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Simulation Platform for Cooperative Vehicle Systems

Simulation Platform for Cooperative Vehicle Systems

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Andrs E. Gómez Tiago C. dos Santos Carlos Massera Filho Diego Gomes Juan C. Perafan Denis F.Wolf Mobile Robotics Laboratory University of So Paulo (USP)Av. Trabalhador So-Carlense

Road accidents is one of the major cause of deaths *** is also one of the main problems in large *** development of intelligent transportation systems may contribute to the solution of both *** vehicles have been addressed by the academic community for decades and recently have been obtaining a considerable attention from the *** of the next steps for such technology is the development of communication systems that allow cooperative driving,which could improve the traffic *** paper proposes a simulation framework for the development of cooperative driving *** framework is capable of accurate simulation of vehicles,sensors,complex environments,and wireless communication between *** is also compatible to well known robotic control middlewares,allowing portability of the develop code between real and simulated test *** of cooperative adaptive cruise control with multiple vehicles are presented to validate the framework proposed.

关键词： simulation Simulation Platform for Cooperative Vehicle Systems

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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Exploiting Domain Constraints for Exemplar Based Bus Detection for Traffic Scheduling

Exploiting Domain Constraints for Exemplar Based Bus Detecti...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Aravindh Mahendran Martial Hebert Stephen Smith Robotics Institute School of Computer ScienceCarnegie Mellon University

We describe a computer vision application to adaptive traffic signal *** traffic signal control systems allocate green time at an intersection dynamically in response to sensed incoming traffic flows to continually optimize overall *** video-based systems are limited to the use of vehicle presence and volume(count) data,and since it is not possible to distinguish between different types of vehicles,optimization opportunities can be *** propose to detect specific types of vehicles,such as buses,so that they can be assigned higher priority when appropriate and the overall effectiveness of the adaptive signal system can be *** base our system design on current visual recognition technology(HOG SVM) and exploit configuration constraints specific to this application,such as knowledge about the anticipated scale of the *** challenge is to be robust to varying illumination and weather conditions,occlusions from other vehicles,and large variations in scale while producing recognition results in *** show results on challenging data from traffic cameras under different observation conditions and at varying ranges.

关键词： image red Exploiting Domain Constraints for Exemplar Based Bus Detection for Traffic Scheduling

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Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain

Crawling Locomotion of Modular Climbing Caterpillar Robot wi...

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2009 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang J. W. Zhang Department of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

Based on the modular concept, this paper presents two caterpillar robot prototypes which are inspired by two typical caterpillars: inchworm and pine caterpillar. The inchworm robot prototype features simplest kinematics and open chain architecture. Due to the fact that there is only one attachment module supporting the inchworm robot during crawling, we apply an unsymmetrical phase method (UPM) to realize a stable crawling gait for it. A pine caterpillar robot is derived from combining two inchworm robots together. The crawling gait of it features a repetitive changing chain: open-closed-open. Besides the UPM in open chain states, a four-links kinematic model is applied to control the corresponding joints to transfer the crawling wave along the robot body in the closed chain state. These two prototypes are all constructed and, and their crawling locomotion abilities have been tested on vertical glasses respectively.

关键词： Kinematics Mobile robots Climbing robots Intelligent robots Prototypes Joining processes USA Councils Testing Glass Gravity

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Auto-generated control Program in Mobile Robot using Grammatical Evolution 22

Auto-generated Control Program in Mobile Robot using Grammat...

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Proceedings of the 8th international conference on robotics and Artificial Intelligence

作者： Firdaus Sukarman Eisuke Kita Graduate School of Informatics Nagoya University Japan

ISBN: (纸本)9781450397544

Complexity of robot control program is become a problem as variety of robot used today is dramatically increased due to demand of automation. Several studies has been made using GE to solve robot tasks but application in actual environment is still lack of proof. In this research, auto-generated control program using Grammatical Evolution (GE) is proposed to resolve the burden of constructing manually adjusted control program that consider both physical condition of robot and input from sensors. Grammatical Evolution (GE) is a genetic programming that map genotype to phenotype using predetermined grammar. As GE is subset to Genetic Programming which produce heuristics solution, the grammar-based algorithm enable the search range evolve in a set of rules. This search strategy can be applied to build the structure of control program which consists of multiple sets of program blocks with adjustable parameter. This system is evaluated using Santa Fe Trail problem with open world configuration. The results show the usability of the algorithm by manipulating crossover and mutation rates. Another important factors that effect the performance of the algorithm is the grammar that can govern the evolution of the control program. The proposed method able to generate control automatically with sets of rules determined using grammar.

关键词： Grammatical Evolution (GE) Context-based Knowledge BNF Grammar

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Smartphone Sensor Platform to Study Traffic Conditions and Assess Driving Performance

Smartphone Sensor Platform to Study Traffic Conditions and A...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Joel Gonalves Joo S.V.Gonalves Rosaldo J.F.Rossetti Cristina Olaverri-Monreal Institute of Ergonomics Department of Mechanical EngineeringTechnische Universitt MünchenGermany Department of Informatics Engineering and the Artificial Intelligence andComputer Science Lab (LIACC) Faculty of EngineeringUniversity of Porto AIT Austrian Institute of Technology Business Unit Technology ExperienceInnovation Systems Department Vienna

Sensor technology available in smartphones enables the monitoring of mobility patterns,which could be of particular interest for the transportation *** example,driving time information can help to determine if a selected path is the most ***,measurements related to the time expended on the road and origin destination matrices can lead to conclusions related to the organization of travel schedules and routes,enhancing reliability and resulting in a shorter total traveling *** on GPS-based Floating Car Data（FCD）,we designed a platform to acquire data for the evaluation of traffic conditions and driving performance using mobile phone *** control the activation of the tracking activity themselves and can benefit from information provided by other users’ *** metrics related to the travel time and vehicle’s speeds contribute to the assessment of traffic management *** regarding possible applications of the tool are outlined.

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A Grameen Bank Concept: Micro-credit and Poverty Alleviation Program in Bangladesh

A Grameen Bank Concept: Micro-credit and Poverty Alleviation...

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international conference on Environmental and Biological Sciences(ICEBS’2012);international conference on Nanotechnology and Chemical Engineering(ICNCS’2012);international conference on Trade,Tourism and Management(ICTTM’2012);international conference on automation,control and robotics(ICACR’2012);international conference on Data Mining and Computer Engineering(ICDMCE’2012);international conference on Civil,Electrical and Electronics Engineering(ICCEEE’2012)

作者： Md. Khaled Shukran Farhana Rahman Information Management Asia Europe Institute University of Malaya Department of Public Administration Faculty of Economics and Administration University of Malaya

Micro-credit became a new phenomenon in the present world due to its recognition of an efficient weapon to fight against poverty. A current investigation proved that, more than 1.3 billion inhabitants are struggling to earn a smaller amount one dollar ($1) a day where they are captivated by extreme shortage of basic needs such as;food, cloth, shelter, treatment and education. Recently a tremendous success has been displayed to eradicate poverty using micro-credit loan and every year 1% of total population is coming out from poverty. However, reducing poverty is more successful in rurul areas than in urban areas because of its random access in remote places. In every year half a billion US dollar are given to 7.5 million borrower throughout the country as a micro-loan to break the vicious cycle of poverty. So, this paper approachs to explore Grameen Bank's activities and the way it assists eneormously to develop the living standard of the poor and vulneralve people in Bangladesh and encourages to apply this model in different countries.

关键词： Basic needs, efficient weapon, grameen bank, micro-loan

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Bayesian,Maneuver-Based,Long-Term Trajectory Prediction and Criticality Assessment for Driver Assistance Systems

Bayesian,Maneuver-Based,Long-Term Trajectory Prediction and ...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Matthias Schreier Volker Willert Jürgen Adamy the Institute of Automatic Control and Mechatronics Control Methods and Robotics LabTU DarmstadtLandgraf-Georg-Str.464283 DarmstadtGermany

We propose a Bayesian trajectory prediction and criticality assessment system that allows to reason about imminent collisions of a vehicle several seconds in *** first infer a distribution of high-level,abstract driving maneuvers such as lane changes,turns,road followings,*** all vehicles within the driving scene by modeling the domain in a Bayesian network with both causal and diagnostic *** is followed by maneuver-based,long-term trajectory predictions,which themselves contain random components due to the immanent uncertainty of how drivers execute specific *** all uncertain predictions of all maneuvers of every vehicle into account,the probability of the ego vehicle colliding at least once within a time span is evaluated via Monte-Carlo simulations and given as a function of the prediction *** serves as the basis for calculating a novel criticality measure,the Time-To-Critical-Collision-Probability(TTCCP) –a generalization of the common Time-To-Collision(TTC) in arbitrary,uncertain,multi-object driving environments and valid for longer prediction *** system is applicable from highly-structured to completely non-structured environments and additionally allows the prediction of vehicles not behaving according to a specific maneuver class.

关键词： red domain Bayesian,Maneuver-Based,Long-Term Trajectory Prediction and Criticality Assessment for Driver Assistance Systems

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Methods for Improving the Accuracy of the Virtual Assessment of Autonomous Driving

Methods for Improving the Accuracy of the Virtual Assessment...

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international conference on Connected Vehicles and Expo (ICCVE)

作者： Dominik Notz Martin Sigl Thomas Kühbeck Sebastian Wagner Korbinian Groh Christoph Schütz Daniel Watzenig BMW of North America Mountain View CA USA BMW AG München Germany Department of Informatics Chair of Robotics Artificial Intelligence and Embedded Systems Technische Universität Munich München Germany Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (纸本)9781728101439

Assessing the safety of an autonomous vehicle is an open problem within the research domain for autonomous vehicles. Next to real-world driving tests, simulation and reprocessing of recordings play a crucial role in validating the correct and safe behavior. Current state-of-the-art methods for function reprocessing suffer from several sources of error and hence, might lead to incorrect results. In this work, an overview of the most recent reprocessing methods is given and their shortcomings are described. We suggest the derivation of explicit sensor models and the learning of behavior models for traffic objects. An overview of different levels of sensor and different kinds of agent models is given along with a discussion for the need for statistical and machine learning based models. Furthermore, a novel method, based on infrastructure sensors, to collect the data needed for the derivation of the models is presented.

关键词： Autonomous vehicles Machine learning Intelligent agents Vehicle detection Sensor systems Data collection Simulation Data reprocessing Autonomous Vehicles Vehicle detection Sensor systems Intelligent agents Data Collection Methods reprocessing simulating Artificial Intelligence Machine Learning Error Sources derivation Sensors

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A Fast RRT Algorithm for Motion Planning of Autonomous Road Vehicles

A Fast RRT Algorithm for Motion Planning of Autonomous Road ...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Liang Ma Jianru Xue Kuniaki Kawabata Jihua Zhu Chao Ma Nanning Zheng Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University RIKEN (The Physical and Chemical Research) HirosawaWakoSaitama

The Rapidly-exploring Random Tree(RRT)is a classical algorithm of motion planning based on incremental sampling,which is widely used to solve the planning problem of mobile *** it,due to the meandering path,the inaccurate terminal state and the slow exploration,is often inefficient in many applications such as autonomous road *** address these issues and considering the realistic context of autonomous road vehicles,this paper proposes a fast RRT algorithm that introduces an off-line template set based on the traffic scenes and an aggressive extension strategy of search *** improvements can lead to a faster and more accurate RRT towards the ***,our approach combines the closed-loop prediction approach using the model of vehicle,which can smooth the portion of off-line template and the portion of on-line tree generated,while a trajectory and control sequence for the vehicle would be *** results illustrate that our method is fast and efficient in solving planning queries of autonomous road vehicle in urban environments.

关键词： A Fast RRT Algorithm for Motion Planning of Autonomous Road Vehicles RRT

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