A machine learning approach to pedestrian detection for autonomous vehicles using High-Definition 3D Range Data

This article describes an automated sensor-based system to detect pedestrians in an autonomous vehicle application. Although the vehicle is equipped with a broad set of sensors, the article focuses on the processing of the information generated by a Velodyne HDL-64E LIDAR sensor. The cloud of points generated by the sensor (more than 1 million points per revolution) is processed to detect pedestrians, by selecting cubic shapes and applying machine vision and machine learning algorithms to the XY, XZ, and YZ projections of the points contained in the cube. The work relates an exhaustive analysis of the performance of three different machine learning algorithms: k-Nearest Neighbours (kNN), Naïve Bayes classifier (NBC), and Support Vector Machine (SVM). These algorithms have been trained with 1931 samples. The final performance of the method, measured a real traffic scenery, which contained 16 pedestrians and 469 samples of non-pedestrians, shows sensitivity (81.2%), accuracy (96.2%) and specificity (96.8%).This work was partially supported by ViSelTR (ref. TIN2012-39279) and cDrone (ref. TIN2013-45920-R) projects of the Spanish Government, and the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia—19895/GERM/15). 3D LIDAR has been funded by UPCA13-3E-1929 infrastructure projects of the Spanish Government. Diego Alonso wishes to thank the Spanish Ministerio de Educación, Cultura y Deporte, Subprograma Estatal de Movilidad, Plan Estatal de Investigación Científica y Técnica y de Innovación 2013–2016 for grant CAS14/00238

Comparativa de las medidas de emisiones electromagnéticas en las normativas europea y americana para teléfonos duales

El objetivo del presente Proyecto Fin de Grado es la realización de una comparativa de los resultados obtenidos en las medidas de SAR (tasa de absorción específica) y potencia utilizando la normativa europea CENELEC (basada en la del IEC) y la americana FCC (basada en la del IEEE) para distintos dispositivos móviles duales. En primer lugar se ha realizado el estudio de sus características de potencia y de SAR, viendo la variación que hay con respecto a las distintas normativas y rangos de frecuencias. En algunos casos, aunque funcionan sin problema alguno en las diferentes bandas, la diferencia de niveles de emisiones obtenidos en las diferentes bandas puede ser notable. Como se ha comentado al comienzo, se han utilizado diferentes dispositivos duales y se realizaron en ellos las medidas pertinentes utilizando las diferentes normativas y el procedimiento indicado en cada una de ellas. Para observar las diferencias concretas que pudieran existir al utilizar las diferentes normativas, las medidas se han realizado en todas las bandas de funcionamiento del dispositivo y para cada una de ellas se han aplicado las diferentes normativas. Con esto se pretende evaluar si pudiera existir alguna discrepancia en los dispositivos que tienen el certificado de conformidad para una norma concreta cuando se utiliza en otra banda que no es exactamente la banda de utilización de esa norma. En resumen, se quería comprobar que un dispositivo que está certificado con la norma de una región, por ejemplo Europa (900 y 1800 MHz), también cumple si se utiliza en otra región, por ejemplo América (850 y 1900 MHz). La realización práctica del presente PFG se ha hecho en las instalaciones del Laboratorio de Radiofrecuencia de la Secretaría de Estado de Telecomunicación y para la Sociedad de la Información ubicado en El Casar (Guadalajara). En concreto se utilizó el robot articulado movible DASY4 y el software para su control DASY 52.8, disponible en el “banco de medida de Campos Electromagnéticos (Sala de SAR)”. La duración estimada del presente PFG ha sido aproximadamente de cuatro meses. Para llevar a cabo el presente PFG, se dispuso de todo tipo de material y recursos puestos a disposición por el Ministerio de Industria, Turismo y Comercio en el propio laboratorio, así como de los distintos terminales móviles duales con los que se realizaron las medidas pertinentes. Como bibliografía básica se han utilizado las diferentes normas indicadas anteriormente, es decir la norma europea CENELEC (basada en la del IEC) y la americana FCC (basada en la del IEEE), así como manuales de los equipos implicados en el bando de medida de SAR: analizadores de redes, robot articulado y software de control, así como el resto de dispositivos utilizados en las medidas. ABSTRACT. The goal of this Final Degree Project is to perform a comparison of the results obtained in SAR measurements (specific absorption rate) and power using the European standards CENELEC (based on IEC Regulation) and the American FCC (based on IEEE Regulation) to different mobile dual devices. If first place it was made the study of its power and SAR features, seeing that there is shift with respect to the different standards and frequency ranges. In some cases, although they work without any problem in different bands, the difference in levels of emissions obtained in the different bands can be significant. As mentioned at the beginning, different dual devices were used and relevant measurements were taken from them using the different standards and the procedure in each one of them. To see the specific differences that may exist when using the different standards, the measurements were made in all bands of the device operation and to each one it has been applied in the different standards. This attempted to assess whether there could be some discrepancy in the devices that have the certificate of compliance to a specify standard when used in another band that is not exactly the used band of this standard. To sum up, it was required to verify that a device which is certified to the standard of a region, for example (900 and 1800 MHz), also verifies if it is used in another region, for example America (850 and 1900 MHz). The practical realization of this Final Degree Project was made in the facilities of the Radio Frequency Laboratory of the Ministry of State for Telecommunications and the Information Society located in El Casar (Guadalajara). Specifically, the movable articulated robot DASY4 was used and the control software DASY 52.8, available in the “Measure Electromagnetic Field testbench (SAR room)”. The duration of this Final Degree Project has benn about four months. To carry out the present project, all kinds of materials and resources were provided by the Ministry of Industry, Tourism and Trade in its own laboratory, as well as the different mobile dual terminals with which relevant measurements were made. As basic references the different standards indicated above has been used, that is to say the European standard CENELEC (based on IEC standard) and the American FCC (based on IEEE standard), as well as the equipment manuals involved in the SAR measure testbench: network analyzers, articulated robot and control software, as well as the rest of the devices used in the measurements

El principio de culpabilidad en el derecho disciplinario, un concepto en construcción

Teniendo en cuenta que el Derecho Disciplinario se basa en un sistema de números abiertos que permite una mayor flexibilidad en la calificación de conductas sancionables por parte del operador disciplinario, el presente trabajo muestra las posturas de la Corte Constitucional, Consejo de Estado y Procuraduría General de la Nación en el ámbito del Derecho Disciplinario, en el tema del principio de culpabilidad, específicamente sobre la forma de calificación, bien sea de manera dolosa o culpos

Los tarayales de la depresión del Ebro

La revisión de las comunidades de Tamarix en la depresión del Ebro permite reconocer tres asociaciones: Tamaricetum gallicae Br.-BI. & O. Bolós 1957 (Tamaricion africanae Br.-B1. & O. BoIós 1957), riparia y subhalófila; Agrostio-Tamaricetum canariensis Cirujano 1981 (Tamaricion boveano-canuriensis Izco, F. Fernández-González & A. Molina 1984), mesohalófila (subass. tamaricetosum canariensis) o hiperhalófila (subass. inuletosum crithmoidis nova); y Suaedo braun-blanquetii-Tamaricetum boveanae (Izco & al. 1984) ass.nova (Tamaricion boveano-canariensis), hiperhalófila y restringida a la parte más baja y oriental de la depresión.Tamarix-communities belonging to the order Tamaricetalia (class Nerio- Tamaricetea) are phytosociologically reviewed in the Ebro basin. Three associations can be differentiated: Tamaricetum gal/woe Br.-BI. & O. Bolós 1957 (Tamaricion africanae Br.-B1. & O. Bolós 1957), riparian and subhalophilous; Agrostio-Tamaricetum canariensis Cirujano 1981 (Tamaricion boveano-canariensis Izco, F. Fernández-González & A. Molina 1984), mesohalophilous (subass. tamaricetosum canariensis) or hiperhalophilous (subass. inuletosum crithmoidis nova); and Suaedo braun-blanquetii-Tamaricetum boveanae (Izco & al. 1984) ass.nova (Tamaricion boveano-canariensis), hiperhalophilous and restricted to eastern and lower part of the basin

Dataset: Traffic Images Captured from UAVs for Use in Training Machine Vision Algorithms for Traffic Management.

A dataset of Spanish road traffic images taken from unmanned aerial vehicles (UAV) is presented with the purpose of being used to train artificial vision algorithms, among which those based on convolutional neural networks stand out. This article explains the process of creating the complete dataset, which involves the acquisition of the data and images, the labeling of the vehicles, anonymization, data validation by training a simple neural network model, and the description of the structure and contents of the dataset (which amounts to 15,070 images). The images were captured by drones (but would be similar to those that could be obtained by fixed cameras) in the field of intelligent vehicle management. The presented dataset is available and accessible to improve the performance of road traffic vision and management systems since there is a lack of resources in this specific domain.post-print3928 K

An Interactive Tool for Servo Systems Learning

No data (2012)UE

Sobre las comunidades de matorral de la Depresión del Ebro (España)

Sin resume

PID Control for a Two-Axis Orientable Solar Panel System

The control of a two degree-of-freedom Orientable Solar Panel System-OSPS was simulated for a control scheme that combines Proportional, Integral and Derivative actions with a computed torque control inner loop. The latter controller calculates the torques at the joints. Two plants of the dynamic model of the OSPS were evaluated: analytical and Simmechanics. Three case motions were simulated: random, to a sef position, and end-of-the-day cycle. Controller gains were set by using the sustained oscillation Nichols-Ziegler second syntonization method. It was found that in order to save energy along the motion the non-underdamped behavior is required. This is attained by setting the integral component gain to zero. Very small maximum theoretical position errors of the azimuth and elevation position angles suggest that the combination PD-CTC scheme is satisfactory for controlling the OSPS motion along da

PID Control for a Two-Axis Orientable Solar Panel System

The control of a two degree-of-freedom Orientable Solar Panel System-OSPS was simulated for a control scheme that combines Proportional, Integral and Derivative actions with a computed torque control inner loop. The latter controller calculates the torques at the joints. Two plants of the dynamic model of the OSPS were evaluated: analytical and Simmechanics. Three case motions were simulated: random, to a sef position, and end-of-the-day cycle. Controller gains were set by using the sustained oscillation Nichols-Ziegler second syntonization method. It was found that in order to save energy along the motion the non-underdamped behavior is required. This is attained by setting the integral component gain to zero. Very small maximum theoretical position errors of the azimuth and elevation position angles suggest that the combination PD-CTC scheme is satisfactory for controlling the OSPS motion along da