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

Penyeliaan pengajaran dalam latihan mengajar dari perspektif kepimpinan situasi

Latihan mengajar merupakan tulang belakang kepada program perguruan pra-perkhidmatan kerana ia memberi pengalaman secara praktikal tentang pengajaran dalam situasi sebenar. Pelaksanaannya oleh institusi pengajian tinggi dan institut perguruan dilaksanakan dalam pelbagai bentuk dan tempoh yang berbeza. Beberapa model penyeliaan digunakan sebagai panduan dan rujukan dalam menghasilkan guru pelatih berkualiti. Satu daripadanya ialah model penyeliaan klinikal yang dianggap sebagai model ideal. Namun begitu terdapat laporan yang menyatakan guru-guru pelatih masih lagi tidak mencapai tahap seperti mana yang diharapkan dalam latihan mengajar mereka (Zakaria et al., 2001 ; Abu Hassan Kassim et al., 1994; Kementerian Pengajian Tinggi Malaysia dan Kementerian Pelajaran Malaysia ,2005). Setelah sekian lama program latihan mengajar dijalankan dan banyak kajian dilakukan, mengapa kelemahan ini berterusan? Dunia pendidikan bersifat dinamik, begitu jugalah seharusnya dengan amalan penyeliaan pengajaran. Stigma yang begitu menebal bahawa penyeliaan klinikal adalah pilihan terbaik menyebabkan penyelia berasa selesa dan serasi. Kelaziman penggunaannya tidak lagi mencerminkan ia sebagai model penyeliaan tetapi lebih kepada prosedur rutin yang perlu dipatuhi oleh para penyelia. Oleh itu, suatu pendekatan lebih realistik wajar difikirkan semula. Kertas kerja ini membincangkan beberapa kelemahan amalan penyeliaan pengajaran dalam latihan mengajar serta kesesuaian beberapa model penyeliaan pengajaran bersifat developmental yang diadaptasi daripada teori kepimpinan situasi (Situational Leadership) Hersey dan Blanchard (1998) .Dengan merujuk kepada model-model perkembangan guru pelatih dalam latihan mengajar, beberapa stail penyeliaan dicadangkan untuk disesuaikan dengan tahap perkembangan guru pelatih bagi melihat kongruensinya. Kertas kerja ini merupakan suatu analisis terhadap tinjauan literatur tentang amalan penyeliaan pengajaran berdasarkan teori kepimpinan situasi dalam praktikum latihan mengajar

Effects of the improvement in thermal conductivity coefficient by nano-wollastonite on physical and mechanical properties in medium-density fiberboard (MDF)

The improving effect of an increase in the thermal conductivity caused by nano-wollastonite (NW) on the physical and mechanical properties of medium-density fiberboard (MDF) was studied. Nanowollastonite was applied at 2, 4, 6, and 8 g/kg, based on the dry weight of wood-chips, and compared with control specimens. The size range of wollastonite nanofibers was 30 to 110 nm. The results show that NW significantly (p < 0.05) increased thermal conductivity. The increased thermal conductivity resulted in a better curing of the resin; consequently, mechanical properties were improved significantly. Furthermore, the formation of bonds between wood fibers and wollastonite contributed to fortifying the MDF. It was concluded that a NW content of 2 g/kg did not significantly improve the overall properties and therefore cannot be recommended to industry. Because the properties of NW-6 and NW-8 were significantly similar, a NW-content of 6 g/kg can be recommended to industry to significantly (p < 0.05) improve the properties of MDF panels

Impact of Accounting Record-Keeping on the Sustainability of Small-Scale Enterprises in Kano Metropolis

This study examined the impact of accounting record keeping on sustainability of small-scale enterprises (SSEs) in Kano metropolis. The population of this study comprised of all SSEs operating in the eight local government areas that constitute Kano metropolis. Four hundred and thirty-nine (439) questionnaires, using 5-point Likert scale, were administered on the sampled owners of SSEs across the eight local government areas in Kano metropolis. Out of this, four hundred and thirty-seven (437) questionnaires were completed and returned, while two respondents did not return their questionnaires.  The statement on the questionnaire covers accounting record keeping, business performance, environmental attitude and community attitude. Structural equation modelling (SEM) analysis using Partial Least Square (PLS) was employed to analyze the data generated for the study. The finding of study shows that record keeping has a significant positive relationship with sustainability. This indicates that an increase in the record keeping behavior will lead to an increase in the sustainability of a business entity. The study, therefore, recommends that SMEs owners should learn basic record keeping knowledge or engage the service of bookkeepers to enable them to keep proper books of accounts which will in turn increase the sustainability of their businesses

Defense spending - economic growth nexus in selected OIC countries: a long-run causality analysis

This paper investigates the long run Granger causality between defense spending and economic growth for 20 selected Organization of Islamic Countries (OIC) by employing the Error-Correction Model (ECM) framework using annual data for the period 1960 to 2005. defense spending (milex) is measured using the ratio of defense spending to gross domestic product (GDP); while economic growth (rgdpc) is proxy by the real GDP per capita. The results of our study indicated that one way long run Granger causality was found running from economic growth to defense spending for Burkina Faso, Indonesia, Kuwait, Saudi Arabia, Sudan, Togo and Turkey. On the other hand, one way long run Granger causality was found running from defense spending to economic growth was found for Iran, Mauritania and Nigeria. However for the rest of the OIC countries, the results suggested no relationship between defense spending and economic growth

The relationship between defense, education and health expenditures in selected Asian countries

This study explores the inter-relationship between military expenditure, education expenditure and health expenditure in eight selected Asian countries namely Malaysia, Indonesia, Singapore, Philippines, Bangladesh, Nepal, Sri Lanka and South Korea. Autoregressive Distributed Lag-Restricted Error Correction Model (ARDL-RECM) procedure was utilized in the analysis. The empirical results suggest that, except for the case of Malaysia and Sri Lanka, whereby no meaningful interrelationship was detected between these three variables, the results for the rest of the countries are mixed, with differing granger causality being detected among these variables. The mixed results obtained in this study is an indicator of differing policy being implemented and will result in varying implication. Generally the error correction term is significant. Implying there is long-run relationship between defense spending, education and health expenditure

Incorporation of a Preservative in Particleboard: Properties and Durability

0.5% and 1.0% (w/w) of boric acid (H3BO3) were incorporated in rubberwood (Hevea brasiliensis) particleboards either by initially mixing the boric acid powder with urea formaldehyde adhesive or spraying boric acid solution onto the furnish during blending. Two types of urea formaldehyde, i.e. E1-glue (maximum permissible formaldehyde emmision < 0.1 ppm) and E2-glue (maximum permissible formaldehyde emmision 0.1-1.0 ppm) were used as the bonding agent. The targeted density of the boards was 650 kg/m3 . The board properties and durability against white rot fungus were evaluated in accordance with JIS A 5908-1983 and ASTM D2017-71, respectively. The chemical loading in the board was in the range of 0.42-0.47% and 0.64-0.70%, respectively when 0.5% and 1.0% of boric acid (based on the dry-weight of the particles) were incorporated in the boards. The dry modulus of rupture (MaR), dry modulus of elasticity (MOE) of the boric acid-treated boards were significantly reduced. The reduction of the properties increased as the chemical loading in the treated boards increases. However, wet MOR and wet MOE, internal bonds (IB) and thickness swelling (TS) of treated boards at both concentration levels did not differ significantly compared to the untreated boards. Particleboards bonded with E2-glue were more resistant to white rot Jungus (Pycnoporous sanguineus) than those bonded with El-glue. The presence of boric acid significantly increased the durability of board against white rot Fungus, and the resistance towards the Fungus increased as the boric acid loading increases

Effect of Diet on Type 2 Diabetes Mellitus: A Review

Globally, type 2 diabetes mellitus (T2DM) is considered as one of the most common diseases. The etiology of T2DM is complex and is associated with irreversible risk factors such as age, genetic, race, and ethnicity and reversible factors such as diet, physical activity and smoking. The objectives of this review are to examine various studies to explore relationship of T2DM with different dietary habits/patterns and practices and its complications. Dietary habits and sedentary lifestyle are the major factors for rapidly rising incidence of DM among developing countries. In type 2 diabetics, recently, elevated HbA1c level has also been considered as one of the leading risk factors for developing microvascular and macrovascular complications. Improvement in the elevated HbA1c level can be achieved through diet management; thus, the patients could be prevented from developing the diabetes complications. Awareness about diabetes complications and consequent improvement in dietary knowledge, attitude, and practices lead to better control of the disease. The stakeholders (health-care providers, health facilities, agencies involved in diabetes care, etc.) should encourage patients to understand the importance of diet which may help in disease management, appropriate self-care and better quality of life

Psychometric Evaluation of Dietary Habits Questionnaire for Type 2 Diabetes Mellitus

This research evaluated the psychometric properties of English version of dietary habits questionnaires developed for type 2 diabetic patients. There is scarcity of literature about availability of standardized questionnaires for assessing dietary habits of type 2 diabetics in Saudi Arabia. As dietary habits vary from country to country, therefore, this was an attempt to develop questionnaires that can serve as a baseline. Through intensive literature review, four questionnaires were developed / modified and subsequently tested for psychometric properties. Prior to pilot study, a pre-test was conducted to evaluate the face validity and content validity. The pilot study was conducted from 23 October – 22 November, 2016 to evaluate the questionnaires’ reliability and validity. Systematic random sampling technique was used to collect the data from 132 patients by direct investigation method. Questionnaires assessing diabetes mellitus knowledge (0.891), dietary knowledge (0.869), dietary attitude (0.841) and dietary practices (0.874) had good internal consistency reliability. Factor analysis conducted on dietary attitude questionnaire showed a valid 5 factor solution. Directions of loadings were positive and free from factorial complexity. Relying on the data obtained from type 2 diabetics, these questionnaires can be considered as reliable and valid for the assessment of dietary habits in Saudi Arabia and neighbouring Gulf countries population

Do behavioral, educational, and legal factors determine the applicability of forensic accounting in the public sector?

This study examined the impact of educational, legal, and behavioral factors on the applicability of forensic accounting in the public sector in Nigeria. The study utilized primary data through the administration of questionnaires to accountants the internal and external auditors drawn from seven states of the North-Western geo-political zone of Nigeria. Partial Least Squares (PLS) path modeling using smart PLS3 Statistical Software was employed for the analysis. The findings indicated that behavioral, educational, and legal factors are positively related to the applicability of forensic accounting in the states. The results revealed the importance of giving special consideration to educational, legal, and behavioral factors to ensure the successful application of forensic accounting to deter and detect corruption and other fraudulent activities in Nigeria. The study shows how educational and professional institutions would assist in the promotion of the awareness, knowledge, and skills of forensic accounting