Design and Implementation of Sensing Methods on One-Tenth Scale of an Autonomous Race Car

Indiana University-Purdue University Indianapolis (IUPUI)Self-driving is simply the capacity of a vehicle to drive itself without human intervention. To accomplish this, the vehicle utilizes mechanical and electronic parts, sensors, actuators and an AI computer. The on-board PC runs advanced programming, which permits the vehicle to see and comprehend its current circumstance dependent on sensor input, limit itself in that climate and plan the ideal course from point A to point B. Independent driving is not an easy task, and to create self-sufficient driving arrangements is an exceptionally significant ability in the present programming designing field. ROS is a robust and versatile communication middle ware (framework) tailored and widely used for robotics applications. This thesis work intends to show how ROS could be used to create independent driving programming by investigating self-governing driving issues, looking at existing arrangements and building up a model vehicle utilizing ROS. The main focus of this thesis is to develop and implement a one-tenth scale of an autonomous RACECAR equipped with Jetson Nano board as the on-board computer, PCA9685 as PWM driver, sensors, and a ROS based software architecture. Finally, by following the methods presented in this thesis, it is conceivable to build an autonomous RACECAR that runs on ROS. By following the means portrayed in this theory of work, it is conceivable to build up a self-governing vehicle

Analysis and evaluation of three promising nuclear waste disposal options

Disposal of high level nuclear waste has evoked much interest among scientists, engineers and society at large. Numerous schemes have been proposed in this regard and a few have been analyzed thoroughly. However, these schemes have been found to be valid only under very specific environmental conditions, thus imposing constraints on the scheme of disposal. The option of retrievability imposed another constraint. In addition to accommodating the constraints, the disposal scheme must also comply with federal regulations (NRC 10 CFR PART 60, EPA 10 CFR PART 191, DOE 10 CFR PART 960). Due to the longevity of radionuclide toxicity, the waste containment design has to sustain its integrity for a long time. The possibility of a change in the environment must also be considered in the design; A system (DECISION TREE) was devised, which presented a comprehensive analysis of the proposed schemes. This effort focuses on a few promising schemes, which were analyzed more thoroughly. These schemes were (1) nuclear waste disposal at site, (2) nuclear waste disposal in mined geological repositories contained in a single barrier canister and (3) nuclear waste contained in a multi barrier canister. All schemes were analysed only through the period of retrievability