Arquitectura dual-modular para desarrollos y validación de módulos de decisión y control en vehículos automatizados

El avance logrado durante las últimas décadas en los sistemas avanzados de asistencia a la conducción (ADAS, Advanced Driver Assistance System) ha posibilitado mejorar múltiples aspectos en los vehículos comerciales, como por ejemplo la seguridad, robustez de los sistemas, eficiencia energética, detección de peatones, aparcamiento asistido y ayudas a la navegación, entre otros. Algunos desarrollos, como el control lateral y la generación óptima de trayectorias en tiempo real, están en pleno desarrollo. En este trabajo se presenta una arquitectura dual-modular cuyas principales características son su capacidad para integrar y probar nuevos algoritmos de control y decisión (modular), y la posibilidad de llevar a cabo pruebas en entornos simulados y en plataformas reales (dual), reduciendo los tiempos y costes de desarrollo. Con esta arquitectura se han podido probar diferentes técnicas de control y de generación de trayectorias, realizando además simulaciones, y comparando los resultados obtenidos con un vehículo real.ECSEL ENABLE-S3 692455-

Towards Risk Estimation in Automated Vehicles Using Fuzzy Logic

As vehicles get increasingly automated, they need to properly evaluate different situations and assess threats at run-time. In this scenario automated vehicles should be able to evaluate risks regarding a dynamic environment in order to take proper decisions and modulate their driving behavior accordingly. In order to avoid collisions, in this work we propose a risk estimator based on fuzzy logic which accounts for risk indicators regarding (1) the state of the driver, (2) the behavior of other vehicles and (3) the weather conditions. A scenario with two vehicles in a car-following situation was analyzed, where the main concern is to avoid rear-end collisions. The goal of the presented approach is to effectively estimate critical states and properly assess risk, based on the indicators chosen.This work was supported by the AMASS project (H2020- ECSEL) with grant agreement number 692474

Dual-modular architecture for developing and validation of decision and control modules for automated vehicles

[ES] El avance logrado durante las últimas décadas en los sistemas avanzados de asistencia a la conducción (ADAS, Advanced Driver Assistance System) ha posibilitado mejorar múltiples aspectos en los vehículos comerciales, como por ejemplo la seguridad, robustez de los sistemas, eficiencia energética, detección de peatones, aparcamiento asistido y ayudas a la navegación, entre otros. Algunos desarrollos, como el control lateral y la generación óptima de trayectorias en tiempo real, están en pleno desarrollo. En este trabajo se presenta una arquitectura dual-modular cuyas principales características son su capacidad para integrar y probar nuevos algoritmos de control y decisión (modular), y la posibilidad de llevar a cabo pruebas en entornos simulados y en plataformas reales (dual), reduciendo los tiempos y costes de desarrollo. Con esta arquitectura se han podido probar diferentes técnicas de control y de generación de trayectorias, realizando además simulaciones, y comparando los resultados[EN] In last decades, the advances done in the Advanced Driver Assistance System (ADAS) have improved multiple aspects in the vehicles, as: safety, system robustness, power eciency, pedestrian detection and road lanes, assisted parking, navigation, etc. In the other hand, lateral control and generation of optimal trajectories in real time, are under development. In this work, we present a dual modular architecture. Its principal characteristics are the capacity of integrate and test new control algorithms, and the possibility of making tests with the simulation environment and the real platform (dual), reducing the development time. This architecture has been used to test dierent techniques for control and trajectory generation. 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Gastrointestinal stromal tumour in Meckel's diverticulum

<p>Abstract</p> <p>Background</p> <p>Meckel's Diverticulum is the most commonly encountered congenital anomaly of the small intestine, occurring in approximately 2% of the population. Occasionally Meckel's diverticulum harbors neoplasms.</p> <p>Case presentation</p> <p>A 65 year old gentleman, presented with a pelvic mass. On exploratory laparotomy, it turned out to be gastrointestinal stromal tumour (GIST) arising from Meckel's diverticulum. Short history and review of literature are discussed.</p> <p>Conclusion</p> <p>Neoplasms occurring from Meckel's diverticulum, even though rare, should be considered as differential diagnosis of pelvic masses arising from bowel, wherever imaging modalities fail to give a definitive diagnosis.</p

Carteggio D’Annunzio-Bruers

Il carteggio di D’Annunzio con Antonio Bruers, l’amico bibliotecario-archivista del Vittoriale, rappresenta un altro capitolo importante della biografia dannunziana, collocandosi nell’arco temporale che va dal 1921 al 1935, ultimo periodo di vita del Poeta. Al di là dei legami umani che si instaurano tra i due corrispondenti, tema vivo delle lettere è la fruttuosa collaborazione che portò alla nascita e sistemazione della biblioteca dannunziana e del primo nucleo dell’Archivio del Vittoriale degli Italiani; mentre, sullo sfondo, emergono i rapporti ambigui che D’Annunzio manteneva con gli organi ufficiali del Fascismo, come l’Accademia d’Italia, di cui Bruers diventò Vicecancelliere. Bruers però non è solo il fedele esecutore delle volontà del Poeta. Ha tratto dal suo lavoro preziose osservazioni, poi via via raccolte nei saggi memoriali, tracciando così quelle linee di ricerca che sono diventate preziose per la più recente filologia dannunziana. Le continue richieste di favori, prestiti, disbrigo di faccende e commissioni si configurano come un servigio d’amore che Bruers svolge con estremo sacrificio ma volentieri e gratuitamente, pur vedendosi relegato nella posizione di subalternità, visto che con D’Annunzio non si ha mai la sensazione di trattare alla pari, anche nel più semplice scambio di opinioni. Si soggiace alla sua volontà, si obbedisce supinamente, a stento si arriva a un compromesso, si strappa magari una promessa che il più delle volte rimane tradita e delusa: affascinati dalla parola e dal Mito schiacciante, D’Annunzio regge e governa il filo del discorso, ne traccia la linea e ne mantiene la tensione giusta; sa come ricucire gli strappi e come riaccendere negli altri il desiderio di sé. Ancora una volta un carteggio è testimone di questo straordinario gioco di ruolo su carta, su cui si conducono (e si nobilitano) le esistenze di chi ha intrecciato con lui il suo passo

Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach

Publisher Copyright: © 2020, Springer Nature Switzerland AG.Roundabout intersections promote a continuous traffic flow, with less congestion and more safety than standard intersections. However, there are several problems related to its entrance. In this way, the article presents a method to solve the roundabout merging combining a nominal trajectory generated with Bézier curves with a Model Predictive Control (MPC) to assure safe maneuvers. Simulation results using Dynacar are shown and the good performance of the approach under merging maneuvers is demonstrated.Acknowledgment. This work was supported in part by the ECSEL Project ENABLE-S3 with grant agreement number 692455-2 and the Spanish Ministry of Economy, Industry and Competitiveness TEC2016-77618-R (AEI/FEDER, UE).Peer reviewe