A Robotic Platooning Testbed for Cooperative ITS Components

Os Sistemas Inteligentes de Transporte estão a tornar-se cada vez mais relevantes nos contextos sociais e de mobilidade atuais e futuros, pois aplicam tecnologias de informação, comunicação e sensores em veículos e infraestrutura de transporte. Estes sistemas fornecem informações em tempo real para condutores e operadores de sistemas de transporte, permitindo decisões melhores, mais informadas e eficientes. Esta tecnologia pode ser usada para controlar o tráfego rodoviário, a fim de reduzir o congestionamento, aumentar a eficiência da infraestrutura de transporte e melhorar a mobilidade. Embora esta tecnologia possa ser a força motriz da condução autónoma cooperativa, ainda existem problemas de segurança a serem resolvidos. Portanto, é fundamental incluir mecanismos de segurança para garantir o nível de segurança exigido para estes sistemas. Atualmente, a investigação em sistemas autónomos cooperativos ´e geralmente realizada em ambiente de simulação, devido ao facto de experiências reais serem ainda muito caras. Uma boa solução para esse problema ´e depender de plataformas robóticas, uma vez que são mais baratas e replicam veículos reais com funcionalidade semelhante. Nesta linha, esta Tese concentra-se no desenvolvimento de uma plataforma robótica para ”platooning” com veículos robóticos `a escala de 1/10. Para provar sua eficácia, validamos um mecanismo de segurança cooperativo para ”platooning”.Intelligent Transportation Systems are becoming increasingly relevant in the current and future social and mobility aspects, since they apply information, communication, and sensor technologies to vehicles and transportation infrastructure. They provide real-time information for road users and transportation system operators enabling better and more informed and efficient decisions. This technology can be used to manage road traffic in order to reduce congestion, increase the efficiency of existing transport infrastructure and improve mobility. Although this technology might be the powerhouse of cooperative autonomous driving, as others matters, there are still safety concerns to be managed. Thus, it is fundamental to include safety mechanism to assure the required safety level for these systems. Currently, research in cooperative autonomous systems usually conducted over simulation frameworks as real experiments are still too costly. A good solution for this problem is to rely on robotic platforms since they are cheaper and replicate with similar functionality real vehicles. In this line, this Thesis focuses on developing a platooning robotic testbed platform with a 1/10 scale robotic vehicles. To prove it’s effectiveness, we validate a cooperative safety mechanism for platooning

A User's Guide to the CSL Vision System

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryJoint Services Electronics Program / DAAB-07-72-C-025

INTEGRATION OF THE SIMULATION ENVIRONMENT FOR AUTONOMOUS ROBOTS WITH ROBOTICS MIDDLEWARE

Robotic simulators have long been used to test code and designs before any actual hardware is tested to ensure safety and efficiency. Many current robotics simulators are either closed source (calling into question the fidelity of their simulations) or are very complicated to install and use. There is a need for software that provides good quality simulation as well as being easy to use. Another issue arises when moving code from the simulator to actual hardware. In many cases, the code must be changed drastically to accommodate the final hardware on the robot, which can possibly invalidate aspects of the simulation. This defense describes methods and techniques for developing high fidelity graphical and physical simulation of autonomous robotic vehicles that is simple to use as well as having minimal distinction between simulated hardware, and actual hardware. These techniques and methods were proven by the development of the Simulation Environment for Autonomous Robots (SEAR) described here. SEAR is a 3-dimensional open source robotics simulator written by Adam Harris in Java that provides high fidelity graphical and physical simulations of user-designed vehicles running user-defined code in user-designed virtual terrain. Multiple simulated sensors are available and include a GPS, triple axis accelerometer, triple axis gyroscope, a compass with declination calculation, LIDAR, and a class of distance sensors that includes RADAR, SONAR, Ultrasonic and infrared. Several of these sensors have been validated against real-world sensors and other simulation software

Systematic literature review of realistic simulators applied in educational robotics context

This paper presents a systematic literature review (SLR) about realistic simulators that can be applied in an educational robotics context. These simulators must include the simulation of actuators and sensors, the ability to simulate robots and their environment. During this systematic review of the literature, 559 articles were extracted from six different databases using the Population, Intervention, Comparison, Outcomes, Context (PICOC) method. After the selection process, 50 selected articles were included in this review. Several simulators were found and their features were also analyzed. As a result of this process, four realistic simulators were applied in the review’s referred context for two main reasons. The first reason is that these simulators have high fidelity in the robots’ visual modeling due to the 3D rendering engines and the second reason is because they apply physics engines, allowing the robot’s interaction with the environment.info:eu-repo/semantics/publishedVersio

Numerical Relativity As A Tool For Computational Astrophysics

The astrophysics of compact objects, which requires Einstein's theory of general relativity for understanding phenomena such as black holes and neutron stars, is attracting increasing attention. In general relativity, gravity is governed by an extremely complex set of coupled, nonlinear, hyperbolic-elliptic partial differential equations. The largest parallel supercomputers are finally approaching the speed and memory required to solve the complete set of Einstein's equations for the first time since they were written over 80 years ago, allowing one to attempt full 3D simulations of such exciting events as colliding black holes and neutron stars. In this paper we review the computational effort in this direction, and discuss a new 3D multi-purpose parallel code called ``Cactus'' for general relativistic astrophysics. Directions for further work are indicated where appropriate.Comment: Review for JCA

Robust Estimators in Generalized Pareto Models

This paper deals with optimally-robust parameter estimation in generalized Pareto distributions (GPDs). These arise naturally in many situations where one is interested in the behavior of extreme events as motivated by the Pickands-Balkema-de Haan extreme value theorem (PBHT). The application we have in mind is calculation of the regulatory capital required by Basel II for a bank to cover operational risk. In this context the tail behavior of the underlying distribution is crucial. This is where extreme value theory enters, suggesting to estimate these high quantiles parameterically using, e.g. GPDs. Robust statistics in this context offers procedures bounding the influence of single observations, so provides reliable inference in the presence of moderate deviations from the distributional model assumptions, respectively from the mechanisms underlying the PBHT.Comment: 26pages, 6 figure

Towards new technology : computerization for maritime education and training at the Philippine Merchant Marine Academy

The key to success of any maritime education and training programs in achieving its goals and objectives will depend upon how well various new technology is being used toward the learning process by every educator. This dissertation looks at the use of new technology in maritime education and training such as computer aided learning, to provide basic knowledge and understanding of the functions of the different parameters of computer systems. The paper describes the potential use of computer technology in MET, particularly in a developing country. Some models of computer aided learning (CAL) and computer based training (CBT) are also examined. It describes the overall process of learning and the use of different high-technology instructional materials. The dissertation also considers the integration of computers to new curricula and discusses the implementation of the same. The different models of CAL are studied to improve the system of teaching in the maritime field. In addition, the dissertation evaluates two leading maritime training software programs currently available in the market. Other maritime software programs are also investigated and discussed. In conclusion, proposals and recommendations are made to improve the training facilities and the teaching method at Philippine Merchant Marine Academy (PMMA) for every student in the field of maritime education and training. The use of computer technology at PMMA for education and training is a method of ensuring that the skills and ability of the trainees are vastly improved