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Motion Stereo-based Collision Avoidance for an Intelligent Smart Car Door System

Motion Stereo-based Collision Avoidance for an Intelligent S...

引用

International IEEE Conference on Intelligent Transportation systems

作者： Christian Scharfenberger Samarjit Chakraborty John Zelek David Clausi Faculty of Systems Design Engineering University of Waterloo Institute of Real-Time Computer Systems Electrical Engineering TU Munich

ISBN: (纸本)9781467330640

Driver assistance systems in today's cars assist drivers when the car is in motion. However, there is relatively less, to almost no work on assistance systems when the car is stationary. This paper focuses on such a system, and describes the design and realization of a collision avoidance system for a novel car door assistance system, the smart car door. An omnidirectional camera is attached to each side-view mirror of a car, and the fold-in fold-out movement of the mirror is used to generate 3D information about static obstacles next to the car based on a motion stereo approach. The car door controller uses the sensor data to compute collision-free door opening paths, and the two-hinge kinematic system of the smart car door enables to move the door around static obstacles. The latter increases the door entrance area in tight parking lots, which drastically improves the ingress/egress to/from a vehicle. These are enhancements to currently available systems that only indicate the presence of obstacles next to the car. Experiments on a fully realized prototype demonstrated a robust generation of 3D information about obstacles next to the car. A study with 20 test users showed that our system strongly supports the users to avoid collisions when operating the door.

关键词： Cameras Mirrors Vehicles Feature extraction Noise Monitoring Prototypes

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Anti-Trap Protection for an Intelligent Smart Car Door System

Anti-Trap Protection for an Intelligent Smart Car Door Syste...

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International IEEE Conference on Intelligent Transportation systems

ISBN: (纸本)9781467330640

A majority of driver assistance systems focuses on assisting the driver when the car is in motion. There is relatively less, to almost no work on assistance systems when the car is stationary. The focus of this paper is on such a system and describes the design and realization of a novel, camera-based anti-trap protection system for smart car doors. Our system uses a single omnidirectional camera that is integrated in each inner door of a vehicle, and detects obstacles such as fingers, hands or legs at the A and B-pillar, door sill and car door without any contact. This is an enhancement to currently available systems that require an active contact between obstacles and sensors in the door area for the detection of trapping. The paper also proposes a scheme for re-calibrating the camera position that may change due to vibrations during the life-time of the car door. Experiments on a fully realized car door prototype show that the proposed schemes prevent trapping by robustly detecting obstacles such as small fingers or hands in critical door regions, and output results in real-time. The latter is important when door users slam the car door. A first study with 20 test users showed that our system strongly supports the door users to prevent trapping.

关键词： VEHICLE DOOR Cars DOOR Driver Assistance systems trapping Fingers

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Message from the general chair

Proceedings - 12th IEEE/ACM International Symposium on Clust...

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Proceedings - 12th IEEE/ACM International Symposium on Cluster, Cloud and Grid Computing, CCGrid 2012 2012年 xviii-xix页

作者： Majumdar, Shikharesh Real Time and Distributed Systems Research Centre Department of Systems and Computer Engineering Carleton University Ottawa ON Canada

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Towards real-time media access in vehicular ad-hoc networks

Towards real-time media access in vehicular ad-hoc networks

引用

IEEE Wireless Communications and Networking Conference Workshops (WCNCW)

作者： Steffen Moser Jochen Weiß Frank Slomka Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University Ulm Germany

By giving vehicles the ability to propagate warning messages to the other ones, the number and the severity of accidents on our streets could likely be reduced. Safety-related applications based on vehicular ad-hoc neworks (VANET) are usually dependent on transmitting a message from source to sink within a given time limit. IEEE proposes the standard 802.11p which is an adaption of the well-known Wireless LAN 802.11a for inter-vehicle communication. While many properties have been improved, 802.11p still comes with a contention-based medium access control, only. This leads to an indeterminism and data-dependencies. One deterministic and fairer alternative compared to contention based medium access mechanism would be time-Divison Multiple Access (TDMA). As a VANET is typically fully self-organizing, the time slots must be assigned autonomously by the nodes of the distributed system. This, however, leads to drawbacks in the performance of the protoctol which are analyzed in this paper.

关键词： Vehicles Ad hoc networks time division multiple access real time systems Media Access Protocol Communication channels

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An approach for the integration of smart antennas in the design and simulation of vehicular ad-hoc networks

An approach for the integration of smart antennas in the des...

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International Conference on Future Generation Communication Technology (FGCT)

作者： Steffen Moser Simon Eckert Frank Slomka Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University Ulm Germany

The radio channel is a limiting resource in vehicular ad-hoc networks. A lot of possible applications in the field of vehicle-to-vehicle and vehicle-to-infrastructure communication will make use of sending messages to destination nodes addressed by geographical coordinates. Beam forming, which is the transmission of a message's signal explicitly into a specific spatial area by exploiting a phase-delayed array of antennas, can be seen as an approach to reduce the overall channel load in vehicular ad-hoc networks. Due to the implementation of today's network simulators, the analysis of the advantages and possible drawbacks of beam forming on vehicular ad-hoc network scenarios is hardly possible. In this paper we show a way in which a simulation framework typically used for research on vehicular ad-hoc networks can be extended by a realistic channel simulation and a physical layer simulation which allows studying the beam forming abilities of a smart antenna system.

关键词： Vehicular ad hoc networks Dipole antennas Arrays Antenna arrays Vehicles Routing

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A Scalable Wide Area Monitoring System using Cellular Neural Networks

A Scalable Wide Area Monitoring System using Cellular Neural...

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International Joint Conference on Neural Networks

作者： Karthikeyan Balasubramaniam Bipul Luitel Ganesh Kumar Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University

ISBN: (纸本)9781467314886

Synchrophasor systems make power grids more observable by collecting data from various locations, time-align and process them as a coherent data set. Better observability results in better control actions. A limiting factor to this approach is communication delays. Power system wide area communication delays range from several milliseconds to several seconds depending on the communication media and distance. One way to deal with this is to have an intelligent system which can predict state values for one or more time steps ahead of time. A novel four dimensional scalable multirate cellular neural network (CNN) architecture for use as wide area monitoring system (WAMS) is proposed. Recurrent neural network (RNN) is used as computational engine for each cell as RNNs have dynamic memory. By using information from phasor measurement units (PMUs) that are optimally located in a power system, each layer predicts a state variable for one or more time steps. Data from remote PMUs are replaced by the respective CNN cells' time delayed predicted state values for next time step. This enables local controllers to take real-time control action with system wide information. A 12-bus test power system is used to develop and demonstrate the effectiveness of the proposed CNN framework for WAMS.

关键词： Cellular neural networks Recurrent neural networks State estimation Synchrophasors Wide area monitoring and control Cellular neural networks Wide area measurement systems Communications Media Phasor measurement units recurrent neural nets area monitoring State variable power systems Dynamic storage local controller Power grids Intelligent systems Data Collection Methods Scalability MILLISECOND

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Optical Position Stabilization of an UAV for Autonomous Landing

Optical Position Stabilization of an UAV for Autonomous Land...

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ROBOTIK 2012;7th German Conference on Robotics

作者： Markus Ax Stefan Thamke Lars Kuhnert Jens Schlemper Klaus-Dieter Kuhnert University of Siegen Fak. IV - Electrical Engineering and Computer Science Institute for Real-Time Learning Systems

Vertical Take-Off and Landing (VTOL) capable Mini Unmanned Aerial Vehicles (MUAV) are an economic alternative to real helicopters if local aerial pictures or other aerial measurements are needed. With electronic stabilization, GPS based position-hold and autonomous way-point functions these systems are easy to operate. While autonomous take off and flying are done routinely, this is not true for autonomous landing. GPS based position stabilization, in conjunction with the normally used cheap and small IMUs, is not accurate enough to avoid dangerous moves in the very last moment of the landing operation. While sufficient for an emergency landing this is not suitable as routine operation. In this paper a solution is presented which uses optical flow techniques for position stabilization in the moment just before the touch down to avoid the inaccuracies from the GPS at this critical moment.

关键词： Optical sensors Robot sensing systems Optical variables measurement Optical imaging Global Positioning System Adaptive optics Mice

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Schedulability analysis of multi-packet messages in segmented CAN

Schedulability analysis of multi-packet messages in segmente...

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2012 IEEE 17th International Conference on Emerging Technologies and Factory Automation, ETFA 2012

作者： Azketa, Ekain Gutierrez, J. Javier Palencia, J. Carlos Harbour, Michael Gonzalez Almeida, Luis Marcos, Marga Ikerlan Technology Research Center Software Technologies Department Mondragón Spain University of Cantabria Computers and Real-Time Group Santander Spain University of Porto Electrical and Computer Engineering Department Porto Portugal University of Basque Country Systems Engineering and Automation Department Bilbao Spain

ISBN: (纸本)9781467347372

The CAN bus is one of the most used networks in distributed real-time systems. The CAN bus can be divided by means of bridges in order to distribute the network load among different segments and contribute positively to the schedulability of the system. On the other hand, CAN supports the fragmentation of a message in multiple packets when it does not fit into one single CAN frame. The schedulability analysis of CAN has been extensively studied in the literature. Although the proposed methods analyze non-segmented CAN buses, they can be applied to segmented networks. However, the techniques from the related literature obtain quite pessimistic results in the analysis of segmented CAN networks with multi-packet messages. This paper proposes a less pessimistic CAN schedulability analysis method for the mentioned kind of networks. Moreover, this optimized technique can be integrated with methods oriented to the holistic schedulability analysis of a complete distributed real-time system. © 2012 IEEE.

关键词： Interactive computer systems

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SmartParks for short term power flow control in smart grids

SmartParks for short term power flow control in smart grids

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IEEE International Electric Vehicle Conference (IEVC)

作者： Ganesh Kumar Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University SC USA

Among other functions, the smart grid is a vehicle to maximize the penetration of wind power by exploiting the use of energy storage devices in order to maximize the utilization of renewable energy and bring about maximum reduction in emissions. Large number of electric vehicles in a parking lot enabled to carry out vehicle-to-grid (V2G) transactions has been termed as a `SmartPark' by the author. The use of vehicle-to-grid technology, information technology and advanced computational methods can provide short term real and reactive power support to overcome the drawback of the intermittent nature of renewable sources of electricity. This paper presents the intelligent control of SmartParks to enhance a smart grid's capability to compensate and mitigate active and reactive power fluctuations caused by the variability in wind power penetration in selected transmission lines and network buses.

关键词： Wind power generation Wind farms Voltage control Smart grids Fluctuations Reactive power Power transmission lines

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Mechanism of determining page faults instantaneously via device driver based approach in Linux

Mechanism of determining page faults instantaneously via dev...

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IEEE Students' Conference on Electrical, Electronics and computer Science (SCEECS)

作者： Shaikh Mohd. Laeeq Deepali R. Borade in Real Time Embedded Systems Computer Engineering M. S. Ramaiah School of Advanced Studies Bangalore India

Page faults and the algorithm of paging used in the kernel are an important aspect of the overall functioning of the system. This does add an overhead to the overall processing. Numerous algorithms and their improvements exist for paging but miss an important point. The ability to statistically assess and gather data about major and minor page faults at run time are missing. In this paper, we propose an approach to solve this problem by the mechanism of adding our device driver in the kernel. The driver when invoked from kernel space gathers data from numerous data structures which the kernel maintains and computes. This computation then delivers the major and minor page faults occurred by user space applications at that instant. We believe by using our unique approach in measuring page faults by paging algorithms, these can be statistically backed and will help in optimizing the overall performance of the Linux kernel.

关键词： Kernel Linux Memory management Hardware Performance evaluation Algorithm design and analysis

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