Federated Robust Embedded Systems: Concepts and Challenges

The development within the area of embedded systems (ESs) is moving rapidly, not least due to falling costs of computation and communication equipment. It is believed that increased communication opportunities will lead to the future ESs no longer being parts of isolated products, but rather parts of larger communities or federations of ESs, within which information is exchanged for the benefit of all participants. This vision is asserted by a number of interrelated research topics, such as the internet of things, cyber-physical systems, systems of systems, and multi-agent systems. In this work, the focus is primarily on ESs, with their specific real-time and safety requirements. While the vision of interconnected ESs is quite promising, it also brings great challenges to the development of future systems in an efficient, safe, and reliable way. In this work, a pre-study has been carried out in order to gain a better understanding about common concepts and challenges that naturally arise in federations of ESs. The work was organized around a series of workshops, with contributions from both academic participants and industrial partners with a strong experience in ES development. During the workshops, a portfolio of possible ES federation scenarios was collected, and a number of application examples were discussed more thoroughly on different abstraction levels, starting from screening the nature of interactions on the federation level and proceeding down to the implementation details within each ES. These discussions led to a better understanding of what can be expected in the future federated ESs. In this report, the discussed applications are summarized, together with their characteristics, challenges, and necessary solution elements, providing a ground for the future research within the area of communicating ESs

VANET Applications: Hot Use Cases

Current challenges of car manufacturers are to make roads safe, to achieve free flowing traffic with few congestions, and to reduce pollution by an effective fuel use. To reach these goals, many improvements are performed in-car, but more and more approaches rely on connected cars with communication capabilities between cars, with an infrastructure, or with IoT devices. Monitoring and coordinating vehicles allow then to compute intelligent ways of transportation. Connected cars have introduced a new way of thinking cars - not only as a mean for a driver to go from A to B, but as smart cars - a user extension like the smartphone today. In this report, we introduce concepts and specific vocabulary in order to classify current innovations or ideas on the emerging topic of smart car. We present a graphical categorization showing this evolution in function of the societal evolution. Different perspectives are adopted: a vehicle-centric view, a vehicle-network view, and a user-centric view; described by simple and complex use-cases and illustrated by a list of emerging and current projects from the academic and industrial worlds. We identified an empty space in innovation between the user and his car: paradoxically even if they are both in interaction, they are separated through different application uses. Future challenge is to interlace social concerns of the user within an intelligent and efficient driving

유전 알고리즘을 이용한 다중스케일/다목적 공간계획 최적화모델 구축

학위논문 (박사)-- 서울대학교 대학원 : 환경대학원 협동과정 조경학전공, 2019. 2. 이동근.공간계획 과정에서 다양한 이해관계자와 결부된 목표와 제약 요건을 만족시키는 것은 복잡한 비선형적 문제로서 해결하기 어려운 것으로 알려져 왔다. 그러나 최근 이러한 문제에 유전 알고리즘 (genetic algorithms), 담금질 기법 (simulated annealing), 개미 군집 최적화 (ant colony optimization) 등의 다목적 최적화 알고리즘이 응용되고 있으며, 관련 연구 역시 급증하고 있다. 이 중 유전 알고리즘은 공간 최적화 부문에 가장 빈도 높게 적용된 최적화 알고리즘으로 exploration과 exploitation의 균형으로 합리적인 시간 내에 충분히 좋은 계획안을 제시할 수 있다. 그러나 공간 최적화 연구가 보여준 좋은 성과에도 불구하고 대부분의 연구가 특정 용도 혹은 시설의 배치에 집중되어 있으며, 기후변화 적응, 재해 관리, 그린인프라 계획과 같은 최근의 환경 이슈를 다룬 사례는 매우 미흡하다. 따라서 본 연구에서는 유전 알고리즘과 비지배 정렬 유전 알고리즘 (non-dominated sorting genetic algorithm II)에 기초하여 기후변화 적응, 재해 관리, 도시의 녹지 계획 등과 같은 환경 이슈를 공간계획에 반영할 수 있는 일련의 공간 최적화 모델을 제시하였다. 개별 환경 이슈에 따라 공간 해상도, 목적, 제약요건이 다르게 구성하였으며, 공간적 범위가 좁아지고 공간해상도는 높아지는 순서대로 나열하였다. 논문의 첫번째 장에서는 행정구역 도 규모 (province scale, 해상도 1㎢)에서 미래의 기후변화에 적응하기 위한 토지이용 시나리오를 모의할 수 있는 공간 최적화 모델을 제안하였다. 기후변화가 먼 미래가 아닌, 현재 이미 진행되고 있으며 관련한 다수의 피해가 관찰되고 있기 때문에 공간적 관점에서 기후변화에 대한 적응의 필요성이 지적되어 왔다. 그러나 구체적으로 기후에 대한 회복 탄력성을 향상시키기 위하여 토지이용의 공간적 구성을 어떻게 변화시켜야 할지에 대한 방법론 제시는 미흡하다. 지역계획에서 기후변화 영향을 고려한 토지이용 배분은 매우 유용한, 기본적인 중장기 적응 전략에 해당한다. 본 연구에서는 다목적 유전 알고리즘 (MOGA, multi-objective genetic algorithm)에 기초하여 9,982㎢에 350만의 인구가 거주하는 한국의 충청남도 및 대전광역시 일대를 대상으로 기후변화 적응을 위한 토지이용 시나리오를 제시하였다. 지역적인 기후변화 영향과 경제적 여건을 고려하여 재해 피해 및 전환량의 최소화, 벼 생산량, 종 풍부도 보전, 경제적 가치의 최대화 등 다섯 가지의 목적을 선택하였다. 각 목적 별 가중치를 변화시키며 여섯 가지 가중치 조합에 대한 17개의 파레토 최적 토지이용 시나리오를 생성하였다. 대부분의 시나리오는 정도의 차이는 있으나 현재의 토지이용에 비해 기후변화 적응 부분에서 더 좋은 퍼포먼스를 보였으므로, 기후변화에 대한 회복탄력성이 개선할 수 있을 것으로 판단하였다. 또한 공간 최적화 모델의 유연한 구조를 고려하였을 때, 지역의 실무자 역시 가중치와 같은 모델의 파라미터, 기후변화 영향 평가와 같은 입력자료를 변경함으로써 효율적으로 새로운 시나리오를 생성 및 선택하는 것이 가능할 것으로 예상하였다. 논문의 두 번째 장에서는 행정구역 군 규모 (local scale, 해상도 100m)에서 기후변화에 따른 재해 피해를 관리하기 위한 토지이용 시나리오를 모의할 수 있는 공간 최적화 모델을 제안하였다. 산악지형에서 폭우로 인한 산사태는 인명과 재산에 심각한 피해를 초래할 수 있는 것으로 알려져 있다. 더욱이 기후변화에 따른 강우의 변동성 증가로 이러한 산사태 빈도 및 강도 역시 증대될 것으로 예상된다. 일반적으로 산사태 리스크가 높은 지역을 피해 개발지역을 배치하는 것이 피해를 저감 혹은 회피할 수 있는 가장 효과적인 전략으로 알려져 있으나, 실제공간에서의 계획은 매우 복잡한 비선형의 문제로서 이것을 실현하는 데 어려움이 있다. 따라서 본 연구에서는 비지배 정렬 유전 알고리즘 II에 기초하여 산사태 리스크 및 전환량, 파편화의 최소화 등의 다양한 목적을 만족시키는 종합적인 토지이용 배분 계획을 제안하였다. 대상지는 2018년 동계올림픽 개최지인 한국의 평창군으로서 2006년에 산사태로 인한 대규모의 피해를 경험하였으나, 올림픽 특수 등의 개발압력으로 인한 난개발이 우려되는 지역이다. 최종적으로 한번의 모의를 통해 현재의 토지이용 보다 적어도 한가지 이상의 목적에서 좋은 퍼포먼스를 보이는 100개의 파레토 최적 계획안을 생성하였다. 또한 5개의 대표적인 계획안을 선정하여 산사태리스크 최소화와 전환량 최소화 간에 발생하는 상쇄 효과를 설명하였다. 본 연구결과는 기후변화와 관련된 공간 적응 전략의 수립, 보다 향상된 개발계획을 위한 의사결정을 효과적으로 지원할 수 있을 것으로 예상하였다. 논문의 세 번째 장에서는 블록 규모(neighborhood scale, 2m)에서 도시 내 녹지계획안을 모의할 수 있는 공간 최적화 모델을 제안하였다. 녹지 공간은 도시민의 삶의 질에 결정적인 영향을 미치기 때문에 다양한 도시 재생 및 개발계획에는 녹지와 직 간접적으로 관련된 전략이 포함된다. 녹지 공간은 도시지역 내에서 열섬 현상 완화, 유출량 저감, 생태 네트워크 증진 등 다양한 긍정적 효과가 있음이 알려져 있으나, 공간 계획의 관점에서 이러한 다양한 효과를 종합적, 정량적으로 고려된 사례는 매우 미흡하다. 따라서 본 연구에서는 비지배 정렬 유전 알고리즘 II에 기초하여 녹지의 생태적 연결성 증진, 열섬 효과 완화와 같은 다양한 효과와 설치에 따르는 비용을 종합적으로 고려하여 적절한 녹지의 유형과 위치를 결정한 녹지계획안을 제시하였다. 블록 규모의 가상의 대상지에 본 최적화 모델을 적용함으로써 30개의 파레토 최적 녹지계획안을 생성하였으며, 각 목적 간 퍼포먼스를 비교하여 녹지의 열섬 완화 효과와 생태적 연결성 증진 효과 간의 상승 관계 (synergistic relationship), 이러한 긍정적 효과와 비용 절감 간의 상쇄 효과 (trade-off relationship)를 분석하였다. 또한 다양한 계획안 중 대표적인 특성을 지니는 계획안, 다수의 계획안에서 공통적으로 녹지 설치를 위해 선택된 주요 후보지역 역시 규명하였다. 본 연구에서 제시된 모델은 계획안의 수정에서부터 정량적 평가, 계획안 선택에 이르는 일련의 긍정적인 피드백 과정을 수없이 반복함으로써 기존의 녹지계획 과정을 개선하는 데 기여할 수 있을 뿐만 아니라 모델의 결과 역시 다자간 협력적 디자인 (co-design)을 위한 초안으로서 활용될 수 있을 것으로 예상하였다.The meeting of heterogeneous goals while staying within the constraints of spatial planning is a nonlinear problem that cannot be solved by linear methodologies. Instead, this problem can be solved using multi-objective optimization algorithms such as genetic algorithms (GA), simulated annealing (SA), ant colony optimization (ACO), etc., and research related to this field has been increasing rapidly. GA, in particular, are the most frequently applied spatial optimization algorithms and are known to search for a good solution within a reasonable time period by maintaining a balance between exploration and exploitation. However, despite its good performance and applicability, it has not adequately addressed recent urgent issues such as climate change adaptation, disaster management, and green infrastructure planning. It is criticized for concentrating on only the allocation of specific land use such as urban and protected areas, or on the site selection of a specific facility. Therefore, in this study, a series of spatial optimizations are proposed to address recent urgent issues such as climate change, disaster management, and urban greening by supplementing quantitative assessment methodologies to the spatial planning process based on GA and Non-dominated Sorting Genetic Algorithm II (NSGA II). This optimization model needs to be understood as a tool for providing a draft plan that quantitatively meets the essential requirements so that the stakeholders can collaborate smoothly in the planning process. Three types of spatial planning optimization models are classified according to urgent issues. Spatial resolution, planning objectives, and constraints were also configured differently according to relevant issues. Each spatial planning optimization model was arranged in the order of increasing spatial resolution. In the first chapter, the optimization model was proposed to simulate land use scenarios to adapt to climate change on a provincial scale. As climate change is an ongoing phenomenon, many recent studies have focused on adaptation to climate change from a spatial perspective. However, little is known about how changing the spatial composition of land use could improve resilience to climate change. Consideration of climate change impacts when spatially allocating land use could be a useful and fundamental long-term adaptation strategy, particularly for regional planning. Here climate adaptation scenarios were identified on the basis of existing extents of three land use classes using Multi-objective Genetic Algorithms (MOGA) for a 9,982 km2 region with 3.5 million inhabitants in South Korea. Five objectives were selected for adaptation based on predicted climate change impacts and regional economic conditions: minimization of disaster damageand existing land use conversionmaximization of rice yieldprotection of high-species-richness areasand economic value. The 17 Pareto land use scenarios were generated by six weighted combinations of the adaptation objectives. Most scenarios, although varying in magnitude, showed better performance than the current spatial land use composition for all adaptation objectives, suggesting that some alteration of current land use patterns could increase overall climate resilience. Given the flexible structure of the optimization model, it is expected that regional stakeholders would efficiently generate other scenarios by adjusting the model parameters (weighting combinations) or replacing the input data (impact maps) and selecting a scenario depending on their preference or a number of problem-related factors. In the second chapter, the optimization model was proposed to simulate land use scenarios for managing disaster damage due to climate change on local scale. Extreme landslides triggered by rainfall in hilly regions frequently lead to serious damage, including casualties and property loss. The frequency of landslides may increase under climate change, because of the increased variability of precipitation. Developing urban areas outside landslide risk zones is the most effective method of reducing or preventing damageplanning in real life is, however, a complex and nonlinear problem. For such multi-objective problems, GA may be the most appropriate optimization tool. Therefore, comprehensive land use allocation plans were suggested using the NSGA II to overcome multi-objective problems, including the minimization of landslide risk, minimization of change, and maximization of compactness. The study area is Pyeongchang-gun, the host city of the 2018 Winter Olympics in Korea, where high development pressure has resulted in an urban sprawl into the hazard zone that experienced a large-scale landslide in 2006. We obtained 100 Pareto plans that are better than the actual land use data for at least one objective, with five plans that explain the trade-offs between meeting the first and the second objectives mentioned above. The results can be used by decision makers for better urban planning and for climate change-related spatial adaptation. In the third chapter, the optimization model was proposed to simulate urban greening plans on a neighborhood scale. Green space is fundamental to the good quality of life of residents, and therefore urban planning or improvement projects often include strategies directly or indirectly related to greening. Although green spaces generate positive effects such as cooling and reduction of rainwater runoff, and are an ecological corridor, few studies have examined the comprehensive multiple effects of greening in the urban planning context. To fill this gap in this fields literature, this study seeks to identify a planning model that determines the location and type of green cover based on its multiple effects (e.g., cooling and enhancement of ecological connectivity) and the implementation cost using NSGA II. The 30 Pareto-optimal plans were obtained by applying our model to a hypothetical landscape on a neighborhood scale. The results showed a synergistic relationship between cooling and enhancement of connectivity, as well as a trade-off relationship between greenery effects and implementation cost. It also defined critical lots for urban greening that are commonly selected in various plans. This model is expected to contribute to the improvement of existing planning processes by repeating the positive feedback loop: from plan modification to quantitative evaluation and selection of better plans. These optimal plans can also be considered as options for co-design by related stakeholders.1. INTRODUCTION 2. CHAPTER 1: Modelling Spatial Climate Change Land use Adaptation with Multi-Objective Genetic Algorithms to Improve Resilience for Rice Yield and Species Richness and to Mitigate Disaster Risk 2.1. Introduction 2.2. Study area 2.3. Methods 2.4. Results 2.5. Discussion 2.6. References 2.7. Supplemental material 3. CHAPTER 2: Multi-Objective Land-Use Allocation Considering Landslide Risk under Climate Change: Case Study in Pyeongchang-gun, Korea 3.1. Introduction 3.2. Material and Methods 3.3. Results 3.4. Discussion 3.5. Conclusion 3.6. References 4. CHAPTER 3: Multi-Objective Planning Model for Urban Greening based on Optimization Algorithms 3.1. Introduction 3.2. Methods 3.3. Results 3.4. Discussion 3.5. Conclusion 3.6. References 3.7. Appendix 5. CONCLUSION REFERENCESDocto

C-ITS road-side unit deployment on highways with ITS road-side systems : a techno-economic approach

Connectivity and cooperation are considered important prerequisites to automated driving, as they are crucial elements in increasing the safety of future automated vehicles and their full integration in the overall transport system. Although many European Member States, as part of the C-Roads Platform, have implemented and are still implementing Road-side Units (RSUs) for Cooperative Intelligent Transportation Systems (C-ITS) within pilot deployment projects, the platform aspires a wide extension of deployments in the coming years. Therefore, this paper investigates techno-economic aspects of C-ITS RSU deployments from a road authority viewpoint. A two-phased approach is used, in which firstly the optimal RSU locations are determined, taking into account existing road-side infrastructure. Secondly, a cost model translates the amount of RSUs into financial results. It was found that traffic density has a significant impact on required RSU density, hence impacting costs. Furthermore, major cost saving can be obtained by leveraging existing road-side infrastructure. The proposed methodology is valuable for other member states, and in general, to any other country aspiring to roll out C-ITS road infrastructure. Results can be used to estimate required investment costs based on legacy infrastructure, as well as to benchmark with the envisioned benefits from the deployed C-ITS services

Achieving genuinely dynamic road user charging : issues with a GNSS-based approach

Peer reviewedPostprin

Weighted Bayesian Gaussian Mixture Model for Roadside LiDAR Object Detection

Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new data points to pre-trained background references based on descriptive statistics over many frames (e.g., voxel density, number of neighbors, maximum distance). However, these solutions are inefficient under heavy traffic, and parameter values are hard to transfer from one scenario to another. In early studies, the probabilistic background modeling methods widely used for the video-based system were considered unsuitable for roadside LiDAR surveillance systems due to the sparse and unstructured point cloud data. In this paper, the raw LiDAR data were transformed into a structured representation based on the elevation and azimuth value of each LiDAR point. With this high-order tensor representation, we break the barrier to allow efficient high-dimensional multivariate analysis for roadside LiDAR background modeling. The Bayesian Nonparametric (BNP) approach integrates the intensity value and 3D measurements to exploit the measurement data using 3D and intensity info entirely. The proposed method was compared against two state-of-the-art roadside LiDAR background models, computer vision benchmark, and deep learning baselines, evaluated at point, object, and path levels under heavy traffic and challenging weather. This multimodal Weighted Bayesian Gaussian Mixture Model (GMM) can handle dynamic backgrounds with noisy measurements and substantially enhances the infrastructure-based LiDAR object detection, whereby various 3D modeling for smart city applications could be created

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This thesis focuses on Vehicular Networks with Infrastructure. In the examined scenarios, vehicular nodes (e.g., cars, buses) can communicate with infrastructure roadside units (RSUs) providing continuous or intermittent coverage of an urban road topology. Different aspects related to the design of new applications for Vehicular Networks are investigated through modeling, simulation and testing on real field. In particular, the thesis: i) provides a feasible multi-hop routing solution for maintaining connectivity among RSUs, forming the wireless mesh infrastructure, and moving vehicles; ii) explains how to combine the UHF and the traditional 5-GHz bands to design and implement a new high-capacity high-efficiency Content Downloading using disjoint control and service channels; iii) studies new RSUs deployment strategies for Content Dissemination and Downloading in urban and suburban scenarios with different vehicles mobility models and traffic densities; iv) defines an optimization problem to minimize the average travel delay perceived by the drivers, spreading different traffic flows over the surface roads in a urban scenario; v) exploits the concept of Nash equilibrium in the game-theory approach to efficiently guide electric vehicles drivers' towards the charging stations. Moreover, the thesis emphasizes the importance of using realistic mobility models, as well as reasonable signal propagation models for vehicular networks. Simplistic assumptions drive to trivial mathematical analysis and shorter simulations, but they frequently produce misleading results. Thus, testing the proposed solutions in the real field and collecting measurements is a good way to double-check the correctness of our studie

A Real-Time Energy-Saving Mechanism in Internet of Vehicles Systems

[EN] Emerging technologies, such as self-driving cars and 5G communications, are raising new mobility and transportation possibilities in smart and sustainable cities, bringing to a new echo-system often referred to as Internet of Vehicles (IoV). In order to efficiently operate, an IoV system should take into account more stringent requirements with respect to traditional IoT systems, e.g., ultra-broadband connections, high-speed mobility, high-energy efficiency and requires efficient real-time algorithms. This paper proposes an energy and communication driven model for IoV scenarios, where roadside units (RSUs) need to be frequently assigned and re-assigned to the operating vehicles. The problem has been formulated as an Uncapacitated Facility Location Problem (UFLP) for jointly solving the RSU-to-vehicle allocation problem while managing the RSUs switch-on and -off processes. Differently from traditional UFLP approaches, based on static solutions, we propose here a fast-heuristic approach, based on a dynamic multi-period time scale mapping: the proposed algorithm is able to efficiently manage in real-time the RSUs, selecting at each period those to be activated and those to be switched off. The resulting methodology is tested against a set of benchmark instances, which allows us to illustrate its potential. Results, in terms of overall cost-mapping both energy consumption and transmission delays-, number of active RSUs, and convergence speed, are compared with static approaches, showing the effectiveness of the proposed dynamic solution. It is noticeable a gain of up to 11% in terms of overall cost with respect to the static approaches, with a moderate additional delay for finding the solution, around 0.8 s, while the overall number of RSUs to be switched on is sensibly reduced up to a fraction of 15% of the overall number of deployed RSUs, in the most convenient scenario.The work of Luca Cesarano and Andrea Croce has been done during an abroad study period at Universitat Oberta de Catalunya, Spain, supported by Erasmus+ Study Programme of the European Union.Cesarano, L.; Croce, A.; Martins, LDC.; Tarchi, D.; Juan-Pérez, ÁA. (2021). A Real-Time Energy-Saving Mechanism in Internet of Vehicles Systems. IEEE Access. 9:157842-157858. https://doi.org/10.1109/ACCESS.2021.3130125157842157858