggered by the vehicle for making payments in charging stations, all with the purpose of facilitating a good and safer medium for drivers. The future vehicle will be connected both with other vehicles, but also with the existing infrastructure, so a database containing cryptographically secure information is needed, and blockchain is such a solution that can be applied in the dynamic nature of traffic.
12. Computational efficiency of multi-body systems dynamic models (Authors: Csaba Antonya and Răzvan Gabriel Boboc)
Available in Cambridge Core in the journal Robotica, DOI: 10.1017/S0263574721000345.
Published in Robotica, Volume 39, Issue 12, December 2021, pp. 2333 – 2348.
Abstract. For several decades, simulation and analysis of mechanisms have been performed with dedicated computer-aided engineering software that implements general dynamic formulations, known in the literature as multi-body systems (MBS) formulations. The MBS name is related to the structure of the mechanism, which is often considered to be a collection of bodies interconnected by mechanical joints (pairs). Nevertheless, only a few formulations are really based on a true multi-body mechanical model, while many others instantiate mathematically quite different mechanical concepts. This paper aims to identify and discuss the mechanical models that fundament the main multi-body mathematical formulations known in the literature. The main features of each model are outlined, based on a detailed presentation of the structure and equations of motion, together with their link with the kinematic and dynamic formulations. A comparative study related to computational efficiency is then presented for the identified main models, based on a test mechanism. Comparative advantages and disadvantages are discussed at the end, considering the identified mechanical models.
13. Development of a simulator tool for teaching the autonomous vehicle’s behavior (Authors: Ioana-Diana Buzdugan, Ioana-Alexandra Roșu, and Csaba Antonya)
Published in the Proceeding of 19th International Conference on Remote Engineering and Virtual Instrumentation (REV2022) – REV 2022, held on February 28- March 2, 2022, organized by the British University in Egypt, Cairo.
Published by Springer: Auer, M.E., El-Seoud, S.A., Karam, O.H. (eds) Artificial Intelligence and Online Engineering. REV 2022. Lecture Notes in Networks and Systems, vol 524. Springer, Cham, pp 69–80. DOI:10.1007/978-3-031-17091-1_8
Abstract. The paper is proposing a high-level simulation tool for teaching and learning autonomous vehicle behavior. Simulation tools offer numerous points of interest compared to conventional teaching strategies. Different concepts are presented, some of them allowing interactions between the user and simulated equipment (vehicles, sensors). A simulation tool has been developed based on Kolb’s Experiential Learning Theory (ELT) in a pedagogical manner. The teaching-learning methodology presented in this study is a reflection on interactive, collaborative, and experiential learning environment for autonomous vehicles curriculum, using Kolb’s theory as an educational approach to promote student learning and development, preparing them for real-world situations, and an interactive driving simulator as a teaching tool.
14. MIXED REALITY TOOLS FOR EDUCATION IN THE METAVERSE (Authors: Gheorghe Daniel Voinea, Răzvan Gabriel Boboc, and Csaba Antonya
Published in the Proceeding of the International Conference on Education and New Developments (END) (END 2022), organized by the World Institute for Advanced Research and Science (WIARS), held on June 18-20, 2022 in Madeira, Portugal.
Available in Education and New Developments 2022 – Volume 2, Pages 249-251, ISSN (electronic version): 2184-1489, ISSN (printed version): 2184-044X, ISBN: 978-989-53614-5-8. DOI: 10.36315/2022v2end056
Abstract. Education needs to adapt to the constant changes in society and integrate modern technologies to enhance the process of teaching and learning. The recent Covid 19 pandemic has generated a shift towards digital education, as most educational institutions were forced to temporarily suspend all physical activities. The transfer and absorption of knowledge suffered greatly from this, especially in underdeveloped countries where the infrastructure is limited. Nevertheless, the current crisis has paved the way for digital campuses, online classrooms and digital teaching platforms. In this article, we briefly present several free tools that educators can adapt and use to create a virtual classroom based on mixed reality (XR) technologies, along with the main XR hardware (such as Oculus Quest, Hololens 2). We also share insights on how a virtual classroom can increase student participation and engagement, and how we envision the future of digital classrooms and their potential in the Metaverse.
15. Driver-in-the-loop Simulator of Electric Vehicles (Authors: Csaba Antonya, Călin Husar, Silviu Butnariu, Claudiu Pozna, Alexandra Băicoianu)
Published in the Proceeding of the 6th Conference on Sustainable Urban Mobility Smart Energy for Smart Transport (CSUM 2022), organized by the University of Thessaly, Department of Civil Engineering, Traffic, Transportation and Logistics Laboratory – TTLog, in collaboration with Eindhoven University of Technology, Technion Israel Institute of Technology, Universidade do Porto, Université du Luxembourg, the University of Hawaii at Manoa and University of Southampton, held in Skiathos Island, Greece, 31 August – 2 September 2022
Published by Springer (TBA)
Abstract. The paper presents the hardware and software components of a driving simulator for electric vehicles. The simulator is providing the user with realistic feedback regarding the required visual and kinesthetic information. The motion of the driving simulator is imposed by 6 degrees of freedom Stewart hexapod platform. The command signal of the platform is obtained through the motion cueing algorithms in which the reference accelerations of the vehicle are transformed into displacement commands of the platform. The driver is interacting with the pedals and steering wheel with the simulator and the dynamic model of the electric vehicle is obtained with state-of-the-art simulation software (Simcenter Amesim). The simulator can be used to evaluate driving scenarios and electric vehicles’ performance, analyze the driver’s action, and identify the driver’s decision in safety-critical scenarios in precisely controlled driving conditions.
16. Talking on the Phone While Driving: A Literature Review on Driving Simulator Studies (Authors: Răzvan Gabriel Boboc, Gheorghe Daniel Voinea, Ioana-Diana Buzdugan, and Csaba Antonya)
Available in the journal: International Journal of Environmental Research and Public Health , IF: 4.614, DOI: 10.3390/ijerph191710554
Published in MDPI Int. J. Environ. Res. Public Health 2022, 19(17), 10554, in the Special Issue “Driving Behavior and Traffic Safety“
Abstract. Distracted driving is a growing concern around the world and has been the focus of many naturalistic and simulator-based studies. Driving simulators provide excellent practical and theoretical help in studying the driving process, and considerable efforts have been made to prove their validity. This research aimed to review relevant simulator-based studies focused on investigating the effects of the talking-on-the-phone-while-driving distraction on drivers’ behavior. This work is a scoping review that followed the Preferred Reporting Items for Systematic Reviews and Meta-Analysis Extension for Scoping Reviews (PRISMA-ScR) guidelines. The search was performed on five databases, covering twenty years of research results. It was focused on finding answers to three research questions that could offer an overview of the main sources of distraction, the research infrastructure, and the measures that were used to analyze and predict the effects of distractions. A number of 4332 studies were identified in the database search, from which 83 were included in the review. The main findings revealed that TPWD distraction negatively affects driving performance, exposing drivers to dangerous traffic situations. Moreover, there is a general understanding that the driver’s cognitive, manual, visual, and auditory resources are all involved, to a certain degree, when executing a secondary task while driving.
17. Preservation of Cultural Heritage Using Virtual Reality Technologies and Haptic Feedback: A Prototype and Case Study on Antique Carpentry Tools (Authors: Csaba Antonya and Silviu Butnariu)
Available in the journal: Applied Sciences, IF: 2.838, DOI: 10.3390/app12168002
Published in MDPAppl. Sci. 2022, 12(16), 8002, in the Special Issue “Advanced Technologies in Digitizing Cultural Heritage“
Abstract. Over the last decade, there have been intense concerns at the European and global level regarding the recovery, protection, and promotion of cultural heritage in various forms: monuments, historical sites, artifacts, cultural expressions. The world is becoming more and more aware of the loss of honor elements of cultural heritage due to the passage of time, natural or man-made disasters, negligence, and improper conservation. This paper aims to develop a tool to improve the visibility of elements that may become rare in everyday life over the coming years, becoming elements of cultural heritage. The paper refers to a haptic system for simulating kinematic and dynamic operating conditions based on an articulated mechanism, more precisely, the simulation of the operation of a manual saw as a carpentry tool, visualizing the sawing maneuver and increasing the level of understanding of the operation by the possibility of modifying the working parameters. In the developed virtual reality environment, the user’s perception can benefit by evoking two of their senses—the user can see the operation of the hand saw and can feel the manual process of cutting wood. User studies were carried out to evaluate the usability and performance of the virtual reality application. In two test scenarios, 20 people gave positive feedback on using custom-made haptic devices for various categories (engagement, manipulability, enjoyment, realism, usability, overall experience).
18. Simulation of a Pedestrian Collision Avoidance Using the Pedestrian Protection System (Authors: Ioana-Alexandra Rosu, Ioana Diana Buzdugan, Laurentiu Carabulea, and Csaba Antonya)
Published at the 9th International Congress Motor Vehicles and Motors 2022, University of Kragujevac Faculty of Engineering MVM 2022, 13th and 14th October 2022, Kragujevac, Republic of Serbia
Available in the IOP Conference Series (TBA)
Abstract. Autonomous vehicles are a growing concern nowadays, therefore the knowledge and expectations regarding pedestrian safety have risen substantially. Additionally, ensuring pedestrian safety has become a crucial requirement for autonomous driving. The current research focuses on the contribution of the Pedestrian Protection System (PPS) in the prevention of pedestrian collision impact. The simulation technology that Simcenter Prescan and Simulink are providing has been used to develop the virtual traffic scenario which highlights the performance of the main sensors: camera and RADAR (radio detection and ranging). The Simcenter Prescan simulation framework includes realistic vehicle dynamic models and virtual traffic infrastructure along with sensors that were placed in several locations on the vehicle to capture the position of the pedestrian. Three variations of speed were analyzed in order to observe where the collision is avoided considering the safety conditions. The results of the considered speed were primarily observed using the visualization output of the sensors from the PPS system. In order to develop trustful autonomous vehicles, it is fundamental to incorporate efficient pedestrian crash avoidance systems that increase traffic safety.
19. Study of Social Presence While Interacting in Metaverse with an Augmented Avatar during Autonomous Driving (Authors: Gheorghe Daniel Voinea, Florin Gîrbacia, Cristian Cezar Postelnicu, Mihai Duguleana, Csaba Antonya, Adrian Soica, and Ruxandra-Cristina Stănescu)
Available in the journal: Applied Sciences, IF: 2.838, DOI: 10.3390/app122211804
Published in MDPI Applied Sciences,12(12), 11804.
Abstract. In this paper, we studied the effects of using Microsoft HoloLens 2 in a Metaverse-based collaborative mixed reality environment on the driver’s social presence while using an autonomous driving system. In (semi-) autonomous vehicles the driver is the system’s monitor, and the driving process becomes a secondary task. Our approach is motivated by the advent of Microsoft Mesh XR technology that enables immersion in multi-person, shared mixed reality environments. We conducted a user study comparing the effects on social presence in two scenarios: baseline and mixed reality collaboration. During the baseline condition, participants communicated and interacted with another person using Skype/Meet which was installed on a mobile tablet. In the second scenario the participants used the Microsoft Mesh application installed on HoloLens 2 to collaborate in a mixed reality environment where each user is represented by an augmented 3D avatar. During the experiment, the participant had to perform a social interaction tell-a-lie task and a remote collaborative tic-tac-toe game, while also monitoring the vehicle’s behavior. The social presence was measured using the Harms and Biocca questionnaire, one of the most widely used tools for evaluating the user’s experience. We found that there are significant statistical differences for Co-presence, Perceived Emotional Interdependence, and Perceived Behavioral Interdependence, and participants were able to easily interact with the avatar in the mixed reality scenario. The proposed study procedure could be taken further to assess the driver’s performance during handover procedures, especially when the autonomous driving system encounters a critical situation.