A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models

In this work, a comparative study is carried out with two different predictive controllers that consider the longitudinal jerk and steering rate change as additional parameters, as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.This work has been conducted within the ENABLE-S3 project that has received funding from the ECSEL Joint Undertaking under Grant Agreement No 692455. This work was developed at Tecnalia Research & Innovation facilities supporting this research

Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles

Automated driving (AD) is one of the fastest-growing tendencies in the Intelligent Transportation Systems (ITS) field with some interesting demonstrations and prototypes. Currently, the main research topics are aligned with vehicle communications, environment recognition, control, and decision-making. A real-time trajectory planning method for Automated vehicles (AVs) is presented in this paper; the contribution is part of AD’s decision-making module. This novel approach uses the properties of the 3er order Bézier curves to generate fast and reliable vehicle trajectories. Online execution and vehicle tracking capacities are considered on the approach. A feasible trajectory is selected based on the criteria: (i) the vehicle must be contained by a collision-free corridor given by an upper decision layer, (ii) the vehicle must be capable to track the generated trajectory, and (iii) the continuity of the path and curvature must be preserved in the joints. Our approach was tested considering a vehicle length (automated bus) of 12 meters. The scenario has the dimension of a real test location with multiple roundabouts.This work was supported by the European AutoDrive project from the ECSEL program under the grant agreement No 737469, and the European SHOW Project from the Horizon 2020 program under the grant agreement No 875530

Ground Systems Development Environment (GSDE) software configuration management

This report presents a review of the software configuration management (CM) plans developed for the Space Station Training Facility (SSTF) and the Space Station Control Center. The scope of the CM assessed in this report is the Systems Integration and Testing Phase of the Ground Systems development life cycle. This is the period following coding and unit test and preceding delivery to operational use. This report is one of a series from a study of the interfaces among the Ground Systems Development Environment (GSDE), the development systems for the SSTF and the SSCC, and the target systems for SSCC and SSTF. This is the last report in the series. The focus of this report is on the CM plans developed by the contractors for the Mission Systems Contract (MSC) and the Training Systems Contract (TSC). CM requirements are summarized and described in terms of operational software development. The software workflows proposed in the TSC and MSC plans are reviewed in this context, and evaluated against the CM requirements defined in earlier study reports. Recommendations are made to improve the effectiveness of CM while minimizing its impact on the developers

Configuration management and software measurement in the Ground Systems Development Environment (GSDE)

A set of functional requirements for software configuration management (CM) and metrics reporting for Space Station Freedom ground systems software are described. This report is one of a series from a study of the interfaces among the Ground Systems Development Environment (GSDE), the development systems for the Space Station Training Facility (SSTF) and the Space Station Control Center (SSCC), and the target systems for SSCC and SSTF. The focus is on the CM of the software following delivery to NASA and on the software metrics that relate to the quality and maintainability of the delivered software. The CM and metrics requirements address specific problems that occur in large-scale software development. Mechanisms to assist in the continuing improvement of mission operations software development are described

A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances

Overtaking is one of the most difficult tasks during driving. This manoeuvre demands good skills to accomplish it correctly. In the overtaking considering multiple vehicles (more than a couple) is necessary to understand, predict and coordinate future actions of the other participants. These reasons make it a significant scenario for testing in the connected and automated driving field, with the main goal of predicting safe future states. In this sense, this work presents an overtaking method based on a linear Model Predictive Control (MPC) approach, which considers multiple participants involved in the scenario. This method adapts dynamically the trajectory for the manoeuvre in case of unexpected situations. Some of these changes consider other vehicles coming on the opposite lane or variations on participants' driving decisions. Additionally, the system considers passengers' comfort, the vehicle physical constraints and lateral actions of the vehicle decoupled of the longitudinal ones to simplify the problem.European Commision H2020, (643921), UnCoVerCP

Compositional uniformity, domain patterning and the mechanism underlying nano-chessboard arrays

We propose that systems exhibiting compositional patterning at the nanoscale, so far assumed to be due to some kind of ordered phase segregation, can be understood instead in terms of coherent, single phase ordering of minority motifs, caused by some constrained drive for uniformity. The essential features of this type of arrangements can be reproduced using a superspace construction typical of uniformity-driven orderings, which only requires the knowledge of the modulation vectors observed in the diffraction patterns. The idea is discussed in terms of a simple two dimensional lattice-gas model that simulates a binary system in which the dilution of the minority component is favored. This simple model already exhibits a hierarchy of arrangements similar to the experimentally observed nano-chessboard and nano-diamond patterns, which are described as occupational modulated structures with two independent modulation wave vectors and simple step-like occupation modulation functions.Comment: Preprint. 11 pages, 11 figure

Real-Time Trajectory Planning Method Based On N-Order Curve Optimization

In recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.H2020 SHOW No 87553

Bcl-xL-mediated remodeling of rod and cone synaptic mitochondria after postnatal lead exposure: electron microscopy, tomography and oxygen consumption.

PurposePostnatal lead exposure produces rod-selective and Bax-mediated apoptosis, decreased scotopic electroretinograms (ERGs), and scotopic and mesopic vision deficits in humans and/or experimental animals. Rod, but not cone, inner segment mitochondria were considered the primary site of action. However, photoreceptor synaptic mitochondria were not examined. Thus, our experiments investigated the structural and functional effects of environmentally relevant postnatal lead exposure on rod spherule and cone pedicle mitochondria and whether Bcl-xL overexpression provided neuroprotection.MethodsC57BL/6N mice pups were exposed to lead only during lactation via dams drinking water containing lead acetate. The blood [Pb] at weaning was 20.6±4.7 µg/dl, which decreased to the control value by 2 months. To assess synaptic mitochondrial structural differences and vulnerability to lead exposure, wild-type and transgenic mice overexpressing Bcl-xL in photoreceptors were used. Electron microscopy, three-dimensional electron tomography, and retinal and photoreceptor synaptic terminal oxygen consumption (QO(2)) studies were conducted in adult control, Bcl-xL, lead, and Bcl-xL/lead mice.ResultsThe spherule and pedicle mitochondria in lead-treated mice were swollen, and the cristae structure was markedly changed. In the lead-treated mice, the mitochondrial cristae surface area and volume (abundance: measure correlated with ATP (ATP) synthesis) were decreased in the spherules and increased in the pedicles. Pedicles also had an increased number of crista segments per volume. In the lead-treated mice, the number of segments/crista and fraction of cristae with multiple segments (branching) similarly increased in spherule and pedicle mitochondria. Lead-induced remodeling of spherule mitochondria produced smaller cristae with more branching, whereas pedicle mitochondria had larger cristae with more branching and increased crista junction (CJ) diameter. Lead decreased dark- and light-adapted photoreceptor and dark-adapted photoreceptor synaptic terminal QO(2). Bcl-xL partially blocked many of the lead-induced alterations relative to controls. However, spherules still had partially decreased abundance, whereas pedicles still had increased branching, increased crista segments per volume, and increased crista junction diameter. Moreover, photoreceptor and synaptic QO(2) were only partially recovered.ConclusionsThese findings reveal cellular and compartmental specific differences in the structure and vulnerability of rod and cone inner segment and synaptic mitochondria to postnatal lead exposure. Spherule and pedicle mitochondria in lead-exposed mice displayed complex and distinguishing patterns of cristae and matrix damage and remodeling consistent with studies showing that synaptic mitochondria are more sensitive to Ca(2+) overload, oxidative stress, and ATP loss than non-synaptic mitochondria. The lead-induced decreases in QO(2) likely resulted from the decreased spherule cristae abundance and smaller cristae, perhaps due to Bax-mediated effects as they occurred in apoptotic rod inner segments. The increase in pedicle cristae abundance and CJ diameter could have resulted from increased Drp1-mediated fission, as small mitochondrial fragments were observed. The mechanisms of Bcl-xL-mediated remodeling might occur via interaction with formation of CJ protein 1 (Fcj1), whereas the partial protection of synaptic QO(2) might result from the enhanced efficiency of energy metabolism via Bcl-xL's direct interaction with the F1F0 ATP synthase and/or regulation of cellular redox status. These lead-induced alterations in photoreceptor synaptic terminal mitochondria likely underlie the persistent scotopic and mesopic deficits in lead-exposed children, workers, and experimental animals. Our findings stress the clinical and scientific importance of examining synaptic dysfunction following injury or disease during development, and developing therapeutic treatments that prevent synaptic degeneration in retinal and neurodegenerative disorders even when apoptosis is blocked

Ground Systems Development Environment (GSDE) interface requirements analysis

A set of procedural and functional requirements are presented for the interface between software development environments and software integration and test systems used for space station ground systems software. The requirements focus on the need for centralized configuration management of software as it is transitioned from development to formal, target based testing. This concludes the GSDE Interface Requirements study. A summary is presented of findings concerning the interface itself, possible interface and prototyping directions for further study, and results of the investigation of the Cronus distributed applications environment

Kinesin-II is required for axonal transport of choline acetyltransferase in Drosophila

KLP64D and KLP68D are members of the kinesin-II family of proteins in Drosophila. Immunostaining for KLP68D and ribonucleic acid in situ hybridization for KLP64D demonstrated their preferential expression in cholinergic neurons. KLP68D was also found to accumulate in cholinergic neurons in axonal obstructions caused by the loss of kinesin light chain. Mutations in the KLP64D gene cause uncoordinated sluggish movement and death, and reduce transport of choline acetyltransferase from cell bodies to the synapse. The inviability of KLP64D mutations can be rescued by expression of mammalian KIF3A. Together, these data suggest that kinesin-II is required for the axonal transport of a soluble enzyme, choline acetyltransferase. in a specific subset of neurons in Drosophila. Furthermore, the data lead to the conclusion that the cargo transport requirements of different classes of neurons may lead to upregulation of specific pathways of axonal transport