Model of on-line control for the smart object by communication technologies

Based on analysis of opportunities of usage existing models, methods and techniques for on-line monitoring and control of unmanned dynamic objects, a mathematical model of remote estimation of distance to wire-controlled unmanned mobile object is proposed. The presence of model and techniques of remote estimation of distance to wirecontrolled unmanned object increases the reliability of control for exclusion of critical situations in the strict radio counteraction conditions and powerful electromagnetic jamming setting during control

Model of on-line control for the smart object by communication technologies

Based on analysis of opportunities of usage existing models, methods and techniques for on-line monitoring and control of unmanned dynamic objects, a mathematical model of remote estimation of distance to wire-controlled unmanned mobile object is proposed. The presence of model and techniques of remote estimation of distance to wirecontrolled unmanned object increases the reliability of control for exclusion of critical situations in the strict radio counteraction conditions and powerful electromagnetic jamming setting during control

TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China

TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, incremental mapping, the 1st and the 2nd planning and the overall safety concern. TiEV finished 2016 and 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences on the development of autonomous vehicles and future trends

Model of on-line control for the smart object by communication technologies

Based on analysis of opportunities of usage existing models, methods and techniques for on-line monitoring and control of unmanned dynamic objects, a mathematical model of remote estimation of distance to wire-controlled unmanned mobile object is proposed. The presence of model and techniques of remote estimation of distance to wire-controlled unmanned object increases the reliability of control for exclusion of critical situations in the strict radio counteraction conditions and powerful electromagnetic jamming setting during control

Sistemi per l'automazione del deflusso veicolare nelle reti autostradali

Il presente lavoro si occupa dei sistemi AHS con riferimento ad aspetti funzionali, tecnologici e modellistici descrivendo il loro sviluppo negli ultimi vent’anniope

Development of an Autonomous Vehicle Platform

Autonomous vehicles and their related development are gaining a lot of traction as a promising up and coming technology. The Mechatronics Vehicle Systems lab at the University of Waterloo is well pioneered in the automotive industry and seeks to apply their knowledge and skills to autonomous vehicles. Having an autonomous vehicle development platform at the University allows for development and testing of state of the art algorithms that can potentially benefit the entire automotive industry. An autonomous driving platform based on a Chevrolet Equinox is proposed in this thesis. Various types of sensors are installed on the vehicle and interfaced, allowing for full coverage of the surrounding environment. A software platform is developed which uses ROS and Matlab simultaneously, benefiting from the libraries, tools, and resources that come with both. The hardware platform is designed with simplicity and functionality in mind. Moreover, a simulation platform is used for testing various algorithms before real world implementation. Various types of sensor calibrations are necessary to fully synchronize all the sensors on the platform spatially. A joint calibration method that allows for the simultaneous calibration of all 3D sensors sharing a common field of view is implemented. Specialized hand-eye calibration methods to calibrate the GPS navigation system to the LIDAR and camera sensors are explored. Furthermore, vehicle to everything interfacing is kept in mind and a calibration technique is presented in order to localize infrastructure mounted sensors to a GPS navigation system. The calibration techniques are tested and areas of improvement are revealed. The developed platform is tested with the task of autonomous lane keeping. The steering wheel angle of the vehicle is controlled by the developed algorithm utilizing the camera and GPS navigation solution. The algorithm is tested in simulation with good results. Before real world testing, time synchronization between various devices on the platform, as well as testing of the actuators' controllers is performed. Finally, the lane keeping algorithm is tested on the developed platform on the University of Waterloo Ring Road. The system is able to autonomously steer around the majority of the road which is approximately a 2.5 km distance

The implementation of urban apartheid on the East Rand, 1948-1973 : the role of local government and local resistance

A thesis submitted to the Faculty of Arts, University of the Witwatersrand, Johannesburg, in fulfilment of the requirements for the degree Doctor of Philosophy. Johannesburg, 2001The overarching theme of the thesis is the urban ‘racial’ restructuring of the East Rand during the first twenty-five years of apartheid. The thesis examines the adoption and implementation of apartheid state’s social engineering strategy, especially its strict racial segregation of the urban areas. In this context, the creation o f ‘modern’ African townships and group areas is emphasised. The thesis focuses attention on the implementation of urban apartheid in Benoni, particularly the establishment of the ‘model’ township, Daveyton. Benoni’s experiences in implementing apartheid policies are compared to that of its municipal neighbours. The thesis contends that local authorities were important role players in the implementation of apartheid. Thus, the ways in which the changing relations between the local and central tiers of the state influenced the making of apartheid at regional and local levels are foregrounded throughout this study. The impact of apartheid policies on the ‘multi-racial’ populations of the urban ‘black spots’ and their responses to these policies are primary concerns in the narrative provided here. The diverse reactions of people affected by forced removals - from acquiescence to militant resistance - in the 1950s and 1960s are analysed. A central focus of this study is the making of apartheid in the 1960s, the so-called golden age of apartheid. Finally, the thesis discusses the introduction and effects o f ‘separate development’ and ‘community development’ as principal interventions by the state to politicise ethnicity and ‘race’ during the period of ‘high apartheid’.WS201

Analysis and development of self localization and autonomous driving systems for the industrial and automotive environment.

The goal of the present thesis is dual. First the self localization problem is investigated in the industrial environment and a working prototype, consisting in an AGV able to perform self localization and autonomous driving under certain conditions, has been developed. Then the self localization problem is considered as a part of wider and currently very active research problem: the Simultaneous Localization And Mapping (SLAM), considered in the automotive environment.L'obiettivo della presente Tesi è duplice. Inizialmente il problema della self localization viene analizzato nel contesto industriale e un prototipo funzionante è stato realizzato, consistente in un AGV in grado di auto localizzarsi in certe condizioni. In seguito il problema della self localization è stato considerato come parte di un problema più ampio e ad oggi particolarmente: il Simultaneous Localization And Mapping (SLAM), nel contesto automobilistico