Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to predict steering angles directly from the raw input images with higher accuracy. Most of these works ignore the temporal dependencies between the image frames. In this paper, we tackle the problem of utilizing multiple sets of images shared between two autonomous vehicles to improve the accuracy of controlling the steering angle by considering the temporal dependencies between the image frames. This problem has not been studied in the literature widely. We present and study a new deep architecture to predict the steering angle automatically by using Long-Short-Term-Memory (LSTM) in our deep architecture. Our deep architecture is an end-to-end network that utilizes CNN, LSTM and fully connected (FC) layers and it uses both present and futures images (shared by a vehicle ahead via Vehicle-to-Vehicle (V2V) communication) as input to control the steering angle. Our model demonstrates the lowest error when compared to the other existing approaches in the literature.Comment: Accepted in IV 2019, 6 pages, 9 figure

Performance Analysis of V2I Zone Activation and Scalability for C-V2X Transactional Services

Cellular-V2X (C-V2X) enables communication between vehicles and other transportation entities over the 5.9GHz spectrum. C-V2X utilizes direct communication mode for safety packet broadcasts (through the usage of periodic basic safety messages) while leaving sufficient room in the resource pool for advanced service applications. While many such ITS applications are under development, it is crucial to identify and optimize the relevant network parameters. In this paper, we envision an infrastructure-assisted transaction procedure entirely carried out by C-V2X, and we optimize it in terms of the service parameters. To achieve the service utility of a transaction class, two C-V2X entities require a successive exchange of multiple messages. With this notion, our proposed application prototype can be generalized for any vehicular service to establish connections on-the-fly. We identify suitable activation zones for vehicles and assess their impact on service efficiency. The results show a variety of potential service and parameter settings that can be appropriate for different use-cases, laying the foundation for subsequent studies

Control-aware Communication for Cooperative Adaptive Cruise Control

Utilizing vehicle-to-everything (V2X) communication technologies, vehicle platooning systems are expected to realize a new paradigm of cooperative driving with higher levels of traffic safety and efficiency. Connected and Autonomous Vehicles (CAVs) need to have proper awareness of the traffic context. However, as the quantity of interconnected entities grows, the expense of communication will become a significant factor. As a result, the cooperative platoon's performance will be influenced by the communication strategy. While maintaining desired levels of performance, periodic communication can be relaxed to more flexible aperiodic or event-triggered implementations. In this paper, we propose a control-aware communication solution for vehicle platoons. The method uses a fully distributed control-aware communication strategy, attempting to decrease the usage of communication resources while still preserving the desired closed-loop performance characteristics. We then leverage Model-Based Communication (MBC) to improve cooperative vehicle perception in non-ideal communication and propose a solution that combines control-aware communication with MBC for cooperative control of vehicle platoons. Our approach achieves a significant reduction in the average communication rate ($47\%$) while only slightly reducing control performance (e.g., less than $1\%$ speed deviation). Through extensive simulations, we demonstrate the benefits of combined control-aware communication with MBC for cooperative control of vehicle platoons.Comment: arXiv admin note: text overlap with arXiv:2203.1577

Optimal Design of Multi-Span Pitched Roof Frames with Tapered Members

Many industrial buildings require large spans and high height, and the use of a frame with inclined roofs with non-prismatic elements can reduce the usage of steel. Pitched roof frame with single spans are optimized using different meta-heuristic algorithms. In this paper, the optimal design of industrial frames with two and three spans under gravity and lateral loads is performed. Five efficient and widely accepted optimization algorithms are used to optimize each frame. The convergence histories and design results of these algorithms are compared and the most suitable algorithm is determined. In each frame, the effect of increasing the apex height is evaluated on the optimal weight and the best angle is determined for optimum weight

Albumin: Creatinine Ratio during long term Diabetes Mellitus in the Assessment of early Nephropathy in Sudanese Population

Background: Diabetic nephropathy is one of the major causes of chronic renal failure. Microalbuminuria (MAU) has been recognized as an independent and reliable predictor for future development of overt proteinuria in diabetic patients.Objectives: This descriptive cross-sectional study was carried during the period of January-April 2012, in Omdurman Teaching Hospital, to determine Microalbuminuria creatinine ratio, in long term Diabetic patients.Materials and Methods: Immunoturbidmetric method was used to asses’ microalbuminuria in 50 cases (50%) and 50 controls (50%). Ordinary chemical method (Jaffe reaction) was used for the determination of creatinine for both the groups.Results: Microalbuminuria in Diabetic patients showed an increase when compared with the control group with P value 0.000. Similarly creatinine also showed an increase in diabetic patients.Conclusion: It was concluded and is in further affirmation of the previous studies that microalbuminuria should be used as an early indicator for Diabetic Nephropathy. Further studies with 24 hour urine sample are recommended for assessment of Microalbuminuria in long term Diabetic patients, provided that the patients are on a normal diet with regular treatment for diabetes.Key words: Microalbuminuria, Creatinine, Diabetes mellitus, Nephropathy

PKM Online Classroom Management Training Based on Google Classroom and Edpuzzle Applications at SMP Negeri 1 Probolinggo

The purpose of this service activity is to improve the ability of teachers at SMP Negeri 1 Probolinggo in managing online classes by providing online class management training based on the Google Classroom and Edpuzzleapplications. The method of implementing this activity is lecture, practice, and discussions. Lectures were conducted to deliver material on the stages of classroom management using Google Classroom and using videos on Edpuzzle. The participants of this activity were all teachers of SMP Negeri 1 Probolinggo, a total of 40 people. For online class management, participants were given training in class management and grades, using forums, and making materials and quizzes. For the use of videos as learning materials, participants were trained in choosing videos, editing videos, inserting messages and questions, and multiple choices. The results of this service activity are as many as72.5% of participants have been able to manage online classes and integrate with Edpuzzle. Partners have also agreed to use Google Classroom's added puzzle for learning for the 2021/2022 academic year

Potential health and economic impacts of dexamethasone treatment for patients with COVID-19

Acknowledgements We thank all members of the COVID-19 International Modelling Consortium and their collaborative partners. This work was supported by the COVID-19 Research Response Fund, managed by the Medical Sciences Division, University of Oxford. L.J.W. is supported by the Li Ka Shing Foundation. R.A. acknowledges funding from the Bill and Melinda Gates Foundation (OPP1193472).Peer reviewedPublisher PD