8,176 research outputs found

    CARLA+: An Evolution of the CARLA Simulator for Complex Environment Using a Probabilistic Graphical Model

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    In an urban and uncontrolled environment, the presence of mixed traffic of autonomous vehicles, classical vehicles, vulnerable road users, e.g., pedestrians, and unprecedented dynamic events makes it challenging for the classical autonomous vehicle to navigate the traffic safely. Therefore, the realization of collaborative autonomous driving has the potential to improve road safety and traffic efficiency. However, an obvious challenge in this regard is how to define, model, and simulate the environment that captures the dynamics of a complex and urban environment. Therefore, in this research, we first define the dynamics of the envisioned environment, where we capture the dynamics relevant to the complex urban environment, specifically, highlighting the challenges that are unaddressed and are within the scope of collaborative autonomous driving. To this end, we model the dynamic urban environment leveraging a probabilistic graphical model (PGM). To develop the proposed solution, a realistic simulation environment is required. There are a number of simulators—CARLA (Car Learning to Act), one of the prominent ones, provides rich features and environment; however, it still fails on a few fronts, for example, it cannot fully capture the complexity of an urban environment. Moreover, the classical CARLA mainly relies on manual code and multiple conditional statements, and it provides no pre-defined way to do things automatically based on the dynamic simulation environment. Hence, there is an urgent need to extend the off-the-shelf CARLA with more sophisticated settings that can model the required dynamics. In this regard, we comprehensively design, develop, and implement an extension of a classical CARLA referred to as CARLA+ for the complex environment by integrating the PGM framework. It provides a unified framework to automate the behavior of different actors leveraging PGMs. Instead of manually catering to each condition, CARLA+ enables the user to automate the modeling of different dynamics of the environment. Therefore, to validate the proposed CARLA+, experiments with different settings are designed and conducted. The experimental results demonstrate that CARLA+ is flexible enough to allow users to model various scenarios, ranging from simple controlled models to complex models learned directly from real-world data. In the future, we plan to extend CARLA+ by allowing for more configurable parameters and more flexibility on the type of probabilistic networks and models one can choose. The open-source code of CARLA+ is made publicly available for researchers

    Optimal Cost-Preference Trade-off Planning with Multiple Temporal Tasks

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    Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given tasks, but it is often in conflict with optimal execution. Recent work studies preference-based planning, however, they have yet to extend the notion of preference to the behavior of the robot with respect to each task. In this work, we introduce a novel notion of preference that provides a generalized framework to express preferences over individual tasks as well as their relations. Then, we perform an optimal trade-off (Pareto) analysis between behaviors that adhere to the user's preference and the ones that are resource optimal. We introduce an efficient planning framework that generates Pareto-optimal plans given user's preference by extending A* search. Further, we show a method of computing the entire Pareto front (the set of all optimal trade-offs) via an adaptation of a multi-objective A* algorithm. We also present a problem-agnostic search heuristic to enable scalability. We illustrate the power of the framework on both mobile robots and manipulators. Our benchmarks show the effectiveness of the heuristic with up to 2-orders of magnitude speedup.Comment: 8 pages, 4 figures, to appear in International Conference on Intelligent Robots and Systems (IROS) 202

    Beam scanning by liquid-crystal biasing in a modified SIW structure

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    A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

    Unconventional Cognitive Intelligent Robotic Control: Quantum Soft Computing Approach in Human Being Emotion Estimation -- QCOptKB Toolkit Application

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    Strategy of intelligent cognitive control systems based on quantum and soft computing presented. Quantum self-organization knowledge base synergetic effect extracted from intelligent fuzzy controllers imperfect knowledge bases described. That technology improved of robustness of intelligent cognitive control systems in hazard control situations described with the cognitive neuro-interface and different types of robot cooperation. Examples demonstrated the introduction of quantum fuzzy inference gate design as prepared programmable algorithmic solution for board embedded control systems. The possibility of neuro-interface application based on cognitive helmet with quantum fuzzy controller for driving of the vehicle is shown

    An empirical investigation of the relationship between integration, dynamic capabilities and performance in supply chains

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    This research aimed to develop an empirical understanding of the relationships between integration, dynamic capabilities and performance in the supply chain domain, based on which, two conceptual frameworks were constructed to advance the field. The core motivation for the research was that, at the stage of writing the thesis, the combined relationship between the three concepts had not yet been examined, although their interrelationships have been studied individually. To achieve this aim, deductive and inductive reasoning logics were utilised to guide the qualitative study, which was undertaken via multiple case studies to investigate lines of enquiry that would address the research questions formulated. This is consistent with the author’s philosophical adoption of the ontology of relativism and the epistemology of constructionism, which was considered appropriate to address the research questions. Empirical data and evidence were collected, and various triangulation techniques were employed to ensure their credibility. Some key features of grounded theory coding techniques were drawn upon for data coding and analysis, generating two levels of findings. These revealed that whilst integration and dynamic capabilities were crucial in improving performance, the performance also informed the former. This reflects a cyclical and iterative approach rather than one purely based on linearity. Adopting a holistic approach towards the relationship was key in producing complementary strategies that can deliver sustainable supply chain performance. The research makes theoretical, methodological and practical contributions to the field of supply chain management. The theoretical contribution includes the development of two emerging conceptual frameworks at the micro and macro levels. The former provides greater specificity, as it allows meta-analytic evaluation of the three concepts and their dimensions, providing a detailed insight into their correlations. The latter gives a holistic view of their relationships and how they are connected, reflecting a middle-range theory that bridges theory and practice. The methodological contribution lies in presenting models that address gaps associated with the inconsistent use of terminologies in philosophical assumptions, and lack of rigor in deploying case study research methods. In terms of its practical contribution, this research offers insights that practitioners could adopt to enhance their performance. They can do so without necessarily having to forgo certain desired outcomes using targeted integrative strategies and drawing on their dynamic capabilities

    Anime Studies: media-specific approaches to neon genesis evangelion

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    Anime Studies: Media-Specific Approaches to Neon Genesis Evangelion aims at advancing the study of anime, understood as largely TV-based genre fiction rendered in cel, or cel-look, animation with a strong affinity to participatory cultures and media convergence. Making Neon Genesis Evangelion (Shin Seiki Evangerion, 1995-96) its central case and nodal point, this volumen forground anime as a media with clearly recognizable aesthetic properties, (sub)cultural affordances and situated discourses

    International Academic Symposium of Social Science 2022

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    This conference proceedings gathers work and research presented at the International Academic Symposium of Social Science 2022 (IASSC2022) held on July 3, 2022, in Kota Bharu, Kelantan, Malaysia. The conference was jointly organized by the Faculty of Information Management of Universiti Teknologi MARA Kelantan Branch, Malaysia; University of Malaya, Malaysia; Universitas Pembangunan Nasional Veteran Jakarta, Indonesia; Universitas Ngudi Waluyo, Indonesia; Camarines Sur Polytechnic Colleges, Philippines; and UCSI University, Malaysia. Featuring experienced keynote speakers from Malaysia, Australia, and England, this proceeding provides an opportunity for researchers, postgraduate students, and industry practitioners to gain knowledge and understanding of advanced topics concerning digital transformations in the perspective of the social sciences and information systems, focusing on issues, challenges, impacts, and theoretical foundations. This conference proceedings will assist in shaping the future of the academy and industry by compiling state-of-the-art works and future trends in the digital transformation of the social sciences and the field of information systems. It is also considered an interactive platform that enables academicians, practitioners and students from various institutions and industries to collaborate

    Multimaterial 3D/4D Printing by Integrating Digital Light Processing and Direct Ink Writing

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    Driven by the growing demand of applications in robotics, electronics, biomedical devices and wearable devices, multi-material 3D printing has now become a trend to offer solutions with a wide choice of materials with various mechanical, chemical, thermal-mechanical, or electrical properties. However, it remains a challenge to find an approach, with a wide choice of materials, to realize high-resolution multi-material 3D printing efficiently. In this study, an innovative hybrid multi-material 3D printing system is developed, which integrates digital light processing (DLP), and direct ink writing (DIW). Here, DLP can efficiently provide a high-resolution matrix, with complex geometry and multicolor appearance, while DIW can add functionality to the component due to the wide choice of functional materials, such as shape memory photopolymers, conductive inks, and liquid crystal elastomers (LCE). With this hybrid 3D printing system, multicolor functional devices, circuit-embedding architectures, soft sensors, hybrid active lattices, active tensegrities, functionally graded actuators, and pure LCE lattices were successfully fabricated, showing a great prospect in the area of electronics, smart wearable devices, soft robots and actuators.Ph.D

    Post-Growth Geographies: Spatial Relations of Diverse and Alternative Economies

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    Post-Growth Geographies examines the spatial relations of diverse and alternative economies between growth-oriented institutions and multiple socio-ecological crises. The book brings together conceptual and empirical contributions from geography and its neighbouring disciplines and offers different perspectives on the possibilities, demands and critiques of post-growth transformation. Through case studies and interviews, the contributions combine voices from activism, civil society, planning and politics with current theoretical debates on socio-ecological transformation
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