Collision and Avoidance Modelling of Autonomous Vehicles using Genetic Algorithm and Neural Network

This thesis is to study the optimisation problems in autonomous vehicles, especially the modelling and optimisation of collision avoidance, and to develop some optimisation algorithms based on genetic algorithms and neural networks to operate autonomous vehicles without any collision. Autonomous vehicles, also called self-driving vehicles or driverless vehicles are completely robotised driving frameworks to allow the vehicle to react to outside conditions within a bunch of calculations to play out the undertakings. This thesis summarised artificial intelligence and optimisation techniques for autonomous driving systems in the literature. The optimisation problems related to autonomous vehicles are categorised into four groups: lane change, motion planner, collision avoidance, and artificial intelligence. A chart had been developed to summarise those research and related optimisation methods to help future researchers in the selection of optimisation methods Collision Avoidance is one of streamlining issues in autonomous vehicles. Several sensors had been used to identify position and dangers and collision avoidance algorithms had been developed to analyse the dangers and to use vehicles to avoid a collision. In this thesis, the current research on collision avoidance has been reviewed and some challenges and future works were presented to select the research direction of this thesis, the aim of this research will be the development of optimisation methods to avoid collisions in a predefined environment. The contributions of this thesis are that (1) a simulation model had been developed using Matlab for collision avoidance and serval scenarios were proposed and experimented with. The sensors are used as the inputs to determine collision in the learning preparation of the algorithm; (2) a neural network was used for collision avoidance of autonomous vehicles; (3) a new method was proposed with the combination of genetic algorithm and neural network. In the proposed frame, the neural network is used for decision making and a genetic algorithm is used for the training of the neural network. The results and experimentation show that the proposed strategies are well in the designed environment

Mind the Gap: Developments in Autonomous Driving Research and the Sustainability Challenge

Scientific knowledge on autonomous-driving technology is expanding at a faster-than-ever pace. As a result, the likelihood of incurring information overload is particularly notable for researchers, who can struggle to overcome the gap between information processing requirements and information processing capacity. We address this issue by adopting a multi-granulation approach to latent knowledge discovery and synthesis in large-scale research domains. The proposed methodology combines citation-based community detection methods and topic modeling techniques to give a concise but comprehensive overview of how the autonomous vehicle (AV) research field is conceptually structured. Thirteen core thematic areas are extracted and presented by mining the large data-rich environments resulting from 50 years of AV research. The analysis demonstrates that this research field is strongly oriented towards examining the technological developments needed to enable the widespread rollout of AVs, whereas it largely overlooks the wide-ranging sustainability implications of this sociotechnical transition. On account of these findings, we call for a broader engagement of AV researchers with the sustainability concept and we invite them to increase their commitment to conducting systematic investigations into the sustainability of AV deployment. Sustainability research is urgently required to produce an evidence-based understanding of what new sociotechnical arrangements are needed to ensure that the systemic technological change introduced by AV-based transport systems can fulfill societal functions while meeting the urgent need for more sustainable transport solutions

Analyzing data in the Internet of Things

The Internet of Things (IoT) is growing fast. According to the International Data Corporation (IDC), more than 28 billion things will be connected to the Internet by 2020—from smartwatches and other wearables to smart cities, smart homes, and smart cars. This O’Reilly report dives into the IoT industry through a series of illuminating talks and case studies presented at 2015 Strata + Hadoop World Conferences in San Jose, New York, and Singapore. Among the topics in this report, you’ll explore the use of sensors to generate predictions, using data to create predictive maintenance applications, and modeling the smart and connected city of the future with Kafka and Spark. Case studies include: Using Spark Streaming for proactive maintenance and accident prevention in railway equipment Monitoring subway and expressway traffic in Singapore using telco data Managing emergency vehicles through situation awareness of traffic and weather in the smart city pilot in Oulu, Finland Capturing and routing device-based health data to reduce cardiovascular disease Using data analytics to reduce human space flight risk in NASA’s Orion program This report concludes with a discussion of ethics related to algorithms that control things in the IoT. You’ll explore decisions related to IoT data, as well as opportunities to influence the moral implications involved in using the IoT

A non-holonomic, highly human-in-the-loop compatible, assistive mobile robotic platform guidance navigation and control strategy

The provision of assistive mobile robotics for empowering and providing independence to the infirm, disabled and elderly in society has been the subject of much research. The issue of providing navigation and control assistance to users, enabling them to drive their powered wheelchairs effectively, can be complex and wide-ranging; some users fatigue quickly and can find that they are unable to operate the controls safely, others may have brain injury re-sulting in periodic hand tremors, quadriplegics may use a straw-like switch in their mouth to provide a digital control signal. Advances in autonomous robotics have led to the development of smart wheelchair systems which have attempted to address these issues; however the autonomous approach has, ac-cording to research, not been successful; users reporting that they want to be active drivers and not passengers. Recent methodologies have been to use collaborative or shared control which aims to predict or anticipate the need for the system to take over control when some pre-decided threshold has been met, yet these approaches still take away control from the us-er. This removal of human supervision and control by an autonomous system makes the re-sponsibility for accidents seriously problematic. This thesis introduces a new human-in-the-loop control structure with real-time assistive lev-els. One of these levels offers improved dynamic modelling and three of these levels offer unique and novel real-time solutions for: collision avoidance, localisation and waypoint iden-tification, and assistive trajectory generation. This architecture and these assistive functions always allow the user to remain fully in control of any motion of the powered wheelchair, shown in a series of experiments

NeBula: TEAM CoSTAR’s robotic autonomy solution that won phase II of DARPA subterranean challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR’s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.Peer ReviewedAgha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M. F., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G. J., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Da Silva, M. S., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Melikyan, H., Choi, H. C., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, JPostprint (published version

MM-Wave HetNet in 5G and beyond Cellular Networks Reinforcement Learning Method to improve QoS and Exploiting Path Loss Model

This paper presents High density heterogeneous networks (HetNet) which are the most promising technology for the fifth generation (5G) cellular network. Since 5G will be available for a long time, previous generation networking systems will need customization and updates. We examine the merits and drawbacks of legacy and Q-Learning (QL)-based adaptive resource allocation systems. Furthermore, various comparisons between methods and schemes are made for the purpose of evaluating the solutions for future generation. Microwave macro cells are used to enable extra high capacity such as Long-Term Evolution (LTE), eNodeB (eNB), and Multimedia Communications Wireless technology (MC), in which they are most likely to be deployed. This paper also presents four scenarios for 5G mm-Wave implementation, including proposed system architectures. The WL algorithm allocates optimal power to the small cell base station (SBS) to satisfy the minimum necessary capacity of macro cell user equipment (MUEs) and small cell user equipment (SCUEs) in order to provide quality of service (QoS) (SUEs). The challenges with dense HetNet and the massive backhaul traffic they generate are discussed in this study. Finally, a core HetNet design based on clusters is aimed at reducing backhaul traffic. According to our findings, MM-wave HetNet and MEC can be useful in a wide range of applications, including ultra-high data rate and low latency communications in 5G and beyond. We also used the channel model simulator to examine the directional power delay profile with received signal power, path loss, and path loss exponent (PLE) for both LOS and NLOS using uniform linear array (ULA) 2X2 and 64x16 antenna configurations at 38 GHz and 73 GHz mmWave bands for both LOS and NLOS (NYUSIM). The simulation results show the performance of several path loss models in the mmWave and sub-6 GHz bands. The path loss in the close-in (CI) model at mmWave bands is higher than that of open space and two ray path loss models because it considers all shadowing and reflection effects between transmitter and receiver. We also compared the suggested method to existing models like Amiri, Su, Alsobhi, Iqbal, and greedy (non adaptive), and found that it not only enhanced MUE and SUE minimum capacities and reduced BT complexity, but it also established a new minimum QoS threshold. We also talked about 6G researches in the future. When compared to utilizing the dual slope route loss model alone in a hybrid heterogeneous network, our simulation findings show that decoupling is more visible when employing the dual slope path loss model, which enhances system performance in terms of coverage and data rate

Managing risks to drivers in road transport

This report presents a number of case studies in managing risks to road transport drivers. The cases feature a variety of initiatives and interventions to protect drivers.In the road transport sector, as with any other, it is important to pay attention to working conditions in order to ensure a skilled and motivated workforce. Certain characteristics of the sector make it more difficult to practice risk management than in other sectors. But by taking account of how the sector operates in practice, and the characteristics of drivers themselves and the way they work, risks can be successfully manage

Review of existing and operable observing systems and sensors

Deliverable 1.4 is aimed at identification of existing and operable observing systems and sensors which are relevant to COMMON SENSE objectives. Report aggregates information on existing observing initiatives, programmes, systems, platforms and sensors. The Report includes: • inventory of previous and current EU funded projects. Some of the them, even if started before 2007, were aimed at activities which are relevant or in line with those stemming from MSFD in 2008. The ‘granulation’ of the contents and objectives of the projects varies from sensors development through observation methodologies to monitoring strategies, • inventory of research infrastructure in Europe. It starts from an attempt to define of Marine Research Infrastructure, as there is not a single definition of Research Infrastructure (RI) or of Marine Research Infrastructure (MRI), and there are different ways to categorise them. The chapter gives the categorization of the MRI, together with detailed description and examples of MRI – research platforms, marine data systems, research sites and laboratories with respect of four MSFD descriptors relevant to COMMON SENSE project, • two chapters on Research Programs and Infrastructure Networks; the pan-European initiatives aimed at cooperation and efficient use of infrastructural resources for marine observation and monitoring and data exchange are analysed. The detailed description of observing sensors and system are presented as well as frameworks for cooperation, • information on platforms (research vessels) available to the Project for testing developed sensors and systems. Platforms are available and operating in all three regions of interest to the project (Mediterranean, North Sea, Baltic), • annexed detailed description of two world-wide observation networks and systems. These systems are excellent examples of added value offered by integrated systems of ocean observation (from data to knowledge) and how they work in practice. Report concludes that it is seen a shortage of new classes of sensors to fulfil the emerging monitoring needs. Sensors proposed to be developed by COMMON SENSE project shall answer to the needs stemmed from introduction of MSFD and GES descriptors

Internet of Things Applications - From Research and Innovation to Market Deployment

The book aims to provide a broad overview of various topics of Internet of Things from the research, innovation and development priorities to enabling technologies, nanoelectronics, cyber physical systems, architecture, interoperability and industrial applications. It is intended to be a standalone book in a series that covers the Internet of Things activities of the IERC – Internet of Things European Research Cluster from technology to international cooperation and the global "state of play".The book builds on the ideas put forward by the European research Cluster on the Internet of Things Strategic Research Agenda and presents global views and state of the art results on the challenges facing the research, development and deployment of IoT at the global level. Internet of Things is creating a revolutionary new paradigm, with opportunities in every industry from Health Care, Pharmaceuticals, Food and Beverage, Agriculture, Computer, Electronics Telecommunications, Automotive, Aeronautics, Transportation Energy and Retail to apply the massive potential of the IoT to achieving real-world solutions. The beneficiaries will include as well semiconductor companies, device and product companies, infrastructure software companies, application software companies, consulting companies, telecommunication and cloud service providers. IoT will create new revenues annually for these stakeholders, and potentially create substantial market share shakeups due to increased technology competition. The IoT will fuel technology innovation by creating the means for machines to communicate many different types of information with one another while contributing in the increased value of information created by the number of interconnections among things and the transformation of the processed information into knowledge shared into the Internet of Everything. The success of IoT depends strongly on enabling technology development, market acceptance and standardization, which provides interoperability, compatibility, reliability, and effective operations on a global scale. The connected devices are part of ecosystems connecting people, processes, data, and things which are communicating in the cloud using the increased storage and computing power and pushing for standardization of communication and metadata. In this context security, privacy, safety, trust have to be address by the product manufacturers through the life cycle of their products from design to the support processes. The IoT developments address the whole IoT spectrum - from devices at the edge to cloud and datacentres on the backend and everything in between, through ecosystems are created by industry, research and application stakeholders that enable real-world use cases to accelerate the Internet of Things and establish open interoperability standards and common architectures for IoT solutions. Enabling technologies such as nanoelectronics, sensors/actuators, cyber-physical systems, intelligent device management, smart gateways, telematics, smart network infrastructure, cloud computing and software technologies will create new products, new services, new interfaces by creating smart environments and smart spaces with applications ranging from Smart Cities, smart transport, buildings, energy, grid, to smart health and life. Technical topics discussed in the book include: • Introduction• Internet of Things Strategic Research and Innovation Agenda• Internet of Things in the industrial context: Time for deployment.• Integration of heterogeneous smart objects, applications and services• Evolution from device to semantic and business interoperability• Software define and virtualization of network resources• Innovation through interoperability and standardisation when everything is connected anytime at anyplace• Dynamic context-aware scalable and trust-based IoT Security, Privacy framework• Federated Cloud service management and the Internet of Things• Internet of Things Application

Mobility Design

Climate change and the scarcity of resources, but also the steadily increasing amount of traffic, make it indispensable to develop new solutions for environmentally friendly and people-friendly mobility. With the expansion of digital information systems, we will in future be able to easily combine different modes of transport according to our needs. These developments are a great challenge for the design of different mobility spaces. While the focus in Volume 1 was on practice, Volume 2 now brings together research from the fields of design, architecture, urban planning, geography, social science, transport planning, psychology and communication technology. The current discussion about the traffic turnaround is expanded to include the perspective of user-centred mobility design